adhoc

completed
2026-09-23T18:27:31.190036+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
233.5 s
total steps
374
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 long pen is near the center-right of the table, with the short cap to its left. I’ll position the right gripper above the middle of the pen before lowering to grasp it.
move_to
right_x0.4000right_y0.2400right_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, 0.7929, 0.6025, -0.3794, -0.0196, -0.0113, 0.9998, -0.0139, 0.7921, 0.6029, -0.3977, -0.0299, -0.0338, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1797 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0048 right_z=0.1764 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.4701, 10.4684, 1.8046, -0.0366, -0.0269, -0.0366, -0.9094, -1.265, 10.3179, 1.9853, 0.0464, 0.149, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.24,"right_z":0.12},"note":"The long pen is near the center-right of the table, with the short cap to its left. I’ll position the right gripper above the middle of the pen before lowering to grasp it."})
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 pen is visible just to the right of the right gripper’s jaw column, and the first approach stopped a little short. I’ll shift the gripper rightward over the pen while staying above the table.
move_to
right_y0.1700right_x0.4000right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.738, 1.7283, 1.0092, -0.0959, 0.5316, 0.3939, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1778 left_yaw=0.0007 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9998 right_x=0.3818 right_y=0.231 right_z=0.0948 right_yaw=0.0547 right_pitch=-0.0916 right_roll=-0.0691 right_gripper=0.9991 state[joint_eff]: [-0.2256, -1.7573, 7.0222, 1.7167, -0.0757, -0.0464, -0.0122, -0.0068, -8.4171, 9.2513, 1.9951, 0.6764, 0.3932, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.17,"right_x":0.4,"right_z":0.10},"note":"The pen is visible just to the right of the right gripper’s jaw column, and the first approach stopped a little short. I’ll shift the gripper rightward over the pen while staying above the table."})
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 pen shifted closer to the jaw column, but the right arm is still short of the requested sideways position. I’ll bring the wrist slightly closer to its base and farther right to improve the angle for a centered grasp.
move_to
right_x0.3700right_y0.1350right_z0.1050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6804, 1.7229, 0.9691, -0.0933, 0.4881, 0.347, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9998 right_x=0.3837 right_y=0.2086 right_z=0.0797 right_yaw=0.0533 right_pitch=-0.1379 right_roll=-0.0992 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7021, -0.0611, -0.0562, -0.0122, -0.2803, -10.5778, 6.106, 1.6532, 0.1587, -0.0464, -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":{"right_x":0.37,"right_y":0.135,"right_z":0.105},"note":"The pen shifted closer to the jaw column, but the right arm is still short of the requested sideways position. I’ll bring the wrist slightly closer to its base and farther right to improve the angle for a centered grasp."})
tool
executing move_to over 7 steps (0.7s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe right arm did not track the last sideways move, and its wrist remains low over the pen. I’ll raise and retract it to clear any awkward low-reach posture before trying a new approach.
move_to
right_x0.3100right_y0.2000right_z0.2200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.68, 1.7229, 0.9691, -0.0933, 0.4854, 0.3466, 0.999] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9998 right_x=0.3836 right_y=0.2088 right_z=0.0796 right_yaw=0.0551 right_pitch=-0.1391 right_roll=-0.0978 right_gripper=0.999 state[joint_eff]: [-0.1026, -1.2513, 7.1863, 1.7363, -0.0806, -0.0611, -0.0122, -0.3077, -10.7692, 6.4889, 1.6728, 0.1929, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.2,"right_z":0.22},"note":"The right arm did not track the last sideways move, and its wrist remains low over the pen. I’ll raise and retract it to clear any awkward low-reach posture before trying a new approach."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe arm has cleared the low posture; the pen is still ahead and to the right of its jaws. I’ll approach from above at a smaller reach and rotate the jaws toward a crosswise grip on the pen.
move_to
right_x0.3500right_y0.1450right_z0.1600right_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.8215, 1.4227, 1.1885, -0.6994, 0.5426, 0.4389, 0.999] state[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0007 left_pitch=-0.0137 left_roll=0.0005 left_gripper=0.9998 right_x=0.3128 right_y=0.2075 right_z=0.1968 right_yaw=0.0948 right_pitch=-0.175 right_roll=-0.119 right_gripper=0.999 state[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.7167, -0.0757, -0.0708, -0.0122, 0.335, -7.8427, 8.9915, 1.4921, 0.4957, 0.3053, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.145,"right_z":0.16,"right_yaw":-0.55},"note":"The arm has cleared the low posture; the pen is still ahead and to the right of its jaws. I’ll approach from above at a smaller reach and rotate the jaws toward a crosswise grip on the pen."})
tool
executing move_to over 6 steps (0.6s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe pen now runs across the right wrist view, slightly ahead of the jaw opening. I’ll move forward and lower above its midpoint while keeping the jaws angled across the shaft.
move_to
right_x0.3900right_y0.1650right_z0.1050right_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8074, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.746, 1.7077, 1.3422, -0.9676, 0.7055, 0.9012, 0.999] state[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.1755 left_yaw=0.0 left_pitch=-0.0164 left_roll=0.0003 left_gripper=0.9998 right_x=0.3355 right_y=0.159 right_z=0.1434 right_yaw=-0.4082 right_pitch=-0.2587 right_roll=-0.2118 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.4154, 7.1453, 1.6972, -0.0122, -0.0317, -0.0122, -1.8256, -8.1162, 8.759, 0.9158, 0.9255, 0.4664, -0.0073] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.165,"right_z":0.105,"right_yaw":-0.55},"note":"The pen now runs across the right wrist view, slightly ahead of the jaw opening. I’ll move forward and lower above its midpoint while keeping the jaws angled across the shaft."})
tool
executing move_to over 5 steps (0.5s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe near end of the pen is close to the right gripper’s opening, while the far tip remains clear. I’ll lower at this position to bring the jaws alongside the shaft before closing.
move_to
right_x0.3700right_y0.1600right_z0.0150right_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.693, 1.9671, 1.478, -1.0164, 0.6796, 0.9451, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0198 left_roll=0.0006 left_gripper=0.9998 right_x=0.3608 right_y=0.1599 right_z=0.0866 right_yaw=-0.5287 right_pitch=-0.3412 right_roll=-0.34 right_gripper=0.999 state[joint_eff]: [-0.1983, -1.388, 7.0222, 1.6825, -0.0513, -0.0611, -0.0122, -1.6615, -10.8103, 9.1009, 1.033, 0.7253, 0.3687, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.16,"right_z":0.015,"right_yaw":-0.55},"note":"The near end of the pen is close to the right gripper’s opening, while the far tip remains clear. I’ll lower at this position to bring the jaws alongside the shaft before closing."})
tool
executing move_to over 5 steps (0.5s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe right gripper again stopped about eight centimeters above the table, so closing now would miss the pen. I’ll lift and reorient the wrist to find a posture that can descend beside it.
move_to
right_x0.3200right_y0.1500right_z0.2000right_yaw0.0000right_pitch0.3000right_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]: [-0.02, 0.8108, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6865, 1.9873, 1.494, -1.0176, 0.6765, 0.9459, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0194 left_roll=0.0006 left_gripper=0.9998 right_x=0.3643 right_y=0.1602 right_z=0.083 right_yaw=-0.5369 right_pitch=-0.3458 right_roll=-0.3437 right_gripper=0.999 state[joint_eff]: [-0.335, -1.3333, 7.2547, 1.7118, -0.0611, -0.0806, -0.0122, -1.7026, -10.9744, 9.2376, 1.0965, 0.7253, 0.3834, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.15,"right_z":0.2,"right_yaw":0,"right_pitch":0.3,"right_roll":0},"note":"The right gripper again stopped about eight centimeters above the table, so closing now would miss the pen. I’ll lift and reorient the wrist to find a posture that can descend beside it."})
tool
executing move_to over 22 steps (2.2s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteWith the wrist pitched forward, the pen is centered near the lower part of the right wrist view. I’ll approach its middle from above in this clearer posture.
move_to
right_x0.3700right_y0.1450right_z0.1050right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8154, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.7639, 1.1427, 0.588, 0.0723, 0.7269, 0.2729, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1733 left_yaw=0.0007 left_pitch=-0.0244 left_roll=0.0007 left_gripper=0.9998 right_x=0.3166 right_y=0.1457 right_z=0.1806 right_yaw=-0.0187 right_pitch=0.233 right_roll=-0.0411 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.7436, 7.0359, 1.6972, -0.0806, -0.0659, -0.0122, -0.7316, -4.3966, 7.3504, 2.0391, 0.0806, -0.1343, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.145,"right_z":0.105,"right_pitch":0.3},"note":"With the wrist pitched forward, the pen is centered near the lower part of the right wrist view. I’ll approach its middle from above in this clearer posture."})
tool
executing move_to over 5 steps (0.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe shaft now lines up with the space between the right jaws, but the grasp point is still too high to hold it. I’ll lower with a stronger forward wrist pitch to test whether the arm can reach table height.
move_to
right_x0.3500right_y0.1350right_z0.0000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8196, 0.6029, -0.3824, -0.0196, -0.0109, 0.9998, 0.635, 1.5642, 0.4557, 0.5873, 0.6338, 0.173, 0.9991] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1719 left_yaw=0.0002 left_pitch=-0.0297 left_roll=0.0009 left_gripper=0.9998 right_x=0.3543 right_y=0.1355 right_z=0.0779 right_yaw=-0.0113 right_pitch=0.1714 right_roll=-0.1272 right_gripper=0.9991 state[joint_eff]: [-0.0889, -1.6752, 7.0359, 1.707, -0.0269, -0.022, -0.0122, -0.4581, -6.8581, 5.5316, 2.1221, 0.2906, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.135,"right_z":0,"right_pitch":0.5},"note":"The shaft now lines up with the space between the right jaws, but the grasp point is still too high to hold it. I’ll lower with a stronger forward wrist pitch to test whether the arm can reach table height."})
tool
executing move_to over 11 steps (1.1s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe new wrist posture reached four centimeters above the table, and the pen remains between the open jaws. I’ll lower the remaining distance for a table-level grasp.
move_to
right_x0.3650right_y0.1600right_z0.0050right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8211, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.7128, 2.1651, 0.4332, 1.5322, 0.7525, 0.0002, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1717 left_yaw=0.0004 left_pitch=-0.0301 left_roll=0.0006 left_gripper=0.9998 right_x=0.3664 right_y=0.1619 right_z=0.04 right_yaw=0.0014 right_pitch=0.4395 right_roll=-0.1246 right_gripper=0.9991 state[joint_eff]: [-0.3077, -1.5385, 7.0906, 1.6728, -0.0562, -0.0513, -0.0122, 0.3214, -6.3795, 2.4684, 1.9951, 0.2564, -0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.16,"right_z":0.005,"right_pitch":0.5},"note":"The new wrist posture reached four centimeters above the table, and the pen remains between the open jaws. I’ll lower the remaining distance for a table-level grasp."})
tool
executing move_to over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe right gripper is nearly over the shaft, but its grasp point has stalled about three centimeters above the table and drifted left of the target. I’ll bias the approach inward and lower it gently to reach the pen.
move_to
right_x0.3400right_y0.1300right_z-0.0200right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3817, -0.02, -0.0113, 0.9998, 0.7269, 2.2452, 0.5182, 1.5543, 0.767, -0.0166, 0.999] state[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.0317 left_roll=0.0009 left_gripper=0.9998 right_x=0.3784 right_y=0.1773 right_z=0.0332 right_yaw=0.004 right_pitch=0.4608 right_roll=-0.1255 right_gripper=0.999 state[joint_eff]: [-0.3077, -1.5111, 7.2274, 1.7411, -0.0562, -0.0562, -0.0122, 0.6222, -8.1299, 2.5231, 1.8584, 0.2076, -0.1978, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.13,"right_z":-0.02,"right_pitch":0.6},"note":"The right gripper is nearly over the shaft, but its grasp point has stalled about three centimeters above the table and drifted left of the target. I’ll bias the approach inward and lower it gently to reach the pen."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe right arm cannot descend farther from this pose, but the pen appears within the jaw opening near its tip. I’ll test a gentle full close and use the gripper readback to see whether it actually caught the shaft.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.02, -0.0109, 0.9998, 0.7292, 2.2528, 0.5327, 1.5555, 0.7673, -0.0277, 0.999] state[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0313 left_roll=0.0012 left_gripper=0.9998 right_x=0.3807 right_y=0.1805 right_z=0.0337 right_yaw=0.0101 right_pitch=0.4663 right_roll=-0.1319 right_gripper=0.999 state[joint_eff]: [-0.1299, -1.4291, 7.2137, 1.7021, -0.0806, -0.0366, -0.0122, 0.4444, -8.1983, 2.4821, 1.8339, 0.232, -0.0317, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right arm cannot descend farther from this pose, but the pen appears within the jaw opening near its tip. I’ll test a gentle full close and use the gripper readback to see whether it actually caught the shaft."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe right gripper closed almost completely, confirming it missed the pen. I’ll park it clear of the work area and position the left arm above the separate cap, which lies toward the left side of the table.
move_to
right_x0.2900right_y0.0050right_z0.1800right_gripper1.0000left_x0.3600left_y-0.1700left_z0.1500left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0196, -0.0109, 0.9998, 0.728, 2.2528, 0.5308, 1.552, 0.7628, -0.0338, 0.0132] state[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1714 left_yaw=0.0002 left_pitch=-0.0313 left_roll=0.001 left_gripper=0.9998 right_x=0.3804 right_y=0.1804 right_z=0.0325 right_yaw=0.0187 right_pitch=0.4614 right_roll=-0.1419 right_gripper=0.0132 state[joint_eff]: [-0.2667, -1.3744, 7.0496, 1.6972, -0.0269, -0.0464, -0.0122, -0.0752, -8.3077, 2.1675, 1.7851, 0.0562, 0.022, 1.1258] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.005,"right_z":0.18,"right_gripper":1,"left_x":0.36,"left_y":-0.17,"left_z":0.15,"left_pitch":0.4},"note":"The right gripper closed almost completely, confirming it missed the pen. I’ll park it clear of the work area and position the left arm above the separate cap, which lies toward the left side of the table."})
tool
executing move_to over 16 steps (1.6s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe cap is visible near the bottom of the left wrist view, a little to the right of the jaw column. I’ll make a small rightward correction and lower the left gripper toward it.
move_to
left_x0.3700left_y-0.1900left_z0.0350left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7483, 1.5066, 0.4541, 0.6792, -0.709, -0.1886, 0.9998, 0.1055, 0.6014, 0.1104, 0.4355, 0.2054, -0.1272, 0.9965] state[eef_state]: left_x=0.3496 left_y=-0.1627 left_z=0.1181 left_yaw=-0.0404 left_pitch=0.2876 left_roll=0.0607 left_gripper=0.9998 right_x=0.2914 right_y=-0.0018 right_z=0.1856 right_yaw=-0.0458 right_pitch=0.5303 right_roll=-0.1315 right_gripper=0.9965 state[joint_eff]: [-0.3214, -6.3385, 8.3077, 2.1074, -0.315, 0.2564, -0.0122, -0.0342, -0.0205, 10.5778, 2.0244, -0.0562, 0.0464, -0.1978] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":0.035,"left_pitch":0.5},"note":"The cap is visible near the bottom of the left wrist view, a little to the right of the jaw column. I’ll make a small rightward correction and lower the left gripper toward it."})
tool
executing move_to over 8 steps (0.8s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe cap is now centered between the left jaws, and the grasp point is only a couple of centimeters above the tabletop. I’ll finish lowering before closing around the cap.
move_to
left_x0.3700left_y-0.1900left_z-0.0100left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7872, 2.2204, 0.503, 1.4658, -0.7788, -0.0586, 0.9998, 0.1005, 0.6071, 0.1078, 0.4026, 0.1871, -0.1318, 0.9975] state[eef_state]: left_x=0.3679 left_y=-0.1884 left_z=0.0226 left_yaw=-0.0645 left_pitch=0.3867 left_roll=0.1274 left_gripper=0.9998 right_x=0.2913 right_y=-0.0 right_z=0.1747 right_yaw=-0.0272 right_pitch=0.4891 right_roll=-0.1417 right_gripper=0.9975 state[joint_eff]: [-0.5538, -9.0325, 3.6034, 2.4103, -0.1099, 0.1197, -0.0122, 0.0205, -0.6085, 7.2821, 2.21, 0.1245, 0.0024, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":-0.01,"left_pitch":0.5},"note":"The cap is now centered between the left jaws, and the grasp point is only a couple of centimeters above the tabletop. I’ll finish lowering before closing around the cap."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe cap extends into the left jaw opening at table level. I’ll close the left gripper and check whether its settled opening indicates a real 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]: [-0.8078, 2.3501, 0.6315, 1.5726, -0.8223, -0.0223, 0.9994, 0.0998, 0.609, 0.1078, 0.3973, 0.1825, -0.1318, 0.9976] state[eef_state]: left_x=0.3846 left_y=-0.2097 left_z=0.0212 left_yaw=-0.0339 left_pitch=0.4677 left_roll=0.0947 left_gripper=0.9994 right_x=0.2913 right_y=0.0005 right_z=0.1729 right_yaw=-0.0231 right_pitch=0.4818 right_roll=-0.1422 right_gripper=0.9976 state[joint_eff]: [-0.4444, -8.6496, 2.906, 1.7118, -0.022, 0.2369, -0.0513, -0.2803, -0.1846, 7.0359, 1.9023, 0.0171, -0.0464, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap extends into the left jaw opening at table level. I’ll close the left gripper and check whether its settled opening indicates a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left gripper closed empty; the cap appears just beyond the fingertips in the overhead view. I’ll reopen and advance roughly two centimeters along the table for one corrected grasp.
move_to
left_gripper1.0000left_x0.4050left_y-0.2100left_z0.0100left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8085, 2.3573, 0.6346, 1.5742, -0.831, -0.0238, 0.0083, 0.0998, 0.609, 0.1078, 0.395, 0.1822, -0.1318, 0.9977] state[eef_state]: left_x=0.3846 left_y=-0.2086 left_z=0.0195 left_yaw=-0.0265 left_pitch=0.4668 left_roll=0.0962 left_gripper=0.0083 right_x=0.2913 right_y=0.0006 right_z=0.1723 right_yaw=-0.0226 right_pitch=0.4795 right_roll=-0.1425 right_gripper=0.9977 state[joint_eff]: [0.1026, -9.9214, 1.7709, 1.6435, -0.0073, -0.0415, 0.5739, -0.1162, -0.1299, 7.0496, 1.8779, -0.0562, -0.0611, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.405,"left_y":-0.21,"left_z":0.01,"left_pitch":0.5},"note":"The left gripper closed empty; the cap appears just beyond the fingertips in the overhead view. I’ll reopen and advance roughly two centimeters along the table for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteAfter the small advance, the cap lies at the bottom of the left wrist image between the jaws. I’ll try the corrected close and check the readback 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]: [-0.7734, 2.3989, 0.7265, 1.573, -0.8299, -0.0135, 0.9947, 0.0998, 0.609, 0.107, 0.3916, 0.1822, -0.1318, 0.9977] state[eef_state]: left_x=0.4069 left_y=-0.2101 left_z=0.0222 left_yaw=0.0196 left_pitch=0.501 left_roll=0.0682 left_gripper=0.9947 right_x=0.2911 right_y=0.0006 right_z=0.1711 right_yaw=-0.0224 right_pitch=0.4754 right_roll=-0.143 right_gripper=0.9977 state[joint_eff]: [0.4034, -8.0068, 3.6034, 1.6777, 0.2564, 0.2418, 0.0122, -0.3487, -0.0889, 7.0906, 1.8926, -0.0171, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the small advance, the cap lies at the bottom of the left wrist image between the jaws. I’ll try the corrected close and check the readback before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe second cap close was also empty, so simply advancing is not enough. I’ll lift and rotate the left jaws along the cap’s diagonal, then approach its visible center from a level wrist posture.
move_to
left_gripper1.0000left_x0.3800left_y-0.1900left_z0.1300left_pitch0.0000left_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7727, 2.4042, 0.7265, 1.5749, -0.8318, -0.0174, 0.0091, 0.0998, 0.6109, 0.1059, 0.3885, 0.1825, -0.1322, 0.9977] state[eef_state]: left_x=0.4068 left_y=-0.2092 left_z=0.0204 left_yaw=0.0232 left_pitch=0.4988 left_roll=0.0668 left_gripper=0.0091 right_x=0.291 right_y=0.0005 right_z=0.1693 right_yaw=-0.0221 right_pitch=0.4693 right_roll=-0.1443 right_gripper=0.9977 state[joint_eff]: [-0.3761, -10.3316, 2.4, 1.6777, -0.1099, 0.0024, 0.3834, -0.1436, -0.2803, 7.159, 1.9365, 0.0024, -0.0855, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.38,"left_y":-0.19,"left_z":0.13,"left_pitch":0,"left_yaw":-0.65},"note":"The second cap close was also empty, so simply advancing is not enough. I’ll lift and rotate the left jaws along the cap’s diagonal, then approach its visible center from a level wrist posture."})
tool
executing move_to over 17 steps (1.7s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteWith the jaws rotated to the cap’s diagonal, the cap appears far to the right in the left wrist view. I’ll shift the arm toward it and slightly forward while remaining above the tabletop.
move_to
left_x0.4050left_y-0.2300left_z0.0900left_yaw-0.6500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4107, 1.496, 0.7208, 0.2222, 0.0952, 0.1326, 0.9971, 0.0998, 0.6147, 0.1043, 0.3733, 0.1818, -0.1318, 0.9977] state[eef_state]: left_x=0.3859 left_y=-0.1824 left_z=0.1177 left_yaw=-0.5644 left_pitch=0.0177 left_roll=0.062 left_gripper=0.9971 right_x=0.2906 right_y=0.0006 right_z=0.1639 right_yaw=-0.0204 right_pitch=0.4489 right_roll=-0.1466 right_gripper=0.9977 state[joint_eff]: [0.4034, -8.0889, 8.9641, 1.8584, 0.1929, 0.0952, -0.1343, -0.212, -0.1573, 7.159, 2.0147, -0.0317, -0.0659, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.23,"left_z":0.09,"left_yaw":-0.65,"left_pitch":0},"note":"With the jaws rotated to the cap’s diagonal, the cap appears far to the right in the left wrist view. I’ll shift the arm toward it and slightly forward while remaining above the tabletop."})
tool
executing move_to over 5 steps (0.5s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe cap is still off to the right of the rotated jaw column, and the low wrist stopped tracking forward. I’ll raise the left arm and move farther right before making another descent.
move_to
left_x0.3900left_y-0.2800left_z0.1300left_pitch0.4500left_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4797, 1.7016, 0.7784, 0.2382, 0.1043, 0.1329, 0.9979, 0.0998, 0.6163, 0.1043, 0.3702, 0.1822, -0.1318, 0.9977] state[eef_state]: left_x=0.384 left_y=-0.2165 left_z=0.0592 left_yaw=-0.6424 left_pitch=-0.1118 left_roll=0.0362 left_gripper=0.9979 right_x=0.2906 right_y=0.0005 right_z=0.1627 right_yaw=-0.0205 right_pitch=0.4443 right_roll=-0.1472 right_gripper=0.9977 state[joint_eff]: [-0.4444, -8.3214, 9.1829, 2.1807, -0.0269, 0.022, 0.0659, -0.1709, -0.1709, 7.241, 1.8926, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.28,"left_z":0.13,"left_pitch":0.45,"left_yaw":-0.65},"note":"The cap is still off to the right of the rotated jaw column, and the low wrist stopped tracking forward. I’ll raise the left arm and move farther right before making another descent."})
tool
executing move_to over 19 steps (1.9s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteFrom the overhead view, the cap is left of the gripper’s current position; the long dark line in the wrist view is actually the pen farther across the table. I’ll return to a level wrist and reposition over the cap rather than chasing that line.
move_to
left_x0.3900left_y-0.1700left_z0.0900left_yaw0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.625, 1.8381, 0.6285, 1.0, -0.0013, 0.0315, 0.998, 0.0998, 0.6193, 0.1043, 0.3656, 0.1822, -0.1322, 0.9977] state[eef_state]: left_x=0.3866 left_y=-0.2743 left_z=0.1075 left_yaw=-0.6443 left_pitch=0.3593 left_roll=0.0329 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1608 right_yaw=-0.0198 right_pitch=0.4367 right_roll=-0.1487 right_gripper=0.9977 state[joint_eff]: [-0.5265, -7.9111, 5.6957, 2.2589, -0.0366, -0.0171, -0.0073, -0.335, -0.3897, 7.0359, 1.9414, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.17,"left_z":0.09,"left_yaw":0,"left_pitch":0},"note":"From the overhead view, the cap is left of the gripper’s current position; the long dark line in the wrist view is actually the pen farther across the table. I’ll return to a level wrist and reposition over the cap rather than chasing that line."})
tool
executing move_to over 12 steps (1.2s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
right_cam
camera right_cam step 226
assistant
agent noteThe short cap is now clearly centered in the lower part of the left wrist image, between the open jaws. I’ll descend straight down with the wrist level to try to reach its actual height.
move_to
left_x0.3900left_y-0.1800left_z-0.0150left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6415, 1.663, 0.7399, 0.271, -0.4969, -0.2977, 0.998, 0.0998, 0.6201, 0.1043, 0.3653, 0.1822, -0.1318, 0.9977] state[eef_state]: left_x=0.3884 left_y=-0.1805 left_z=0.0791 left_yaw=-0.0726 left_pitch=0.0058 left_roll=0.0423 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1605 right_yaw=-0.02 right_pitch=0.4356 right_roll=-0.1484 right_gripper=0.9977 state[joint_eff]: [0.4171, -9.5385, 8.1162, 1.6532, -0.4029, -0.105, -0.0122, -0.335, -0.253, 7.0632, 1.9219, -0.0317, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":-0.015,"left_pitch":0},"note":"The short cap is now clearly centered in the lower part of the left wrist image, between the open jaws. I’ll descend straight down with the wrist level to try to reach its actual height."})
tool
executing move_to over 7 steps (0.7s)
step 233
top_cam
camera top_cam step 233
assistant
agent noteWith the wrist level, the left grasp point has reached table height and the cap crosses the jaw opening. I’ll close on it now and check whether the gripper holds a nonzero thickness.
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]: [-0.6399, 1.9732, 0.659, 0.6838, -0.5014, -0.3168, 0.998, 0.0998, 0.622, 0.1043, 0.3637, 0.1822, -0.1318, 0.9977] state[eef_state]: left_x=0.3941 left_y=-0.1831 left_z=0.0007 left_yaw=-0.057 left_pitch=0.0259 left_roll=0.0165 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0198 right_pitch=0.4322 right_roll=-0.1489 right_gripper=0.9977 state[joint_eff]: [0.0752, -6.3932, 3.5761, 0.6569, -0.0806, 0.149, -0.0122, -0.1846, -0.335, 7.0769, 1.8486, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"With the wrist level, the left grasp point has reached table height and the cap crosses the jaw opening. I’ll close on it now and check whether the gripper holds a nonzero thickness."})
tool
executing move_to over 10 steps (1.0s)
step 243
assistant
agent noteThe left gripper stopped at about a five-millimeter opening, consistent with gripping the cap. I’ll lift it clear of the table and verify that the cap moves with the jaws.
move_to
left_z0.0900left_x0.3950left_y-0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6403, 1.9869, 0.6552, 0.7227, -0.5106, -0.3149, 0.0487, 0.0998, 0.622, 0.1043, 0.3649, 0.1818, -0.1318, 0.9977] state[eef_state]: left_x=0.3962 left_y=-0.183 left_z=0.0016 left_yaw=-0.0507 left_pitch=0.0466 left_roll=0.0108 left_gripper=0.0487 right_x=0.2907 right_y=0.0006 right_z=0.1599 right_yaw=-0.0195 right_pitch=0.4333 right_roll=-0.1486 right_gripper=0.9977 state[joint_eff]: [-0.0205, -9.6068, 4.3556, 1.2967, -0.0952, -0.0855, 1.0867, -0.1026, -0.212, 7.0769, 1.8779, -0.0562, -0.022, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_x":0.395,"left_y":-0.18},"note":"The left gripper stopped at about a five-millimeter opening, consistent with gripping the cap. I’ll lift it clear of the table and verify that the cap moves with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 249
assistant
agent noteThe cap rose with the left jaws and its grasp remains firm. I’ll hold it high on the left while bringing the level right gripper over the pen’s body, away from the end where the cap should go.
move_to
left_x0.3400left_y-0.1800left_z0.1600right_x0.3700right_y0.1650right_z0.1300right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6392, 1.6981, 0.7017, 0.3836, -0.5095, -0.3164, 0.0563, 0.0998, 0.622, 0.104, 0.3645, 0.1822, -0.1322, 0.9977] state[eef_state]: left_x=0.3911 left_y=-0.1789 left_z=0.0719 left_yaw=-0.0497 left_pitch=0.0431 left_roll=0.011 left_gripper=0.0563 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0196 right_pitch=0.4326 right_roll=-0.1492 right_gripper=0.9977 state[joint_eff]: [0.5402, -8.7453, 8.6632, 1.7851, -0.2076, -0.0024, 1.033, -0.3761, 0.253, 7.1043, 1.9023, -0.0269, -0.022, -0.0122] 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":{"left_x":0.34,"left_y":-0.18,"left_z":0.16,"right_x":0.37,"right_y":0.165,"right_z":0.13,"right_pitch":0,"right_yaw":0},"note":"The cap rose with the left jaws and its grasp remains firm. I’ll hold it high on the left while bringing the level right gripper over the pen’s body, away from the end where the cap should go."})
tool
executing move_to over 15 steps (1.5s)
step 264
assistant
agent noteThe pen lies along the right jaw column, with its upper tip clear and the body near the opening. I’ll descend vertically with the wrist level, the posture that reached table height for the cap.
move_to
right_x0.3650right_y0.1650right_z-0.0120right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7567, 1.3663, 0.7502, -0.0647, -0.5888, -0.3958, 0.0563, 0.6506, 1.483, 0.7963, -0.0292, 0.572, 0.2161, 0.9977] state[eef_state]: left_x=0.3387 left_y=-0.1799 left_z=0.1415 left_yaw=-0.0634 left_pitch=0.0182 left_roll=0.0219 left_gripper=0.0563 right_x=0.3656 right_y=0.1626 right_z=0.1228 right_yaw=0.0382 right_pitch=-0.0042 right_roll=-0.1749 right_gripper=0.9977 state[joint_eff]: [-0.4034, -6.5436, 9.7846, 1.619, -0.3101, -0.1099, 1.0281, 0.4308, -6.2838, 8.3897, 1.5995, 0.3834, 0.2711, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.165,"right_z":-0.012,"right_pitch":0},"note":"The pen lies along the right jaw column, with its upper tip clear and the body near the opening. I’ll descend vertically with the wrist level, the posture that reached table height for the cap."})
tool
executing move_to over 9 steps (0.9s)
step 273
assistant
agent noteThe right grasp point reached table height, and the pen body crosses the open jaws near the lower-right of the wrist view. I’ll close on the body and check the measured jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0853, -0.5919, -0.4023, 0.0563, 0.6563, 1.8938, 0.5991, 0.609, 0.5838, 0.2321, 0.9977] state[eef_state]: left_x=0.3365 left_y=-0.1789 left_z=0.1394 left_yaw=-0.0612 left_pitch=0.0061 left_roll=0.0291 left_gripper=0.0563 right_x=0.3715 right_y=0.1678 right_z=0.0054 right_yaw=0.026 right_pitch=0.0259 right_roll=-0.1502 right_gripper=0.9977 state[joint_eff]: [0.1983, -5.2855, 6.3932, 1.7265, -0.2222, 0.0024, 1.0281, 0.3487, -5.4085, 3.0974, 0.5446, 0.105, -0.149, -0.0122] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right grasp point reached table height, and the pen body crosses the open jaws near the lower-right of the wrist view. I’ll close on the body and check the measured jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteThe right jaws closed empty, with the shaft remaining to their right in the wrist image. I’ll reopen and shift a few centimeters rightward and slightly forward so the body crosses the jaw center.
move_to
right_gripper1.0000right_x0.3850right_y0.1300right_z0.0050right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0875, -0.5919, -0.4026, 0.0563, 0.6567, 1.9083, 0.593, 0.6231, 0.5797, 0.2291, 0.0134] state[eef_state]: left_x=0.3362 left_y=-0.1787 left_z=0.139 left_yaw=-0.061 left_pitch=0.0043 left_roll=0.0302 left_gripper=0.0563 right_x=0.3699 right_y=0.1675 right_z=0.0003 right_yaw=0.0313 right_pitch=0.0189 right_roll=-0.1544 right_gripper=0.0134 state[joint_eff]: [-0.0615, -5.3812, 6.5436, 1.5702, -0.2418, -0.0024, 1.0281, -0.212, -8.841, 4.506, 1.4579, 0.1929, -0.0024, 1.1062] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.385,"right_y":0.13,"right_z":0.005,"right_pitch":0},"note":"The right jaws closed empty, with the shaft remaining to their right in the wrist image. I’ll reopen and shift a few centimeters rightward and slightly forward so the body crosses the jaw center."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteThe correction places the pen body through the middle of the right jaw opening at table height. I’ll try the corrected grasp and inspect the settled gripper reading.
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]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5236, 1.8767, 0.5678, 0.6659, 0.4698, 0.1448, 0.9946] state[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3873 right_y=0.1354 right_z=0.0063 right_yaw=0.0293 right_pitch=0.019 right_roll=-0.1417 right_gripper=0.9946 state[joint_eff]: [-0.0342, -5.3538, 6.735, 1.5507, -0.2759, -0.0513, 1.0281, -0.7316, -8.7863, 3.7402, 1.409, 0.2906, -0.1343, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The correction places the pen body through the middle of the right jaw opening at table height. I’ll try the corrected grasp and inspect the settled gripper reading."})
tool
executing move_to over 10 steps (1.0s)
step 303
assistant
agent noteThe second right close was also empty; the shaft sat slightly right of the fingertips, and closing across its diagonal may have pushed it away. I’ll lift, rotate the jaws to cross the pen more squarely, and reassess its position before another approach.
move_to
right_gripper1.0000right_x0.3850right_y0.1200right_z0.0850right_yaw0.7000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5194, 1.8755, 0.5663, 0.6617, 0.4622, 0.1432, 0.0131] state[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3869 right_y=0.1346 right_z=0.0052 right_yaw=0.0321 right_pitch=0.0127 right_roll=-0.1411 right_gripper=0.0131 state[joint_eff]: [-0.3487, -5.2034, 6.5436, 1.5018, -0.2271, -0.0757, 1.0281, 0.1573, -7.3641, 4.3009, 1.7314, 0.2173, -0.0024, 1.1404] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.385,"right_y":0.12,"right_z":0.085,"right_yaw":0.7,"right_pitch":0},"note":"The second right close was also empty; the shaft sat slightly right of the fingertips, and closing across its diagonal may have pushed it away. I’ll lift, rotate the jaws to cross the pen more squarely, and reassess its position before another approach."})
tool
executing move_to over 10 steps (1.0s)
step 313
assistant
agent noteRotating the right wrist makes the pen appear almost vertical in its camera, better oriented for the jaws, though slightly left of center. I’ll shift a little left and lower onto the pen body with this orientation.
move_to
right_x0.3850right_y0.1250right_z-0.0100right_yaw0.7000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0898, -0.5919, -0.4026, 0.0563, 0.1295, 1.5631, 0.6147, 0.3096, -0.3161, -0.4084, 0.9949] state[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0026 left_roll=0.0317 left_gripper=0.0563 right_x=0.3898 right_y=0.1098 right_z=0.0702 right_yaw=0.587 right_pitch=-0.0192 right_roll=-0.1384 right_gripper=0.9949 state[joint_eff]: [-0.0752, -5.3675, 6.5436, 1.5458, -0.2808, -0.0611, 1.0281, -0.5538, -8.5675, 7.5556, 1.5849, -0.1636, -0.0415, -0.0611] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.125,"right_z":-0.01,"right_yaw":0.7,"right_pitch":0},"note":"Rotating the right wrist makes the pen appear almost vertical in its camera, better oriented for the jaws, though slightly left of center. I’ll shift a little left and lower onto the pen body with this orientation."})
tool
executing move_to over 6 steps (0.6s)
step 319
assistant
agent noteAt table height the pen’s shaft sits about one jaw-width to the right of the right gripper’s center. I’ll make a small diagonal correction toward it before closing.
move_to
right_x0.4020right_y0.1040right_z0.0000right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0898, -0.5922, -0.4026, 0.0628, 0.1249, 1.8729, 0.5381, 0.6975, -0.4255, -0.4526, 0.9954] state[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1378 left_yaw=-0.0607 left_pitch=0.0007 left_roll=0.0336 left_gripper=0.0628 right_x=0.3873 right_y=0.1257 right_z=0.0026 right_yaw=0.695 right_pitch=0.0118 right_roll=-0.1192 right_gripper=0.9954 state[joint_eff]: [-0.0889, -5.6, 6.8308, 1.5116, -0.2466, -0.0317, 1.033, -0.0342, -5.1761, 3.0838, 0.8083, 0.315, -0.232, 0.0415] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.402,"right_y":0.104,"right_z":0,"right_yaw":0.7},"note":"At table height the pen’s shaft sits about one jaw-width to the right of the right gripper’s center. I’ll make a small diagonal correction toward it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 321
assistant
agent noteThe small correction brought the pen shaft onto the jaw column at table height. I’ll close and check whether the gripper stops on the pen rather than closing empty.
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]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5922, -0.403, 0.0628, 0.083, 1.9034, 0.5652, 0.7208, -0.4698, -0.4812, 0.9954] state[eef_state]: left_x=0.336 left_y=-0.1784 left_z=0.1377 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0628 right_x=0.3984 right_y=0.117 right_z=0.0054 right_yaw=0.7044 right_pitch=0.0413 right_roll=-0.133 right_gripper=0.9954 state[joint_eff]: [-0.1026, -5.4085, 6.653, 1.5116, -0.2808, -0.0757, 1.0379, -1.2103, -6.653, 5.5043, 1.6142, -0.2027, -0.0806, -0.0024] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The small correction brought the pen shaft onto the jaw column at table height. I’ll close and check whether the gripper stops on the pen rather than closing empty."})
tool
executing move_to over 10 steps (1.0s)
step 331
assistant
agent noteThe right gripper still closed empty even though the shaft is visually aligned, suggesting the tips rose or slid away during closure. I’ll reopen and press a little lower at the measured pen position before one more grasp attempt.
move_to
right_gripper1.0000right_x0.3970right_y0.1200right_z-0.0200right_yaw0.7000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5919, -0.4026, 0.0628, 0.0353, 1.898, 0.598, 0.6876, -0.5049, -0.5125, 0.0166] state[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1377 left_yaw=-0.061 left_pitch=0.0002 left_roll=0.0337 left_gripper=0.0628 right_x=0.4088 right_y=0.1035 right_z=0.013 right_yaw=0.702 right_pitch=0.0556 right_roll=-0.1467 right_gripper=0.0166 state[joint_eff]: [-0.1299, -5.3812, 6.5436, 1.4969, -0.2515, -0.0415, 1.0379, 0.3761, -6.4342, 3.9316, 1.1111, -0.4762, -0.0464, 0.6667] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.397,"right_y":0.12,"right_z":-0.02,"right_yaw":0.7,"right_pitch":0},"note":"The right gripper still closed empty even though the shaft is visually aligned, suggesting the tips rose or slid away during closure. I’ll reopen and press a little lower at the measured pen position before one more grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 341
assistant
agent noteThe pen now runs straight down the center of the open jaws with the fingertips at table height. I’ll close only to about a four-millimeter gap first, avoiding the harder squeeze that could flick the thin shaft aside.
move_to
right_gripper0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.403, 0.0677, 0.0986, 1.9598, 0.5838, 0.8165, -0.4557, -0.487, 0.9949] state[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0677 right_x=0.4104 right_y=0.1223 right_z=0.0063 right_yaw=0.714 right_pitch=0.0836 right_roll=-0.1781 right_gripper=0.9949 state[joint_eff]: [-0.0752, -5.3812, 6.5709, 1.5409, -0.2857, -0.0562, 1.033, 0.7179, -5.2581, 2.8103, 1.1013, 0.1148, -0.105, -0.1001] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_gripper":0.04},"note":"The pen now runs straight down the center of the open jaws with the fingertips at table height. I’ll close only to about a four-millimeter gap first, avoiding the harder squeeze that could flick the thin shaft aside."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteThe partial close left roughly a four-millimeter gap around the centered pen, but that alone does not prove it is held. I’ll lift the right arm and verify whether the pen leaves the tabletop.
move_to
right_z0.0950right_x0.4100right_y0.1200left_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.4026, 0.0712, 0.0998, 1.9621, 0.5854, 0.8307, -0.4538, -0.4866, 0.0455] state[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0607 left_pitch=0.0004 left_roll=0.0339 left_gripper=0.0712 right_x=0.4124 right_y=0.1227 right_z=0.0085 right_yaw=0.714 right_pitch=0.094 right_roll=-0.1863 right_gripper=0.0455 state[joint_eff]: [-0.0615, -4.9026, 6.5846, 1.5702, -0.2613, -0.0464, 1.033, -0.1983, -8.253, 4.2462, 1.4969, -0.3248, -0.0562, 0.1929] approver: 1 step(s) modified (delta_clamped). 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":{"right_z":0.095,"right_x":0.41,"right_y":0.12,"left_z":0.16},"note":"The partial close left roughly a four-millimeter gap around the centered pen, but that alone does not prove it is held. I’ll lift the right arm and verify whether the pen leaves the tabletop."})
tool
executing move_to over 6 steps (0.6s)
step 357
assistant
agent noteThe pen rose with the right gripper and is no longer at its original tabletop position; the cap remains held in the left. I’ll carry the pen toward the center and rotate the cap so their long axes can meet, keeping the grippers separated.
move_to
right_x0.3800right_y0.2250right_z0.1700right_yaw0.7000left_x0.3350left_y-0.1800left_z0.1700left_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7601, 1.364, 0.7811, -0.1707, -0.5919, -0.4034, 0.0726, 0.0978, 1.6527, 0.6407, 0.469, -0.4541, -0.4927, 0.0443] state[eef_state]: left_x=0.3323 left_y=-0.175 left_z=0.1375 left_yaw=-0.06 left_pitch=-0.0362 left_roll=0.0637 left_gripper=0.0726 right_x=0.4085 right_y=0.1216 right_z=0.0811 right_yaw=0.716 right_pitch=0.0961 right_roll=-0.1933 right_gripper=0.0443 state[joint_eff]: [0.0205, -7.4598, 10.0855, 1.4579, -0.2076, -0.0366, 1.0281, -0.6222, -8.5402, 7.9521, 1.8095, -0.2515, 0.0024, -0.1294] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.225,"right_z":0.17,"right_yaw":0.7,"left_x":0.335,"left_y":-0.18,"left_z":0.17,"left_yaw":0.65},"note":"The pen rose with the right gripper and is no longer at its original tabletop position; the cap remains held in the left. I’ll carry the pen toward the center and rotate the cap so their long axes can meet, keeping the grippers separated."})
tool
executing move_to over 9 steps (0.9s)
step 366
assistant
agent noteBoth objects remain raised, and the cap-bearing left gripper is still several centimeters left of the pen’s exposed end. I’ll slide the cap toward that end while keeping both grasp points safely apart.
move_to
left_x0.3450left_y-0.2700left_z0.1700left_yaw0.7000right_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]: [-0.8909, 1.8687, 1.4986, -1.0836, -0.9203, -1.3586, 0.0739, 0.4683, 1.4799, 0.8043, 0.157, -0.1577, -0.3294, 0.0443] state[eef_state]: left_x=0.3435 left_y=-0.1957 left_z=0.156 left_yaw=0.5536 left_pitch=-0.0771 left_roll=0.051 left_gripper=0.0739 right_x=0.3761 right_y=0.2253 right_z=0.1475 right_yaw=0.7524 right_pitch=0.067 right_roll=-0.1958 right_gripper=0.0443 state[joint_eff]: [-0.7316, -9.6205, 7.4462, 0.0904, -0.8767, -0.0269, 0.9353, 0.253, -8.8684, 8.9368, 1.7314, 0.0611, 0.1587, -0.022] 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]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.27,"left_z":0.17,"left_yaw":0.7,"right_z":0.17},"note":"Both objects remain raised, and the cap-bearing left gripper is still several centimeters left of the pen’s exposed end. I’ll slide the cap toward that end while keeping both grasp points safely apart."})
tool
executing move_to over 7 steps (0.7s)
step 373
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9581, 2.2139, 2.0418, -1.5795, -0.8974, -1.6943, 0.0739, 0.4133, 1.4708, 0.8284, 0.0563, -0.1543, -0.3298, 0.0442] state[eef_state]: left_x=0.3444 left_y=-0.2436 left_z=0.1634 left_yaw=0.6956 left_pitch=-0.0938 left_roll=0.0828 left_gripper=0.0739 right_x=0.3812 right_y=0.2007 right_z=0.1408 right_yaw=0.6942 right_pitch=0.0017 right_roll=-0.179 right_gripper=0.0442 state[joint_eff]: [-1.0735, -8.1162, 8.4171, 0.5495, -0.6422, -0.1099, 0.9597, 4.0547, -8.5538, 10.2769, 1.7802, -0.1099, -0.0317, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [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 · 7.358 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3794, -0.0196, -0.0113, 0.9998, -0.0139, 0.7921, 0.6029, -0.3977, -0.0299, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1797 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0048 right_z=0.1764 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4701, 10.4684, 1.8046, -0.0366, -0.0269, -0.0366, -0.9094, -1.265, 10.3179, 1.9853, 0.0464, 0.149, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d586a1eacae8cda5125009ac8006190cb7dbc5e29e87e570a3b9a2edc922070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f5d886b3e1da7218bd2dac79eee51c5fe3e3cad8e3ed06627b39de2a347af89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31515b1300e6f23e0eea951417fd7b906f50dc4506c37fced6b7f583894b3703",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 6.018 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0feb634981959526016ab41a21f77c87d0b2c77929fdac2a8e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBon_Ap0M4dTgEh0LZ5XYhr_RBHg_k7TnjNcadA3iWjfWCySVeEI2m3f7xw-dTfaQqepnQVlS78Dodl1HT3TfgdVaql3r7J9nG3NmNwn1AKd83XngOlu1SbavM6PFKMKT6eyjEZL5DZfHYUCmjs5WFOsH0uZv3wr6seaFnOp1YnhRaHuZYJaWxSJ_qdhLHIXLxfGpEQRgZgH7AyHB54bSu_rdehV1wlbevwP_QGOqjnWtGAOMrI30C0B6yLtDxDZZIAH1M5ky6zSQWaavLXLkfHZVB8Re8rXAzdA6KWWyUyctJCtVZ2zPhhHI1hTuLowWAbQTHwJBf1YgntJhG5gMCizGy1xdMZS3ZVVPpARR4sh0JJ5M05fsiRM6QzuZAzvrWAZWA0dwUivjxg243tXjqMXlzFA7tE9uuBYPoFU5VBcvFtSl5IaaTkHtdmjAPc6qSX62QHk0awawjn1-KBbM8ekDHbF6M2l8aLKCW3j3KBrf9VVwtalf3iRISSIIVHos0cYjyizWWSY63fcI2p_vWm9e0AqoNTbgKNT3R9jpKC0bxzNgvJTLDAZm6QELH4k4YArA5t8v8BSYHaTK8Z0gZiMp2MbftE0YXU9J4Y9w864_e8jcz0i5hQPP3Ssog0Wup75rO8yBl4OVvteuy-N_rYp-Gfyq8O4AUKZrytWm45_mjao4VxCKP-UoMV65CK-XSh2eWBEYK6ng7jardlRLKLL8C2qAk0TuZxd6Mqq5I00YJt0zrJRYlM9Y-WlVE6QENdF4QgVaiawd67FmG0C1LBOxTWX7GgtHlPCiDDMpFTaATgWsGtQPzue2Jn7Xjl4UCZvcmrYGep5mFGa3849ozQoBXPnHpFIjLOtEptLqVt9zStpOFnjL1Rv07fTbCeCXR17grls8x4Py2VIqWYoUCaSDp5z_1ZWCJ5ivsEsIdj6112CJVcSfT1IgvKZzABPjQ3WTJxj2OClL8osLauQ5Yhno8X89wbhJ1EiaT5my9IYscDjQPbo-2_Q4Ps-gZADPZalWV19ItrnezCrqRMnIwk9WaeVoFOd80omLCpjl7VEm-usgd3cVSLe31cb2QFZs1vAWwwpROOObTM2kH7sDy1KKpyoVqkh70SzQiy7-RLGy0REoX_nSrTjirOGQbtjbwj5XmQH5EnG59RdGJdJh5nu2MVFptvHLHMOoboViyrK14Qu7jDgF38QqabkiRowg_t1A-mxa9Nf0hcQh_LHeV2oS9PWHtBzrfXCjqZP29NR13U_AzlCGvCRThZTC6wNlrEE0Mrj-E3kXhAqNpqreVe5gw==",
  "id": "rs_0feb634981959526016ab41a26668c87d0bbbd3cbe6b9c5fea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.12},\"note\":\"The long pen is near the center-right of the table, with the short cap to its left. I’ll position the right gripper above the middle of the pen before lowering to grasp it.\"}",
  "call_id": "call_fmicSJvLi1MRiGoMl6pe4t1x",
  "id": "fc_0feb634981959526016ab41a26a7d087d085f533d6da63c110",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fmicSJvLi1MRiGoMl6pe4t1x",
  "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]: [-0.02, 0.7994, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.738, 1.7283, 1.0092, -0.0959, 0.5316, 0.3939, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1778 left_yaw=0.0007 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9998 right_x=0.3818 right_y=0.231 right_z=0.0948 right_yaw=0.0547 right_pitch=-0.0916 right_roll=-0.0691 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.7573, 7.0222, 1.7167, -0.0757, -0.0464, -0.0122, -0.0068, -8.4171, 9.2513, 1.9951, 0.6764, 0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c81b24c4528a8eacb00c2280407f4ce3248a14fe7dde802e9747a32254e9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243c621b3a9fa78d238d11627110679f4fd9a59e454cf55527c7a9382243681a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99076a35b116be5998b64d19d77b307f93c0bf08f189f9c6e94aea8de2937aba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.904 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, 0.7929, 0.6025, -0.3794, -0.0196, -0.0113, 0.9998, -0.0139, 0.7921, 0.6029, -0.3977, -0.0299, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1797 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0048 right_z=0.1764 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4701, 10.4684, 1.8046, -0.0366, -0.0269, -0.0366, -0.9094, -1.265, 10.3179, 1.9853, 0.0464, 0.149, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.738, 1.7283, 1.0092, -0.0959, 0.5316, 0.3939, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1778 left_yaw=0.0007 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9998 right_x=0.3818 right_y=0.231 right_z=0.0948 right_yaw=0.0547 right_pitch=-0.0916 right_roll=-0.0691 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.7573, 7.0222, 1.7167, -0.0757, -0.0464, -0.0122, -0.0068, -8.4171, 9.2513, 1.9951, 0.6764, 0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c81b24c4528a8eacb00c2280407f4ce3248a14fe7dde802e9747a32254e9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243c621b3a9fa78d238d11627110679f4fd9a59e454cf55527c7a9382243681a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99076a35b116be5998b64d19d77b307f93c0bf08f189f9c6e94aea8de2937aba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBovNbcCRzRtdLufa8cbYWmKI0dfKr1E58ow9ckwvR34vKJtzzUZ_lFmInA1L-pwi5A3Gfsy5G9r7rMp8696UdPz49MvVpNpX_YPprcvW2BH4lVm6bYexVLko4eDFFhMfG9acZeVnYw94zWODNSJ1FublH5kbpI06OWB1GQez8XR410BPxUslIvvx9QAOYndaDTIhKhIp0QyRsHoPwnWy7TAtY_DvhO2PFwcn5j3nL3UmCBPuADnEBCCt97tkF4xDcqTL0fxmKhR6_A1DZlOZcJVpvGDvn42xXqF3VDAMVjoXlya7pfpqmOiilc6FZLZa22271v7MoGHOZfnTXk2OR6petC4lhF-5rtlzM_slZbwXuOWuJV-5WUEt9xSmONgXFEKkqkw6W40drtDLsr8djWC-G_UFdPok5PVn_A6KCEuN2EKQCwx0JCpRwn4T92Q_uK2kAOB4Y6EDWFd_UQOVpNGmTbTZ5l5-mg6hMR_A_h2tKoKZw4y5O-SZuj0xXsDvBMP4iPatHX2p_GSM_2ybjqylWsn7mLOO78eKRgJWHXIa6YiJox-rA0kdSpGl-KeaLEDvYsCfrstJfREnwHKr-TtJyE8aoKHAsFnk_FJgXnkZjMe9EQuXwk5Us3l-f4uTACVOHo2wTQ8v1zioUsTbQlAOwHczVTOflOmRn-Fl2Q2U2cPdNdR9vqr5oKqGBtjm8Cd05aF7Z1JVSVs835CxIkGQngarvqw2p4l6d2U7bcPsg_EkEe8RDOdnF_MLLgSgYSvGC2NIT0sphg7S94YkhChqN1OvB5GvdaECw42_7hRJISRGL1Chkn-EYMbyIUqwMvDewsURIv4c-s2lWDsGDa9Xmxk6-Ya_iL_RAICcFoIvpzhVwiq1q69ekQSB89FvTYe285TBID48jfiipXZNgF25x2xgh_CELOB6ohjMh7mVmYo6KpaIn1aftL4Zk9qJuzMtz6fczvD2HXhYo9pa_iZLkXxvsLjO_jFkeDOqgNY6R7_9bdBwj4STc5YE5xTiCdyq0cRYPb_77vyhlNmh2YDCKjM8VlpXWOkjJ9ejGAl1w3Rf_ulJHwSIJfQ4HRfvJO2yHM6NTIjKF92i_RnkTk-jbdNfDAYFmChNcDcm9ySRrIulKyMIbhVzHq0O-KTqHcmpZ26vzKNqCvjTKpjg8ZxgjM3w7pcXC-EMoeQqluouT-DgMQGUKlxDH8buPXLqHTs-4H5qGmOjWjdaoIPlZds24x48kBlwze2bKqjct14xJmixguZVOV2K5SQy7IeGv3Jw6FH8Akiz83kBN7gKtldowwXkmWLcfwOWQPZGTApzaxmzNGjXexe2rxCZWzJ0mN3wuZQEK6OoFqD9_NoQcFeFoeadvOKGoRV1NhI4zG-LvIlb3Ve8EbFXOSP1gevWd-Y3EHWqQoG3xeopS95w_0XSGZl9kSeekwUzbQN9WqT6XnmfaZNWw8kFWh7Hebr1VmB9U7kq9QSC3EyVzV4qFtLNgo1Gk8hAEPWu1DGgK7fJmepR_a_KB9XuZ9K96TctlXd64VZRDLMLOn6Mwx5I5G2wSFNVyK0Id7PKejIBBOqtfSdEFuGOEfCDPFM7IuKdVE2-_OPZNSh-LjPMsuCi3nDqhcSL1rHGh-S41Nww3oWqgP6h43EGwuoN0xtG53yfKGAmjWVeOdNkRLahoWzvohdpvGnHrv5uEWXzQSNK_nS8iHuw-CJzE29UVmNrBv4AXvtt5rCUhXI4Civpgcs5NM9inmx7d2_-fmLG1bqSxVH5Efy1wp5KHAveTpHZYXCI6iDAtjm7Gzc1ENkL_WXSVNZRuMPoq1A3fE50aYZbAZfxCQsaM8gBKX6z_u5XZnjsi3-I_sxtmj0IRSHU3mREorCseW70mn5zcIS1wcfZl9gr9vLdGL6ZzrLS-_AZh4OKRCC3CQafOrokZEIwCqyhVprv9M-ZKZMFm5Gce9BNjiJpGdNFBzPnVXcrgyxB0hkFHqjtmOjc9d7WL95c-5HW88KjADM_0gVunXCCnqOZf7wuEXK34D_WGriuIqnFKYZLWFnqAfNCZ8gRd_SeRB-jDhlvu7MbRk9ZgXlvb-7EhBxJSZ2s1JMppfmZgKAYeWKl4b4Zb-CBPNn31udL5E5VupasGUjLJETcngtTseKc0rUYhtkqFJdjdNBRuYAd3hdQaN2-extndfE1i8gPxs4BvCs0FEs5ksyBHkgVkjCqV09YfMAer2qKdy0q9eAfydWtC5alZqskxKne_4qU_oGfXCQUAP8rYATQ1p6pt80IzSdnewbwMNJzrUs5nJbf1vjBx07Op7oGwXuPcOZnDo6C6UQnLkIxe0ok8BlYQE0Joh-zlFC0_aWfbfKAITjP3ROaFKvmesBGboILgyht4xe6N8kvQm8MnZrbsDcJvmRYYyil-DX8IN_QkK1693RIFs-c0qgSlxAYnbclcgw0srt4eiF6jYmbNos2w80n0SJUsIB0TnpF3b3dE1nGsaaq8hyXRpzKJx4jI-KoyMUQkIGLgntqv4rfl09dGPLuBr1gXHI6nCV5ms-DElTpX_VnMbMomRhvuswungTGdR-eR8aduZF10S3cq8hhahU-M4VR75WSF1OmBSdZEV0kT_xoXQc0JlxHIcY6W4tcbT-TKOuDvmRbtbh2Olp1uFwEMVqXDXte7qYvwcRH8DZ8_hCic43j9KAOgwIrVVwNJqqKjVDAZb_a_X1lN0wdOxRyNvLMgjisGLSCDU6O289Cf0ZA_Ot-o-rZqs9Yl97O1G169i1QNxIkuZVVLQJm0erJEqIAEIgOSvsL0me7XY5PYkXIgzNEbUm",
  "id": "rs_0feb634981959526016ab41a2b10c087d09d0e55ed07c7b678",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.17,\"right_x\":0.4,\"right_z\":0.10},\"note\":\"The pen is visible just to the right of the right gripper’s jaw column, and the first approach stopped a little short. I’ll shift the gripper rightward over the pen while staying above the table.\"}",
  "call_id": "call_LTxf1jUI10YpWB5HqSO8jJQs",
  "id": "fc_0feb634981959526016ab41a2eb3e887d0a079a920ff2c0076",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LTxf1jUI10YpWB5HqSO8jJQs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6804, 1.7229, 0.9691, -0.0933, 0.4881, 0.347, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9998 right_x=0.3837 right_y=0.2086 right_z=0.0797 right_yaw=0.0533 right_pitch=-0.1379 right_roll=-0.0992 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7021, -0.0611, -0.0562, -0.0122, -0.2803, -10.5778, 6.106, 1.6532, 0.1587, -0.0464, -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:9f82133cc050fd31410d0b147f1ded61fce3c8e1ec18dde6335a59f534d8b0d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9077bcc448a5dede4fdfbfe38a57482fc03c46ce5a9fa03fd74092cf5de32cea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07f8578f98870607fcadc7cf9c1fe00f13081079a6936cea41a73c15b990bd4",
      "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 · 2.715 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]: [-0.02, 0.7994, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.738, 1.7283, 1.0092, -0.0959, 0.5316, 0.3939, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1778 left_yaw=0.0007 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9998 right_x=0.3818 right_y=0.231 right_z=0.0948 right_yaw=0.0547 right_pitch=-0.0916 right_roll=-0.0691 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.7573, 7.0222, 1.7167, -0.0757, -0.0464, -0.0122, -0.0068, -8.4171, 9.2513, 1.9951, 0.6764, 0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6804, 1.7229, 0.9691, -0.0933, 0.4881, 0.347, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9998 right_x=0.3837 right_y=0.2086 right_z=0.0797 right_yaw=0.0533 right_pitch=-0.1379 right_roll=-0.0992 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7021, -0.0611, -0.0562, -0.0122, -0.2803, -10.5778, 6.106, 1.6532, 0.1587, -0.0464, -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,$blob:9f82133cc050fd31410d0b147f1ded61fce3c8e1ec18dde6335a59f534d8b0d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9077bcc448a5dede4fdfbfe38a57482fc03c46ce5a9fa03fd74092cf5de32cea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07f8578f98870607fcadc7cf9c1fe00f13081079a6936cea41a73c15b990bd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBozy7ss8hjt5Qe_gd0tQJfZR3fAckr1S5TCKdUYHuUSd7GWSzdCg8Ca3bTZbIyIUKJQWdfZmVrK3HF4DlN4a2OQ68LCi0WI4drupcqeAt9gFvddDnh-TXZ-cJnsMcDFroLTJGlwgpGw3iopu-noAtIRNghVH9JdU6LH_86m9XKZz0j-ZvvRpqeIAZoKYDbu2Frr1WMfT7LPwEO-VUWF9na0PWAtQeRPeNt2GIPwIMbMzJJldwoldUL0GIloIMtsCDP5W80LWfxeGlDU_PFMgtMAyvZnQicrawOuf0MJV3p2C1Ocwv3T3V84NyL1vmcEn7VUKhxfzTuBXhEXTILsPQSK9_pvYQafOjm08t096TISfCSRneWSCuN37QECk-QxSSIsMeI5XcCSnprbtoI2BQfTNAjb2nPGYnwqBLvdpFl3A0LwxjwNVzFV-CpA1tkVfjcY6aMQ6H4MjqMXtQlAMoF9bbqGkWkHKBbQl8Awx9JFMAhVwb8dUW7GfZOIwQeR6bEI0CCcJf4dUxCUvLanTzxDjrDIdNSMTCDnxnfAikErGQU2JwiD5r2mGLeS-Kf4Zhi919mIFAG2i_QFeDZCyaNL3IWL41tspIxcSehJdoL7w6TeIWPknejTo_DDTvz9fSowPfcw4ylSyXY9xt93IwM6RU8MmHudcMNdkU4PgSeBqsisGEbEQQiZaQI0eDA3hGa1WFJS3lPN7UtZ7lfmfLEy0Pj1XQLyBxvYnJOct6s5zxWlf7fLsKFomG_ATNzT67B7KWlxXISp3yIEPdAqwJJM-XiY-SDmQjj-aF4CH3o_f4LY3j2xFVM8eVmJlNLCXUl01wphRIlwWsIOtSCiVdP4Itcs1E-8bUp9HyHvxo8hfuafyvgse1vlLJkDuIvRE3NMkCaUKyl7fH0ayBY_Nr5Ut8quBAFkJTxAmsAFmVgncu1FrzZzW_3eobX_i0UDOmPfxOZXF3BAm_Y4H-wDdzIAJAQdb2WedXsf4zgfs5gHlBdYc7olz6djpxTVwyA5ZhHwMCNAa-BIThZ4pSbA-9kPHQXTNIO7eANmHd-ai0ukrVfVPgLY4E2scEMSBGFVaCOydBhr2_oQ-01HWeNwZoIAQwjkArqZTTmzlDEsv0Vi1gYtUAqDqMJJ04DFTqtsCddhAttGO3p5GfaBhVzAwnGb7-a-NtJO-5Y2TWoOExXJCAzqSjiDa8omHMmlgoZU-bBKe8kszgdBKqE0LIEJ-a8m_6-evKyBXXEt36dT9LJFhRFtJEFoTLvqCCRp4T6Blv-72mewaap8Zlg0a6M_RrL1L8P07z4bOv-sqBYqgv6TVq4hau-k04bK16HAB6Li28oMFiuPLDWxYbe7Foit8bkfrtvnU7AeC7nI7k4HYYoQaO-UNqP39h6hHEV2d7maSAKfrzW56uHt1CE1Up2u3SmV2_VoK5l3sx9q3iE3KSLReDtoDLdGoL-aUBCuysS2na-Af8SofVk0fWzEICWymtXhgk61Ky-4HKHJdc1Z4gi1i_t8_xLzeE2o4f3Xorc-3ZEhGtkk8vjgr0ngcnJfHoTz5SN5-bER9X818ZeqA6q5NW6L_JdZRsL4Ly_eUh3-Yv2cdvtovgnanBVB5qhM0nzSmnQE4dZ5YwdaRBBfjDzAEn_0KTx2TiiId-5aP-zypDbC7SE1wkG8AmT699AUIuWJrZdHFBXyPdd3L7ZFxk4WIdqjit9vmJE6RgkOBoZNI4u50M3KiKwp2PT7Z7rhlUgC543BA5rsc0bTRK-HdOBRaFv3zl3rUPk1tboDdIpia3dOTBxAmpihWs6E3rf4V0VNcRt19XssLPmjuh9rFZTwO59mGdXKXBhyr2dPD0FPHX8ouVjZLv4CcDYg2beLb_g5o1_SBdQQNKsu1m6KCmypGkPxQeGxQgJTnAp6_O9ACorLNYB7gapmXW6_BgLjtFv5HKlMeh8TKCOxZHO81qT_ICYAgD2YS_bBeV70sdQoFFOsri6rItPC5Ejyw_K_xFaavMiq_CEwbQnwfh50-p9RIGoIUB3LYQfuIpPT0WbQj2s_E6EBzwkU6JHTic9qKHqkGmsCH0Ttj-THmSqK_jfV_1INDqLjnHZMN7iW0Qpqhr8AP_qkYNQlVnbiOfxq9_f-Ce0J0sNq42F4ZCuvc-Iwo8ZfIN-fp9tsP_XeZkKaXKZQo8uxAEaUJCrj6HL1KX3IHIyHQCu8LK2ZAa77kmgw0qxtFH57cJWWN6j8cG6AYjdM",
  "id": "rs_0feb634981959526016ab41a30dfe087d0bb00ff4ebf762414",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.135,\"right_z\":0.105},\"note\":\"The pen shifted closer to the jaw column, but the right arm is still short of the requested sideways position. I’ll bring the wrist slightly closer to its base and farther right to improve the angle for a centered grasp.\"}",
  "call_id": "call_DVAejSAoi0F7VcCT1QBzRbvX",
  "id": "fc_0feb634981959526016ab41a32ef2887d0bb6713a5e1227333",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DVAejSAoi0F7VcCT1QBzRbvX",
  "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]: [-0.02, 0.8005, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.68, 1.7229, 0.9691, -0.0933, 0.4854, 0.3466, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9998 right_x=0.3836 right_y=0.2088 right_z=0.0796 right_yaw=0.0551 right_pitch=-0.1391 right_roll=-0.0978 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2513, 7.1863, 1.7363, -0.0806, -0.0611, -0.0122, -0.3077, -10.7692, 6.4889, 1.6728, 0.1929, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bb5254de8bc852a41dd9c6c6f5ab34081b6373191d8e85cdb8d2478055ea60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48f53b4cea505b4ab1259d5fe65aa2c086b05d65d3c77f6d0bb4996f5fb8783",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b3d4bdf4ad3b33832ab8120e05045ca46a8cf1b72b7e0c2ca75b52da3c40a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.46 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, 0.7929, 0.6025, -0.3794, -0.0196, -0.0113, 0.9998, -0.0139, 0.7921, 0.6029, -0.3977, -0.0299, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1797 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0048 right_z=0.1764 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.4701, 10.4684, 1.8046, -0.0366, -0.0269, -0.0366, -0.9094, -1.265, 10.3179, 1.9853, 0.0464, 0.149, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6804, 1.7229, 0.9691, -0.0933, 0.4881, 0.347, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9998 right_x=0.3837 right_y=0.2086 right_z=0.0797 right_yaw=0.0533 right_pitch=-0.1379 right_roll=-0.0992 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7021, -0.0611, -0.0562, -0.0122, -0.2803, -10.5778, 6.106, 1.6532, 0.1587, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.68, 1.7229, 0.9691, -0.0933, 0.4854, 0.3466, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9998 right_x=0.3836 right_y=0.2088 right_z=0.0796 right_yaw=0.0551 right_pitch=-0.1391 right_roll=-0.0978 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2513, 7.1863, 1.7363, -0.0806, -0.0611, -0.0122, -0.3077, -10.7692, 6.4889, 1.6728, 0.1929, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bb5254de8bc852a41dd9c6c6f5ab34081b6373191d8e85cdb8d2478055ea60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48f53b4cea505b4ab1259d5fe65aa2c086b05d65d3c77f6d0bb4996f5fb8783",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b3d4bdf4ad3b33832ab8120e05045ca46a8cf1b72b7e0c2ca75b52da3c40a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBo3sidvA3QVwEOJRIv2ONSdPhP0_7kJgLCCy8VT9YTWpRn0OpATPA5zftFza_rzE--KQY810r1VTcbR4K4vIyEeCghjRYrmPMfNidXbLWS6WjlJ8MizBp0JLKDjhlc4U1uQZ2Yx4RHSHyZDj_-v01SX-ZcVyOsQHyFjA0b1biZMhiF3xYmo5ImxHyA3CMJAMVnCalZXhAVsjSO4JCrn68XlEwnJXWgEQecG0W15r1pe61s1_jVKWp06y0k16ZKUSNzydTo6FJpsEe5AnBY_YQTKmYzBc0N0B5tgp47iN7fXxrlgvi7u-Z2MAb9UuiM5YxVqHfmGAT0TorLDwRNyhv72WcFLHWPfkyp2Cws-rR0YSPg899kdxKlDVH8BZBUXbTBPZwi-irW72o61c6HlHOMYQN_3MTxu9tfWZLJSIXgxcvpSkC3qiWFVOp_RRIAfoUERpEaEBG2lwMfqrSQihb5yivBWm4ZRgRF9118j2okSlGnYW4Mqp33uUWtA3lYHkuJlJio1uHVxlQ1JyeGiFjKeU-s5OFPyl1Z-LmRNAREAxDc6CFJrsJlgnkVPX10D5xEl_dqbZ3Nsyvgxhz86ixtq38EBYObsAuPQgvVzAQj0WWBE1fU8tTH0TiRTY7zJg4vwPXt6N_CE4vhCJh94pEPE5SPU2d-jDibNCg-CbfFbiEkOYMHs-t1JWAGB4oKOjBKK0f-uUaDc3bqysMcK2MUXbqrB9dlh8Cqvct3K017fEpiD7Igqi12PPPFhasFsxXAnodzLMpaxShZebK30OzqNAqxlS4mvM4NUAf1w-Z1hMJc8AfNymjUfhvdLbPOP_74FOTj8vKHwq_x28cDMqJqABmJmxDGS9V7W_2zyesD3POiJnTkIJs_HeoVTufX7ISSPXeIkwovT20PZG5DTYTXK2VGQNaPyItD7PWI4UXFnlPbk_3l_jZcIfaQny4ffwHvARRlyobLpRrJoBFBKoZXnN4hdMLss44ecuJMRwGiXWsXarSYwVkkGFYjWBsKO0TetdK8gxs7sqPi0HEYpfO1qIy28OE6zjhpx2XIt9xrjSy93ROO4SLFgjuuzL_nbwvfnPxqrwBXSduFbAJ_Yf1xD3zGjm-V4NG1IhB0PeHmYA-joQySg0RAANIKDUKnsvApgOu6VTCDVfRYDODPNUbSyFvP7u5yqDAOZKfaHtniWeGuY2Z1bq-pTndLPcIOrR8nRphMzdYky3sELgV-pxANIWwRjS6VFZadJwZVt7xnCCe27W8zr9I8DCChtkcHTjtL-b_kIWnGlypmHXljHohR6xlHlQTVsEBCCf9pUrqzMVGONbNqZdW2EKVleUamt6QxsN4k-MTFIU3bXE7VushSjamtk5pk_8SXigUPP7z1Dj1nwsjzWOL4zm576M0Pdtuipe3R_iYIIBHY1E4riVjhFCQgPUJG0YDfT80TA9mre8uASmwDvgYAsnuP9NryH-403DZeplVvsB3wagx9Kzg95Rprt-t4YMS5t2jPhxnAY9Rd6p1rjgLdzABRyPi3ug6MIMB2SU72Iy9KPXpQxD1zQIkREDV61GplQfMP69WWBmRxZAB7tVoOASlhOrI5JIrPKP5HOs_02UGQqQJLj-9udEP0dy6YJbGU9D_Rrt8iTXK4=",
  "id": "rs_0feb634981959526016ab41a35885887d0954da823dce77f45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.2,\"right_z\":0.22},\"note\":\"The right arm did not track the last sideways move, and its wrist remains low over the pen. I’ll raise and retract it to clear any awkward low-reach posture before trying a new approach.\"}",
  "call_id": "call_J71e8UcD1tvrprq2jl9C0BpP",
  "id": "fc_0feb634981959526016ab41a36828487d083003a28aa33ab7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J71e8UcD1tvrprq2jl9C0BpP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.8215, 1.4227, 1.1885, -0.6994, 0.5426, 0.4389, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0007 left_pitch=-0.0137 left_roll=0.0005 left_gripper=0.9998 right_x=0.3128 right_y=0.2075 right_z=0.1968 right_yaw=0.0948 right_pitch=-0.175 right_roll=-0.119 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.7167, -0.0757, -0.0708, -0.0122, 0.335, -7.8427, 8.9915, 1.4921, 0.4957, 0.3053, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226bbaa4224ee5dd27852c42cd0415db43a2633a171b679ea0c7d19f2917b87b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21858c02f381d4667ae13bf2aeb41792fc67e23157b34522056f067e00d2dde1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14b8e5614a78ef2a6c32dd43be548a5feca900eb9dab7aee8787750dfa0ec52",
      "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 · 5.234 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]: [-0.02, 0.7994, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.738, 1.7283, 1.0092, -0.0959, 0.5316, 0.3939, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0012 left_z=0.1778 left_yaw=0.0007 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9998 right_x=0.3818 right_y=0.231 right_z=0.0948 right_yaw=0.0547 right_pitch=-0.0916 right_roll=-0.0691 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.7573, 7.0222, 1.7167, -0.0757, -0.0464, -0.0122, -0.0068, -8.4171, 9.2513, 1.9951, 0.6764, 0.3932, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.68, 1.7229, 0.9691, -0.0933, 0.4854, 0.3466, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9998 right_x=0.3836 right_y=0.2088 right_z=0.0796 right_yaw=0.0551 right_pitch=-0.1391 right_roll=-0.0978 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2513, 7.1863, 1.7363, -0.0806, -0.0611, -0.0122, -0.3077, -10.7692, 6.4889, 1.6728, 0.1929, -0.0317, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.8215, 1.4227, 1.1885, -0.6994, 0.5426, 0.4389, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0007 left_pitch=-0.0137 left_roll=0.0005 left_gripper=0.9998 right_x=0.3128 right_y=0.2075 right_z=0.1968 right_yaw=0.0948 right_pitch=-0.175 right_roll=-0.119 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.7167, -0.0757, -0.0708, -0.0122, 0.335, -7.8427, 8.9915, 1.4921, 0.4957, 0.3053, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226bbaa4224ee5dd27852c42cd0415db43a2633a171b679ea0c7d19f2917b87b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21858c02f381d4667ae13bf2aeb41792fc67e23157b34522056f067e00d2dde1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14b8e5614a78ef2a6c32dd43be548a5feca900eb9dab7aee8787750dfa0ec52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBo6Hk_pzNurL1RivNXmaG51v-dcP1ixJp_BzU_7jJSweU1Z1dfQg1ziF71oLEe4zjrs72tc8HXfHNZuDaAFfDTnKe1qTBALpBMv2MmZbaXHLfez6MKmYBv3PwuW7tblATz1lvzvu0RbCky39JJMo2_g6CBarLu2DlObMA_343uiEdNDQODtJjYq5Jj7XrFza5P2FiK-BEX20jwEgxuxw_Z3KyUPJYl612D_4lV-udWsNGpv6zcKTt9PMaCfNyxZYZNL8wiFMRFG6zEhlwERpHdoo1ytd9MWl7hyXCP2BVhqSfnJtALqSG1QUzz3DL4S4wQ0wdpM1Z8NP9FSoJyWYuwLDlNjNH7Fp9LC-kiBNqbH8x_KlBmS1KMg6sXg_LLVbtO_3iKq9MYd69P4MD-RoXlBURifQkFFsqV2mIhl-cIxxN7rGzUrnOZ53N2UR4w1HJqmwSdbRK4cvYHnDkUkK0t4GqA53JwIm0DY1GTHE6xwjfgXxJWOTDO7BcjRNHdAVbaaLra6m8_kybwHvT7Tq3c_cQVSI_Mdg7RrHQ1_L5yR9nBztRs_VbMy8k0uuD-bjgXHhUgd2bymH-iVnmOmqui4UyucMl2TbwHLXYGGVHuPw2B4GeKK9mzuPdSYrlUSx6UmxyDoBLiU3EXCoc-3FKQmNi-92R6i9RD089HmpU854RuuPhjcY5VVqN3pLdNAc9rJxFr5pxjMW_M1p3xcTN_HDUVf3TE76-APgqGuP68Z1f6pzF4zKFMwLWP7D18PHrDvM0Vqb5JDLqM-vzHN-PtgIQLBs5tvGoVGwau-CO7a6-eaQXvOGuh9h2-9xdNmEa_0TtE-andGO8znicfUvtdivP9zVwCvoy2EVoEQxlZJ4Ar3FOmQyZMa9-ip_1cw_KPDPjI_5G8q9fB6TIfg6t9AZeKH0dsPWLdSBzsHdQmD_0TsBi7BGqu9YVWUtizwdMVuaiJ93CgH1y4F63xOVXtWn_FOhu8zVHwla34FBF6OQJalUlqhDjKu16qtmHsTIqFbDwWHKTyr65wX40ffFedDwoxJpG7I3bkLTaHfGTVfOj6SL9KOssdFzZEKAq4KMHJd2kCNz9vpFh33l5jzVTjrW9RQmqbypLov5dsqdZOnq4br_jdyVcVyrDNhesQTuyS7zlZgy8Ya11SNyTZHb_3WdGeyAf56bI4XrDaoJOjFwfVoF8eEB8fjNmUNAT9Bfh3X0Ylbx8ApeGXZdFLTIosruJtTKtShHTP3cyucMdpaVsN1wqtef4CbbqMjeWJjYJX7OUxXMs7jYg4siQwPuQikF8QwwWr4CPZIkKoVrQFdfKY=",
  "id": "rs_0feb634981959526016ab41a395c9487d0b50385dce97db919",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.145,\"right_z\":0.16,\"right_yaw\":-0.55},\"note\":\"The arm has cleared the low posture; the pen is still ahead and to the right of its jaws. I’ll approach from above at a smaller reach and rotate the jaws toward a crosswise grip on the pen.\"}",
  "call_id": "call_xRwgHhuKzYFMRVCjsd6Jse9Q",
  "id": "fc_0feb634981959526016ab41a39c7d887d08d45bdac48b7a44e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xRwgHhuKzYFMRVCjsd6Jse9Q",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8074, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.746, 1.7077, 1.3422, -0.9676, 0.7055, 0.9012, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.1755 left_yaw=0.0 left_pitch=-0.0164 left_roll=0.0003 left_gripper=0.9998 right_x=0.3355 right_y=0.159 right_z=0.1434 right_yaw=-0.4082 right_pitch=-0.2587 right_roll=-0.2118 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.4154, 7.1453, 1.6972, -0.0122, -0.0317, -0.0122, -1.8256, -8.1162, 8.759, 0.9158, 0.9255, 0.4664, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6823472dcb8d1244ed464ace12b9704a060d87014da1796d6e8e96c5579e2352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42091b08f4912e82ff82d729e0ee27778688c878697c2387c5a805f452d1a571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca10f861d5d84e98e07932ac3570c010cd29b2b5f90954ff461dc810c100bb68",
      "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 · 9.14 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6804, 1.7229, 0.9691, -0.0933, 0.4881, 0.347, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1775 left_yaw=0.0003 left_pitch=-0.0091 left_roll=0.0004 left_gripper=0.9998 right_x=0.3837 right_y=0.2086 right_z=0.0797 right_yaw=0.0533 right_pitch=-0.1379 right_roll=-0.0992 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.3744, 7.0085, 1.7021, -0.0611, -0.0562, -0.0122, -0.2803, -10.5778, 6.106, 1.6532, 0.1587, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.8215, 1.4227, 1.1885, -0.6994, 0.5426, 0.4389, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0007 left_pitch=-0.0137 left_roll=0.0005 left_gripper=0.9998 right_x=0.3128 right_y=0.2075 right_z=0.1968 right_yaw=0.0948 right_pitch=-0.175 right_roll=-0.119 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.7167, -0.0757, -0.0708, -0.0122, 0.335, -7.8427, 8.9915, 1.4921, 0.4957, 0.3053, -0.0073]\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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8074, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.746, 1.7077, 1.3422, -0.9676, 0.7055, 0.9012, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.1755 left_yaw=0.0 left_pitch=-0.0164 left_roll=0.0003 left_gripper=0.9998 right_x=0.3355 right_y=0.159 right_z=0.1434 right_yaw=-0.4082 right_pitch=-0.2587 right_roll=-0.2118 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.4154, 7.1453, 1.6972, -0.0122, -0.0317, -0.0122, -1.8256, -8.1162, 8.759, 0.9158, 0.9255, 0.4664, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6823472dcb8d1244ed464ace12b9704a060d87014da1796d6e8e96c5579e2352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42091b08f4912e82ff82d729e0ee27778688c878697c2387c5a805f452d1a571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca10f861d5d84e98e07932ac3570c010cd29b2b5f90954ff461dc810c100bb68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpANM__XBepp9N4Rf7TsKYJmEF-od-bp2KvYZ8B6-MprGf4klqbgn00nuNvvPr7RxYOy93a5TA2y1xo61uPxR2FyU5N31qiKdOrwXSzYyBQaHOCOUnAvs5orOQ2zFl4yPshufOVaYAjDsOEDwo9EZ2gv_igdxU0pEDzTfJknmO_AyddHKO_qQ_X0H4_7qeIojUDkMX59pzZaPbMHwMKhnpdiK24Bo6wQOZYqtAwnMAz-FGZNyRUMch5jqgmJe6tSFns4WmIQy6Ic6FQFi9eHAsgtZWqCf_Dx4-Wa1BqSB7_Lqw-I9PGcWvlaoGv3zOzu0xB8w0ouOCqGgdG65Cr0j_xC5uZ9x636TPr5Ks0fNZEGl-ftBh0UvetRITLleHh5DlDGDCou8ZaM0-Z9YxTmR7XiR-T5NjU6nSjNi0PLV_PQoyqc6jAjBjCEcvqPtIK6BqEVOpsCt0dKr0i8VgQ3tRmt6vG1CyWxNUwgfOfayva2esvsqsl97nLqvRYX_oGzQ9H08lQsuJEWFSZ8NYSnL4--VspUcY60ycSTfxowRinnV5PehZVGBneDi-n2yVIdqQSMHXIccXDM0KLaYUe57AD-xO1A0M-KzbIc6tjt-HVlVoWvPlgvYWbrb-exmv72u_9oP8HkwfSjkbTH0TKZ_I0k2PF6WEHXLlo4fH5GrOEahKkHhIsCaMDZqFE6rMhsvRtw9lmckqSrJBuRksI78sWB3eQ-OD3mzNmX7Xyp_RYI_z5KXydSKou1bwSPBvK7pkAGmJv_kDeGuz0ozocP856aqfM5a7uFjRIv0RC5yXgy0pG557MNhT00028i5jJEjiiYGarKf4maF4F2Na9l6CdVn6Ha8S-6iXvQSL3zgf8dnHawzxg108m_WncDjtRbsQ9tJSKqXtt5EhHCtuizJ4rj5muZ5R36ZQo0fkMF4a5mhGQP1kkt8Rf4ncj8f9eGyT6Ut1lp8Z1KCzTC3U5xj-6Kn7zMwNGoJV2gTdmjRnHvYy2h9ZbUm6QbTNKqvFqbk3-ctiaiJTRdZBPh9vDzxqNzTo13yKsha-Ed0e4cLBh4Q71PMifJdwxn9vpp55vzLqa2Dw2ooFe86BKmBBafI8CbM6LGFkhmETwAGFn9mYc0T3Z8buICywwl5fdYCSpPejw7HZX1cAffockpQaEoR_Ts6Hsp4AD13zDTfnbCwzT_zK_JNNGbOhiswhRyyI7hIgRfqCYG5ZaYzBBkIQ63HoYvpYCnEiPgmTZ-9PJHwSTayJnInMPo7DUYd8S5JpzTJdgVREMJKMLge24bYfDd31kn3FexgBaHBMc73HzLkxHF06HINlyo1r9IA5T8rdIa3Mc93NSnOPXApQbDwR5SYbqyayE3VcpAqt0Iqkk8WTDk0m5iNMQ7rO9Cu03JTsd2RNU6mnPPCVDgWZiVbG2OjiDYaF0YiRyP8q0cgEjNWW8sa3iX2xpFMGNXHmNwKSMIv5zsFG75DL5CV4S2ll7sXu-hyxRqBGaEUfNAAUNLOEPnIfQxvDHadkXXmPML3U0trdXXXD2ZUIFkD_KqCTInpERNNsJwUAKSmFz-r8KY29oL9lCdp_73B0Xs8LEYq-gvllVtRmW9GZtDy7i_l2gk0rGVlyKmQ7AOB8v9gpcI583_LqzfGowidYCgXltCei1hiAeAY3VBIkfFFEDpRTQzxWNtHuDXa7Q16EKxfXy-HOrmi5ASbREwbXQ1QuJfyGxh2sVdXZp_5vPfE7I9DzptTRcVQIDtKhzc5RCkh2KmuB4OPIwZitaTxZsnIdbsQoRrgRopcYldSi_t9Gpt-GpdnvK1k-wja_CeEItsu_D1Ken_IXQuaBJNIGTt4vsy6XMSmVPoK8j8MdA5ZnbMnweB8Ea0HDfZwf42BL8c8S6dwFzzusvk6GVzf-clsLEL2_BtrkbQKxEbxNp0WSPCq-dmRck__2Xh5yO9wsn2rQml4wS0TG17siL8QVjrg-HTc-qi_fE6CGTH6TIu9ud9TAV__qk-DBx-dVrdP7_U3_ICL3ZkYGZ_MqepBmbhGiPf2-wDXuYTnWilH2K0B67rSBpwOHeKobItZKfUMeBRZVEnT97Af_RWuC3kLdiO-aw29M11fsUAJk01j0Vi8k8_T4QPT8Mjo_QHW7HnDze6vRK6oFC1vPILl7cLAinzQvWQQ8iE62LDL06X52V3XjBZ6_JO6UcpDPewh3bui6cFpCfIIzAznst-j9xU30K-w8wx_h1Hag16FcQ39QpvsjcM76d7s5y_GiP0ndZXk4A7YEa4TlLHawBhZ3KJc1XEzyiLuKPbt6zAH2ajlHs9NKBcLfO1T1v-uDPRNusURmutGhleEJ65CbAi8UxQIZEgcjBJGNXZch5K1pv5K8P4avRHlAh7cjRdEGo7G_8HiaJv__8sSZA_vvh-A9Vqd9oh7v4pq0Q6A1EafVD1HFygcQYr36fSqZcgwzi2DEllhPF1qLwBz4kjvf5hb3ol8GHngILQlJoKRR8USGpFjENGJyOIH_dxdDW_lb8yvBnU3YM17BsxYSiM8B5Io4iGT2-ySLuGjKtfPEEzJcmiXxRr9Em1nWSbhOkaktzh4zFEpOVk7Eaxak4f_pX-l5slnFMN23HjqcQ4G1BSfyyknco0XjeETUxgYtkbVx_mKgdZpIit923npC3mdvWeqZLdT2cqQ0wnuzhcYcQIB3RRWYkZGpfbuCdgriNbpiBPBfAp2WidWky6fPCUGk=",
  "id": "rs_0feb634981959526016ab41a3c4eb887d0be8b1f7ea793395a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.165,\"right_z\":0.105,\"right_yaw\":-0.55},\"note\":\"The pen now runs across the right wrist view, slightly ahead of the jaw opening. I’ll move forward and lower above its midpoint while keeping the jaws angled across the shaft.\"}",
  "call_id": "call_Uv0ngiQmwlWaJUAAfEVdWshP",
  "id": "fc_0feb634981959526016ab41a3f4e3887d0be058b85d7d1bfde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uv0ngiQmwlWaJUAAfEVdWshP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.693, 1.9671, 1.478, -1.0164, 0.6796, 0.9451, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0198 left_roll=0.0006 left_gripper=0.9998 right_x=0.3608 right_y=0.1599 right_z=0.0866 right_yaw=-0.5287 right_pitch=-0.3412 right_roll=-0.34 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.388, 7.0222, 1.6825, -0.0513, -0.0611, -0.0122, -1.6615, -10.8103, 9.1009, 1.033, 0.7253, 0.3687, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca34b4f668dfa7a46199852cd12b908bc0a2148cb2bf6845e3e6058af8cc27a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79d0002835562f173fc37f738771a9079245e6535dfa48762d53be26f4d4fff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588004143a4d87f571b1fdedb7169e9c16841c8c528f80a21b05cfa12922318f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.028 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3805, -0.02, -0.0113, 0.9998, 0.68, 1.7229, 0.9691, -0.0933, 0.4854, 0.3466, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0088 left_roll=0.0004 left_gripper=0.9998 right_x=0.3836 right_y=0.2088 right_z=0.0796 right_yaw=0.0551 right_pitch=-0.1391 right_roll=-0.0978 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2513, 7.1863, 1.7363, -0.0806, -0.0611, -0.0122, -0.3077, -10.7692, 6.4889, 1.6728, 0.1929, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8074, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.746, 1.7077, 1.3422, -0.9676, 0.7055, 0.9012, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.1755 left_yaw=0.0 left_pitch=-0.0164 left_roll=0.0003 left_gripper=0.9998 right_x=0.3355 right_y=0.159 right_z=0.1434 right_yaw=-0.4082 right_pitch=-0.2587 right_roll=-0.2118 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.4154, 7.1453, 1.6972, -0.0122, -0.0317, -0.0122, -1.8256, -8.1162, 8.759, 0.9158, 0.9255, 0.4664, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.693, 1.9671, 1.478, -1.0164, 0.6796, 0.9451, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0198 left_roll=0.0006 left_gripper=0.9998 right_x=0.3608 right_y=0.1599 right_z=0.0866 right_yaw=-0.5287 right_pitch=-0.3412 right_roll=-0.34 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.388, 7.0222, 1.6825, -0.0513, -0.0611, -0.0122, -1.6615, -10.8103, 9.1009, 1.033, 0.7253, 0.3687, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca34b4f668dfa7a46199852cd12b908bc0a2148cb2bf6845e3e6058af8cc27a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79d0002835562f173fc37f738771a9079245e6535dfa48762d53be26f4d4fff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588004143a4d87f571b1fdedb7169e9c16841c8c528f80a21b05cfa12922318f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpJ0wJSXtZS22_wCFh-3hqy8xvqhvy6CTUdGXuAsUMkNuHi4P-SU9D4lYZWviRSv23Urj5K7HvUoOtQip5XuLFuozu78XlOKfNXbBkQVo2Nrd0qYklOddoIf23SpN99YMisV0F-XQCpY5z3qXTGKt09cKIQBJuRx4T-sJrTDcxVy7tGAAsgbnhrKjHg0CoViRP7USZ_WuvX44AUdy56q6OZXrJdm6n36QOq3CyH6bgId9W53buTF4O27oibgRTYDfDQy7kmZpHvWNM1ztJwXWgoCV8OApyHNvHGoPIWHJAeV_zH8s3xshT2TsIH7d8uFvFRGu-971foGrgX6QTZJfABCj3bRna_KaBTZXDuP-nBm04dVpjjrklHCvicj3PKyHL1dmhr3rQ2Mo_wdi31ED441ovSrzeXQP_vPgB_9hoZAu_nhBXd2XfmKtWh3BfzqVDkozBWa-K7AhQ-l95dLCJ9HNnlSVUm3GwXtaESSxz1oS43xoy6aCF7bRnGy55eyA8XReu0sbVpDE1YPBlwIW1YLpsAF3oUNY2f-HnLwUSBznFj6Lo1nCU-Nw_HOgUyea5vP8r2aed1RgFysW-mAt-ipVec2B-fYiEut5sY-d_P6yfHhlX4BzIpmBq44lN3YOx-GBVlvtsOm15T20XfoRimfken1DamPaxQ4BVVrnIs00fitSQM4cy-i9-n1_vQZQuO74IyIMww-n-EP3uc6C0lIPIPg1XXfqBsbuNujcS2Fe8Eejaytp0-UUUJuHRH-FyicVet2ulFrxBUnFvtQKmJ7aaaDdx9EIvOhNMdKe-n4AD-YYJQq9K1h6UmRGkJ7QVGt3mfUsKNRs2nb8aFojS5-YWZfBJ3OF5cKy6udJqGcHNp1CR7PIF1W9U5bJJomPlGdGGOfa3_n84uQZDyjVQReTOzyz4eUoYklezrgE0LXiYh2btY9FKOIiFnfI9l0VWJl22HFPWtYJ2gmcWyBZWG8mDpy8NXyqoZltmiuFAUyksg4vjq9XQs5fGae1yZKJdyi54zsUs37KY4kmwvPCm24I7yHqYjkf7GAn84TDMUYUr5VQK1fW01j9xI-gexYz3Bd44qdyPEDkgUgWZYe-egUNZoH6wUc8xVFp-6tqcVEOOyHKIMFZrYo5HXpqb1574ymgLzB7cr2vHgpRVvi-wJPbQD-5uP9DK01JxKJTaB_NQSKeIqr9MdTbQ0McYpAMVeFoG5S-JFQvl7KvxH4-n3C9MFF-apqP-TxobGvx1sJcXiShSpQ7AdX7scx48ucKo0iz1hx_1Mn67eHzY7OTMTW-F_LVd1cKDPIGqjfVMdAMgpXRgUmba_diIFnyn40Isvsu0L6vPRVCv9SD5aQbPwzemp3iQ01B7O1x2akjIr1GDQAYJlg2wjGwSRkdf_kSr5V7TlrzxCGWC8N1E2EmjC0p_F4b0kLRfJuYIzxuDlpZCfTLTjBEBVQr_fDx5L0wkE8T6bGuKfj4pDqSMe7GUiXezuPgxMpV0wnhHvwflEXwPOCjMn6WBGZnUirf0lTG4UF3g9r_9ACVJpolnLaR8apqhdng_bdg_DKMmxde_rmSIyDoBDNWGt_VZEdejVcvDyakctSHfj1HE7lBVzCsK48LOUPa0AvVJnWopQ_Yop27FPGHIBsv8aKeIaNyrFEQaa7eUNMtolTAsWr4WFV38kWrFapCXEvSdsjAenyCHwvKakH3IaE7mEqfFsnZhT2vwxRmotUq31PuGmhlOhGIsJW2yvqKTiWiIz1sFBkB9Om8XrtJpJkWRQMh0yk84dFfb-zb3Ghb61JKAamIRDkaqP2_eY99xi194l4vtSj4s_P7s0ADTZYJ6mgVvg8YgwZXXEgAfKRyk0gNtH2NOWFkieVz2lmj9F0liyCiojDGl7cSfA87zSQFCwPhOESGWyvrfOpMpjstOv2hiDF_n7ixOuAZnhNv_EBQENX18o3DfDOjY3NJs1CUvqHYtRCTp0HbmNFaVgrgOgpfJSsoy3tzUCHAKFRmujJZPAeCGoOVCd-UjKAHJIzwMr1bozvxOMktKYtgiNF2Bml4WMaPw4Xhm5VT7E_G6Vl1xRR-52PSXArYYKs1GoOJ8o0lkulN3stsQnKdKqQ5QY8aOWyijspwzXwxwV1OLOgCaWZUA9mzXjvq21CffnFauoak6SHjmB39DQbG-gQ0B8TmtmbYPKHCwompYf3fwVS8K_TyGYnXMiFlvzbheTVcKpIIxKzVKra9Akuce_3xId3Qe_NCtRCiRts-2NFwPTz9vN9wKjI3cb_XGbLyL3w5teFE5uuzJvd48hrAvmvySmMtbZS72F8vT8QXmqJQOQ9Vd9y7Ku69HAoBlGVAT2IJ9opvJyCcEFPKpC3kdUXmdPPtuKR9xg3yKAgIL2YIxs__egkOzWbFqm0B0X-tU-TvKfzXl5SFNNcIvs30CQjw3UcaihZ4dv1AWI5NMx2p7DNY-PFW25z6ZayenPsmYvmVLEAKjvh4ZSkQroDzxNKS5s7HPbBsxJLnYp-R56MOtXTLznUp97DzERNTGH3VE23nFBbW7YVRQ6iPxV0VVpk-1wcxQnrGxUR8I-nE0VSaRQcm4PxBRL1vWXOMf5o6tjh2g7WcOh5yss93FXrlSAvyzJkvCwFVvuR1tmIvauEB9_L7-LI2OejE1n-L1VUzsWgmR5Aftf1RVC9LSlJWNSar2mdseZxAJI_OY4CDyipIudaUQnNUgdQ5lqv0HngIpx-xhL7_uoJ0HGmAn6H1mOkfjdGBXUZnwd5RQLoxMVaraKDzepZ8H12xI5nUI7KxbnVzcygCj4tEh3zC9iU5-DO1_P9h6yBxPAgeLHgMF9uIMICPi3BwG-HeDnBFzQ8Pqiw8WvhCx3O4I89KMuq9h_Xw_fDB77SH5TzkHGYXDwOq3CMJF-gtt_wG5wuC8L2Ys1IQdD1saJ3q4umtEW85_1LHPdSavqa4W_5nuyNCVjWQ1zodbXvMWbfLrcdsk4g4oAtUm5sxvFKX8_egaEVns5PU3lqDTPzpGKkWYY3WB8aLVHM0aATNVk99jEXNCJBONWhD7mLZMCuIv8jUIqYMfJNgR8TLzl_jmc63rXyhvcka9UKxnpgESLyUKnv61NzdbTlTgUTs2hWBpLVsRJWE56EA4_QDP4TPaHCltjDuVngTfoCeIrfWZ36rbJGURxLeKgjin9P6QRBUbc9Esx2z6XH7mRvaTK1_rKsxL_XORgnPtVWdKS0r28ci5ExakgD-0kAq9Tdk1qVzXvoenTL_AF7NAtE0FABt5VmSRTtR-GF66L8923kKgyURLmP7WF82TsxXzeg56KurVkV3ZLzEBQpZ40kQg9P03bvHRwPoFmeAvRnDqsKSumhT_W0iIp9Vdqoe1XzQy8ScYNh181mIRe9-YMA6MQDQrFT2tlEZOH7Ydx-0j8LqTUxI7ZKluH8_F7VpfvCCPhtejNovU_bQajAwZpWI6xtljj_QFCME8yHKTvWgQ13wjhCRJrS24pY6hpr5HqeiN8CudkC5TcKvN99fpMur_RJgns3-0HxK-DqrRFevLUf4oC5lBXgFiSX6kJ4IzEFkykzXxzV55VvW5B3WjM0i6VMBPVFj9UQpNtif8XJoY3wCweKTzKTUaIWSWBo_UgosJRq1Q3IDkD",
  "id": "rs_0feb634981959526016ab41a41d7e487d0b948bee85ae813fc",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpJQmehTlfYAT2BhwCdc4ET4D6NNJe4Pcp4zlOdzVI4cDCCcxME7IcDF9hX3vys7tVdY1gJ6w5h56i7euw96OrisWf7dTbqWcHKqTL7LFdrVE6YpNd0zWjUP8415KgToO-xu7OmbhcY78lsdoMC-cHW5wigf36mCiim_bKpeq1dVSDhdUheXlFKFszhIKXQGie4aHUrd5VUgyRXTP2XN_yix7hv7iYDh2CHt9CIZ92eVixsBJN-yhe0gPDKgU6856YTaFQkiFMnO_7SU3N-pa-Ea8_MSaFf3MXKOw8CgFoLWqEaiOjygS7BDQI7VeBPMBJFw006GFXTtY8_Khd6GfDzGoPLLbPC6orQhxpjOAEYXJyG-kA7rxKNaceVslDOswZhtPeCuHjHNVJt7mg4y11RMaKLfqexkuC9MVVLduDrJA1ALAyVPv53F2WYxMJ_eFCGc7Ws5Gnqh88zum2EfAxsagcIYRmc8B3ch5LUGvMFAqz_iQurDVvylmrwlmGZDAkOhEQlcBP9yfLtO7bqXdQbSfBfbwWvm03b0MBi8fnkM7QX4EJ_FuUAygpES0uxwRCWTqdlGkIkIk7uSbM9-9DSNI1Dvgs_5qXpAxNzn1l7UqGWON47edBt8lUABir0bRi0aXroFGFEsiEJ2DPI3d0LrBgKtxCuWDDyqdyb03nkvicCLsCToE_g2Al2g1v1qkJIuxZAT4qnjdqAua9pT5xZcWhmB-GdZ-hW8RHPMkThMfBOUoozLLYpLxy0rTkukHTzJyZKstI9gH3NbhXwpuw308u_CV6Tn9wCvxjln4h8EB_QiGSIq-iCEyGanzFq8Gi-VXIFd12HBkgqpSr5aJNLB7hB1nexWqJuwwXerO8vjribPxkbfxjLf-3EDoTK4E_OwVdRPR84bMEvzWq-28qITd-rz9GzZVghAtEFWdLi6b331PYr0a6foBLCc5QpRz_HEj4GgSiJ3_04kn2eRnZpDkIRaAOpCGJcgilyUqjQcwafTad6n6BJ0_S2XyiSfgLkz_De0qlSKeJkzPWauU4wy0IF6pn4bxXoX4OfQZzGVjteOdOwMIYb_TtiN5FsY6Z-pxPcJ7xquTiQ-vihWBVUSK0rQp1TezjFk39YgVWrbPbTNdB9r9hCCrOqoyXgNd4Hwv_qhxDBDhfeP8WIe6XGbAj6KrhAlkZ2r-cjuUxN1Ez-lVlSea5Ci2mt63PKMLkpp-0OswOUA_NFspbA4fpEse2c7NgGzFRqJUJITeyQ9FaiXhvLvPy-57gA0pDx-zATW5p6anSBwLCSN9vLyEzLYCIozR2CD6JDiE872eNppufisoLlH4f9aodgzQx3VAhVs1y4rC6v6qNVxMNL7ADQ5JZzHx0FbWR2TVXrtolch-RWL017LeEvvJ1M_K841uLIDildeDfqOP0svo2NuqxRTUfEWUdDgIY0mU4g85KGqcXIylS8wxYfUDnNAAYE0-5DccwgBc1wToSSr-z7DC0YzZ17OeBxY8Ju_WBGzLx2Fyu03IvX9PHH8UF0eZ3oYimAbLaJoifNMClJF7hLn_IJtmk56tLYQbZzIYSvdcfO8THEJR_HzSP-xNCrxUv8Rq3s_tPngtGKsi_OGNA2TztlXsaO0dC2GHl9sq_LizjQcZ8V6Ifpdi5QaZSszNENZFMhVH9uTDMQlEVnjzZyYO9ai5yQWx6ub70cC_jPyEpomWUrbKI3XkWTvkyM_i4rjhce5iFcfi81LFetJy69846DEESFp2HuAaGbyzB8sdLfeBxgPj76y8M2_FXffgeJjmJT3kTegkmsHiMEIZPbqW4UyxJQs88htaWN6NHpJdO1ymEjBAT7kBnrLKU9HvjV-omahlXJqMUb3TcaSeM9BJrIOL3QPYLwtxJsiUk7vD351_6dULEFFyyYFrkVxge0YxFnJZXhDfFeuAedounU9esNyLyvc_G7j9XcG760sAHa88B-s1D8BKz6bVHtPxs1x0Au-8PiMO6o-9N3DN3sJkn3q9qanNj4SOQSFNsXbpyy1pAh3752AHvEyW8x5bjjJ7FAm8S48-DdsQbPmbHBKkqUGdCX46t3mNgH35PagFlseeVa9Z4zj0OzxI_6ALiahUYCoUZGUTG-omtZo-T0IQqyLUd8_4_AfN-Bth7CSCsiMCVrvuN6elKeyjrUFmwDOjhU2s-oJKh5U3ca1DTwq-8NJv4A546GCYvGzy4L2eUCOXOVTO-um7ZvWBAGHfq_0CBDh5XKRCUKxpytbPkUhU2jihbLsnYIjBgNuEEPHRCdhGybOkzcdaJA59zttAq-7XsRbAgEk1s0vjdF4R_NPoVMI2pers7I0yuinTT2v5zeedlA0JhsMi9FN17Ai9HjJhqYGHMjR7UQDfWnamcnTjxjZuYOjkAQN0C1VCF1hxnpTW6tpgW5dVRNyl4Md9X6IzkikvLDE1V0v3rJt1R9gxV_B_PQtYMWpwRt30xcTiPqNEMzhRdsrrqntuwh2iuO72lKGNt_wjRpAltV7x5yHY2YNZuq7YfGrOFPGYG40XZPTctCSgonRtGKdjTaxPorsww0tLNHdomUrhLK0qxyEO2jEco1l-zkICxoFojm9XfbMxbU3awLlB3RLYO6QsanCAdG89ZfQMRr-o1nruirTS77GA==",
  "id": "rs_0feb634981959526016ab41a46c6f887d095a5917a793e67e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.16,\"right_z\":0.015,\"right_yaw\":-0.55},\"note\":\"The near end of the pen is close to the right gripper’s opening, while the far tip remains clear. I’ll lower at this position to bring the jaws alongside the shaft before closing.\"}",
  "call_id": "call_jDoJTFNQtL1gdGDl3Xu9xQhT",
  "id": "fc_0feb634981959526016ab41a49281887d0a7d64ac3fa98e6fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jDoJTFNQtL1gdGDl3Xu9xQhT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6865, 1.9873, 1.494, -1.0176, 0.6765, 0.9459, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0194 left_roll=0.0006 left_gripper=0.9998 right_x=0.3643 right_y=0.1602 right_z=0.083 right_yaw=-0.5369 right_pitch=-0.3458 right_roll=-0.3437 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.3333, 7.2547, 1.7118, -0.0611, -0.0806, -0.0122, -1.7026, -10.9744, 9.2376, 1.0965, 0.7253, 0.3834, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac29cda797fbc0cca156c1ec8c34cec66113478c187ae97d701ac32b10fed0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a575d7307e45fa7c584f68ba13177e6ba3e3284cfec561501f0257dbd8e666f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158badf17bb0337450bc00952ccd126c7f1b8383621275ce98a59149fe970459",
      "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 8 attempt 0 · /responses · status 200 · 2.89 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 32 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.8215, 1.4227, 1.1885, -0.6994, 0.5426, 0.4389, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.1762 left_yaw=0.0007 left_pitch=-0.0137 left_roll=0.0005 left_gripper=0.9998 right_x=0.3128 right_y=0.2075 right_z=0.1968 right_yaw=0.0948 right_pitch=-0.175 right_roll=-0.119 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4427, 7.0496, 1.7167, -0.0757, -0.0708, -0.0122, 0.335, -7.8427, 8.9915, 1.4921, 0.4957, 0.3053, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.693, 1.9671, 1.478, -1.0164, 0.6796, 0.9451, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0198 left_roll=0.0006 left_gripper=0.9998 right_x=0.3608 right_y=0.1599 right_z=0.0866 right_yaw=-0.5287 right_pitch=-0.3412 right_roll=-0.34 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.388, 7.0222, 1.6825, -0.0513, -0.0611, -0.0122, -1.6615, -10.8103, 9.1009, 1.033, 0.7253, 0.3687, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6865, 1.9873, 1.494, -1.0176, 0.6765, 0.9459, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0194 left_roll=0.0006 left_gripper=0.9998 right_x=0.3643 right_y=0.1602 right_z=0.083 right_yaw=-0.5369 right_pitch=-0.3458 right_roll=-0.3437 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.3333, 7.2547, 1.7118, -0.0611, -0.0806, -0.0122, -1.7026, -10.9744, 9.2376, 1.0965, 0.7253, 0.3834, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac29cda797fbc0cca156c1ec8c34cec66113478c187ae97d701ac32b10fed0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a575d7307e45fa7c584f68ba13177e6ba3e3284cfec561501f0257dbd8e666f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158badf17bb0337450bc00952ccd126c7f1b8383621275ce98a59149fe970459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpPXOTSTGOJnTMKL4pPzYBdMXMAugOD7YGJfS_vweI8CHy6jbWaTWZdXM0YqQ9ZN2if4UGGUXts7qW-bUyuF5gYZGtb2xSCyAZuhZXBUdRdVLPXVSUCk5gm1SEkuYNtJolaE9AfGFoxGXX0XjeDZC026Ms_RWC3cvQSDqf2gnU2LwvieE8tBuhk19nwEDDk8KGp1IoSqCpeE220bV9LuMuCsZ3XiHs9K2_aKe4rs9ZZF7YJdBc5gPPPerYpZ3EaneSXN772DMdTqnmgHU0ctTuL6dFU60ys7CWAzgeOjyzXW9wRk5f6RjtO0-3d5Hu9Wwqm55d-qYysllJyLU6MWqEFXGjGkMDvdPwZmgCUTGI_-SCWFbrVh1rDJEyA1qOsaRhMmL0fuE2Zu96U_ua8nQnR8GBVT6RNtZ5DMmoaWRuGk-TK4Fvf1BWD-DPw6_RVrksewSLcV5FUXz5y6GSSkVjCvTzL4qXipdnzyklsOfdjbiKbB-43NF0sBapVUt92xOvqwGPWhqdKFn79bj42zizPi0In9FCuoCJNERxkBG30xWt7zW1fzkf0l6IIj2bmL_Dlr9hhS6xbNbW16joJQNTF2KrRuiS0bJv-YF05bx9KImbE9OImc4oe1OfnShLhMcWe-JaBUmNRB39peKofzm0ewvVTjZafvsb1HCukajVvvV2x-uz9qaMjPmIOiKj3HsN1-sVDMPOgJkrFURNpta556-o-dJCHyA7CY0Kf-J5cXegIzrIfvb5MILsWPmWlis0pqyQRzaYRGX_fcY5dZ337THvGnzRee0SHXw174k6GbqqhLgCR7yV2zN-cLssN1wpCHy5PdeAulaNQebTwVNjf5Q2qJ1r6znthKpXB3Mjy5U4kJwL4p4F2bzHPUo4fZKzxm1EZXTseJO6bcflxiK79Ys1sZMUzo6zi67uzryvK-TLSDG_3bYvKDX3iKVU4nldrs5kF9qB61jq4g8lO4cfKqCy7Kch9avajpIFLCsML5fpRpcWc3_2B9D04kw-8YNoWjQP_vHoERTENIynD-d6asmtrgpRuvrn7loI8BiJeUasCgfnw3U5rA0xqXhDo0BSsw8Cdp-icv_HoVz802R_F0V7VAKSHMuJtoZEwF7memE9xuyh1kT9jnf9iFPqhvGcCM9o3VGfftSACXeU-TUwgDT_wI2PLBTvb6frKqggJusMl6o4wNy5ssVe3HZezil-fNjY7XM-2t4m8vj99dB5H9yyZLGqpXjqsG3OkOEoHDW4J_3e85x5aIwC4Jt4dqBgXMfU5CRmYlRXXtf9wLupJXPsApbd_DYGw59LpgCPAJvRb59e8WH9KmZgGk5IExgjSF_H78WNitoVDG0tjrEsTmqm7NBfYE82ouaBcNc-ug8wF0KaZ1AUC0LQwbL40IBPHYAT9zVStxz0f4HlAw4eQfW4lnzSbg1L0P_0WSpuApoiAy0zzhqkXc06qbn9lgbpmDDPX4UBsWxttrMNK0xwZhFvcM0UzlH3RXphuj6kFIUHYVw6GD_bhYt4vYDIVuCb8F1nvvgDKF9LSTxj8MEYSgRqAJpQHLGS4JcTxKKrBM0cJjsimCvV_nBxValbw_TvAl2eh2NEEmt8mrsZr1I2YhbB5aNsle88eR-ionbTxNdSk_GIsEHtmhSLNbEkIPhHlVWDnDY_fPhvVnpZ6uUPc_DkUFFlMGtpBKuDYcPoRWGkkM5MJQNS16FHKhbg8UnzYkCz0i3BBNNmF-kF3h7xEZ-Y3-fib0ZrRC0wMOR2MhZhrv_x0MD19ChsXFR7Twwjlnjz3arUr_hfzhP9swGxpMFCEbA0QQDmo6d49JLIRJ1NVcypcaNtcrn2qdIKiC-_kXZbDgRIYcChF0iaCZi_Q3bNXboQZAz7DzbwAusLtctM8r6tcPUDUHOim4Jw0eZBbqWKYiro-fdplYQsWiarsrZOiCI10gLL37AkSN-qWoJZledI_feWXbWNo70L1KpsOsSFD3FGEso1OON5JaWhJM8aDGaa4yYAbE_QWv9eJznYHIWr7cB2xi0DBzEi9K9CREquPYHuEEW3n9n4-ECiA7TjxD9l27cT7Q9tP2UMvwfNHU9GfIppOj2a8YRJMglrdAtMlxODhOzuvlzVSbZCpYz6YTiAYayEFS4F3vZJHPyEspz3z22Yx_iBhqR6pR2pRooUuxk-Cb_SHE8TA_jfTwQdHqnvWKlJ5n7zZ3nEdCb5R_2gfg8qQcIryJblSimdq_6ZC7aC7iXo28CtuWLJZyw4DDP3mbJBqEPshjF7nYJgZItwgNbqUg1OkVcExdRuc5D-vxkHoBdEkYdlbdua_qR8Hy75U1Kpyt4_V0LTR3Leb25GG1_jQIbTTk2yLL0dwzlrxPkXtfs7aGRl67kzGo5bpuWorUzJtNH7-8QNbSNglDOmhtIprpHVatUci05etlIAxB9ou2tOSian7cnUfK-NmVQOyoFTIiT9dc3GtoJYTpMQY5xEFmhcuMSsJa9xMwFF74JDDJNnx6wuvvzvLOSzA-SuFwsZtNuJDluMlLNXkg42ouQZJThU13typSrlv0jOZD8TshSH4pYmBw4Hn1uD0ZczP1hz2Cn1wD9F7hs8FSo43qtZEuNu__0MeQOX6GSn4ThHvD7F2Dwrca463cos2r9tAEH-GjHkcibeRt_0HLya3kyaJ-0FSNMCLszYqPFp7S3KAcHM1dnkvgBgbZ-wxhetvMRH9zLob3uE2Ur0rhgiLq3Yc_2tbBiZBHdN0maUbBiqOsgSHKY6vgA4hi1lAbcQ5pPr5wef8bOvPqz9YFcH_yhsF5qzkr4XR0q1EIMelpAlrq1m8sDtOF5sqkbev_SawgZHzB7jQGsu0EoU4s0aiEzIFlEpCXFzS-5HFlUshtzKzuxg38kZPzO7wWw==",
  "id": "rs_0feb634981959526016ab41a4b6b1487d0b256ca80a74161d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.15,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The right gripper again stopped about eight centimeters above the table, so closing now would miss the pen. I’ll lift and reorient the wrist to find a posture that can descend beside it.\"}",
  "call_id": "call_KqCjo1zZko91vWqYu2fKumGq",
  "id": "fc_0feb634981959526016ab41a4e7f4087d0bc53b3eb2d2b5794",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KqCjo1zZko91vWqYu2fKumGq",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.02, 0.8154, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.7639, 1.1427, 0.588, 0.0723, 0.7269, 0.2729, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1733 left_yaw=0.0007 left_pitch=-0.0244 left_roll=0.0007 left_gripper=0.9998 right_x=0.3166 right_y=0.1457 right_z=0.1806 right_yaw=-0.0187 right_pitch=0.233 right_roll=-0.0411 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.7436, 7.0359, 1.6972, -0.0806, -0.0659, -0.0122, -0.7316, -4.3966, 7.3504, 2.0391, 0.0806, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5bb8578241f1c29470d853298d76bed9b34d06c8ac2d73329b10f2257c0943a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c2b19ab7db8e41cbdd66f2f7d7fc4424e514ab4a9987012d68b6a8bd17fd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367348ac321d9de47626467f255d40587ba834e5b66bd871007d4cebea5ddd75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.208 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8074, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.746, 1.7077, 1.3422, -0.9676, 0.7055, 0.9012, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.1755 left_yaw=0.0 left_pitch=-0.0164 left_roll=0.0003 left_gripper=0.9998 right_x=0.3355 right_y=0.159 right_z=0.1434 right_yaw=-0.4082 right_pitch=-0.2587 right_roll=-0.2118 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.4154, 7.1453, 1.6972, -0.0122, -0.0317, -0.0122, -1.8256, -8.1162, 8.759, 0.9158, 0.9255, 0.4664, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6865, 1.9873, 1.494, -1.0176, 0.6765, 0.9459, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0194 left_roll=0.0006 left_gripper=0.9998 right_x=0.3643 right_y=0.1602 right_z=0.083 right_yaw=-0.5369 right_pitch=-0.3458 right_roll=-0.3437 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.3333, 7.2547, 1.7118, -0.0611, -0.0806, -0.0122, -1.7026, -10.9744, 9.2376, 1.0965, 0.7253, 0.3834, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8154, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.7639, 1.1427, 0.588, 0.0723, 0.7269, 0.2729, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1733 left_yaw=0.0007 left_pitch=-0.0244 left_roll=0.0007 left_gripper=0.9998 right_x=0.3166 right_y=0.1457 right_z=0.1806 right_yaw=-0.0187 right_pitch=0.233 right_roll=-0.0411 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.7436, 7.0359, 1.6972, -0.0806, -0.0659, -0.0122, -0.7316, -4.3966, 7.3504, 2.0391, 0.0806, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5bb8578241f1c29470d853298d76bed9b34d06c8ac2d73329b10f2257c0943a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c2b19ab7db8e41cbdd66f2f7d7fc4424e514ab4a9987012d68b6a8bd17fd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367348ac321d9de47626467f255d40587ba834e5b66bd871007d4cebea5ddd75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpU83XBF56VA7TF7KJocbHlpVad_cRk7WdQXzzFOads4DWOuVsZop7o13MhLI01C9bmV0jOxczDbAbXGq2mh-wOeIFGjRiTeuDdZMVOMmkasZu09NElHVJvAd00x6-eQhjSv_AFcmw0AlySpPiOB2SxZyZ-S6mm9lR7K1G6AtM9NgYNiEwNb_Mc3iWdvM95WDcEv1a3uQebAGo1ivVDGe4vzUReSjh-hkoREn7k6NWxIxtgBH3QOyUiHS30xuQb1LeXcgNAs2n3-TXDWKiuL6rRXOn-5915D3i8LI3TH8aBxohhoHdX1M1vKKnoKCyJNJZEpqMoKi8TuiFu3mJJS6lyMDFujKlwbYN4utbruVkKyTqMeZ3rOz5-EvSijzfNzQMi4X3f2dwnaBRZMt25VGvFQt5IQ4WP2XXRkqSz36trMk0msSgAy9EPXqsxD0mCcHcie15gFQ8yWvw8Xoh-C_5kxAEl2M1g5eb1VOb6Mad-AozV4DM9fvZCgE8a6ATquIPiLuboF6A8dhvkj8B6ySU64Zq71cnX_mstdwJ2CgbCzUhVDGLHrr7nhTfqbtkq-Buth7_AHQQEMrVDcZs168htJ7u7ccBD5vnUFHS0-dznq4OC7GmTwyb5haM8QGh2VMhsCnSthN0Epx1NurH5VW_askJeUd85wiAGHeIxKjaeB315rrLsyr2l2x0dNzYbeg4rCSMGt4iT2-Wwzlj2lsfai68ZduV1x-GphoHfo7gudiRUy7PrPeyiGCjeiC3M_vqqR1VSq1FfIJbRIMEj_MkMc_tOVbzgFDKc8y8J_3BoAHSzR3jvXPJ6ttVBuLWjxa0avUuEju9-CdPuBCg1k2j9tV2TfdIf6IE6LqWcvcGUZMpLmNWgd4VRBPwyhGsDblpbVeXBbSIRWX6eVg8yNlc7ew3Xin2f_hLfjpT6RylwYWnHV5W28_LPDWTsezNtKDeQ4mEhP1K_uOPo8sBO78002d483EFpsiNRVN0xtA8k7HuYy8Z9R8aNU_8ZYsDW8AEb-IVzkNLjBVQpeG7INC4KoN_lAaQhUz-z2Nr4kSSMGNhKb5Q8SH5m8v6cKCX44g2MN0O6SjtHdXyablMC_6TWI25S0xMz_0825KUIN-9aatceR3GXkeCZpTQhFu120slTUPGj8zanQQbqSPfqXOTPuI-7eyAZUh1R9SWyYTezdJMKEcqfrCA26bzc_GFoBt1vi1Ft5lSNHNdZ2kcpcMNv-a-BseV3OdYN9XO_Q2ALdqdEOqwjqlwwWM3_iogdIcqlRr4kphJTYEZYSpW8rXbagKGzmUMzxrQx1IeAhYTehCiMNLFw_hmjKW7xQ--nYnTPHYAhaviNEKlhJBLEm8jTcmx0d6sshvYnYxrwPUUZ6VKrw9PunIpcmfz-wrYU79oUk7pU8Wd3yrearfandTSo29FnrQpf7Me59AmZy1GBsJnerRFdzGM2RLLxR1Ag4YqfHk-OCCvQgMQo2ofgSdWKrYqpe3o9vYdpZA3Z2bc1SrZQKI9NzrNUQ649Jdbvz0TnWIJfN-BozT9X5K83j1XQUGrvpW6DIemlFH_84EAKS5i3XHgKQWW1KiglpvUAvMPgubomI6ASf822mHdD3AHO2ZugGIetNEUbYO6pKEAYIO6RlKD_0emyeMR21uJiaGK5S1y6eh0KXDojhdr1-fK-m-sEWd0B_FHxBqhnVWe_RSEZ3lC8jviZ_SXaXPAg66Vr",
  "id": "rs_0feb634981959526016ab41a529f6487d0bde4bc6786a6869b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.145,\"right_z\":0.105,\"right_pitch\":0.3},\"note\":\"With the wrist pitched forward, the pen is centered near the lower part of the right wrist view. I’ll approach its middle from above in this clearer posture.\"}",
  "call_id": "call_QZmED0emspY4MnUzD8DQWbXU",
  "id": "fc_0feb634981959526016ab41a53b0b887d08a63a1324eb23197",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QZmED0emspY4MnUzD8DQWbXU",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8196, 0.6029, -0.3824, -0.0196, -0.0109, 0.9998, 0.635, 1.5642, 0.4557, 0.5873, 0.6338, 0.173, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1719 left_yaw=0.0002 left_pitch=-0.0297 left_roll=0.0009 left_gripper=0.9998 right_x=0.3543 right_y=0.1355 right_z=0.0779 right_yaw=-0.0113 right_pitch=0.1714 right_roll=-0.1272 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6752, 7.0359, 1.707, -0.0269, -0.022, -0.0122, -0.4581, -6.8581, 5.5316, 2.1221, 0.2906, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdeacbe1e4564e3523cf682c4ccfb3b3db81aded38c18c63ac26656243c7d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0040402a725d58fd7b9c39cf622c2627b8147aa5f5567dd847fffce0e593a6f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7d152fbcab7c78a1ded51bf7a267a0f135976f7ebc667693e96fc4a6fe4cb1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.874 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.693, 1.9671, 1.478, -1.0164, 0.6796, 0.9451, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0198 left_roll=0.0006 left_gripper=0.9998 right_x=0.3608 right_y=0.1599 right_z=0.0866 right_yaw=-0.5287 right_pitch=-0.3412 right_roll=-0.34 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.388, 7.0222, 1.6825, -0.0513, -0.0611, -0.0122, -1.6615, -10.8103, 9.1009, 1.033, 0.7253, 0.3687, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8154, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.7639, 1.1427, 0.588, 0.0723, 0.7269, 0.2729, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1733 left_yaw=0.0007 left_pitch=-0.0244 left_roll=0.0007 left_gripper=0.9998 right_x=0.3166 right_y=0.1457 right_z=0.1806 right_yaw=-0.0187 right_pitch=0.233 right_roll=-0.0411 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.7436, 7.0359, 1.6972, -0.0806, -0.0659, -0.0122, -0.7316, -4.3966, 7.3504, 2.0391, 0.0806, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8196, 0.6029, -0.3824, -0.0196, -0.0109, 0.9998, 0.635, 1.5642, 0.4557, 0.5873, 0.6338, 0.173, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1719 left_yaw=0.0002 left_pitch=-0.0297 left_roll=0.0009 left_gripper=0.9998 right_x=0.3543 right_y=0.1355 right_z=0.0779 right_yaw=-0.0113 right_pitch=0.1714 right_roll=-0.1272 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6752, 7.0359, 1.707, -0.0269, -0.022, -0.0122, -0.4581, -6.8581, 5.5316, 2.1221, 0.2906, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdeacbe1e4564e3523cf682c4ccfb3b3db81aded38c18c63ac26656243c7d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0040402a725d58fd7b9c39cf622c2627b8147aa5f5567dd847fffce0e593a6f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7d152fbcab7c78a1ded51bf7a267a0f135976f7ebc667693e96fc4a6fe4cb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpZri874LYsTBtl2fFgK71bYd4ByY4XclbqrAAJNuAx4st9Y9bFWXdI1yFaavQx8evgbg0FwgomSwchAwEG82d32PJvviSQsGLTTAAeWTT83Fob_kgq7kP1QkTPRyMLWNAf9hjyYTljeXaP4TFvpePZbCflGB2uJgnlohNAZ0N6RRWRiWANjtaWNHgQVudCt5asTGAxZLv9aVa1GYgEGXBfEgbq5RFDS4lBk571igxl5E7NDrLRF76ewAxIZrra-sATwJzWyF50dCpQyAKMxaSA0ns4fl7p_UkgVgWmDIorvLHyTsrieoCBzFFS6iGKFsYGKJ-cWN623v-MBrzWlOwRTUYt8m4Q3PHi1UtZmCXB02anUQi1nlN2nN0iRrSj69x9d_x-PvCGEo7Jq7Z9kJnZKV-1gBy869QQZtfg0RxqvtYASHWUVJjaVgv2TtdU8NWZbJBnNjQofv6QBdp015yiIrRa5Ca3ldls6qxjzRUIEzZNFxu1r9cdbLDsLTBLSf4zMmWg5pfjWas1j4_Qe8smw3I7UBlYdJnnK4LM76VkbThI4lZuf8cox0kI0_FBFFjQwVigstXAJoEL_SfeJb8RrSRJKsbhL9b0iSZ2Y7PZbJjTT38KC-QMxxLaSjrtRubvLFMLohzgfKfYlTQQQyA1PQaQRqor3VHxEu31PuMkVZMvlUijl23qGOb6UA4SeTBJlsMWPXN3H-oXUNd3CPqcjDvMUPS72rmva-gN7ZSybpaWvivfiY5ZvZv_KtJ1IhTDMDsPcyGaWvY89d3eq2O6w5ZtDBA-du5lN8TFZqD78uy4XOc_N1bMm6RUlsHhg0cgJV3dgTzD7vBQP0U-LN6j6O9amXLNfV9CFrWxsElTLyirG14pZYmgOGpvp_9phHNcJG_HcjuCzBNByEDURGnHLStvgfyAXIIDUHaiHl-g4c7ZgAwYe0fIjYPqppByZUHrwU0dSkU9c4edRcN00rAxy03Zn1Jl4r8c0wXHkHU8UvHzeWrfJQhFo-edMAN8dUH2JJb4Ky3YslMT5BbIAZhVOahcT1FxnWnY99bF8HXzUmtOT7a0ynC7YTJRljdtcfukrmw9T6K2tTPO4V-sCcm80gSBktOwmE-agQjSSVLKSpdGnZgIQkxDitv1iMxg5usmqS-52_4uP2dJKcRLbSQSlljNxAsB1lJrsCBIwdn3GHaG1pXOMwV1WrFgpKIr0g8k1_-PsFXzaQ2jy5kVbsZ1aq3dLlWMe_QhAHkw3SKzZw9FU5S_iC8Pu7Z_OpDgey-RmjiTUebYgrqeBCXPovwdukj2CeWCsr4HxNzznG1wjORxTgp9axRmKvRnRRtRpgUeHjroiLJrasiIY3OZWkYMC2hoV7icfeeJ2OztFimJZj4MJzzmoSkjhKkMdXSo0FOCiLQTbZUko-Gjh-LF4nIPeLMb1isZLHbAkZLnPBbCYa6BOs4mIi3ueHTGfnBpMofnmYGuXxvxD-_Iq-MI0CbaRvaW2w9ITRvxI8vPFEyFMn2yGZNrYS-ARC6l4XMkg5jLeV6--qHKo3NI-kasYF5_I3zg_k5TleYBpGz1Z8_tKrrDXw9oK4-j4pqxax6WsvifvvEsui8AB6qGLWOYuj17uX0gwLu53bkNKD2vnSX9Pcap2Jz_ieRhefxo0lWJP0rKRlYOLNpwDRrOSKSbLD7xjo9PiweGnhadI5GcWKYfCIOHg5YHj93gCmZYVCF44iiqEMAU0S-eFkrfoIhOz3wsQLLbIvh9BtiYf8jlkYQTDmLat8G-yJqjXEk_qQOjHvvOXbvXleHaG5x6GGrw_gahORmk1M6Qj4ONkAFQyWmTPOKG2wyBbCbj0XE8x3AtZ1XfazPf9GDX7BwaniJvAa7Sh_C1IcYIKpx3s_oRoepPbdJi1kJdWAyRdlrmdP-yfbIE_P60QkKYLUooVC5UarTWS4A4cdqqfYRLLPvDmQTYSeJg_6RcZ5W2gsAVlcDvjE2ML5EOHfdILeckV2btNFQJAIs-xwktvxHrKpFnrAn6OqSRgPheNbZVWutV7rWcrHUsrvq7WBUhgd3EfAyN4Cgm--cNddRGAYkLdDw6q6cZo4iHU7HDsZ05FCMsTN9ii4S_UtE3bTMQCahF3C_frpDg_YLPSusNlYTPMkj7Hhytfz9uC0HTWC4u4hjRDw5V0wScBW1ptlqf16ZfeTv5uMAisvnP16bfzl1x3ifjDK_p_U1XQaVXJZV6N9b1C4sNRu88rXjKkRIEKeZNZ6ttroytljNlM_zyZ4hEbZJ_VX9ZS9QRQDab5H5XgA7AgE37ZelzIMundBfjyY2n8jIo4tPi-fZpfSXcYIfx8QnSM97je1ca5sQ_rmg5Nq8MvBE8iiBRtYGX3AEDFkZNFg3rNzK7JofCmXQVbXSV8ueVQDFjZjGECSrHCAwYfNs0EBfKhlHIzGNU7Gc8pSn3-2hHt9BEGSMQ101wZFFdaEqsUb_Nz9dawsYDDjJW09owEZf1BHwQJP3oq2IlXGbOe3-mBNGm_gfWCL03cdPU8AfOn-BkqBA6PcRMqJqSXinMjpLa_Kvn9KhHs4pKxL90pD0K0uzgNS2nAtbsfxbqJBBGK-3HYJAw34eUds83DTVHW29bw8gIoy1Mxayv3NmtyWk4dvZ7TQ==",
  "id": "rs_0feb634981959526016ab41a55c92887d0a070bb0ed82749f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.135,\"right_z\":0,\"right_pitch\":0.5},\"note\":\"The shaft now lines up with the space between the right jaws, but the grasp point is still too high to hold it. I’ll lower with a stronger forward wrist pitch to test whether the arm can reach table height.\"}",
  "call_id": "call_oo7amyIhAZ85RhUriGSZfPtC",
  "id": "fc_0feb634981959526016ab41a586a8887d08fd77c16d178c855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oo7amyIhAZ85RhUriGSZfPtC",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8211, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.7128, 2.1651, 0.4332, 1.5322, 0.7525, 0.0002, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1717 left_yaw=0.0004 left_pitch=-0.0301 left_roll=0.0006 left_gripper=0.9998 right_x=0.3664 right_y=0.1619 right_z=0.04 right_yaw=0.0014 right_pitch=0.4395 right_roll=-0.1246 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.5385, 7.0906, 1.6728, -0.0562, -0.0513, -0.0122, 0.3214, -6.3795, 2.4684, 1.9951, 0.2564, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c226194e9aafc1a1d00711cbd6cfa927db618ed3b94d8d2c729ec8594856501",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c9d205ac4f5c8fbc157d0bbbd4b4bda1cae91da2d2cd998aa53e79bde65b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd96062aa06e58c5335164299cc83930f9e2c29a55d2d034718bde26c351e1c",
      "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 · 4.112 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3809, -0.02, -0.0113, 0.9998, 0.6865, 1.9873, 1.494, -1.0176, 0.6765, 0.9459, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0194 left_roll=0.0006 left_gripper=0.9998 right_x=0.3643 right_y=0.1602 right_z=0.083 right_yaw=-0.5369 right_pitch=-0.3458 right_roll=-0.3437 right_gripper=0.999\nstate[joint_eff]: [-0.335, -1.3333, 7.2547, 1.7118, -0.0611, -0.0806, -0.0122, -1.7026, -10.9744, 9.2376, 1.0965, 0.7253, 0.3834, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8196, 0.6029, -0.3824, -0.0196, -0.0109, 0.9998, 0.635, 1.5642, 0.4557, 0.5873, 0.6338, 0.173, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1719 left_yaw=0.0002 left_pitch=-0.0297 left_roll=0.0009 left_gripper=0.9998 right_x=0.3543 right_y=0.1355 right_z=0.0779 right_yaw=-0.0113 right_pitch=0.1714 right_roll=-0.1272 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6752, 7.0359, 1.707, -0.0269, -0.022, -0.0122, -0.4581, -6.8581, 5.5316, 2.1221, 0.2906, -0.0122, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8211, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.7128, 2.1651, 0.4332, 1.5322, 0.7525, 0.0002, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1717 left_yaw=0.0004 left_pitch=-0.0301 left_roll=0.0006 left_gripper=0.9998 right_x=0.3664 right_y=0.1619 right_z=0.04 right_yaw=0.0014 right_pitch=0.4395 right_roll=-0.1246 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.5385, 7.0906, 1.6728, -0.0562, -0.0513, -0.0122, 0.3214, -6.3795, 2.4684, 1.9951, 0.2564, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c226194e9aafc1a1d00711cbd6cfa927db618ed3b94d8d2c729ec8594856501",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c9d205ac4f5c8fbc157d0bbbd4b4bda1cae91da2d2cd998aa53e79bde65b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd96062aa06e58c5335164299cc83930f9e2c29a55d2d034718bde26c351e1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBpcR9LeeSZw6Z9eYVfZmZecZ64sRE_cIIeXEDY6QLYcObnv7QEQkKhXUCirNSK4kQ7ncoMK1YdHuFMawyubH-3Y6azDkerUifoLvtytvb-iIqgeG4FT089WZNvG4xdiC8g88Usypqagxd8HHN4SA4pVnAlrC0x5j1dUGZR5gpuspegNSasZ0hWSdw0fD8HK_Di6HrTPsm_vFBpz2yggBScsHMdfeeyirLxZbw88td79PK2Ut0O5OdqXo7wTmk92zKtV5-msAqWzxdd_DIQdu8EeNTUvVjmaVxpF9pVykmnUnrzDiktrzACTTRChDtITCCzoKBkwokg5bUBFtW4OtfYjvX0Xc55V_ZeMWlp0uct7SvYFCLhmhiwj-bE2ko-HllHvXI31K0JWVwgWjCGtuZL286zaD_RxnHmlGU6IAQrZEMda_PmGtxZmov_bg00ZHV2VfhyfqJuQet2Lm4aJTB5GmWgG3YJGlRPUsUbNhJlw6GrXbyFrK8WUuPs7tG6xJ6IP7kaLKtiP5cZHODCGf8t5pQELy8FA7dC2HhKerb4YwJMMmw7p3wckHuekP4gt0I9kHjyczp5fBGKpm-zPFJQ-0ThZWYKi42qJbSAF2X480SjlCR5xCcq-Xjoafl8K-sFyDPnnlxLbRyeaOvNMi7d5UPz9qT5jw1a85ackHSmfpwZvG2rY_sxmdJV4Ye4UoHSDmu66sySD_xyrcml99dxnuOKaOKSbrKKbgYxL696B1qWFTDlISKQtzNVzcgf_gwj8cbYDy_X41rYyk7y4EASZRgidjmuGN838IOE7LdD94sy4bueaGDFFMW8efAJQRUOZwDpkZXgz-afXDt9lcG0tb0MMyoNnfpU6hq3M1V4CUzkLDK2e0E0a4mS2gdTOIkb2_Eu2j3gLBV1t4lzIvHmGuG3mA3vYfJ1iOGqbtawsSurpukMih77DDE8xW7Jop0TQ4ndLYDqesi3LFob3VuXfpbqd9jNKEr96fZa2_dUrWo01DIY1Lnd2kqe5hXspSx8lCCkYYBR02rd_xe4y6J2t2oKOm3f5L9olQVYWm5LAkBLqTZ9sPcGTaImyhokJsr82Nx3pwVKBzwJOUwpW6G7pzkPcIMdbN9zUps--_a5DlJsCS4fCpz05yFdGiKTz9KWWwEJUwoXkQUIthYyeb7RVA1wF2bgiVWllIrw-C2cv8jz5428Zp5EcqwLqlAOcyaa0GOteh_dk7Gi9zNNApM6kaHvoFse0U6S-0dF7RKKG8cQE_KuVJvOro65wDK9CF0BE7wgeSZIFFdbgDTx9R1KE_ECFDecxcNv0E2OSdKSkOGYxFv-zclpK8CcOeWHImaIW93FZxN7f-RWGpIF0IUu6WA-jRK7YjIO_NqFP-CnEqh6wV59Qo6QtmxT2LoO9S8TCfIVRJttc6HD-RFrg6C3mjw==",
  "id": "rs_0feb634981959526016ab41a5b980087d09f7f63315c497bd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.16,\"right_z\":0.005,\"right_pitch\":0.5},\"note\":\"The new wrist posture reached four centimeters above the table, and the pen remains between the open jaws. I’ll lower the remaining distance for a table-level grasp.\"}",
  "call_id": "call_3BBvX13TbICxhQGm64rCdyaC",
  "id": "fc_0feb634981959526016ab41a5c300887d0acdd4f347ebb58e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3BBvX13TbICxhQGm64rCdyaC",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3817, -0.02, -0.0113, 0.9998, 0.7269, 2.2452, 0.5182, 1.5543, 0.767, -0.0166, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.0317 left_roll=0.0009 left_gripper=0.9998 right_x=0.3784 right_y=0.1773 right_z=0.0332 right_yaw=0.004 right_pitch=0.4608 right_roll=-0.1255 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.5111, 7.2274, 1.7411, -0.0562, -0.0562, -0.0122, 0.6222, -8.1299, 2.5231, 1.8584, 0.2076, -0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857a749682d43389f973c3e54dae01e8ed2627425302e7585dcfdde009706c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f9d1c0bcfad780b77a4c94b3a02a6bb7fe1a97ee8fd0ab73f9e2c32083c693",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c3462967cef5896bfb6fedc12660cdebfceeec5be3f114588c62f7a6f5771c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.757 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8154, 0.6029, -0.3813, -0.02, -0.0113, 0.9998, 0.7639, 1.1427, 0.588, 0.0723, 0.7269, 0.2729, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1733 left_yaw=0.0007 left_pitch=-0.0244 left_roll=0.0007 left_gripper=0.9998 right_x=0.3166 right_y=0.1457 right_z=0.1806 right_yaw=-0.0187 right_pitch=0.233 right_roll=-0.0411 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.7436, 7.0359, 1.6972, -0.0806, -0.0659, -0.0122, -0.7316, -4.3966, 7.3504, 2.0391, 0.0806, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8211, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.7128, 2.1651, 0.4332, 1.5322, 0.7525, 0.0002, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1717 left_yaw=0.0004 left_pitch=-0.0301 left_roll=0.0006 left_gripper=0.9998 right_x=0.3664 right_y=0.1619 right_z=0.04 right_yaw=0.0014 right_pitch=0.4395 right_roll=-0.1246 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.5385, 7.0906, 1.6728, -0.0562, -0.0513, -0.0122, 0.3214, -6.3795, 2.4684, 1.9951, 0.2564, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3817, -0.02, -0.0113, 0.9998, 0.7269, 2.2452, 0.5182, 1.5543, 0.767, -0.0166, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.0317 left_roll=0.0009 left_gripper=0.9998 right_x=0.3784 right_y=0.1773 right_z=0.0332 right_yaw=0.004 right_pitch=0.4608 right_roll=-0.1255 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.5111, 7.2274, 1.7411, -0.0562, -0.0562, -0.0122, 0.6222, -8.1299, 2.5231, 1.8584, 0.2076, -0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857a749682d43389f973c3e54dae01e8ed2627425302e7585dcfdde009706c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f9d1c0bcfad780b77a4c94b3a02a6bb7fe1a97ee8fd0ab73f9e2c32083c693",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c3462967cef5896bfb6fedc12660cdebfceeec5be3f114588c62f7a6f5771c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBpheQSVJ3Kry_5P_Qp7WB6jRxAkHM2SilRyMU8RTctAXgY78c-qx5frtQnkD3W33t3DQwH8qO0hC-4F6iZaon2qrqUUl9xG3-vt8uSUjC-JoBLaiVbciFFld4Hys6F55mf15fEtoaM46nlmMxT5sKhn0axZkNEEExtpRGVTpbgCJyloaGGD1w0hPTfLxIp1t2FKNTVqt7JsIuvX3ik0QqoGJFaaOewNN97G34KQgPSz8uLS0e-u5qk4qgAcc4wCKKiN29401cmMYKV3Brdc2kVBzJlTVCuUhDBvqpQQGqcaHxUMXwZysjwJXR3EmHau5g-T0BPvjm6virBxlvpaJo0_ZHhX6tcTCpi6CXdymV0jF8Ndr0_7JcPGxrm0kxilj9Ajxr3gDwhE9Rhy2IP7CAlGvAWpCH-WKaR06L1WgZS-16oCtQk6k1N5z5rW7eqz57hw0LDfuGQPFghMBHzdIp9yNVzCURHuxGSo1WccxG_yMdFy4Ec_vHbhG2eA2uqxaTAKl4hUGCcp-Zu7MRSUHZxtnFluNneBsHOq6dLxU4338rMrjio9QgDdBjNACf3GIIkyz0g3ZD1Pcmcke1fZHo3AvNjNVA8mtNnFgoJYMphX20eZNXsmdV1vJQGRVtDFY31CqaEiyad7ue5tLKmZT6XBeBS6zWQopEfVjhNYgvVGz_cbpzAkTaQ7HjxQulkFcObptMoZJkbGqC1Nlv40TEjHlf9tdvajqbDn5AcvEJYldHxTmoqYWAuYrHqHJtejvvpzihodeF7YrP0inX0p2wbZ25Q-WdjzUyZoFE_t94rJ0AeJfSVjLoXhazIT82x3P-wsC4QHfidWyNs0B0aFkQv_QVlkTEzzQsx7LiwgbMIPumYzAo3BkI8DUu5NhosSJzxmKmv_TnswgwShTIrjCiptH4HJ1YpKeoDA2NT_zQ4G3THtEeE9Ep9gWVyM5VouTYvr6tDiEaDPFtRZWwSCWsThnnc7SW3njtZE1WwsZmeQiSaoh5Qvj8lZ8D8ZdLRvHZj8GrMZX0kle2QaU-Sv6H7NXZuI-Z5Fjbxr7YBp2FIql9gj5VUu9dpmNUgLVf6lkf5R9ldc5VvUp0aviK_-Spv8kb2h5oSxsOCiW7w96SlPlU8PlPlZNvz4lCyuGIHO8dIfafffqO_ux7qPaI3IR4kPJvi9M-FOooNKTi1ZuCQeJmYAe1Lok2FMQ9781IXCejVrJOgufbD4eFIreokjrKziCgiMxFiDHEbkfTaKxViT14CnlmgyQ71okzNJuWYX69raFijy3PnG2b5WvUOFm4eugzQRyjqCjBSG5ROOfH3gNEtWijDuX4efVEpzcQnFMzKBSESw300Q05rrfnqeXMV_dysRLEgquLLK9b8T_5bpKdg6rBUEDPNNytYDu4q8GhvPiGRtmutv7yi8VYwTsos8OTa646dlvinRPZpUQURYrmm8EPxToM2vryIidy0RJ3q_hn1ySDBsrYd_iQdzevoZh07_u-RERDUMyPRFC5SimBGYhhCp83AkEORwuxy678Tc64ShQwL6l-Xo6RbMYqhUTvcKZwpajtmi82BvCMLKk7cBzOYb8IzuGucwWBHhazRJuEYq6L8DgcqZkMUvZ7iiJjRuU-7-rYEdQcBZuJDr9pVV6mkHu9S86wTCng_Cou-gXcuRw49qh1cp5OFoSHsK-nLxRWj6z8fKLw9X5JqbnXQCQ-fmGdZda3MXLkcuqm297tPkamlbzHSwU3wrYLWRtqPCmtvHl1f96qf3RIrSpoxZUEddgvWM8QmsninmeP3ZI8qBsrGdwGPhK6WI2QPii652T_bovwVRZFf1OAkpNzXK-YHTfa2SsunSDirdWS6_qMjxqk7oOZFO0kuHUFaUCasTanOIr0kpZhEUG8wVoGM1ILhozuuaPqAtVhlNk5DFPepvIgj8fL6_ajL480hiSbkzFWOhEUnscBRtNxvfyRvgBK3UmFLdE7-RmKa9CNT8_16aIGB_EJEsrV2sxELTBK6ChI-6-EpDQgMp15-ypcOC4hE7rtfH2llf98IgcprHHz3g5xSpqmwPPnCdd2NpfTYhHD609ZPsA5dQqlbiMqfXZ7XT4XXNs0AUcTnh76bq",
  "id": "rs_0feb634981959526016ab41a5e91f887d0a121f43da54d7dd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.13,\"right_z\":-0.02,\"right_pitch\":0.6},\"note\":\"The right gripper is nearly over the shaft, but its grasp point has stalled about three centimeters above the table and drifted left of the target. I’ll bias the approach inward and lower it gently to reach the pen.\"}",
  "call_id": "call_14fDQtp9sJ8OCS8KDHm8M4EU",
  "id": "fc_0feb634981959526016ab41a6054b087d0865506edf38bd7c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_14fDQtp9sJ8OCS8KDHm8M4EU",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.02, -0.0109, 0.9998, 0.7292, 2.2528, 0.5327, 1.5555, 0.7673, -0.0277, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0313 left_roll=0.0012 left_gripper=0.9998 right_x=0.3807 right_y=0.1805 right_z=0.0337 right_yaw=0.0101 right_pitch=0.4663 right_roll=-0.1319 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4291, 7.2137, 1.7021, -0.0806, -0.0366, -0.0122, 0.4444, -8.1983, 2.4821, 1.8339, 0.232, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5345c0b70e49fbb69270987e14bf38c30d948f913ad5fcf1c3801556a17ff18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dab74d2141b12104736835c659b7a68e921a210d3c790bf6637cb3bb5d8c8cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6f1a464721a2a171281804777d400a26a29369eb7c0ba8a2d2aa163f243d88",
      "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 13 attempt 0 · /responses · status 200 · 3.657 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8196, 0.6029, -0.3824, -0.0196, -0.0109, 0.9998, 0.635, 1.5642, 0.4557, 0.5873, 0.6338, 0.173, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1719 left_yaw=0.0002 left_pitch=-0.0297 left_roll=0.0009 left_gripper=0.9998 right_x=0.3543 right_y=0.1355 right_z=0.0779 right_yaw=-0.0113 right_pitch=0.1714 right_roll=-0.1272 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.6752, 7.0359, 1.707, -0.0269, -0.022, -0.0122, -0.4581, -6.8581, 5.5316, 2.1221, 0.2906, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3817, -0.02, -0.0113, 0.9998, 0.7269, 2.2452, 0.5182, 1.5543, 0.767, -0.0166, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.0317 left_roll=0.0009 left_gripper=0.9998 right_x=0.3784 right_y=0.1773 right_z=0.0332 right_yaw=0.004 right_pitch=0.4608 right_roll=-0.1255 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.5111, 7.2274, 1.7411, -0.0562, -0.0562, -0.0122, 0.6222, -8.1299, 2.5231, 1.8584, 0.2076, -0.1978, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.02, -0.0109, 0.9998, 0.7292, 2.2528, 0.5327, 1.5555, 0.7673, -0.0277, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0313 left_roll=0.0012 left_gripper=0.9998 right_x=0.3807 right_y=0.1805 right_z=0.0337 right_yaw=0.0101 right_pitch=0.4663 right_roll=-0.1319 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4291, 7.2137, 1.7021, -0.0806, -0.0366, -0.0122, 0.4444, -8.1983, 2.4821, 1.8339, 0.232, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5345c0b70e49fbb69270987e14bf38c30d948f913ad5fcf1c3801556a17ff18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dab74d2141b12104736835c659b7a68e921a210d3c790bf6637cb3bb5d8c8cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6f1a464721a2a171281804777d400a26a29369eb7c0ba8a2d2aa163f243d88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpkzeAsl7Vl3svfQeBSmFchxkCanFOuR99ZSlpB1pCqlksWG7tdBuaGl-tHIgNGSLZE5DTKx89AdpvQHzz75JeRbNyYNnQjosrNznpbuh9Ke--8UPqXaMQ1o_vc7h_pknOpWdqsRu7h2tnwm8_SRdEpSE9rgQKdnmntGSTHG9JQFlW-07mdDRrMzbfVSpqZ5LCD-lok0bdrs-Z8neq2EJ49UjCwoGWqk9TXLxUByfyQF_bnvo8O0tHBtp5qP-cEazRjiBpGC9ngJE0py99KO6cByw_jM_CSlA_eUaVZlh8ZNb5JMMSNMFy8LgfvAD2y_HKaskSDMea_-cuowFFJOgTFckL03OQqg4esjfoq_2TpXP9K41_znpi5xSmn6ETWzvKkcJaUlwi5--MwvZG1XeUtqk457digvle1LpqLxjj7rwwA0AVL7S6BX9ygtwOTbeTfdXfjxFSggu92gM4j0m4f7WY5baj4OFZEjJSYjjMucvWjugAds-gDcCWHqboLPrzy0J7QabZlKpbIIwt6hM4HNaZ74fcGh14h3D-01qGvhS_jR2ubk5los7EQdpGhxLjpL6FZCx804711jrtnpTGzMs6ul989fa3xUZx2qa7DsFYQ5-V-FltWO0G_y6UAR-7dodAxJmDc_y4p-4AjsPJ5di3IJdMrUDk3yu_3B6IZqLNSIZ0pUdOysL_JjvZqOBx4MLy0tSSNJ1N8YbYB6Mlf04ymv-zAXKkjmqqxyGPBY7F7w_VUXTCasjeP-GecxBN03zf678cJrqjtHWl_Ax3B5oHBnepYeo5f63Go_ngFPDZx9hO1KGx50f3eM6EjGh7nk2f1sYGXQFiwTKGi4X3uwrCf4SbKkedJhWn99fsJMWKSs6A8gjTFejaf9q4L6zGZX3T9SR9qdCkTVBdmrZ29rKilACmVRXPp41gBXT8_dH5C3y1rSgCK9Ir7ov-0SARp-W4PxXIWDiiNbADV3jUYarQ65DoAJhCEAM7zyaMhVcOQHOjQYZ7LN9m66hPZ6T03O5aYlZXmtIhSBR9iyq4lthYEmPs124HqXFXvKM8uB1yd3N32tSrzSg94v0BhPNH68HtPwGq8N2UQvvbQAQz0CbEyfzfC1H_p9yXdS2cvZDiJ0tW4Z9BlOTzz8e5YVMx-oc0bI0kG3fd7r9ocparnw5R5cskoDfd8NkIh7gYuyLCRy5Is5FPMRS-ihgRL3Ofo5tFCc7_l0dv2_A-Wlq7F0uNiCNpVMfgOnwwPcilwhgyYRSWyvpevdd-7-eC-ApPkOgFWnHgCp5rVSIyNcncZ_wwv-En08jHvGAaVm841reDOuzRCjPsIIePfxZzzI0OUvZQkJ6fAs0U3Zw5-8t3FetRfYJbhCi9PSFv4pMyOJ4ZgRxQMGT7NcorSkkMuK4NQNh4caetn9SpkW5a0QrA3Hr08ONwdgMWgK5e22_Y0nNXkw6jh3cO6fSwl6gjiA0_rk3T64nYpXvx5ywwy4QUze2jkg3PQbC0cG74NyBaNDTXHMl2ETePX9kgmswwmVqXY95sQkHBjYYW884Tmj1ShJPIauqO0MS_Kx4Uf6dYgr8xijybMEVZxJXFJaqcOh7AogJjt9BEULhVLpOUncsghNTUR1nAsvBJz6uugJvS6xYvpt_awHQd9EqzuCHRDdrQ5e3oHaMsjgg3s-1HNK1-Sdql4Lk1iZ79t68CoYDLlq-8i6P7ir7RPx5YRt0QTnbhfhKPw74knSYuFqvvGqR1U9Q==",
  "id": "rs_0feb634981959526016ab41a62dd0c87d0b7a9d1aa8b4dd7ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm cannot descend farther from this pose, but the pen appears within the jaw opening near its tip. I’ll test a gentle full close and use the gripper readback to see whether it actually caught the shaft.\"}",
  "call_id": "call_sppSeLUIgD5B8J4nwPXgImXU",
  "id": "fc_0feb634981959526016ab41a63d28c87d092908311635ecf80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sppSeLUIgD5B8J4nwPXgImXU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0196, -0.0109, 0.9998, 0.728, 2.2528, 0.5308, 1.552, 0.7628, -0.0338, 0.0132]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1714 left_yaw=0.0002 left_pitch=-0.0313 left_roll=0.001 left_gripper=0.9998 right_x=0.3804 right_y=0.1804 right_z=0.0325 right_yaw=0.0187 right_pitch=0.4614 right_roll=-0.1419 right_gripper=0.0132\nstate[joint_eff]: [-0.2667, -1.3744, 7.0496, 1.6972, -0.0269, -0.0464, -0.0122, -0.0752, -8.3077, 2.1675, 1.7851, 0.0562, 0.022, 1.1258]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c51815ff9bfce0aeb01e85af588fbfe54d7376201e6cc08ff2b0dc502819801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfb02f21e08f1810a0e2f611867c31813a62071299000506640d7b3312a499d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d8a6a54a24a464adcfaa2cfaff0769957ad9d32049106672787ec265cabde4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.431 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8211, 0.6029, -0.3813, -0.0196, -0.0113, 0.9998, 0.7128, 2.1651, 0.4332, 1.5322, 0.7525, 0.0002, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1717 left_yaw=0.0004 left_pitch=-0.0301 left_roll=0.0006 left_gripper=0.9998 right_x=0.3664 right_y=0.1619 right_z=0.04 right_yaw=0.0014 right_pitch=0.4395 right_roll=-0.1246 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.5385, 7.0906, 1.6728, -0.0562, -0.0513, -0.0122, 0.3214, -6.3795, 2.4684, 1.9951, 0.2564, -0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.02, -0.0109, 0.9998, 0.7292, 2.2528, 0.5327, 1.5555, 0.7673, -0.0277, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0313 left_roll=0.0012 left_gripper=0.9998 right_x=0.3807 right_y=0.1805 right_z=0.0337 right_yaw=0.0101 right_pitch=0.4663 right_roll=-0.1319 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4291, 7.2137, 1.7021, -0.0806, -0.0366, -0.0122, 0.4444, -8.1983, 2.4821, 1.8339, 0.232, -0.0317, -0.0122]",
      "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]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0196, -0.0109, 0.9998, 0.728, 2.2528, 0.5308, 1.552, 0.7628, -0.0338, 0.0132]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1714 left_yaw=0.0002 left_pitch=-0.0313 left_roll=0.001 left_gripper=0.9998 right_x=0.3804 right_y=0.1804 right_z=0.0325 right_yaw=0.0187 right_pitch=0.4614 right_roll=-0.1419 right_gripper=0.0132\nstate[joint_eff]: [-0.2667, -1.3744, 7.0496, 1.6972, -0.0269, -0.0464, -0.0122, -0.0752, -8.3077, 2.1675, 1.7851, 0.0562, 0.022, 1.1258]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c51815ff9bfce0aeb01e85af588fbfe54d7376201e6cc08ff2b0dc502819801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfb02f21e08f1810a0e2f611867c31813a62071299000506640d7b3312a499d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d8a6a54a24a464adcfaa2cfaff0769957ad9d32049106672787ec265cabde4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBppMarZ7CKfRIkyz0eOW4SULR1wbrUz13MK24s9Edm-JdvWR4Rn-m8t1jHKnhg2grHySVl2wwCGe0olq26OvCsnX2fjigTTOWV76e-CpmlkAC2NH3UOweGKz7mb5ZJtzH_bTM323ptP1NJSgQ5_9Q6EqU-TcKdlXm5yzRcUgHwYuoeD5BQ4htyaeTvw1oRlMJgDJFSv1ZQlGidLiMND9aoRGBvZ95mR0-7e0WG90Ncj6eM_9R9JEM2NRMx4_e6euy6WrC3y_YshUTt24toHjEnHvKsNuBUhAMvB7lraKb8Asa9-xwMlRZOICyw6Y3IduXdUXkU0FMFVsO7HhDibkAwHtE1qAL69Fr2Y5wYiXY0PdeypYKzZzKzbTfjyMCvuP8it2MVLWOTlHyu4fhrVMsr8NhaC_W0jn0TQ2A-9P1WNpiXHDvTOxCvekHXtj5f8hIHlTwSiMMAWp4uf9y-1gxZOMe2u87NNbe_Gjio0ZzV9sDrh3th99FeafO-kS9EUuYwi78ixFDY-nrtEGQ6vTdd5NEGmP6tKtFmyXyv2Yxk5rujvdhSiivhD-M8vrFJsijlxnMi2r9ZBYBLVttvCWyLRlwgrYUhZepZJuu-j1vIKv6rDRyWVX31npKLZeF9_J1Pr62aZjMj5u66wTwcDZUTw3YCqJ8crcf4hSOpWJm7b-3Ej-fSBNRtCnrH08NryW7BAtEdskCLRlyk3B9Bx2tMcMVEXplfn3ReL7zimmJOU5-3nfxH2AVSCNKn1ET1TTU9ggNF7DvFUmMfWEfxYUAGsxnBy47m3wV8DeQhL0GKf76pQPEl2P-WgNXEAl-4c7UyVJgvLbahAk5MfSYVERy8W8aB5_0s4iloCJwOf5vjizn5votuNxaZeIa01HQs5bbv0o9ZmJX3TjkJnzDYZ9jo8rIG6YHVi3MeiowmuqO3Un6s0URcMtBOB_einpPOx7T_E6UrwlLOv0s3NSnMlKtobjWR6KHNvlPtnjw5f6US5VOxC0SXRvmxPA4USY1OLVzdOch1dy_524lAhT820zhgyOlfJEnDvk5uiSEX1Hduegybtu3ayPtihorEd1CHY5Nc7U9T2U7cGT_PqCgDs2MBJnZ5AufEl2pQVoHbhlDQpz0MGMowMGkpzP-aG-KOKIgVSLmTAqtABWqNbctnPQfSKu3Kyr6HtxuPLhx09xRB67vvU-NbdZ9_D4bkq8XMeSqC6w3AE6PW5terpzATHIYWxfyx5ZaH69FpaAHJmT25kIDxNlgFR_3fK-QT50Fj47Tq5seLtoM2htZxPfIMEPJekF4J7iPUYA0cmFIR-LFq0QEoy8WDYtH_Yve4uEx8QmECza2FKsRYnFVmWnZZt-jgVXsZnvB4dieGlFsVpEmCWU6x1dktibX9bL3qQajvfdOCYrF-nv5Jfn9EqAgWI_FwNBuwL2C_LVkMDHJagIYwKy5nYpkctDXCfVMcj7XInyXSd30Qt2f7N57TSqHf2nbFSCwx7Z94DeswCfHgovapl2pgSAl0X8ehoGVF8shd0HqWwR3zsUD8KmB1kPi88f3TVrtz6rhF0LPLJcC3DO-bOSUEOlIM0KjT3mnwyW-mYYmaeAZ3hXjYfcwNyPoKTu5BIK5R7WjHB_UL8Cai4G2jLmHWzDmUr5bcXLBKqQSuhOP0CNyLSDSSH2jOstA1o_0rPIwHAZ-r-qt7sja0mH_-aYcHs3zgZGvBYnjUM6j9r99xeLb-gl4X1Uz5Qm1BGQ8BZ4aQGbtMLOqpJ54WnQMMckwPHDe3DciUdf53arhaTUIKLMn88GGOqpD2AiweXh-jEM2ngkrN_tp4DMMVtzJUKuZG_obzWl0C48Sn5FB2Ce27GP52aZAEhLV1Vfu0mcynLq_tpj3VNNZShbpsoS5Nn77uyr7QnZRVpmd4vV70agNWLuooOsX9mqZ7mR3t7oB2XG2k0anZEW1YH7FjMQZkSj1OeT1AKId0fS58L8vX9TDeAjUwsCdhCjzrTJfChV80F4dy909_wlsiEo9vMlrmaqlvhF_TXZrp1yzZ6wX-btuE7SUYzPeU74eD_h-0aERjNk3gpZKz8ZHLBw1T-yxr9u0hFpvETvYRBSAypUBkKSHaCi7P68ftaDzXDXC8Yo8HGuw==",
  "id": "rs_0feb634981959526016ab41a6663cc87d09a46f5cd1bd87b76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.36,\"left_y\":-0.17,\"left_z\":0.15,\"left_pitch\":0.4},\"note\":\"The right gripper closed almost completely, confirming it missed the pen. I’ll park it clear of the work area and position the left arm above the separate cap, which lies toward the left side of the table.\"}",
  "call_id": "call_9DTqWA0LVUfsllEYpKofdcdk",
  "id": "fc_0feb634981959526016ab41a681e5087d0b20dbd331acea9ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9DTqWA0LVUfsllEYpKofdcdk",
  "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]: [-0.7483, 1.5066, 0.4541, 0.6792, -0.709, -0.1886, 0.9998, 0.1055, 0.6014, 0.1104, 0.4355, 0.2054, -0.1272, 0.9965]\nstate[eef_state]: left_x=0.3496 left_y=-0.1627 left_z=0.1181 left_yaw=-0.0404 left_pitch=0.2876 left_roll=0.0607 left_gripper=0.9998 right_x=0.2914 right_y=-0.0018 right_z=0.1856 right_yaw=-0.0458 right_pitch=0.5303 right_roll=-0.1315 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -6.3385, 8.3077, 2.1074, -0.315, 0.2564, -0.0122, -0.0342, -0.0205, 10.5778, 2.0244, -0.0562, 0.0464, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8e2fe181cb238485b63e81236a7f1575f25916881b1dce41e8c9d1fe21c1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465ef981b72bbbc141ac42fb6ba364a5699098c0d1b2172b0c9614cf2657a2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4a7deb23b5ed5b5889ee738a6bf0256ba5b08230d9c6c241a57acb74f8e576",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.479 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3817, -0.02, -0.0113, 0.9998, 0.7269, 2.2452, 0.5182, 1.5543, 0.767, -0.0166, 0.999]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.0317 left_roll=0.0009 left_gripper=0.9998 right_x=0.3784 right_y=0.1773 right_z=0.0332 right_yaw=0.004 right_pitch=0.4608 right_roll=-0.1255 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.5111, 7.2274, 1.7411, -0.0562, -0.0562, -0.0122, 0.6222, -8.1299, 2.5231, 1.8584, 0.2076, -0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0196, -0.0109, 0.9998, 0.728, 2.2528, 0.5308, 1.552, 0.7628, -0.0338, 0.0132]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1714 left_yaw=0.0002 left_pitch=-0.0313 left_roll=0.001 left_gripper=0.9998 right_x=0.3804 right_y=0.1804 right_z=0.0325 right_yaw=0.0187 right_pitch=0.4614 right_roll=-0.1419 right_gripper=0.0132\nstate[joint_eff]: [-0.2667, -1.3744, 7.0496, 1.6972, -0.0269, -0.0464, -0.0122, -0.0752, -8.3077, 2.1675, 1.7851, 0.0562, 0.022, 1.1258]\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 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]: [-0.7483, 1.5066, 0.4541, 0.6792, -0.709, -0.1886, 0.9998, 0.1055, 0.6014, 0.1104, 0.4355, 0.2054, -0.1272, 0.9965]\nstate[eef_state]: left_x=0.3496 left_y=-0.1627 left_z=0.1181 left_yaw=-0.0404 left_pitch=0.2876 left_roll=0.0607 left_gripper=0.9998 right_x=0.2914 right_y=-0.0018 right_z=0.1856 right_yaw=-0.0458 right_pitch=0.5303 right_roll=-0.1315 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -6.3385, 8.3077, 2.1074, -0.315, 0.2564, -0.0122, -0.0342, -0.0205, 10.5778, 2.0244, -0.0562, 0.0464, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8e2fe181cb238485b63e81236a7f1575f25916881b1dce41e8c9d1fe21c1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465ef981b72bbbc141ac42fb6ba364a5699098c0d1b2172b0c9614cf2657a2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4a7deb23b5ed5b5889ee738a6bf0256ba5b08230d9c6c241a57acb74f8e576",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBptuIFHrkZNs1JtYMDFkx43AE7Qdned25xeVE7kUJw7PpY3kgKlCJQvAmIgRt-BqhMk0E4EB0W9GEWOrFWL6Pq9q-GbL4LYpi9zIAup-vVl3oX4ZXCTfz9wLI5X-WJSzMxbNcEJ3rzFxd7UTAID8wvve3lnVXhzYgXFmdyWBgVtFBIJMbdKWadx6h8e1QWcsWvYDa9O-OuGsQphvrBgl0_EnCn4eghWKfv7GFHMJVj-T8GxxkCT9TJKDcPH1xRCr_mdQVSeisDzGTReBaZJF8BwFCr7bKp1ZgokHfteQOIFoRZoKvJZY8wgkevgJAo4iPZrj24UXI2YghQQBN8Ehl6MQGYGiSTOI32dpEPvi6U7QkfO3cpC3InntVFaJG4_EFxjXDytGNxpAtwWR2R8lk4CtJakXUrDJ1ZQKWmRGs4L18kxeFBVKr1S7wzqyLv6VUV8hR36Hh-7tx0_10iGTfyEVFsDIBwYAGgDi1D911Zr4Kqc1DU3uPkEjEI-EohyIWUktCHpO457ujsF4JCLWs985XbCHye2RIhEATsD8ayuzCVArkjGIkg56D0uRwJKa3J3Tld3Q5PLpuYWLELIBNCkTTHfS5GDHHt9v01dljtpV9FXYlpb3o6E-fEWrz_MNMiLUk3Vcrhn2ja5rBzSdcac6bxJjTKnNK8a9yTtJc9a3j96IOpl-wRYOkdY10EnP1KgN87H8qMzJ38weXPiLrg4uaSJnxa5hXRXuVIQb2dve8AhVk_N716gN-jr42upEcYbGat3KNtFy6LHGLbSSslKQSz51MFDRryPIkkjCMm20SNkLKuIlmWIsUf93BMqrsg26Qb-8vYFHxM2goA51pTDlfTn0Jl3T7D5jdXML3YRWiqD7_yomBSJmnIEjgWs_e6tilOy_kbEaqhuDHmmxM134nl5Mzf8cV7RiF9StTmP_nNulCVTGvFY08SECBVyqoQd5eI9JU2D3iF8UFqdN2rCQ3Ul5lhLNOQfCUoru27PzPBKPgbYqUTjZOLdpNtxNvkv0M-IBKIZiOAxf8RIsTqd4VydFdiz0LI6kwFFbsvew3vUKwmJ5dDctcaaHYAgK0R4WyWnec7tEYqxjSq2d21-xmRw5hHDN3yAsEgkaS3hMCmFvZKE0aQX2ECBecTKs3n4vSUBNwuMtwdTnE2G0IvvTgHmsTKwBgeZEqu4iYrHNVT_2R29xge9O--hbWBQSA0JbMaiXy0rlbeGUr7_ld_9rS5okuH6LzeoxaBhWFunyToTEoxxNyt0J7e6bH7VkkIPcNlddliLfQheOkKGUSujT08UPX3NYNx4M7eEJ7gmfqAtJ-DdnknukiK5hHeuagp5KEpeQwG4jxJgbTnuPSMjU_3YoxOu7UmdCH2lkSGmFZSGCQZBwc4Cl2MOZp-yS-HD1PDknkWK4zxcqdRCKxpjyZRluUQwc8PeoEspj7506c2ARRfaiINb7g-lGKLMcuF0EJbRpHc60Sm3n_ryHG94Oj2vqAtM_L-ASGVqJVT_XhrUknRdkgFMpN5OofyAGcP5",
  "id": "rs_0feb634981959526016ab41a6bad8087d0af5324a79607aa41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.035,\"left_pitch\":0.5},\"note\":\"The cap is visible near the bottom of the left wrist view, a little to the right of the jaw column. I’ll make a small rightward correction and lower the left gripper toward it.\"}",
  "call_id": "call_DG4i9GiKjaA54dCXwopRpyv8",
  "id": "fc_0feb634981959526016ab41a6c4eb087d0a32ea1c524de54eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DG4i9GiKjaA54dCXwopRpyv8",
  "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]: [-0.7872, 2.2204, 0.503, 1.4658, -0.7788, -0.0586, 0.9998, 0.1005, 0.6071, 0.1078, 0.4026, 0.1871, -0.1318, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1884 left_z=0.0226 left_yaw=-0.0645 left_pitch=0.3867 left_roll=0.1274 left_gripper=0.9998 right_x=0.2913 right_y=-0.0 right_z=0.1747 right_yaw=-0.0272 right_pitch=0.4891 right_roll=-0.1417 right_gripper=0.9975\nstate[joint_eff]: [-0.5538, -9.0325, 3.6034, 2.4103, -0.1099, 0.1197, -0.0122, 0.0205, -0.6085, 7.2821, 2.21, 0.1245, 0.0024, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e835eb8f21dd824bbe472b8229de90162691cfdf9726f1ae9d16fa5f059cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83504ef1b429edc2f884077a7ce13133cc349e4633fb46b9bb4df8f6774e1afe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb423da32119b2aa008a3644390762552b01a645c23e2a8e8e6e8ff36ecd7f43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.328 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.02, -0.0109, 0.9998, 0.7292, 2.2528, 0.5327, 1.5555, 0.7673, -0.0277, 0.999]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1714 left_yaw=0.0005 left_pitch=-0.0313 left_roll=0.0012 left_gripper=0.9998 right_x=0.3807 right_y=0.1805 right_z=0.0337 right_yaw=0.0101 right_pitch=0.4663 right_roll=-0.1319 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.4291, 7.2137, 1.7021, -0.0806, -0.0366, -0.0122, 0.4444, -8.1983, 2.4821, 1.8339, 0.232, -0.0317, -0.0122]",
      "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]: [-0.7483, 1.5066, 0.4541, 0.6792, -0.709, -0.1886, 0.9998, 0.1055, 0.6014, 0.1104, 0.4355, 0.2054, -0.1272, 0.9965]\nstate[eef_state]: left_x=0.3496 left_y=-0.1627 left_z=0.1181 left_yaw=-0.0404 left_pitch=0.2876 left_roll=0.0607 left_gripper=0.9998 right_x=0.2914 right_y=-0.0018 right_z=0.1856 right_yaw=-0.0458 right_pitch=0.5303 right_roll=-0.1315 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -6.3385, 8.3077, 2.1074, -0.315, 0.2564, -0.0122, -0.0342, -0.0205, 10.5778, 2.0244, -0.0562, 0.0464, -0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7872, 2.2204, 0.503, 1.4658, -0.7788, -0.0586, 0.9998, 0.1005, 0.6071, 0.1078, 0.4026, 0.1871, -0.1318, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1884 left_z=0.0226 left_yaw=-0.0645 left_pitch=0.3867 left_roll=0.1274 left_gripper=0.9998 right_x=0.2913 right_y=-0.0 right_z=0.1747 right_yaw=-0.0272 right_pitch=0.4891 right_roll=-0.1417 right_gripper=0.9975\nstate[joint_eff]: [-0.5538, -9.0325, 3.6034, 2.4103, -0.1099, 0.1197, -0.0122, 0.0205, -0.6085, 7.2821, 2.21, 0.1245, 0.0024, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e835eb8f21dd824bbe472b8229de90162691cfdf9726f1ae9d16fa5f059cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83504ef1b429edc2f884077a7ce13133cc349e4633fb46b9bb4df8f6774e1afe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb423da32119b2aa008a3644390762552b01a645c23e2a8e8e6e8ff36ecd7f43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpxECGoJlBqtgBEoHzZgwwPcYMyvhXAaAarYj0zmMFXWr3zwERtHi2anMOjd8osF2HXL3zkj4_X6UxxE2cpCzLliTadS-1AgTAKjKa8E_e45QR_EFspM98vhE66v2XckP0OiC_Q0R3BKEWl_tOH5w4f5nncOD2v7H4-POcYajxPhDGZ34-vJmjC8p9TXGAIS5ve-31OcF_Ex3u-QTwJl8o9RDCWtu9BzsjQIk-pZca8d6gDtJFJjXvZFT53DT5jC1AJf7tFbOQfmSHrQTbs5sKrjbqKlgeKCVV2dLKUGLgterseCQnS5P4twLWr5WkvXd-tgdt8aBFcZgDIHWKfWvIp_lLsYAGl2pwursGtjn_34MdmiX1UEMHXCZuvdWSvCmCiXwTOuxDiA1zMtpHEdMq8jvCA7x5Y3K7HajyC42E9HNyKQOAvR1PEgZ8DHEQaQWHEbBUgvcx98u3UGYOr_6Sg6xpL8J1xY8aUoHfyY_mJ0Y0pD6uFjcV_z6OJ7X7l1mwhBl3mibI13bcRCvPpD92_2Sg_7rTAYEnEe7lBkwtQp12nlquay7GcAMBLze5E1ZqQT_bK3ya_56F2rnj73AspKrUqZHeh1R1PuriK3gCAQlCoQ4jNLwwre7XdP9gwqWrWI6AYQmWOdCluBccb-lGem5DsNbYhsx3FKEzlLnO-akETYPGyVLKcnv1xCvThejxsHaKzpVf6KAxZNy173RZ7Jlhn2qSInavgZLcmV3nRVzfdrmIXbLXGxprhhVYYgYKlBJshgM0sfrNBDflk2wldzq66KUW1TZw9fWcRl1m35iEQJvAkhAD5ClnuHmZEhHHqseU6VDBlt3JCXv8ZSYaUMcoeV8I5F6VRKY_2S4yGBnRHuCV0Nb2gtFgl-ByJls3AyauT6qTfOfXSPom6qHtQa2aazdvOBKXJRDU-ZvbVU0eEBrsERECB3n2BD9jFyq1IXUpIAXM9wli72K3m2WaM-qozqTxKy9K_F8Jaqf-Z5-o87ic6iXQp6eTnfQFnikD15RU1ktSFdnYg-I9TgmPKSvYcanHhuAssv_1SS46XyEabYeFclaHtO3Y8EAYD4BElvz0DF12Synt4O3ZFOkkXJIuul7rPkNNOhlAo8hu5oEYHVMi0MqfBMf5gzUvd_ng6twoKfwT92sr3kxL5yrnXTD58jss3Bpi36iASQ67hBaGWyrLme-sEfuCUv9bI5LjYDrQkcMYugsnmoznTvueN11QLt4QKvr3t54_t2rvtZwxPtF_bbbmYdeoC4_GREevGo9krboUPgUpbJo5mGI2QJs_BpnRdP1ccKFKQoYfOUe6LPn1C65BDU0aXSvBmjNMigGH8hoSkC2sDuoCgkX1ixHQ3eFxcdC_q2T3UUEFCTNCbaPMHp89UogfPIGEc_N4w3xxrt2OUWQ8rhPSbV-URuLewrgHtumxJgI94Arjp1TRWmuJOXz85latMnoZuD_qE68xmL7cOjF8AP4U7qv5VaNpekrnObaIRoqdPLHXoJ_e5zPrZE1p0Un_WOiIJJWEMoOWGAJ0P_H_-zN-5ihl6-jDB0-aAHA2uLRqoFLste4d6Lpm4BcV4DSkupW7F2LxvVgmtq8aYwO-PK-H91pLvFwbk8KEk-PUA0kZB5nWHDT8fGT8gLxUC40symI9jBSIKlIaMJ39FFEHJIz7otHUVSvAXUebqxIEk5Kdta5Mh9Esn6MuQ2EZIP1-fsKVrBGXXjXrD-15hRQRwfYb7rjHidwRfwfVkJbxpzMNyKctCp60cfIWZgDCFpKHN208NUAXpHGnmbflmo81-aXiestnrjWDUiTh6bBvcE0WfvWIpcgIRXnkxVs_qCzwEb3bNdSaU4KdWTQh3Flv6Z_nAU2E4f9lmGKby7nDHMo3EUFj89Lv3N6voxWiUAojk31WoBr4L",
  "id": "rs_0feb634981959526016ab41a6ee8e087d0801a32d5813ac781",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":-0.01,\"left_pitch\":0.5},\"note\":\"The cap is now centered between the left jaws, and the grasp point is only a couple of centimeters above the tabletop. I’ll finish lowering before closing around the cap.\"}",
  "call_id": "call_uvdvV1JR19JaghWhKSunnSA3",
  "id": "fc_0feb634981959526016ab41a70974c87d0b28f56816e740884",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uvdvV1JR19JaghWhKSunnSA3",
  "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]: [-0.8078, 2.3501, 0.6315, 1.5726, -0.8223, -0.0223, 0.9994, 0.0998, 0.609, 0.1078, 0.3973, 0.1825, -0.1318, 0.9976]\nstate[eef_state]: left_x=0.3846 left_y=-0.2097 left_z=0.0212 left_yaw=-0.0339 left_pitch=0.4677 left_roll=0.0947 left_gripper=0.9994 right_x=0.2913 right_y=0.0005 right_z=0.1729 right_yaw=-0.0231 right_pitch=0.4818 right_roll=-0.1422 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -8.6496, 2.906, 1.7118, -0.022, 0.2369, -0.0513, -0.2803, -0.1846, 7.0359, 1.9023, 0.0171, -0.0464, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8dfe8103bd7761bbf1d1a33b930c9a2b90a0f55efc896fd169fa9433ba7106d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f23639b594d6304e8296ef4ba38a14d209c7589c947e0ba7154db1c3aa3abde4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5b62c239b8d264aef22a443cd29cee212632b9a68edd9229da9350e264403d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.907 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6029, -0.3813, -0.0196, -0.0109, 0.9998, 0.728, 2.2528, 0.5308, 1.552, 0.7628, -0.0338, 0.0132]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1714 left_yaw=0.0002 left_pitch=-0.0313 left_roll=0.001 left_gripper=0.9998 right_x=0.3804 right_y=0.1804 right_z=0.0325 right_yaw=0.0187 right_pitch=0.4614 right_roll=-0.1419 right_gripper=0.0132\nstate[joint_eff]: [-0.2667, -1.3744, 7.0496, 1.6972, -0.0269, -0.0464, -0.0122, -0.0752, -8.3077, 2.1675, 1.7851, 0.0562, 0.022, 1.1258]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7872, 2.2204, 0.503, 1.4658, -0.7788, -0.0586, 0.9998, 0.1005, 0.6071, 0.1078, 0.4026, 0.1871, -0.1318, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1884 left_z=0.0226 left_yaw=-0.0645 left_pitch=0.3867 left_roll=0.1274 left_gripper=0.9998 right_x=0.2913 right_y=-0.0 right_z=0.1747 right_yaw=-0.0272 right_pitch=0.4891 right_roll=-0.1417 right_gripper=0.9975\nstate[joint_eff]: [-0.5538, -9.0325, 3.6034, 2.4103, -0.1099, 0.1197, -0.0122, 0.0205, -0.6085, 7.2821, 2.21, 0.1245, 0.0024, 0.0952]\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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3501, 0.6315, 1.5726, -0.8223, -0.0223, 0.9994, 0.0998, 0.609, 0.1078, 0.3973, 0.1825, -0.1318, 0.9976]\nstate[eef_state]: left_x=0.3846 left_y=-0.2097 left_z=0.0212 left_yaw=-0.0339 left_pitch=0.4677 left_roll=0.0947 left_gripper=0.9994 right_x=0.2913 right_y=0.0005 right_z=0.1729 right_yaw=-0.0231 right_pitch=0.4818 right_roll=-0.1422 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -8.6496, 2.906, 1.7118, -0.022, 0.2369, -0.0513, -0.2803, -0.1846, 7.0359, 1.9023, 0.0171, -0.0464, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8dfe8103bd7761bbf1d1a33b930c9a2b90a0f55efc896fd169fa9433ba7106d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f23639b594d6304e8296ef4ba38a14d209c7589c947e0ba7154db1c3aa3abde4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5b62c239b8d264aef22a443cd29cee212632b9a68edd9229da9350e264403d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBpzC5gc6y-31oiVOwFaG6dp4WdifzBN787zp_NMmYpCwpaw1kmGhfT4trXKsLNOFyWHnur95uiCUzxhjCiWkcuUS6JSkoNmDDQZs4cBB1cyYbEYPPC5v6FVZ9Z31DXZNsS7zGRYDzj7M7OFXUhZMwIRpMJHJ-Ztg_snejQ79xI4OgnNpkwCPeFcBdH-WISXd_INSXQDVahYHTJOiwQJMTtujfDXClMkbN1KItlTIAwsU5cyTV9_ZSq2vieGrSiZ0gfcwIBEznfXXJDcRPEK14CZGtgOZQRvHxiQDmgS8TwZhWO1aVdzw4a4gEQqyRvCG4kxIOq8thrFP9xZOqDnaV2bS3MgwT0RNle5y0DOmLa936sspGT5XjWkuIzJNVahY2Eg1MRgltxiKvn9dqzd8OMK1--HWveLzt2vuKKyYPjo40UpiVcLCNv535WOzVB3KBw0ztLobKkmrB6BH-cCxxdazUEbVZAX-uGiNa1pW8KsFlIWnudPpJtjIhVWEGyanqRx0YGIHJEfoaoepA0W5JAsZT9f3KLthCylJgwFYBpAXuFbZ7yQzNZnNrYN1Lf36cuyVwtsNNAh7y7jeVbSD4VVfmsPCcE9t8b3FYf0udHdO8YCN0_mk625YJxhg1gmEM7IzpaUXxXL97gEJHIZSs_NFe4BnsxHitzU_VBY7Lrz6PvOWqlOIrE-4Qk9nrOwazUtH1o-Fry_tRhyBSIpO0gTEriGZCghSD7hBQIra-p-9443cbPMaPeqyQQddv3EiIAY8Ks2t0u9Xs1VPKZxiugJPYkPbGJ0WO_e9WHV8UpcZMZLwmfJSnHD_kuj9MuyjbzR-VJtvphXOgng6szIfmNCup1M8l7JCe39sVUqDXTBtiKkaDccxhuQa-ZHFVhKQZw58DOtRfMyFtuJJeAKb2Qo_IPI_XPZV6hxajucTy-QKwbhhQXX_kcZ0V59so6MOpMmion-Gpn17fDgrLC-qgtrf4Y_3uWXyZoO0qHIawG-SWU-mCC0EUrwTTGPgJZWnSglz5iKnDbW0Tlvv_9fSOj2HzouilFOao8pN0UhCaQ6Sul0XXVySUCyxvR-wSoFqFnxHyCg4v2oL4ssj8d06KxO68iNoiHWv3kbN-EcK6MBhB4qgJy958Qd-1khJet0G-ZapHCV_MaiDw-7fFVLQIfzULEjdD5OJPTgZcx7V5QltH3YBZetWiXkIbEvZjjWv4fqtIFmpWyoSroeiLf9EVcKBCeg9gVz6yrq6mxeSlNFyhRttlVxXQT2r-kL4YY6rQDv54zcSqsDCfbPBNjFK8ko5nMKFRgi9qUhUCu0iCGV_TFsJxuBnQ9D45rHkkzo4OOtuFP9wVXxFQ995ussHdmwRAiLh3e5FyTdb9JYH0Gzp4sERtLo3ZbGZkIrPsSVYhNW",
  "id": "rs_0feb634981959526016ab41a72da9c87d0b132836a8dd7b847",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap extends into the left jaw opening at table level. I’ll close the left gripper and check whether its settled opening indicates a real grasp.\"}",
  "call_id": "call_gEp4Us9QisX4KM1Wai3nnVWS",
  "id": "fc_0feb634981959526016ab41a73493887d08b2819df0c556f61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gEp4Us9QisX4KM1Wai3nnVWS",
  "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]: [-0.8085, 2.3573, 0.6346, 1.5742, -0.831, -0.0238, 0.0083, 0.0998, 0.609, 0.1078, 0.395, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3846 left_y=-0.2086 left_z=0.0195 left_yaw=-0.0265 left_pitch=0.4668 left_roll=0.0962 left_gripper=0.0083 right_x=0.2913 right_y=0.0006 right_z=0.1723 right_yaw=-0.0226 right_pitch=0.4795 right_roll=-0.1425 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -9.9214, 1.7709, 1.6435, -0.0073, -0.0415, 0.5739, -0.1162, -0.1299, 7.0496, 1.8779, -0.0562, -0.0611, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e7350f03b5412b1c4a474dfe895cc2018f396d7853942aaf08c7bffb7583f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45710923e3d93d990dc04840f823e1faa29df68d71248c8bbf935469e867fbe0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9289427362cce953dbe2a61028da1d667f8ee2ab390c1b2b43f908e19132ef28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.836 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7483, 1.5066, 0.4541, 0.6792, -0.709, -0.1886, 0.9998, 0.1055, 0.6014, 0.1104, 0.4355, 0.2054, -0.1272, 0.9965]\nstate[eef_state]: left_x=0.3496 left_y=-0.1627 left_z=0.1181 left_yaw=-0.0404 left_pitch=0.2876 left_roll=0.0607 left_gripper=0.9998 right_x=0.2914 right_y=-0.0018 right_z=0.1856 right_yaw=-0.0458 right_pitch=0.5303 right_roll=-0.1315 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -6.3385, 8.3077, 2.1074, -0.315, 0.2564, -0.0122, -0.0342, -0.0205, 10.5778, 2.0244, -0.0562, 0.0464, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3501, 0.6315, 1.5726, -0.8223, -0.0223, 0.9994, 0.0998, 0.609, 0.1078, 0.3973, 0.1825, -0.1318, 0.9976]\nstate[eef_state]: left_x=0.3846 left_y=-0.2097 left_z=0.0212 left_yaw=-0.0339 left_pitch=0.4677 left_roll=0.0947 left_gripper=0.9994 right_x=0.2913 right_y=0.0005 right_z=0.1729 right_yaw=-0.0231 right_pitch=0.4818 right_roll=-0.1422 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -8.6496, 2.906, 1.7118, -0.022, 0.2369, -0.0513, -0.2803, -0.1846, 7.0359, 1.9023, 0.0171, -0.0464, -0.0024]\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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 2.3573, 0.6346, 1.5742, -0.831, -0.0238, 0.0083, 0.0998, 0.609, 0.1078, 0.395, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3846 left_y=-0.2086 left_z=0.0195 left_yaw=-0.0265 left_pitch=0.4668 left_roll=0.0962 left_gripper=0.0083 right_x=0.2913 right_y=0.0006 right_z=0.1723 right_yaw=-0.0226 right_pitch=0.4795 right_roll=-0.1425 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -9.9214, 1.7709, 1.6435, -0.0073, -0.0415, 0.5739, -0.1162, -0.1299, 7.0496, 1.8779, -0.0562, -0.0611, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e7350f03b5412b1c4a474dfe895cc2018f396d7853942aaf08c7bffb7583f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45710923e3d93d990dc04840f823e1faa29df68d71248c8bbf935469e867fbe0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9289427362cce953dbe2a61028da1d667f8ee2ab390c1b2b43f908e19132ef28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBp51Di2gfcwdrTSR6zgC6Z7p221sZWGh9oAYEUcyAeJ70k9_fxmmKl6VZonisvGaptbfpcjtmaepS7bol5F0ZrHZQ2O6wPlB4NFx3PrCPGVyXjdP6NdVCVmi8pNBZBLuxIMqUbyizFPnH4l6x8IFMcHz-8mOOgmXzQT5HUUCO9Wn1l_FF2VvorJHSRPWn6vrux-M2ebaAHPnythQUj6wshqCXGqvbHW_fkc8_gKAYZ7LnIQc0XAJ8kaSXXPQAyiwRpIFz04bPEbAwNt1goTQnp0mfJjaE-Tq6MB1f8XDkVE5fqyhTCUCnDP181SJZNICOTCMOkj6DXu8NIWm4RP-GFd-M4nf8TuRLtLeydOxKlEe7IWuNSDYU7AyKpBcxEJNCoE3q_z8VF9_WPgPbnCQ91aMin-3BtfzsLaOHG6MGe6hDII-pT1wdqn-uI0n69VV98e6CoYdd1nsiSZKUh8h_b41UegxPXPuSuSGoqwxLbL0Gc2T0z_Kw_fTn7o0RjwYbqgdkEUhb9LRPnpd0MxdE-8kU5pRUoE_fL49H4L5jf6v7VEwp6bsxHLhkFhDs46OA9GTjZSRZDT76C76uY3Xmubwnb5g6kih2CdjguC_3R-iMTk7XPOIfMQy9s2H83qNelTP4nNt-1kpIFvymxRPIsAtLW6sAI3yYJ5L0yqMi-YsWEHzrpdumf62CZp5r7hHt2EXlujwbRdY0xDUDcDtCbPLWGh6bQPTLyQAY25JgwAn5lmNqgFCOt9_r-dUFwfFtCkXjwML3nSrXAMkqU9-c7432Atfz64TAofd6EShKb7aQYxKe2oiQvSZIEUwBx49xX4CuUR0DNPdeP8IaRNqvV4p6byS5QpTE5DHYtqNIhoToHWUU7bxEV-9SIs8Ahp1QEwaEtH9FcKQFdCXR4eA0T9hXEH4czj-WWc0jKYOJBqy-Pi-WHH1Y95i3S8kernOTgG9DiW_eBASH0JeF4XR4dkX_HzbwbnOqORi7f7TZ-KuY52L3-2tnTyEdG1dAI9B3PAjG16czmUgh4hmwP-x6xDUUXuEK2kdSDjoaLbIT2smlMsZz0Yp564Z4j4TPuv9Eut4BQR9SpoDxjjOQewsCj5HXAaXXM1PskDeDU9I8ofJ154c1FMBFJe_aox1dodRJV0969AeXtxt7uyOxqU7FZ3Bsfy_hQa-2hLMB9k-uMurc1GxdUgI_9EtAS40Wa_xSspqjZO0_ribdN118usc1YzKNngOZNokGXbjuRamqSBv-gu72pVsZQN-BQjOlOykKuRLElLGAn3rToeLZEk8uLzwCZzJNmEQ6zKCdDUrStkar9mzigLQn3dhPS3-gl2DLNFk-dWbxXVm4zV9dfH4FArMS-YK4jv7Mr1XQRR5vCbZiMFh-MaCujlwYD8kCciPuU-j8J1UgMcomBQgmrnMbaeK9XnNhesbQ69x-ujObcWHJUFAABmzOIhje-9_6sq949MxRYUqmkmJC-RuuYknTpVPqT-JRbHoX0gGHxxziGH6AR6_nih5friqWmD87mi3Kf23OpsfKgd90ZtjF93-5VVDOcgJU5vsliFYa3ZiAZVVk4LiCLU5ifp5Eh5y0ZphyQphtsJO8Bq4W6vlmIWuczeXFeVcwkssao0OF5Me_gtYXiObYb6-qIAflklA_rQbBfrNGi0-GuD8HSTQdvgo1eObLt8OvmVp38Pi8vlSiz43IPmLZHk1Zuc6pa1Btdg0kFzjFu8UqcbqC6uJf4_BtefJh9mI0W4maKOv_uZg5bpbqXhair2Ux9ntcQsXrwOIxlhMx8CACz0R6yJk2Y3cGbKZtiloHX_7LLRFjfW8MCUw46KAsS6L6DTRSbYdIKAcUq13eX1xSJ6k3NUW7YcyKP8s1dVOyRLV-zYp5GtFRVnsiids914qPFFEQdCIndOuZFFzeiAmcP0DBoCIm40VZZylwZTqALcP9G42a4Cc9vKmYNTHK4La2ZPUWWIMOUld0OQXkAexXAzophuXP2zty0a02XGspHs91veFkkFXmK1VOg5SkR5GuAbXkU4MfDhEmQdK63GOHjH92E33VYzjh-g4GZze9hayngRs6aaaOjlxpKNthj7L1cdgvw8HaeHBYYp3h7qxl7BXucZgQVDb-MHYSdOAogR0HypDcWsTNpQPOvCiER81Bn2YV0d196SfLX7tlHI1J_jPbi0Zt1IruKnWUsVMIWCyE4Y3SlL2zMGtLNYO0_Rb41QING3OUwEgsyJFSUTIowylSaAfF5cSv5sC1M_SFh-zRY4_gYDg4BbJc_Z1U-idUfSHe6ymSWn5dDdYYuMmEFihdobkZ2OKXG5_OByPmNCbTy4UYWmJ7wzuv0BYSFSewiTK5YWXK-st75hYv4uvPAY7JRR1_DP4UKZwg==",
  "id": "rs_0feb634981959526016ab41a761e4887d099c656603e67eb20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.405,\"left_y\":-0.21,\"left_z\":0.01,\"left_pitch\":0.5},\"note\":\"The left gripper closed empty; the cap appears just beyond the fingertips in the overhead view. I’ll reopen and advance roughly two centimeters along the table for one corrected grasp.\"}",
  "call_id": "call_BNlX40kk15ZhdZ6CDlKp8GJq",
  "id": "fc_0feb634981959526016ab41a7894c487d0855d3d4387982fe6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BNlX40kk15ZhdZ6CDlKp8GJq",
  "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]: [-0.7734, 2.3989, 0.7265, 1.573, -0.8299, -0.0135, 0.9947, 0.0998, 0.609, 0.107, 0.3916, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.4069 left_y=-0.2101 left_z=0.0222 left_yaw=0.0196 left_pitch=0.501 left_roll=0.0682 left_gripper=0.9947 right_x=0.2911 right_y=0.0006 right_z=0.1711 right_yaw=-0.0224 right_pitch=0.4754 right_roll=-0.143 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0068, 3.6034, 1.6777, 0.2564, 0.2418, 0.0122, -0.3487, -0.0889, 7.0906, 1.8926, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dd1cd028dd22e5f5890b2680f0b025f5c52bafc7fb405e7a615fba30563d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34b313c2da4f6fe367f055d49402bd60fe9ed4bcbae0dd2ed8b4c528198ca3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46467dd3b2e1a3ecfefdde61ec1e459f5be8098029d083386bc80542aeeb2450",
      "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 · 7.053 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7872, 2.2204, 0.503, 1.4658, -0.7788, -0.0586, 0.9998, 0.1005, 0.6071, 0.1078, 0.4026, 0.1871, -0.1318, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1884 left_z=0.0226 left_yaw=-0.0645 left_pitch=0.3867 left_roll=0.1274 left_gripper=0.9998 right_x=0.2913 right_y=-0.0 right_z=0.1747 right_yaw=-0.0272 right_pitch=0.4891 right_roll=-0.1417 right_gripper=0.9975\nstate[joint_eff]: [-0.5538, -9.0325, 3.6034, 2.4103, -0.1099, 0.1197, -0.0122, 0.0205, -0.6085, 7.2821, 2.21, 0.1245, 0.0024, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 2.3573, 0.6346, 1.5742, -0.831, -0.0238, 0.0083, 0.0998, 0.609, 0.1078, 0.395, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3846 left_y=-0.2086 left_z=0.0195 left_yaw=-0.0265 left_pitch=0.4668 left_roll=0.0962 left_gripper=0.0083 right_x=0.2913 right_y=0.0006 right_z=0.1723 right_yaw=-0.0226 right_pitch=0.4795 right_roll=-0.1425 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -9.9214, 1.7709, 1.6435, -0.0073, -0.0415, 0.5739, -0.1162, -0.1299, 7.0496, 1.8779, -0.0562, -0.0611, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7734, 2.3989, 0.7265, 1.573, -0.8299, -0.0135, 0.9947, 0.0998, 0.609, 0.107, 0.3916, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.4069 left_y=-0.2101 left_z=0.0222 left_yaw=0.0196 left_pitch=0.501 left_roll=0.0682 left_gripper=0.9947 right_x=0.2911 right_y=0.0006 right_z=0.1711 right_yaw=-0.0224 right_pitch=0.4754 right_roll=-0.143 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0068, 3.6034, 1.6777, 0.2564, 0.2418, 0.0122, -0.3487, -0.0889, 7.0906, 1.8926, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dd1cd028dd22e5f5890b2680f0b025f5c52bafc7fb405e7a615fba30563d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34b313c2da4f6fe367f055d49402bd60fe9ed4bcbae0dd2ed8b4c528198ca3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46467dd3b2e1a3ecfefdde61ec1e459f5be8098029d083386bc80542aeeb2450",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBp_n6by8K7vb_Z8_mSuzr9S5uM9M3SY6Ud6O8SWNl41KMnDtEVUaiOI4eiNqs63JGEaMXddy8YxA7PLGLD6qP-3yAttM0SsDcrbf_Rjuoe2rRCojs4W8_kqO86GbXQvYBZ1wPnz1Vr853UK_NVFB_-4BuT4DPoLmb5wX0EemUdl8SDJMK6dn6crAg16dJM0hRH3N-kXQRi9AdoOLBelugTPwGm0ua_pxqJMsb-Fo1Fgzd_3vk3OlDmZvPdtnS4K5bt2kxLUg6SUuGQz55TioOIQnETkAp9ls9okgKQMjaWJFlAkVhE3C6NVieFrZlpbu31Zq9g9Ujr97aAidb-vlkcWfLeajHGWTmvNf8wKAmuhik9k_qOQ2NOapdT_YGuYPonXDVJGuZoa61PG5PVu02W2MjgSkI5BH6_l1FsGIVY0bYpJ4K9kamNz0tpdXjc4M6_tBofvOn8HiUS43RJMsLNO8FIvZWYjgshvmAdBNSo0MrcASA70WNXD7dlKoPBOiQb6Ino-jP_N0xD_IupK1OEoKLw8ycB_J8QW9jGNu-0MuuHse0a8WQaM4_LQfsSLDVfiBOk1yt-r6qtKfge4QRa-tRj6Xb_5Lly9J4eovvoPPhboT-utQLz9ZP67XpVshG0I9VfrCwdu-4IF_fWFfqMQHe8fnGG0hNjftOnSi7-Gae6-KLM7BNU8YUc1EBQ2EF0mO-8QbiT5LnLfapUgq9GvAung4ur-6Hh0NqcSlmw3Dcuz1ONhVl4CokGX7uIUG4EiMLKPxh4SqSnpBSg3LJYJVxHN49fBXfCqM6nlbUKjSjdv5ondIt1oTw4vue8VI_1Z3xl7YtNDhNJYk0C3agD1i6lPBCFZm7Qr_Cn816HGJG60IJLPxR7b_1ZjteDa7HtE9kutmRWA8PBh3oxVEJi78jl5CmGjL6NbtxJIDFkILUFXqKoNiILEiyWz0bVzsoRYKAvBOcg9onfaogh8HMVzCAJm3OCHj-L0CeEFeEhUW2GDZoV9y3ZvmIq4QIEDpOaAGNIDTgGbHB1i2rsyonAVklqluDA-XdjIWItSlYj1yttx6cuuqXTcnPTucjUQA2UZN-9rDir2Zn1BDzVRO6DWjwCCE-Bvw0PxH1kKjj-KUmgM2tmoK4-AUdFJZzsQ3qoTJtGykM4ON4ROQKE_sCl01TdC3DiY_c8n1e0u38jS6GTAe3kr01ezyM0dmd8CKNDCTxP_RiphsSsTkv6ihnltTEsy-GTalk9Ani4_lVRjU2Skw3xnZEPTOqNdqrTOMmXXp9lWmWY9AaZvEEZmXsDz3A7Lu6F1gWaSk2Niq8GpCfVIxH7m2FF_xl7JHYaP73k-muJcbxQacgjL8_gF2t2v3F94292DD6bF_JTnNSWEShIULjbyw_YXbbRSV06tphpoGdj3aT40TcsJQ3PdLg9np1NmKJoZ-ZZ84KL0cHOcTgqZ992HK9hVsm-nrLWpjQgarKjkyWTBRCPw6VE0muHaLy3cXSH9VZ0zwTRjia8DCrOqyVcrovLJyQh1T79Gn5Z3Z0MJSjqv3-3F-LoDMYkmDRMPvpSxQ9vFXQYEdHTgOMWQhZsvDhXUBPDfRR4TD4y69OBO2Ko5igC5LMlrziohj4sU3VLit2CZiPKmr68Z49wkH6G-q4D7styWCVagSATo9IT--H7NA8KotR5B60gjecmRmj4xRpKxUG8e6uP8mIndinFqw6xEVN5egs-kpZ6L9i-Dyyxv8u28HmhsYCpDSnM2IcEzen5C476cPfuxRlJPd1Whyk9Y4j2qcW_8MuqfZ7BKgzQMXA57TOndrJQ-aHcm6Z2VBuKANkhL4fKMrhupEGr9PRn0ZPCys37BRaloL6di2Df1Xt3xRVZ-a2fNPlIO5RW0eS6Ocd8_45InbTAjgu6MdxgrCPjc6FxwVXfJXpkXncBh6jZBjMlEz_BLrw==",
  "id": "rs_0feb634981959526016ab41a7d289487d0befb8c6920caad9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the small advance, the cap lies at the bottom of the left wrist image between the jaws. I’ll try the corrected close and check the readback before lifting.\"}",
  "call_id": "call_PXYmlSgE77jicuOPW7rU9dwU",
  "id": "fc_0feb634981959526016ab41a7ea17487d0be2c74cde4b3c243",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PXYmlSgE77jicuOPW7rU9dwU",
  "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]: [-0.7727, 2.4042, 0.7265, 1.5749, -0.8318, -0.0174, 0.0091, 0.0998, 0.6109, 0.1059, 0.3885, 0.1825, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.4068 left_y=-0.2092 left_z=0.0204 left_yaw=0.0232 left_pitch=0.4988 left_roll=0.0668 left_gripper=0.0091 right_x=0.291 right_y=0.0005 right_z=0.1693 right_yaw=-0.0221 right_pitch=0.4693 right_roll=-0.1443 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -10.3316, 2.4, 1.6777, -0.1099, 0.0024, 0.3834, -0.1436, -0.2803, 7.159, 1.9365, 0.0024, -0.0855, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73040aaf87ec503fae566118742b34da10d9ed27a3960547b7a76cbef83232a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ce19aa364568ce9b71ea197d693e2ea4fc87184919525f3bdb93e2b310236f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9faa2dd4ae9aa72ce3306a629374ed94bb49f310556190236113706c04bb71f3",
      "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 · 4.829 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8078, 2.3501, 0.6315, 1.5726, -0.8223, -0.0223, 0.9994, 0.0998, 0.609, 0.1078, 0.3973, 0.1825, -0.1318, 0.9976]\nstate[eef_state]: left_x=0.3846 left_y=-0.2097 left_z=0.0212 left_yaw=-0.0339 left_pitch=0.4677 left_roll=0.0947 left_gripper=0.9994 right_x=0.2913 right_y=0.0005 right_z=0.1729 right_yaw=-0.0231 right_pitch=0.4818 right_roll=-0.1422 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -8.6496, 2.906, 1.7118, -0.022, 0.2369, -0.0513, -0.2803, -0.1846, 7.0359, 1.9023, 0.0171, -0.0464, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7734, 2.3989, 0.7265, 1.573, -0.8299, -0.0135, 0.9947, 0.0998, 0.609, 0.107, 0.3916, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.4069 left_y=-0.2101 left_z=0.0222 left_yaw=0.0196 left_pitch=0.501 left_roll=0.0682 left_gripper=0.9947 right_x=0.2911 right_y=0.0006 right_z=0.1711 right_yaw=-0.0224 right_pitch=0.4754 right_roll=-0.143 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0068, 3.6034, 1.6777, 0.2564, 0.2418, 0.0122, -0.3487, -0.0889, 7.0906, 1.8926, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7727, 2.4042, 0.7265, 1.5749, -0.8318, -0.0174, 0.0091, 0.0998, 0.6109, 0.1059, 0.3885, 0.1825, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.4068 left_y=-0.2092 left_z=0.0204 left_yaw=0.0232 left_pitch=0.4988 left_roll=0.0668 left_gripper=0.0091 right_x=0.291 right_y=0.0005 right_z=0.1693 right_yaw=-0.0221 right_pitch=0.4693 right_roll=-0.1443 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -10.3316, 2.4, 1.6777, -0.1099, 0.0024, 0.3834, -0.1436, -0.2803, 7.159, 1.9365, 0.0024, -0.0855, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73040aaf87ec503fae566118742b34da10d9ed27a3960547b7a76cbef83232a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ce19aa364568ce9b71ea197d693e2ea4fc87184919525f3bdb93e2b310236f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9faa2dd4ae9aa72ce3306a629374ed94bb49f310556190236113706c04bb71f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0feb634981959526016ab41a81b2bc87d096f50b78e41dc175",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqHRFPogaeoNbR_Yrv9DHctYChKP_ZvTli-wfgDv8Hdi4r8Sc1q0cSoKiRiqLPLSESlP2BOGuFvBgna5xcG0KFrb9SixZ6ILrkfzx2zrFiSM6SKNvtEHR86Yud2T2rmGvvV_h14Lsy2hOlZY5lG-tB0HDyxucKYAHjbAIJNqDWXPYtZRljOc1weyqlVz0z1XNvgZmHAmajJIGNeJMPiVI3Do8QMzYamydYtpHY9kPkvAZZY6SgrcfbZRSkZJ3pGt4UWcpbm9j3XdY99MJBmRy3MVHO7Im6vst7mub-B1T65de7a7M-XE8T6KUnD4gidqeJqL2eJflPTZ8YyLUkon-m91NyDN2ngW3B8eOSHzVTYgoCWs0b-FjYrk5bOgmP6ZJLdapU7YRX-Q5iEN138OHGTM3SxV10lP9vqIIcUYSztEjmx1puFit-YW_Ni2axRatB6xkwQJcVPJEGk4aR61tFc8CiBURP5E7WVTD2ua1G_rSIMAFvicOYhGDNywk8qbzfOQSjYNm6PVR652xGiBGsBSowsTsMNdpQ7Y2DVY_4xAxZ6FnmY064kdtYY8u9veX0Bpy2BnvxI8Q4aiLXjtFBw8n17mMy_MV5GET3CKhrSZxYhK5JIcWqYlOb779qrMsJjzcP1ng2PZQ-XUOnDEVjz_VrILY1-8GLEWYCK94mBm_EbX4HZUUMMDZe0sfIoBNEIZcKctP2GW3ADP6y6GYbA_lEfqT9zRJQooYVyU15YtCSNC6MPKbGXxNK29tKohPPHDjVrZ72nfaVfKgNVL15e_LOmG8KxpH9xtzdO1QoH3AtWR44wcHEB6WrSvPrVscEU-iW94TAD5jyqHkoKyoE7i2PMYtI-OzdnNGN3BwAArVyYoxjdM4uDCcrurB7UM6QMfc0NsUble745ggCd4dP-gZvxX4ovRjsx-eWiVdMUatIqFt-nb1Us2U9gEhEp43DLTn2mOGaSqZFD6YvdaTJU9jMImMfyS-he-tvpGRaZIzhtQAqPYWe3-9Si0rg_nWkXjaaZP2LZjRz3LsScK6l5Ak_C2vi0bmnmWXv3525RXSkXMYHaewI4eQqPgRbmCTdkIQBKj2yn463OBLl6LjXX9Ctn6xFt8cQyMF0pZYAnTzPCWAs5QkJgdOPB41oUuMgk8ULps4OFOTyro02a5jgApWLQ5ce40h8sH2Tf9iEXi2LTTpIYKWPk-TnBJmyDr72pJ2L6sQLyNKQEEpyjjXTMmLMMq2JdcYyOrhqyZ-FTeBQX08ogJ69tjM87q5O0TC74qLANS3_HMPaxmoVIyZEAtG2EZBwlaQm7P660hFM6c_geTvCeKX03j2Qh2Vo9vibDc7Vekrpj_Y0YuiVQyoZNnKQhH6hyx0wsJM2QIUeI_ecwUqhwtpl0zyetkq_IGbIEnc0t8vg5eAyhzWCh1YcXbcoNIJ-8ed8HFQnmw3aN6diB4S3eOSvzgkn16cOb1NuIVGF6YU2x_6xWy6icslAFB7LIws41elnvpr0CW2ZH-E_LseoksqjLAi8-SvH1-kWiDOxP6dDLdvKIyhdIvup2Cdut1z7EYT9G8YiocAEs0STgtgQIQ_akxmilHAKnCYxQL1YFXCpeydYl_qiCDcftTq_8mcyKN_63u__cm_R_XW_ZvTo2hDXGqdmbaR7Azc5OIO3BPvMN8zwbQd-3wRtWPW6zS9A6NBBxysi91ejJ6HQ=",
  "id": "rs_0feb634981959526016ab41a85dce487d0bd3b38cfd653ddae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.38,\"left_y\":-0.19,\"left_z\":0.13,\"left_pitch\":0,\"left_yaw\":-0.65},\"note\":\"The second cap close was also empty, so simply advancing is not enough. I’ll lift and rotate the left jaws along the cap’s diagonal, then approach its visible center from a level wrist posture.\"}",
  "call_id": "call_9EDXlVOERXu8NsjA4tq2MTE7",
  "id": "fc_0feb634981959526016ab41a869ee887d0b693ec8f8c93e86a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9EDXlVOERXu8NsjA4tq2MTE7",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4107, 1.496, 0.7208, 0.2222, 0.0952, 0.1326, 0.9971, 0.0998, 0.6147, 0.1043, 0.3733, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3859 left_y=-0.1824 left_z=0.1177 left_yaw=-0.5644 left_pitch=0.0177 left_roll=0.062 left_gripper=0.9971 right_x=0.2906 right_y=0.0006 right_z=0.1639 right_yaw=-0.0204 right_pitch=0.4489 right_roll=-0.1466 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0889, 8.9641, 1.8584, 0.1929, 0.0952, -0.1343, -0.212, -0.1573, 7.159, 2.0147, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f660460d79a852dba519abfabc5ac95d88917d35bf0ee455bbfc73e216dcee5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9514285a2f8b7c34ea0d1f76d220f71782d099dbc5175cfc6465afacddbc3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd21ddd8721fa38e806a236c3c51b8419f4ced44b0a48c59b19358d6cacf646",
      "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 · 6.27 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 85 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8085, 2.3573, 0.6346, 1.5742, -0.831, -0.0238, 0.0083, 0.0998, 0.609, 0.1078, 0.395, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3846 left_y=-0.2086 left_z=0.0195 left_yaw=-0.0265 left_pitch=0.4668 left_roll=0.0962 left_gripper=0.0083 right_x=0.2913 right_y=0.0006 right_z=0.1723 right_yaw=-0.0226 right_pitch=0.4795 right_roll=-0.1425 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -9.9214, 1.7709, 1.6435, -0.0073, -0.0415, 0.5739, -0.1162, -0.1299, 7.0496, 1.8779, -0.0562, -0.0611, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7727, 2.4042, 0.7265, 1.5749, -0.8318, -0.0174, 0.0091, 0.0998, 0.6109, 0.1059, 0.3885, 0.1825, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.4068 left_y=-0.2092 left_z=0.0204 left_yaw=0.0232 left_pitch=0.4988 left_roll=0.0668 left_gripper=0.0091 right_x=0.291 right_y=0.0005 right_z=0.1693 right_yaw=-0.0221 right_pitch=0.4693 right_roll=-0.1443 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -10.3316, 2.4, 1.6777, -0.1099, 0.0024, 0.3834, -0.1436, -0.2803, 7.159, 1.9365, 0.0024, -0.0855, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4107, 1.496, 0.7208, 0.2222, 0.0952, 0.1326, 0.9971, 0.0998, 0.6147, 0.1043, 0.3733, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3859 left_y=-0.1824 left_z=0.1177 left_yaw=-0.5644 left_pitch=0.0177 left_roll=0.062 left_gripper=0.9971 right_x=0.2906 right_y=0.0006 right_z=0.1639 right_yaw=-0.0204 right_pitch=0.4489 right_roll=-0.1466 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0889, 8.9641, 1.8584, 0.1929, 0.0952, -0.1343, -0.212, -0.1573, 7.159, 2.0147, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f660460d79a852dba519abfabc5ac95d88917d35bf0ee455bbfc73e216dcee5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9514285a2f8b7c34ea0d1f76d220f71782d099dbc5175cfc6465afacddbc3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd21ddd8721fa38e806a236c3c51b8419f4ced44b0a48c59b19358d6cacf646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBqNGMbDw0J9PnxBMyjRB78ZQ_UmAQgDuVDzhv2iM5DqMlPcXvoFIzR9s_Wtp9asW8XAI-p4ofCiYvl1_SgAP_DISsE2ZSLaku5RpYk4nARR6dxQl7QOLkddLaUBH1ZQT4pR1emxEnvjfbqGBL-jSTrT2uQlwoIinRQQLbylCBLqJrvqYgVmF0b_WFm9yS-vqYPpJYQ3K9LhB6GNxa6RnWdcxx4pyKbxDwZtl3bOKkpXCPRE3H9x12C7OnwpdCnkIyI_4KzjYc10Tr0wurL6yRREGBelCt4oR3CtUkeQqqi0iNpuBMo7Yxv9nUhMaXwv5FHyIqduDnS8-_l6L2TCnAdCqyJelifrEZ1P4NJewv_dcSkHSH1-l4my4nlxQTmuP6llEnJ0axy1Gz_PMvfcS_q_zq4hGluZK1ptOdPwhQhYx-OHiKZ_Ip6BrCR73YYZ4BHbP9LyhY4NmoVQ-K6A-MtY_ldIVg9PaWZUoh8LfdM6S1QqC5tNmASYrg1MhPMeBXuotjWCS3CnXFL_ZHvNQ3RVbc0rGDX0GQet1-gGB_3_loJumX9FPkBqSUj6k7aYH2XHmf2sFH7hHfdzIBOB9ZrNEculVHVH6fYbDR_GOfAylGvqm2T3cpbvgO1KugCQ1RZ4dMuF420WnEU1MYSUQNYnno5kTansojqGz_t0hZirUfM8cC0kLGPBPU5cdHMGXORnz1i96Z6-aGmK6FxFKfLoXaxc3r7_Lwj1Us9xFBpkl8myb7NXf1WA52hwMPKF8J4XZ7_wSjAipK1hUF-TfK3Jy0VHshmBhVduY81JNTlRrZ80y4p6RLDjtKgx2-MgBeHY_4XjbUJQ-nFMtmgjjl2wJN25pFvjaNzLBR0a8aC10zARbI16c9638pqBpzezrOo8S8VYZuZFMsXM8mqBeOyKIHPSbSVBC6SvQ899ZhDsi08a7oXViltj6llZyWUA_2QGVQ3n9C5SJhGY2tPK6uNsxq437yDcr5cX7kBjEtaiDDMNBCn4nNvwFxef2qZKYP_aPE-IYfIwLW32UIWRTEVqnB6ME1-59cQH-ow5wh6kM70siOeypqevJo0XfKmtLwjdC-6Xo4a_tqD-qZ5mp0uGAV1uQIUSW1sLqtY-LBdoKrtrL6VA9j7r8PtZqoHRBlKvP7whb0gHeI4Ihh7lzMAHELyxYV6Y6olrCWkfkdBCS291hz30gksOOYe7FyCbfeO8DuYLC-SpXkTVVNN1nslrjUsnAsJUgg7dnxaFhl0W8Rj3BfNlskxHAtrag9BVj6153er0ic6NlyV_yEZ9jJlesgMpvhsznWLPtWplDtvS0TorRuZTlC1GrozT6VPCQA0M9zdktrXJDR_XwV5lsZtvLdP8f7UtwJA-tcGgS-8312o2GhIq8u3xin_X9ZeNKE1tikNd6JHtceFhV4Cif5bJHh5ATaTU5xAM4angRGgQIqPpDZWEnjrsOW9kWHHs2MddNuB6DtEVOJaX-DVSIIC8A7X0z1DPHfQ2UgcWnv6I-X8yK_nOz2qNigOf6Y4-DSE79gbgGmY10qm-hOBFUIXNnqHsWBbeKizsWT-3eRNyjkdsSscMGR3-WsSNs88KqSZ_slStgjwvp-GzwXIZ60JBAgD1CRJAG4g4J1o3HSp4PsijOBjDk3NqkNSuW9vKcBJWDxL11mtvTLM3yvDYjlS4awnU6Iu-l-X1JSk7TXCKf8CbVE36ekJXU32ty0uwgPtKMtIoEc3iwhD1uoKOrxNqUT_D4UAPXDCklgcwUXVdoKN2pzIpvsdWOQliQYQ0mAuETufrPDnlbGuz7MiuzDcnznDLVFzycb8K6ISxxgjA0WNSfHE9RHoa4APzuRJ4_wDDfkRyr6tDLG3fA8c1DWJ3P5CDWQnVvkafOZ3QqT2Qo8WFYTfKNI7qnThUrt_eOxgOhJ59HLUBDDXf2HiG9l2RlM3KuFTQwhc9dXdrA15eGOXq5rpV7J_vV0Vqepw0Ry5He_35WJ_3TlK9Hfe_kurto1rRR4oRgRHqHyK9MSBSB67gvE_0q2WmPOc8628Kryh9RNutBgNSCa6d4SOogCuAQ5nPloGoIJGl6wP0YpeKfmFuQ1dlzvt33F-hzK-K0BnquiJE7cHWOacMxaw_wFDaiY4V-yhk5N7iGIi_9489uxG46bCiT0oZsqAJUnAdfeAgrpK20NJKtCahMPXI5ni99Bc6qGvPtD-uSjdm4HRG2XTLrlUVhMenFN3UTE2LT7lrAe6nCzYEijVsJvi94ADaNkrCBYwKPCgEdwprZhoXPkEySV-VkFUZYL3-n83FIZT3boetN3xHNr9L6vOQqfTq4srGhaQvUsHichpq0JsxzsaG2OMwIRBIXib5mD5emhuEYX4wtjH0kCbdV-srIfljIMMhH7dgJAgg1UTln2kEv9lZn7NzpeePio6T0SQ01qAPvKe0ldgzEum3Ia0MGd0Qak4lGtur0mPn4hW2Z7AwcKM=",
  "id": "rs_0feb634981959526016ab41a8a9ed887d09b7cfcf109c9c0a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.23,\"left_z\":0.09,\"left_yaw\":-0.65,\"left_pitch\":0},\"note\":\"With the jaws rotated to the cap’s diagonal, the cap appears far to the right in the left wrist view. I’ll shift the arm toward it and slightly forward while remaining above the tabletop.\"}",
  "call_id": "call_9c3XkApFyybP4nTYRmU43U98",
  "id": "fc_0feb634981959526016ab41a8d0e3c87d08de5e58a2bab9ae7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9c3XkApFyybP4nTYRmU43U98",
  "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]: [-0.4797, 1.7016, 0.7784, 0.2382, 0.1043, 0.1329, 0.9979, 0.0998, 0.6163, 0.1043, 0.3702, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.384 left_y=-0.2165 left_z=0.0592 left_yaw=-0.6424 left_pitch=-0.1118 left_roll=0.0362 left_gripper=0.9979 right_x=0.2906 right_y=0.0005 right_z=0.1627 right_yaw=-0.0205 right_pitch=0.4443 right_roll=-0.1472 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -8.3214, 9.1829, 2.1807, -0.0269, 0.022, 0.0659, -0.1709, -0.1709, 7.241, 1.8926, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e39d3fb9ff737f1cd9acc3801a8cc66e92c4f9c255bc23bf2a73d6549b62400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42cd4c5631e399e97b6d3c3a019229cda2a4a528518270c3dab5460d72354d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34d89c57c41b3644377fd31fba2be9f42203fbda5ea59239c1975c60f45050c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.883 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7734, 2.3989, 0.7265, 1.573, -0.8299, -0.0135, 0.9947, 0.0998, 0.609, 0.107, 0.3916, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.4069 left_y=-0.2101 left_z=0.0222 left_yaw=0.0196 left_pitch=0.501 left_roll=0.0682 left_gripper=0.9947 right_x=0.2911 right_y=0.0006 right_z=0.1711 right_yaw=-0.0224 right_pitch=0.4754 right_roll=-0.143 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0068, 3.6034, 1.6777, 0.2564, 0.2418, 0.0122, -0.3487, -0.0889, 7.0906, 1.8926, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4107, 1.496, 0.7208, 0.2222, 0.0952, 0.1326, 0.9971, 0.0998, 0.6147, 0.1043, 0.3733, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3859 left_y=-0.1824 left_z=0.1177 left_yaw=-0.5644 left_pitch=0.0177 left_roll=0.062 left_gripper=0.9971 right_x=0.2906 right_y=0.0006 right_z=0.1639 right_yaw=-0.0204 right_pitch=0.4489 right_roll=-0.1466 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0889, 8.9641, 1.8584, 0.1929, 0.0952, -0.1343, -0.212, -0.1573, 7.159, 2.0147, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4797, 1.7016, 0.7784, 0.2382, 0.1043, 0.1329, 0.9979, 0.0998, 0.6163, 0.1043, 0.3702, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.384 left_y=-0.2165 left_z=0.0592 left_yaw=-0.6424 left_pitch=-0.1118 left_roll=0.0362 left_gripper=0.9979 right_x=0.2906 right_y=0.0005 right_z=0.1627 right_yaw=-0.0205 right_pitch=0.4443 right_roll=-0.1472 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -8.3214, 9.1829, 2.1807, -0.0269, 0.022, 0.0659, -0.1709, -0.1709, 7.241, 1.8926, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e39d3fb9ff737f1cd9acc3801a8cc66e92c4f9c255bc23bf2a73d6549b62400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42cd4c5631e399e97b6d3c3a019229cda2a4a528518270c3dab5460d72354d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34d89c57c41b3644377fd31fba2be9f42203fbda5ea59239c1975c60f45050c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqUgeEskil2rvXZeZFA2LtUIYbpgDkSQhiKVV3qBfv9NaEjZuHRVz3f3WDRsXA6DXb2Bd3ACtJYxxtxVkcGKLmPw2dHWfMgAIXlgX_ebdNF_sYTpnVIopcRuR4Zd328k6UnyDJX9gLnznFFPeHlwz9tC3Nv-n6-8682IvTt_W76dqRaTHPBqVze3vDm7gTPw77pnWqZFWLdQnJIKUQhSvlU-gtKsIyPTDRswraaYKPCTIWy7vi_s10-K37alZPjsmcAuAPIE9FHEhCHLyw1yIaPDLK3BSyzhlxDaHrHWqzCq54ZOGlae6Yl8jEtA9Ez9FR_PwVc8zXdzVu3Lkl0OjwQ0HeYv3FMK1P8mOAXElf6hkqo-3IfR_OnRpn_B4ra0Yhge9mXsiePGwM0khrIQKtpFfe7nPBsfjX9_O2G-khWbfz1_fCwo3YVCG46YXYdMTgyfaSVKdHe8FwDCedxFQRhGykQ6Jk6HKgZ1EjTzCuMMweoL3SoOGEVEz8EUhD99SxOuUVW3LbTLBrkCblHmwYL5zUPJeSwaKaWxh_b9r-sJfA5OLgR5vUSo7WYEroanAK-fpOtIDxuZ6JhgEj_diRh82FeISS9aagSqoxeDYOtuxHfinwb0mqzMlXTPXvX2xWfdOneTczKWM7KhfGy9_dBnrdAsJ-oqXxBrGbIB4OS3LPdBB70DOkU3HI0TXwjsLUL8xHOilKjW-M1fG5SglMd7IXCj0AULW-6ZWQysdARwitIBj7ihy_6l1reaekL6y-d1XqfpsREf2UgmXnQFI8M-CzF3y7udURJUGNtBilTKOxUuGp3AkyHEJtH5-L2kViJ4rCjBieklLS8UGrYSDzyACFcda3s1wjhUhr3mjrSqTMcYwE00neseyCUZUyt-U_ZKU5_-5F0wFbBeUoKqM1H4HyFGjwyRUhN7UooC1PbgFEJn6fcTp8NF9-x54uf8LuPZV8KUUki3ps8QCfikYBbA06sHawBe6qEnb8LlYFL1QXG-OYGLUrhP_Fsro_kJD9vNi-Z6Ww98plgnwqoSw2oMv2OMn8NtvyEYXWuYaZ5QabUxZ-JgGEsnbf4ZgB6kKGv1W2PNn83nSf4b3OXIr69HuS6sBpfvilbY8TdwsXB6gofKFU_fOnIx2e6h42ltZ6o0yoa-zCD8iz6Oj-JPcTifjGfO1MdYXxskCqF3obOj96RYVVXDILZf74ceRqnX4NBp5F4DXmDZn-4oUhNZScCHN11br4wXpEBM8o_0_Ema6khXyMnons_07ZcVbszcmn0BHVvsnohIYiMZt6P6t1AUJ3s0QjPmNQQJUrqICl2yUmWjFnlXpekQYZL_fzpRt7Wsewt6s1E4HJI2TpQFnaDLe-IQDs9plPDcHwGzrOmBQ46F_7kVdfishptZlJaHTENWfb4Z8vPd_TtwuowpmH3mywndg2JUo5a5C9JH5CJneeyXlgUn5uEfcEp4An-ogS6eXG3kG8Mh93maqtrCEzPk8rV_jKoMAwMWDSaA4fYMNj0SsPDqSefD1EHiLQqxyUNtMu97o-8kThtuAKaDtQ1UIq_xkP-q-5h3DZk26jyJXkShDb3snbEqG5pLv48hyp9ROG2zQ8_f7Qzv9iBvyo9nMCDcMNcnIh8ex3B9X0Nh8tYvg-JYAgHhUUvfa897pdPlI4EGvWFatJIZjDmqqfmZDd8y-7LJxf9vB8bAVwPavkZlDUn63AK_mGzIiMzCY7LQvUJMzHt3JSTD74uBfm-yYah1hDBI3P5qqz8HtaHbzYkl1pww8qpF6uhDRdgnNxY-qZOZF1LuGnEsNhk-UTlU47NpKACD89K6OxYIJJFD9TkHJtEvAIbm-VmETRDKccPitRbyPiQReHM2Po1QNT_gGAoj5jLe0OwZCRTakt71K3NDsUpFYgLHKHBaUPWhb4oQTsmmyU29lrHd-8V3nPIKdE5OcZGYbG-fiC8CjYkVk-kS3Ao4qJd3gjkWwRoFv7lzZeYFj1X45HihvjrJpjwfohn5mURi7qf8dutUz74rDa_yias81b8gBoD3FNhewspF-t5-I2AofPe2qPCSsAR1S5nfWQ1akdu9K9X5jWMsn5CeqiMDRQwvlY4AVWmlmj_y0M7aNQSP8AQo8T332U3_Zjh79P4Li8fwItxM94KMCkMMyWc5XIy3S8RcAyzpUwbeYaza5PB6P29NginyhcF6ISb6wR-TIrCdyzrzmdoplPjdvXjh8_LRDubEA6yerAA-u06r9DUXIrqrf1rVY6W2poWRf1Ra6SEydaXO2LM7eXphId2NB-YpZhUPXtjfYHBSKu6x7pf6GCUJRedkOc7SaOCDkiO4Cz1hGar0PVUvVqI5_eTjP2sU2-whmqk2X866hBlDsxu4RWGB6K08GsfPn0ryCSPu0QiW2CLw25_ZsuidCYpWQ0NbGMuakFcntY9_y5y4E1GP1DDaaiH6oTfe3OuijJFrMM5Draa5hKEjIXz22C_CYyv8a0WPRlkSZnSyt8ydcnYzliI8kMoi_LDZaiOWIlXVD6eRtYfDLO2tpUyfXE0JsZDxaZUs7yVwys4o_MpvMJoV5qEaWC1zvA7ZihCBdYehPpZCkHqDjtEoM2xJlr5CicGUq7D8wC8lLxdmWFOhQ8VIj28Mx4TR8Jr9K-I31FwkAELT57PwGdYUkn4e64Mfbo_LkHnuBHx-k-4Fx373wenH_6MWxluN3m9xOoskyHCEtAomv6fX-9k5ES9TPfU4Llf9CLaWjU1SyIAPtU8Rs2bgBVh_fBBfLwGO2cgY6tGVWhJJ4ybjken8wgHYEPMAQ-FszaWLEuZSn_TQdMkw1pVgq0ZsURQIhp08_5meT9nMfoTD19HVo_NBeOj5B7IYzk0WYaFG7NLYt3AAPj2dh9WnnTyTiwVJJJtgyRL965uQ50vjGzDnLqLkkYejXDVdRi5i0V-_tPyectUQzTBcIiPjGnAuxtggDqG3icG1ZjTBG3Z0K_34YyNB5yRNI5yRmt165Dve4AYL42_9etIWUL5U77GuoIZUEKxdj62_wyQOyvLsnjXKeBnWAGNhxhHPFkW_70wPG9kD-NEDvE_xmAQXqJnw7SAqHKDAu7_mOtgeI-9e9worww-UIZNOwz7XYBQXLgaJupq6eEkxo5k8VAToOiFh1ts2vCfl0e2HFlOeTQWw-_R6j7mb1BgdNj-iAdIm2VqJIwXkppYNcmu_AdKFMiQAijbXwP2AZ08wx8epiUF4GrbfqC-8hOzbYPnKFFDlywIRgI1oQmff1RVERh9tpGCDN0MAQW05b159SPSL0JHh6IZYbP3Yr3nCroml2cfOVpPPPAbXS0_IZLc86IH1t9CvZ4RtJ3nnuFrOiuirkaW6Dh-rmKn6EJdLeQnlp4i0SXOGVCJhq76II5KQr5Erlf7tWejA-JX7tORHxXkrjqXUO4tbGhsjkgfu7bXp4bnZlR8o-N0cY65MqbLbP1llwhjipav8tfF-5B9m8NrJ2kgYYmnhTHwA_Lo_e4FWzXKCD5k3NLpDGKgvNTf6VhCD94muEqUNHqT2Hejw3AjNJFWMYgohV5vReo=",
  "id": "rs_0feb634981959526016ab41a8f9d9087d0a409741c1dd7029e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.28,\"left_z\":0.13,\"left_pitch\":0.45,\"left_yaw\":-0.65},\"note\":\"The cap is still off to the right of the rotated jaw column, and the low wrist stopped tracking forward. I’ll raise the left arm and move farther right before making another descent.\"}",
  "call_id": "call_Dg646sQMFs7pXGAFfhFlu4ZI",
  "id": "fc_0feb634981959526016ab41a93cc4087d097db291df4930848",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dg646sQMFs7pXGAFfhFlu4ZI",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.625, 1.8381, 0.6285, 1.0, -0.0013, 0.0315, 0.998, 0.0998, 0.6193, 0.1043, 0.3656, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3866 left_y=-0.2743 left_z=0.1075 left_yaw=-0.6443 left_pitch=0.3593 left_roll=0.0329 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1608 right_yaw=-0.0198 right_pitch=0.4367 right_roll=-0.1487 right_gripper=0.9977\nstate[joint_eff]: [-0.5265, -7.9111, 5.6957, 2.2589, -0.0366, -0.0171, -0.0073, -0.335, -0.3897, 7.0359, 1.9414, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ee938a60e39822737c3c53ea2cfe5b6213dfe4163672bb5ff01af0523c57fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99f8d534c340a42ad5fe591ae732278e467dbaecf3f8409f80b8868b028231e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4a295eca2a5414d4ee56d998eabfc15de78032c460f582890f3b3cd3e7de08",
      "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 · 3.124 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7727, 2.4042, 0.7265, 1.5749, -0.8318, -0.0174, 0.0091, 0.0998, 0.6109, 0.1059, 0.3885, 0.1825, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.4068 left_y=-0.2092 left_z=0.0204 left_yaw=0.0232 left_pitch=0.4988 left_roll=0.0668 left_gripper=0.0091 right_x=0.291 right_y=0.0005 right_z=0.1693 right_yaw=-0.0221 right_pitch=0.4693 right_roll=-0.1443 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -10.3316, 2.4, 1.6777, -0.1099, 0.0024, 0.3834, -0.1436, -0.2803, 7.159, 1.9365, 0.0024, -0.0855, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4797, 1.7016, 0.7784, 0.2382, 0.1043, 0.1329, 0.9979, 0.0998, 0.6163, 0.1043, 0.3702, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.384 left_y=-0.2165 left_z=0.0592 left_yaw=-0.6424 left_pitch=-0.1118 left_roll=0.0362 left_gripper=0.9979 right_x=0.2906 right_y=0.0005 right_z=0.1627 right_yaw=-0.0205 right_pitch=0.4443 right_roll=-0.1472 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -8.3214, 9.1829, 2.1807, -0.0269, 0.022, 0.0659, -0.1709, -0.1709, 7.241, 1.8926, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.625, 1.8381, 0.6285, 1.0, -0.0013, 0.0315, 0.998, 0.0998, 0.6193, 0.1043, 0.3656, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3866 left_y=-0.2743 left_z=0.1075 left_yaw=-0.6443 left_pitch=0.3593 left_roll=0.0329 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1608 right_yaw=-0.0198 right_pitch=0.4367 right_roll=-0.1487 right_gripper=0.9977\nstate[joint_eff]: [-0.5265, -7.9111, 5.6957, 2.2589, -0.0366, -0.0171, -0.0073, -0.335, -0.3897, 7.0359, 1.9414, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ee938a60e39822737c3c53ea2cfe5b6213dfe4163672bb5ff01af0523c57fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99f8d534c340a42ad5fe591ae732278e467dbaecf3f8409f80b8868b028231e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4a295eca2a5414d4ee56d998eabfc15de78032c460f582890f3b3cd3e7de08",
      "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_0feb634981959526016ab41a97ae9087d0b46041724d96eca0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.09,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"From the overhead view, the cap is left of the gripper’s current position; the long dark line in the wrist view is actually the pen farther across the table. I’ll return to a level wrist and reposition over the cap rather than chasing that line.\"}",
  "call_id": "call_BAjmrQN9xwwJjUr9BN0x16G3",
  "id": "fc_0feb634981959526016ab41a9b810087d0825f3ec2bbbcee69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BAjmrQN9xwwJjUr9BN0x16G3",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "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]: [-0.6415, 1.663, 0.7399, 0.271, -0.4969, -0.2977, 0.998, 0.0998, 0.6201, 0.1043, 0.3653, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3884 left_y=-0.1805 left_z=0.0791 left_yaw=-0.0726 left_pitch=0.0058 left_roll=0.0423 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1605 right_yaw=-0.02 right_pitch=0.4356 right_roll=-0.1484 right_gripper=0.9977\nstate[joint_eff]: [0.4171, -9.5385, 8.1162, 1.6532, -0.4029, -0.105, -0.0122, -0.335, -0.253, 7.0632, 1.9219, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:818776c4bfa80ad1bb9081c21142d2f58b5689ef3c0eb2d5a9cf41b4348d5c06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af801cfcd728d003ca976f42ef6a99a19c89d907655ad5ef30ffdadea28ff110",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb6fa2ddc40e98d35d2ba68937a9fd37b2996a58bc00db09bf9a179264e4fbd",
      "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 · 3.619 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4107, 1.496, 0.7208, 0.2222, 0.0952, 0.1326, 0.9971, 0.0998, 0.6147, 0.1043, 0.3733, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3859 left_y=-0.1824 left_z=0.1177 left_yaw=-0.5644 left_pitch=0.0177 left_roll=0.062 left_gripper=0.9971 right_x=0.2906 right_y=0.0006 right_z=0.1639 right_yaw=-0.0204 right_pitch=0.4489 right_roll=-0.1466 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -8.0889, 8.9641, 1.8584, 0.1929, 0.0952, -0.1343, -0.212, -0.1573, 7.159, 2.0147, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.625, 1.8381, 0.6285, 1.0, -0.0013, 0.0315, 0.998, 0.0998, 0.6193, 0.1043, 0.3656, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3866 left_y=-0.2743 left_z=0.1075 left_yaw=-0.6443 left_pitch=0.3593 left_roll=0.0329 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1608 right_yaw=-0.0198 right_pitch=0.4367 right_roll=-0.1487 right_gripper=0.9977\nstate[joint_eff]: [-0.5265, -7.9111, 5.6957, 2.2589, -0.0366, -0.0171, -0.0073, -0.335, -0.3897, 7.0359, 1.9414, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6415, 1.663, 0.7399, 0.271, -0.4969, -0.2977, 0.998, 0.0998, 0.6201, 0.1043, 0.3653, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3884 left_y=-0.1805 left_z=0.0791 left_yaw=-0.0726 left_pitch=0.0058 left_roll=0.0423 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1605 right_yaw=-0.02 right_pitch=0.4356 right_roll=-0.1484 right_gripper=0.9977\nstate[joint_eff]: [0.4171, -9.5385, 8.1162, 1.6532, -0.4029, -0.105, -0.0122, -0.335, -0.253, 7.0632, 1.9219, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:818776c4bfa80ad1bb9081c21142d2f58b5689ef3c0eb2d5a9cf41b4348d5c06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af801cfcd728d003ca976f42ef6a99a19c89d907655ad5ef30ffdadea28ff110",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb6fa2ddc40e98d35d2ba68937a9fd37b2996a58bc00db09bf9a179264e4fbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBqgYDFhGigXamsUdgaJM9askiiUdPhD-fFWAcs8rulnuiB7WqHhbtfic8zED8dKf5jAVZQ7dKHDsM5AMki3pxeSfRqjK9yZ7sDstzY9XFXykY7rnlxr6S-_-pqLd3YkWlsgtQbfSRGlmbEFNgMQj-rzP29YBtMSsMV7EsrwFTgRJvjv6ccL6UK6KSIgHpAg82JpyMxCuJqFjszr-6I4dsEcrR0h_O3391VGABDZy7-U-fFrmox1q3sg7f_KRoulzF40oI4GYfuDOm3CbFAKtlKCWlb65ovh79prMtGa4B1W5jVa6FqmEbQo9htbCVglOBbZF8DEjV6QXBjEo73OKvW1UujXeHpdr7zcEvFDptJt2xSu0B0QDO6K8RScDt93tqiG4P94-x05xdE0IJd44Lf0qGtqWms7-JWjGeYtNVUPa0jxOy2LbQjnOYe3dQAr_7SGXO3fmOa-RG2eN9psGH9lRWt-0tJ8V-u-G10z3yR3p72q_alfcrZr50yzIMw8sgCoEnUlIzR3Fm5oAAdTaInDp1N_AB_Adma_2JrIjd5wAiz2XB4l7yJByIbrUPtoOzyuU9V68ZgXvt_5RIgJaqKhC05eN2_3NDv84_C7WoGnFBU7Q-wzYCOaTIqiTBlUrufOJ3847O-Qgs5fXNHG660X6wdr6L5ieEHcmaCV7-GnMil_Q_EZBxIfeLb3wn6gfYsH7lLb55u0YoA7s65cJLtmHjuuIVtdZFfBvvVUssCn-A51XAC54mpdQjiimz5ytuVss8zl8-vFhpOHRVMC4BeSgZp9dGb6NwpkEEd09sp_TfCCO8CYiC1og99RS4jEqc2SIjsb0vRJeVACRyGQPEA5RGwNDR0rqZ2Sx07sQCrqvf446nndDp1tKHHBjx72hyUKqvBs9zI-M-ue872bDoXyoQzyrWfklz_OAlNMRtrh2DMaKtw2cSuh1sHBzKs6ABzs2ctbLy6-6PdS2VXsl4YarOT__fpSDoIocC0-SGumxLKm1gn5PCU5mRJSdhUf5dQu7KTZvULyMdYDt0H96GJ3xjeGvD8kPB02PZjmf2_4yPf-RuTpx9cHUo2RahgXybvsFFOr0Z48cIGmccdkzpyaf43rMKdVQ6wjTg5hLiOzUN_qd7g7V914LXz5MKrNiEmfzjKLj2MUrtMIrr-FPNCBU8nDROxUakVh0ZTdum7hYtWu86H-O5TOGnGGXwL7G5mNAWQeN8499CdrzTbaC1YkIUZ0a3kfjlf5hyHnBGNcEo05LLs2cYt-fnEITIjbh7O5AonEZ2ShssnsN8CBhvRXrlkh36EaZPF4Nk7RxlqHgfteKN6dgQXBz7bFcPjdmxEKBgfiRG2BC6wAH3TT0YuHpJl_Y5ixTxdFcTLcUTs3iJZZ2wxiGZ7J-WGMsMRcLPu_cxWUBR2ifkVNg0bL5_COisulyX52IrbMteOysnLI5Z14Z7sukboPyzNIGGDWWP5kOD7ISxYEK-Udjx3EQQcpISlPAJqcLntWxCFQG25QUbifFmuKC7jFqXa62GYjDqlL_ViozYf83ONRFfYYe35utrku38RcZq_QfdZPD_EXOIWGVIuwmvE0ctAjTHEBVnom7tPOidPoqVyBTYOCAhfD4w==",
  "id": "rs_0feb634981959526016ab41a9ec7a487d0a2b77c23e2131663",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":-0.015,\"left_pitch\":0},\"note\":\"The short cap is now clearly centered in the lower part of the left wrist image, between the open jaws. I’ll descend straight down with the wrist level to try to reach its actual height.\"}",
  "call_id": "call_Vd9fCPcCw8FIcO1fWGShFG9p",
  "id": "fc_0feb634981959526016ab41a9fbb7487d0b512dabdb7ea9961",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vd9fCPcCw8FIcO1fWGShFG9p",
  "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]: [-0.6399, 1.9732, 0.659, 0.6838, -0.5014, -0.3168, 0.998, 0.0998, 0.622, 0.1043, 0.3637, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3941 left_y=-0.1831 left_z=0.0007 left_yaw=-0.057 left_pitch=0.0259 left_roll=0.0165 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0198 right_pitch=0.4322 right_roll=-0.1489 right_gripper=0.9977\nstate[joint_eff]: [0.0752, -6.3932, 3.5761, 0.6569, -0.0806, 0.149, -0.0122, -0.1846, -0.335, 7.0769, 1.8486, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb72590c6badb966a6c2fd4c34b294ce6a4e7e576bb76b871b270257cad367a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff776a6cf94c9fbe1d3ca19a6807f55396fe352523de0d5e3a4c6a460e98bddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73966b76e34d687aafb988db0bebbfc8c2d1b1fe316c1bfbd3a798b3878f4147",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.688 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4797, 1.7016, 0.7784, 0.2382, 0.1043, 0.1329, 0.9979, 0.0998, 0.6163, 0.1043, 0.3702, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.384 left_y=-0.2165 left_z=0.0592 left_yaw=-0.6424 left_pitch=-0.1118 left_roll=0.0362 left_gripper=0.9979 right_x=0.2906 right_y=0.0005 right_z=0.1627 right_yaw=-0.0205 right_pitch=0.4443 right_roll=-0.1472 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -8.3214, 9.1829, 2.1807, -0.0269, 0.022, 0.0659, -0.1709, -0.1709, 7.241, 1.8926, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6415, 1.663, 0.7399, 0.271, -0.4969, -0.2977, 0.998, 0.0998, 0.6201, 0.1043, 0.3653, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3884 left_y=-0.1805 left_z=0.0791 left_yaw=-0.0726 left_pitch=0.0058 left_roll=0.0423 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1605 right_yaw=-0.02 right_pitch=0.4356 right_roll=-0.1484 right_gripper=0.9977\nstate[joint_eff]: [0.4171, -9.5385, 8.1162, 1.6532, -0.4029, -0.105, -0.0122, -0.335, -0.253, 7.0632, 1.9219, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6399, 1.9732, 0.659, 0.6838, -0.5014, -0.3168, 0.998, 0.0998, 0.622, 0.1043, 0.3637, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3941 left_y=-0.1831 left_z=0.0007 left_yaw=-0.057 left_pitch=0.0259 left_roll=0.0165 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0198 right_pitch=0.4322 right_roll=-0.1489 right_gripper=0.9977\nstate[joint_eff]: [0.0752, -6.3932, 3.5761, 0.6569, -0.0806, 0.149, -0.0122, -0.1846, -0.335, 7.0769, 1.8486, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb72590c6badb966a6c2fd4c34b294ce6a4e7e576bb76b871b270257cad367a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff776a6cf94c9fbe1d3ca19a6807f55396fe352523de0d5e3a4c6a460e98bddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73966b76e34d687aafb988db0bebbfc8c2d1b1fe316c1bfbd3a798b3878f4147",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqknA7Yv4revFS0vlj-A-s56yvw6fHSWLU_QNzYz4P47VYv6o103gIW6pZmPyuf7fuK-vjOnuFnWoqK2HnUXmW9W3A1leCzuUtL1hc-mbNn9hi6KruMC9hZ6XPzrvPMZREdASiZ8bf6seZh_nnpA4J6bK4BoSwz0Nnhia940Jq7pTTVlY1GYifA2kmxBVQt5dn49HjWbGxTlALLFDctRd-kQovvxIW0kQ8rnLdle5FK7agafIzTokzP1lxHk70ZHMUEUoxZJqSCOzlXIgHL4Yh8NgxhOqBFkT1vHd3pIR8mlig4uUUfmNGQ_0dgykU3U09mbARLAPl9p0XbFgPmUoA_7pAFdrh4tBbsD3VSpzKA6T_RJH_Rr5ZyUn305mRapTuZD7RNgDT-mqDIjFmPzM_Cj5wVXbRbcUX4J8heTj8blvZtU37O_45fVQfAzCjbcjWbqruaAZZ46wcaBbprwmlVhRAcGoj5SmXmYwxeqjRgd4hwvxXxGqID4ySci-xxwx_WMPY0OUL4QiKvHjEGtIkrQ1xIJZJ-kZKs4EkxIhHE2ckiVmb3cf6_fYaaguCiNkzFsTJIQcVRghnMPLcJT9XclRrpsFNVbYXJO50itUq4qc7bXE3vxiqCfm-FylIgfzP8GhvCFJmX5qOPmhUH13PoaLNE9bc9zQHHgLGm-RBk0f_8mSi8h9377Q7pJN4PgD7rEU7mDdqH9ftX5DhSd1pgAh-4ogBjYyblmbcqr_mZ0Wh41xLcXfFR4N8WwBENna_EbwLLt7usT3D6jPh2jPcu4v-0TXY-2ynhSjuc_KX0YXTdRkdRv1galHzJ5mTFeRiY4Y2cGEv6MUQUBUp3NdZmude1BQN22SFAMbe44q3e7aYRXEs49H_gEB73QIrnkqIOnFORQXoeX4R5rIlzq__PGKcBHPWy9J_Lf7l7o1Vc1JquLyz37Zj2OGF4ORlcKzzZ7ZRuCSVwQjwYmZ4Tjwsu0m3hlGr9kV0ACROkU8Locnlh4ysrgYzrlRn0gOOeZ4bJn51yi26q4b_iInY9k1j1kZ7P9ou-c_ExD3EktRuc5hV_Qp9t7klXGPYtjWcwVkPbwY1u4W6q9qlOqHMIYvlaR1Mm1zb8zginxjA6PStHSm7ZOG3hbBpQZ1_Nvn16y0o64puC7afpfOx2XVvg68QI3NzSPBLMxInNGhSM3yATf-eyZ_pPMZemmttacO4DOF-ezYoQh_kSvWcyMclUjAsAj5BTWOfjujphFYCfG0QtfUOMJbfo3v9Kl1awmyp2Cen7gaEraVcWmu_uwy2bzoy0T1Y1I043Biioz5Slgc1eod9tmkffORiNaS85YcN3t-do4xlOhkS_iJJqipY2Za9DhB2wbsKImrD5zy8C9a2_JYsLTv-SAteN18OWU2PjQu9ff06-Cs8iQuSTXwLMGxbb5iaavIjbVycWHara3K_rqdOtJWuPHla1UPRhNRR_WIR6xq1gAcwL_bOpkJSm4stUP9R1IwWdCo-_M40DkCC1uMa71yJo4xWc-2FQSSeOzOxIfqF-kRf8ow6F97H8PkJ1wxNBNNJ6jn6l1q3MI3ehMobFfFrE52XmbyisC0gWUUM5AaeEWrHVmRIb36eIaRgXmX0j_iJFQ1QtV7G5b6AZ2hSIbWGsASnG4ISmnisXeRIFdIV9wSi1AdrkkCa0kk11H5Ftu5tgb2B2BLzJTQef3RLf03Ia-23-gCKlzyMsL7QrrebBIAzvgrxOo1rD38dl2Q==",
  "id": "rs_0feb634981959526016ab41aa33b8c87d08469dd371a698235",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the wrist level, the left grasp point has reached table height and the cap crosses the jaw opening. I’ll close on it now and check whether the gripper holds a nonzero thickness.\"}",
  "call_id": "call_uJLBdvsUgMQ2jJKgzYLUiVYs",
  "id": "fc_0feb634981959526016ab41aa431b087d0b212f92c5aa84b7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uJLBdvsUgMQ2jJKgzYLUiVYs",
  "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]: [-0.6403, 1.9869, 0.6552, 0.7227, -0.5106, -0.3149, 0.0487, 0.0998, 0.622, 0.1043, 0.3649, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.183 left_z=0.0016 left_yaw=-0.0507 left_pitch=0.0466 left_roll=0.0108 left_gripper=0.0487 right_x=0.2907 right_y=0.0006 right_z=0.1599 right_yaw=-0.0195 right_pitch=0.4333 right_roll=-0.1486 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -9.6068, 4.3556, 1.2967, -0.0952, -0.0855, 1.0867, -0.1026, -0.212, 7.0769, 1.8779, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb16aa3f349f04c17c48f9e85c17654fba004e450f3eefdb1af3c3e7f9bb27c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f239859678e66c8e9751c1c6cd714c8aa15632eb24d2d887a4ae8b98f1bcf9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f531126f8a9a49dd23a119467e4f9c40c2c37b56590e127eff3104cda0d3659c",
      "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 26 attempt 0 · /responses · status 200 · 5.538 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.625, 1.8381, 0.6285, 1.0, -0.0013, 0.0315, 0.998, 0.0998, 0.6193, 0.1043, 0.3656, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3866 left_y=-0.2743 left_z=0.1075 left_yaw=-0.6443 left_pitch=0.3593 left_roll=0.0329 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1608 right_yaw=-0.0198 right_pitch=0.4367 right_roll=-0.1487 right_gripper=0.9977\nstate[joint_eff]: [-0.5265, -7.9111, 5.6957, 2.2589, -0.0366, -0.0171, -0.0073, -0.335, -0.3897, 7.0359, 1.9414, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6399, 1.9732, 0.659, 0.6838, -0.5014, -0.3168, 0.998, 0.0998, 0.622, 0.1043, 0.3637, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3941 left_y=-0.1831 left_z=0.0007 left_yaw=-0.057 left_pitch=0.0259 left_roll=0.0165 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0198 right_pitch=0.4322 right_roll=-0.1489 right_gripper=0.9977\nstate[joint_eff]: [0.0752, -6.3932, 3.5761, 0.6569, -0.0806, 0.149, -0.0122, -0.1846, -0.335, 7.0769, 1.8486, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6403, 1.9869, 0.6552, 0.7227, -0.5106, -0.3149, 0.0487, 0.0998, 0.622, 0.1043, 0.3649, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.183 left_z=0.0016 left_yaw=-0.0507 left_pitch=0.0466 left_roll=0.0108 left_gripper=0.0487 right_x=0.2907 right_y=0.0006 right_z=0.1599 right_yaw=-0.0195 right_pitch=0.4333 right_roll=-0.1486 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -9.6068, 4.3556, 1.2967, -0.0952, -0.0855, 1.0867, -0.1026, -0.212, 7.0769, 1.8779, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb16aa3f349f04c17c48f9e85c17654fba004e450f3eefdb1af3c3e7f9bb27c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f239859678e66c8e9751c1c6cd714c8aa15632eb24d2d887a4ae8b98f1bcf9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f531126f8a9a49dd23a119467e4f9c40c2c37b56590e127eff3104cda0d3659c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBqoQapVdsHZLAbtFv8sANXmYEXYlOXdb0YpYK6MGRHo-dQ23fywMLzsINGotInopvN7Enx8aIPkuUEyMEiITlDpKnLp9AlJxd5B5VdnSbzeT6CrN8RD3zl1T5pprba3JGqw47uy9SvEbA9rYb_Nxnu_JKGFg68V_IFV--IVCFld4WUYek4buozpAzKw0HIG54obbcoA2E9_F9E7-yej3czNBbyPn1Y_iv3rR5tg5-WI8hHBSuTU_qoctpTMSP4x9CYV4lJR3fjweq4dm6P79ofs4JLSu7Wa3JFR5Ac-kwjiBjXPjezu2AtNp7qQybUUKN_kumuU7FZOvpYuv7W-CwgY5cLMUo9dgu04hId2W9BX6aIbGfAWIZ9aSk9fuFsdh12mavm8sOAEBb75ZwrCh6Qq6o4uMYvJDHy2aW7y-j3mofjIaLFEe8qWLKGese-fLUYF95obCE9f46TADfKUowU0LQkT2SPVokEGKvCDmHgAiYjRF3h6l_yUR4UbkRpZ4dshYw33womeYLYS-RJ2ljc5qldYAELfV-7KQV01xMDNYq9GG75l_i0TUTjqY3xIwltAbXQkvYztmSVTFbIOMFBlw0v33BCjTtmWa5Nwh9ZVYT60QZFDsigr0IpipDv2LSpsl01Qw6f7kZFumj3st3P_rWUHmnYIp7tbKcrrFThm3O6iqRzI14OwqpXHjL2l24HkxzldHtcyXbdtT0l-E_hoYqMyBjecuNLHhBRTAL5mh7PNu2caDWxLPwnMWldbtvyYu7Ua0LucLkmvXXBXnSa95gVlaDzbDtXI_IwYA9Hn5Wx0MnUZ8hhojTSOOQ8Uv7FL-g45tM1xf1HOnNed09L9mRhfMOnZe6g4zS0_KGpesHZ-k0nkDmXC0SgWDSLnE_ePA1f7CNXEmigJa-u0rgSjF0ZL6B5ssijPNjsqdDcpZHHr95l2Zfm33nb5B8Gdbhgo0fA8zGZ9Lf1-LZVlNLtYEYfq0wINRigW1twXaUCI9TgcP06UEVCF1UJJ72m0WoDaQmJRrd49SgTmRTkj93te8DBqdUuXKCAgvM5jJLsuGVApZATAbA-08I-VObjcgy-8c8ZPpnPAFVukRlGcWs6nWQdXNn3Skq0zs8H5JyVxsZzN8oInAEDFGHXUj-TsdvfKANgOcy9DiAPbjFoSOYglD6Hdvql7tPe4M3fxwTKjHMRoe1_URiy1XUKeQUbTTHG-PtW22vj4TtHaAGXn_cUSGs_bJX7UfI8IOdKhFPKzYW5GcCmCb1SK2RM-iEQ_x6qpLF_39avzgJUA45dpAtzYfaEO07rUITIfkBzTRCRjpt7WcNApGcZkQuVI021XNkeDfTcLeWhzFG5u9NH9bAHcDgGJFOop-Wmt27E7pq4llz17_hdTNIr5pT5K6RfChahFOxRwSzTrelPRFmk_QRTSY1HAO-BID83-FkYpYKbuudvdqj-81R-K0RaPUddFrsKhUoYKqKW8zvbr5E-3CsXNzv2mlDqa66mLO5KKzYijMEUqotEEjVcXt53aDfolekel",
  "id": "rs_0feb634981959526016ab41aa70e3887d089c6058175675f62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_x\":0.395,\"left_y\":-0.18},\"note\":\"The left gripper stopped at about a five-millimeter opening, consistent with gripping the cap. I’ll lift it clear of the table and verify that the cap moves with the jaws.\"}",
  "call_id": "call_agY5Beka2EJn7cyCf1jtdBLo",
  "id": "fc_0feb634981959526016ab41aa79c1887d09d2b87409e65649f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agY5Beka2EJn7cyCf1jtdBLo",
  "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]: [-0.6392, 1.6981, 0.7017, 0.3836, -0.5095, -0.3164, 0.0563, 0.0998, 0.622, 0.104, 0.3645, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3911 left_y=-0.1789 left_z=0.0719 left_yaw=-0.0497 left_pitch=0.0431 left_roll=0.011 left_gripper=0.0563 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0196 right_pitch=0.4326 right_roll=-0.1492 right_gripper=0.9977\nstate[joint_eff]: [0.5402, -8.7453, 8.6632, 1.7851, -0.2076, -0.0024, 1.033, -0.3761, 0.253, 7.1043, 1.9023, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c812b245bffb32e693bcd4a2744de11609431e271cfdf5724ba39157f853d729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5760902c4e612f11e6647712aac1ff2294eb6cf7f16553e59cac12184a5232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938f3f3ac804a1bba1fe4742bedf954a8467ff1e56e21f0e4153ad56c76859f6",
      "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 · 2.961 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6415, 1.663, 0.7399, 0.271, -0.4969, -0.2977, 0.998, 0.0998, 0.6201, 0.1043, 0.3653, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3884 left_y=-0.1805 left_z=0.0791 left_yaw=-0.0726 left_pitch=0.0058 left_roll=0.0423 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1605 right_yaw=-0.02 right_pitch=0.4356 right_roll=-0.1484 right_gripper=0.9977\nstate[joint_eff]: [0.4171, -9.5385, 8.1162, 1.6532, -0.4029, -0.105, -0.0122, -0.335, -0.253, 7.0632, 1.9219, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6403, 1.9869, 0.6552, 0.7227, -0.5106, -0.3149, 0.0487, 0.0998, 0.622, 0.1043, 0.3649, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.183 left_z=0.0016 left_yaw=-0.0507 left_pitch=0.0466 left_roll=0.0108 left_gripper=0.0487 right_x=0.2907 right_y=0.0006 right_z=0.1599 right_yaw=-0.0195 right_pitch=0.4333 right_roll=-0.1486 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -9.6068, 4.3556, 1.2967, -0.0952, -0.0855, 1.0867, -0.1026, -0.212, 7.0769, 1.8779, -0.0562, -0.022, -0.0122]",
      "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]: [-0.6392, 1.6981, 0.7017, 0.3836, -0.5095, -0.3164, 0.0563, 0.0998, 0.622, 0.104, 0.3645, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3911 left_y=-0.1789 left_z=0.0719 left_yaw=-0.0497 left_pitch=0.0431 left_roll=0.011 left_gripper=0.0563 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0196 right_pitch=0.4326 right_roll=-0.1492 right_gripper=0.9977\nstate[joint_eff]: [0.5402, -8.7453, 8.6632, 1.7851, -0.2076, -0.0024, 1.033, -0.3761, 0.253, 7.1043, 1.9023, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c812b245bffb32e693bcd4a2744de11609431e271cfdf5724ba39157f853d729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5760902c4e612f11e6647712aac1ff2294eb6cf7f16553e59cac12184a5232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938f3f3ac804a1bba1fe4742bedf954a8467ff1e56e21f0e4153ad56c76859f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqusRd2vFzyRK_C7LlvQP5KxK915p1f8rIBEKTEOORQFMlvrWbPKU_UbmdGSQykqt8v2PTf_zGaiBawVpc3ZhM_oXW-KP3XhXXyqdsp9PU7RVR0f07wfZVTWrp72pdwDH1rR1eSVpzCS3MBF_4hJwnh869L9WcXzBPhOt2-BXeEKbIG3TtBbKLW4uAWfmx0n6FCEcg7s6_kpj5T7h16jdXJL8dOi5Hkm2mPmPUxukaLPzzaMIExJGvGbYPpvNvP2eYyya8LPumgsOH9xN825qmQJz1V2Jsw-KIgteZrHs9tVeGRn-8sxyHBuTdt9KSOQmRG0UfA1hSlVrbn7ehZGy8QG8cn08ogw9jP8EMExDk0el52aIdFUIZiRMQWtku7ZJl-ynPiLAYJES0_Mnwa61e9q1zJ7AOsNpJkfAtPFYYe1g_TIZHA45UIr-AnqF1vKY6XmFN5pR6XYFQz1bKWNlMlQsXkkqo82TCFhIdLtwpB_r77kdQ4pDyAELR_LuBCIyLl7SWfBg_l6UJgdtE1bPqHtnBWuDd1IGiGXuKXWk54bWyocTJxQ1p_gx5v44-KzV6OzBvhK5Zz6AEZNrcnevaodW7EAIiunwEyvR2khX_lmtUUUGLaPiJC5E7hguJH7PgcjkURfuGvcIadUbOeLl73AGd1mgAOReIeW5L89PqRkxWO9lPIqJ8KeceXGofvrhf6Ly2ZSChpLdRQL2U4Zoe0BQckZi3hH_LzUoQd8QeNquqQIlbf2TB5wSGCahSDIsirwsOtGTBTdBlMrJpo6UzoWiSSWZvyDmKlNe-pxn0XZJAlLBGePUT9n7jxMOxPpF4KWyMsuB3FCNLzzAMxn4IpYJuRSCttwZyYeNBfyyxMQV515_Acg14J5u5kSGlcI20zi_sjPTkrAjisdFA63ayOlPKv4J_guMNjKYASqVpaNJzTQ6kQ6ZP-7mGflxw46L-BVXiQRq3GeyTEAJMvIUMVcQmjbKE8TmMpfZO6VEfKQ86GvhRGdGDXYNUP3IVPyVilic5EMLNS0egYJXK5g4xdNY3r8xxKEqQwu7fwXhXx_ebSRsRsp7id7LMH_xnGXpH0w2wTW1CQAaSMj0Kp4SGGcdE3r6B9AYV0gzT4VGJXZmVGPec4dPVvgTjv0czd9mUGUdz4dMZ7k6-CeRARFfUBEpTm1lGLoa-22YuuBjoFqNuJ0AunWKZkt1J-r7P_LYbNI0lAmv2u72ddCNtyFrY3KCmsORvWtkg2Ms0bWjoZG_TC72vmZzk-ir6z1qKQGHBl6sAliLn1RWRdTNkRXEWuCAgTxh047p5-vKnaaw7GUQ2AwzRQyfVrR_ifZ-3jbiBajkM--KoPgANKuTsIMSMKh-tMLlHdmEmsxeI-3v6N9xclexygKK2FJg5MzWgXwNsFS9PQao-kmSpijBOQcmu_8Qzy2jL4MWEt6pl_bYWLePSUvCHBa4EosjoZQpeg9xZNN_JnxNPP9x4h4lf5TRdXk6_DB3237ldlIgsCBHmjJXIxt7G3XfUfKo2PnFWiQ6kB5BVGVslBKsSVxgWg3brUAlU-dSqbFMQSh564Iv0M2zwz24DZRfUMKVeejOAHuhSX-fFI6jeiJGQu7-FE_pl1cgxoQg6p7b-HdPzqYov_y5B2IU84RCodWdsGta2AA49VUJXtpZkO9Jetb7prKhKXGlZraIJip36hkcD_R8EXCASgJA3wneopzh36RKw6n6ci0X7vQOxXr-hL-Z4vX2ec1tFeE3iCj2skJWQl5csQIbs-gc8VV5-l7JTQF1A5jo2QTLAr7Tf30YbPH2CLkcXUCJRsfThATW5n5_zqG-u6aykRu1jOCQJMCijssG-IEOkNkduGvDDQs6DTcSAnAYtwktoXdxQ2j_X7uk917E38ylPl9AtgfMsDEcDo0L4TV54_z3e-6AHPKWmdpYpDyhJVew7NvJLPag5FHbLlQ5kHHq8hBqzeCZ_DbMmGTaVrj1k0FKiXRtITc_9sGlJpPCtxMAsa5FX1yqAjfWSpL2Mk3odYSJKtlamqaIk0uAPzoXjK1uTYiHxGE1szSwp3cTm9w6ZLbW-iHDpv7I7iEn0Ne8CVaOsd6AkIKElCscwbcFLVm2g2IJ0OBG1fNhw1spi3Xx8v_QApw5d2pL4DuJ3qn3LizaBqTIhaT5sZInp09S0JYtB2URazMvzFqmxuZ3eNsH7EgJd_8ktkFD4oArvG-HXUWsQgADp88Cp5YANaUL9llI0Q3QRubJqfUQj_S3lpOy1yqeq0Eh_5xdU9zRSInesZcbR9HnIpwLpfIAroj9GsPl-6UenLqLOnORwZciOtfF9SOQy9MES46cSk2LdMeUWdOwJpByfKCcsKAUb24EAjZoD8eIruBE7iBex9js-MbUw052a8tT2pE7FznKz-Z2DQTcE-NjE-mHosfEdS3PZqLZpAIT973_AgvKtmNdEgzZsxdoIxrL_WMjErj3GRUwxMSk6TzrISzbFoBRzPLv9eJiPhKOm1MX4MI67g3j1YG5TPA98cAWHXrtqgkKa2Fv-M3DoEiaBKQxL5csW9xfe_do8D4_-09GF-2uA7dQvczcf4eEj-VcxYvdZYJ7RooLkFK9btYILzIQPQzi-_ecMeCzIo84xJNn2a8N2K4jX6oe9gKf_t3ty7o1aldIB3kI5Wq4Whj2b7CuKwwtqvjXuQ8KmrSGMdx7R0hrHjM7Dw9kSO0oLL7GSnPgBmT6-02Qa5NyOhrct_oEqD0dO9c79o5q8Qhu1DLhPN0JCwS7lGkDmTWmA2RnjtYq48jBEb3iwWy7Bz5mmy-XHlqG1H3PtkQmBwhpxO550HaKijMZpI-aAK6d4AE4dDsPV_uN9fA6SWrdLeNWdl-Swv_V4u9T3b",
  "id": "rs_0feb634981959526016ab41aaa2c1087d0b979fb9c0434b3ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.16,\"right_x\":0.37,\"right_y\":0.165,\"right_z\":0.13,\"right_pitch\":0,\"right_yaw\":0},\"note\":\"The cap rose with the left jaws and its grasp remains firm. I’ll hold it high on the left while bringing the level right gripper over the pen’s body, away from the end where the cap should go.\"}",
  "call_id": "call_2ctJM2GLWEUCquNSiJdG3CyA",
  "id": "fc_0feb634981959526016ab41aad898887d0b3b98918c22cffe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ctJM2GLWEUCquNSiJdG3CyA",
  "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]: [-0.7567, 1.3663, 0.7502, -0.0647, -0.5888, -0.3958, 0.0563, 0.6506, 1.483, 0.7963, -0.0292, 0.572, 0.2161, 0.9977]\nstate[eef_state]: left_x=0.3387 left_y=-0.1799 left_z=0.1415 left_yaw=-0.0634 left_pitch=0.0182 left_roll=0.0219 left_gripper=0.0563 right_x=0.3656 right_y=0.1626 right_z=0.1228 right_yaw=0.0382 right_pitch=-0.0042 right_roll=-0.1749 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -6.5436, 9.7846, 1.619, -0.3101, -0.1099, 1.0281, 0.4308, -6.2838, 8.3897, 1.5995, 0.3834, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64eea19df8813b846034b25cea9fd5ad6727129552d71e736127cdbb87f3086a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b3550e6e47a688fd53bdfb2908ca0f8779aa513e9d2c50241e1b86ceb5610b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd208c86dbe2124f5f0a17529667d870de31918f303a457c83bddb027cc1c09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.813 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6399, 1.9732, 0.659, 0.6838, -0.5014, -0.3168, 0.998, 0.0998, 0.622, 0.1043, 0.3637, 0.1822, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3941 left_y=-0.1831 left_z=0.0007 left_yaw=-0.057 left_pitch=0.0259 left_roll=0.0165 left_gripper=0.998 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0198 right_pitch=0.4322 right_roll=-0.1489 right_gripper=0.9977\nstate[joint_eff]: [0.0752, -6.3932, 3.5761, 0.6569, -0.0806, 0.149, -0.0122, -0.1846, -0.335, 7.0769, 1.8486, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.6392, 1.6981, 0.7017, 0.3836, -0.5095, -0.3164, 0.0563, 0.0998, 0.622, 0.104, 0.3645, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3911 left_y=-0.1789 left_z=0.0719 left_yaw=-0.0497 left_pitch=0.0431 left_roll=0.011 left_gripper=0.0563 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0196 right_pitch=0.4326 right_roll=-0.1492 right_gripper=0.9977\nstate[joint_eff]: [0.5402, -8.7453, 8.6632, 1.7851, -0.2076, -0.0024, 1.033, -0.3761, 0.253, 7.1043, 1.9023, -0.0269, -0.022, -0.0122]",
      "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]: [-0.7567, 1.3663, 0.7502, -0.0647, -0.5888, -0.3958, 0.0563, 0.6506, 1.483, 0.7963, -0.0292, 0.572, 0.2161, 0.9977]\nstate[eef_state]: left_x=0.3387 left_y=-0.1799 left_z=0.1415 left_yaw=-0.0634 left_pitch=0.0182 left_roll=0.0219 left_gripper=0.0563 right_x=0.3656 right_y=0.1626 right_z=0.1228 right_yaw=0.0382 right_pitch=-0.0042 right_roll=-0.1749 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -6.5436, 9.7846, 1.619, -0.3101, -0.1099, 1.0281, 0.4308, -6.2838, 8.3897, 1.5995, 0.3834, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64eea19df8813b846034b25cea9fd5ad6727129552d71e736127cdbb87f3086a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b3550e6e47a688fd53bdfb2908ca0f8779aa513e9d2c50241e1b86ceb5610b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd208c86dbe2124f5f0a17529667d870de31918f303a457c83bddb027cc1c09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBqyKsII6Hcw1XeS0GY71LPmjyqGFjisMOjNKL4qOuqizdXL-f_-FzdxkyhhAQM6mrPtK7Faxeq7Tig5WubD8QVoeV0EKv7t9psCEhT_TqJ7jeSbg_0_xqNby3TO71OVKW6sNHV4-mJenKbE7uPMFuoQAs_pYlhm2VtM9LXroRDHbaXxxw_kv7WFddf4_nvL8AVMHonYY5bRMULwjUOnNPsjbgXDnaNgGoNMW4CmpFEVyln5ddCCE6HlcI4YEiYuLYzQQ2Er_IYDrtSBFJVEyeS_kAwHwN9UQBq6nB65uzaEmKcD2BXTtCjOTQMFN4-E6t1y_YdkDW3AhKF6ISYNpwqSKgscB6Z1VIe-FqvffRLYp62pLR28gJQMc2Z_kCGNAzqMWnUVqdpS_oP0tE9u4ANKyKIZRLKjhLvDzBnsIhpZeIFVRTBy-_BIPh_rdxCOmcU4xndJwhyn3dICJpXH0Jgf4AFhy64uY0ZG9sCxeAq_1W12YHjuvVAvJwPDMt81Dnz09WcLjJ2IzRb8_WYyEKtnKAwFYutcaIrHGpRbMJF6z4cHOqq8D6P9XmF5eA6zEFB0wOvdawy-bf0Pqj_Lxl0LfRqCZorVanQeR5vg1UpImjY7K9DwGKXpUVHxOUAS2SJSPJWDidmIavfG0PCEcKWMP2JZlk1bkZo93zECLAz5ms37BJav3hh8-0I1HuT2HGT9spGMj0YnY6XrJhrk_ATBk17NRjIO32g_brzBjOEgxQSM-5GHrpvQ-TidL0ThB6P8XZHXicznPNQOOiDVFUNZT36UVEwlMMSP5fv5XrHkkTXooTYetjiZ6ydm7x3FnN-oDuW5x6kq0Xq6gzSU-149xyJ6_eRZYsPO5pvD7aGUwZKPUYwrMHxF5AhvOtGD5guoqqgkhLOvOaYbAo_IPeZIW-9B3DoNMk0HJ7amHGG1SLLzH1ISStM6Um5J8w7zyux8RKPv3eQTXl5bMDxGi3L20biv56LnZ8nEiu_W3h7968as93Dc5wH6GWKhJnm2_I1FslOmhJCEPpN_G46illmCppIw2w2MeHVR4IMDmhk3D49ArL8ss4yfNSUTwooG-oladZ8ZpRijwQe6iXoXjAwNsJEKLhJ58kKUJbKp2L6EPWc9p1C5j1mUSoXbDqGXBa0XgPGOZAxKx-o5k5ZjWsvrpRpJDoYHZHk37SnVm1coO9wrMHcZML389MAcx79zMIRD__OXFbJGQGwPMbza9e9ywYgpqdoMRec-uGBQxcYqfwVd_-PlkynnnWpa4eycu43hiffs3oWM2jSir9HCjSX4wFQObZP_156KTbyzUTQEfiHsLxTpJaQ3o3LYHLhyB6e_hfCNGalbmnlvrL5YLiWpqpKNaNECkP7bqvFUvCV4MNRj2MB8YLL4mtZu1gzOv4sQKrc_w7BzYwpiZRmULDeWP5lnNpjkS31_daDHIIBVKxWYIXFOIB9LhJ9kPJqNSdwE75OkHSSz74QR45OH1t_IqYGO6YRUcQZ_7c70zQID-dMg_5Z4KwwKlEthtvlL5LqPSqHrhygUYeVfgcmxI5ZUU93UKntxy6El0TVrLktUSyI=",
  "id": "rs_0feb634981959526016ab41ab1468c87d0a3936b5425a55e71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.165,\"right_z\":-0.012,\"right_pitch\":0},\"note\":\"The pen lies along the right jaw column, with its upper tip clear and the body near the opening. I’ll descend vertically with the wrist level, the posture that reached table height for the cap.\"}",
  "call_id": "call_5c6cnLPyzpbfhsseWFxJqWVq",
  "id": "fc_0feb634981959526016ab41ab2197c87d0a234bde3156c95b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5c6cnLPyzpbfhsseWFxJqWVq",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0853, -0.5919, -0.4023, 0.0563, 0.6563, 1.8938, 0.5991, 0.609, 0.5838, 0.2321, 0.9977]\nstate[eef_state]: left_x=0.3365 left_y=-0.1789 left_z=0.1394 left_yaw=-0.0612 left_pitch=0.0061 left_roll=0.0291 left_gripper=0.0563 right_x=0.3715 right_y=0.1678 right_z=0.0054 right_yaw=0.026 right_pitch=0.0259 right_roll=-0.1502 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -5.2855, 6.3932, 1.7265, -0.2222, 0.0024, 1.0281, 0.3487, -5.4085, 3.0974, 0.5446, 0.105, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03fbbe7542fe4f0ff1a301c6cf21eb8ee91cf030b204510fd9e2d4dcac9af96d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da8dda6491de30e954edcebcf5054398df20224db1434f12e5633cd9b11884f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a99e6f58388b08134b5c2b4fe4da35af4cf7f619c266c78dbea9f6e60791bc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.234 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6403, 1.9869, 0.6552, 0.7227, -0.5106, -0.3149, 0.0487, 0.0998, 0.622, 0.1043, 0.3649, 0.1818, -0.1318, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.183 left_z=0.0016 left_yaw=-0.0507 left_pitch=0.0466 left_roll=0.0108 left_gripper=0.0487 right_x=0.2907 right_y=0.0006 right_z=0.1599 right_yaw=-0.0195 right_pitch=0.4333 right_roll=-0.1486 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -9.6068, 4.3556, 1.2967, -0.0952, -0.0855, 1.0867, -0.1026, -0.212, 7.0769, 1.8779, -0.0562, -0.022, -0.0122]",
      "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]: [-0.7567, 1.3663, 0.7502, -0.0647, -0.5888, -0.3958, 0.0563, 0.6506, 1.483, 0.7963, -0.0292, 0.572, 0.2161, 0.9977]\nstate[eef_state]: left_x=0.3387 left_y=-0.1799 left_z=0.1415 left_yaw=-0.0634 left_pitch=0.0182 left_roll=0.0219 left_gripper=0.0563 right_x=0.3656 right_y=0.1626 right_z=0.1228 right_yaw=0.0382 right_pitch=-0.0042 right_roll=-0.1749 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -6.5436, 9.7846, 1.619, -0.3101, -0.1099, 1.0281, 0.4308, -6.2838, 8.3897, 1.5995, 0.3834, 0.2711, -0.0122]",
      "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]: [-0.7601, 1.3655, 0.7525, -0.0853, -0.5919, -0.4023, 0.0563, 0.6563, 1.8938, 0.5991, 0.609, 0.5838, 0.2321, 0.9977]\nstate[eef_state]: left_x=0.3365 left_y=-0.1789 left_z=0.1394 left_yaw=-0.0612 left_pitch=0.0061 left_roll=0.0291 left_gripper=0.0563 right_x=0.3715 right_y=0.1678 right_z=0.0054 right_yaw=0.026 right_pitch=0.0259 right_roll=-0.1502 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -5.2855, 6.3932, 1.7265, -0.2222, 0.0024, 1.0281, 0.3487, -5.4085, 3.0974, 0.5446, 0.105, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03fbbe7542fe4f0ff1a301c6cf21eb8ee91cf030b204510fd9e2d4dcac9af96d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da8dda6491de30e954edcebcf5054398df20224db1434f12e5633cd9b11884f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a99e6f58388b08134b5c2b4fe4da35af4cf7f619c266c78dbea9f6e60791bc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBq2zi2c2kIgscCDXmWG5-waQzp_w5cbqUKhf1RaW2HzrbNDkOwDsiQ901PW5L8PmolNWbwwjFT1lxIdYUnOZ4QJsR81h4n7d22ZzhJYXPXj2FeIQCap_Y4qzXl5zQafL4qwwK9W2Ru0RXinv5B3k0-uzySehxYG1iMQRcrsxXGV93__UFrwFS563qF_7XpaiECHSTMT2ZvVnKsU-bULzfDCbVEi89jXrArYodDorT_4VOiiqFRU4_vOjLIklUqFCJGKxstlX44Xlp9pySmQs1vjojNl9ovhD6zhyxAoXxrrbCF59dodi2-7lOzX2ocPbND14e_DHL-cGTjst2BRPOkaGMRGW_DmhV-uc4fTcvlGd2z81_zASc6h4s2c8zQTqfZDmDUBd9HYIuLUru5rqTP-k3esXxrNpM8uxpr4jp4OewY9cVKER--XdEpA903SymZ1Ou-WPhDmN6Eiqf4s86hLq_wnNoRrYgpV4QGNFhBhDz0KQxBYJJhpEvIHKajeT1R-CEhkThbnuYdVg2A-2ATZjmLrHTcFVNvyN2pywsxmpfmdqG4puCo1tm1C6FU3lWh5SaM50ZLKk56NzYDQEaRX095kf-5fw-w3PhMDtXdQRCTQMg-uG4PuP-hyrQ0XGKU_KDoSurfjE-_fLm8mAGyCnvOH4dSrO_UYceL0VRle67DyMFb51w-Fe87g1YGQ0OdQqjjsg8rlTOjrZkUOwvo37V4RVImI2JW5gHV-WVeVoSr9q-6WWGXvFtYQ4mIMr721FFXqiKnYdTMjtggWEk5nQYbO9VeGxQ8PsZ73rSrkQChFbnUdJM0uQUT00556qlO3O-QatYClAsNg-dg-sWDr-1sIYXqVGHZwvLe8jyiOlFxNVqCIU73QVdVLqDLqHDFnvHq2uODzwbg6AFDvtJxW-9vE5-3aBKVz7mYc2826p8nSTN2Qz6GqRycdCBxdgrFIPXa6J3_OeUtp50FOrirVx_oJhQBBtyFrQycSKOM_wnsiFHiLeBG3EQChlm6WY9Qpu2cTS2O3Xiv5MHz6c_qHg3uMQ9WZhOprnd9I-oMTKLrsavrWEYgtxM3BILAtEdpvPcohtNJjD021K0M_tyoYz-idU_sxWePev0OVpe_q3S7dMVsmeZta_g1-sciu1H8nTff6xDeRI3pHqGcG9KhxqcNXiGPPE_bZzfXKHx6Qu2Fg06bGJMaDuDopRdIwOh0a67zN-UvAyqDP_CR2QSWAcKQf-bEKgDWQPirZbj2oEdGxamM0A156XrRunb34-ANiW2OnA4Zps-9loDJpH0Z-vrEKosRCRJ0GGk_UdZaZ5KY4cUjfX2LX7hXNXrPEStMQwr9A2ClfWhdo3AVFihHWm96BmkLyncZ-AEe6EDMMtUkiJFy8-O0NGa9w3GIARgnfcHXJHVscwFtioZR-x6zx6Epnv08sOoeeZQkuHJwlKqEZG7UYNw8v_B_gm8dfOSmn6FTqOEQsMPzZKoGa_DF-9Df8nCoST9xnJCcc9nhv1kUK7aiiXMx9uSSJOHdqnVuvWyazbyuI5tvkDCc_xpN2T2_2SVtB_nujJS963n_CyLJY5jtP1Z2YhKxFgfGk1HyjevtmaPhibQgB7ArxMf3XFecF617XXYMC4xTNylIYyG2zetbWaAWdxxJtLvHhh2Rw0iIdTelhaI553yVKI7nimA==",
  "id": "rs_0feb634981959526016ab41ab50d7c87d0a30fc0aec6a43ffa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right grasp point reached table height, and the pen body crosses the open jaws near the lower-right of the wrist view. I’ll close on the body and check the measured jaw opening.\"}",
  "call_id": "call_gmllabxtDAOQNX1i6AKX8hmm",
  "id": "fc_0feb634981959526016ab41ab5f4a487d0a4ffa550fe91decc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gmllabxtDAOQNX1i6AKX8hmm",
  "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]: [-0.7601, 1.3655, 0.7525, -0.0875, -0.5919, -0.4026, 0.0563, 0.6567, 1.9083, 0.593, 0.6231, 0.5797, 0.2291, 0.0134]\nstate[eef_state]: left_x=0.3362 left_y=-0.1787 left_z=0.139 left_yaw=-0.061 left_pitch=0.0043 left_roll=0.0302 left_gripper=0.0563 right_x=0.3699 right_y=0.1675 right_z=0.0003 right_yaw=0.0313 right_pitch=0.0189 right_roll=-0.1544 right_gripper=0.0134\nstate[joint_eff]: [-0.0615, -5.3812, 6.5436, 1.5702, -0.2418, -0.0024, 1.0281, -0.212, -8.841, 4.506, 1.4579, 0.1929, -0.0024, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098b597a8c3a7043528586a03fefa65ebaecc8502cf718944b708ad3f77dcf81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34daee89bc9d75b174f9c0b41e4c5a5743536e46119c74c98b4c9fb828f2035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f8402f859f62742b7a64ec52997679f435c101502cfbd773a913e7d6d1e9bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.607 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6392, 1.6981, 0.7017, 0.3836, -0.5095, -0.3164, 0.0563, 0.0998, 0.622, 0.104, 0.3645, 0.1822, -0.1322, 0.9977]\nstate[eef_state]: left_x=0.3911 left_y=-0.1789 left_z=0.0719 left_yaw=-0.0497 left_pitch=0.0431 left_roll=0.011 left_gripper=0.0563 right_x=0.2906 right_y=0.0005 right_z=0.1596 right_yaw=-0.0196 right_pitch=0.4326 right_roll=-0.1492 right_gripper=0.9977\nstate[joint_eff]: [0.5402, -8.7453, 8.6632, 1.7851, -0.2076, -0.0024, 1.033, -0.3761, 0.253, 7.1043, 1.9023, -0.0269, -0.022, -0.0122]",
      "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]: [-0.7601, 1.3655, 0.7525, -0.0853, -0.5919, -0.4023, 0.0563, 0.6563, 1.8938, 0.5991, 0.609, 0.5838, 0.2321, 0.9977]\nstate[eef_state]: left_x=0.3365 left_y=-0.1789 left_z=0.1394 left_yaw=-0.0612 left_pitch=0.0061 left_roll=0.0291 left_gripper=0.0563 right_x=0.3715 right_y=0.1678 right_z=0.0054 right_yaw=0.026 right_pitch=0.0259 right_roll=-0.1502 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -5.2855, 6.3932, 1.7265, -0.2222, 0.0024, 1.0281, 0.3487, -5.4085, 3.0974, 0.5446, 0.105, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0875, -0.5919, -0.4026, 0.0563, 0.6567, 1.9083, 0.593, 0.6231, 0.5797, 0.2291, 0.0134]\nstate[eef_state]: left_x=0.3362 left_y=-0.1787 left_z=0.139 left_yaw=-0.061 left_pitch=0.0043 left_roll=0.0302 left_gripper=0.0563 right_x=0.3699 right_y=0.1675 right_z=0.0003 right_yaw=0.0313 right_pitch=0.0189 right_roll=-0.1544 right_gripper=0.0134\nstate[joint_eff]: [-0.0615, -5.3812, 6.5436, 1.5702, -0.2418, -0.0024, 1.0281, -0.212, -8.841, 4.506, 1.4579, 0.1929, -0.0024, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098b597a8c3a7043528586a03fefa65ebaecc8502cf718944b708ad3f77dcf81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34daee89bc9d75b174f9c0b41e4c5a5743536e46119c74c98b4c9fb828f2035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f8402f859f62742b7a64ec52997679f435c101502cfbd773a913e7d6d1e9bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBq719VuJDZvYMy44AmS4AjQ7t7PmE1fsNoX5NbUp1z0Za-NG2XfEZ0kOouBX1Lj0n6jaVkki8Ci6t_rHfjnT1w_Fyf3pkWoO_VtGZPuy6nBAnRF0DXDs-OZfiVC0FbKu1t4QDmlyEDa-KF8klPLN7cF62Zjt__SgffLf9zvjoh1AO_x_q5RuHURy7lh64CLHs9pt67qRzuiUaKY7FWrHQrRx8irn5YAPExQmLVSDhnNpE6-Db9WFcY8folS2NlciyQhaQQSUDKd8Qk2pf7eA3flAcW7Un4So4q_CUFUTT-UHsZMbHN9iemypILhfNB3T7GpMhysqdafZ6uFArDiWzqg0QaTkqFRWpcMy4KfyXSqD408JcWIxSw1_1Intpk3nugBaS2ap9rlg62d8qxzzL6mEFwZYzzmVTOVnJUZ4LcF72iC0dZuXcLkKCZjZaReNeShpyDBhXx_txr693srIrfM_lDr0gyi_5W1U9plVDIcoqCd3l2oVB8xqcVMo1dNq0JDLPlHXJPMiImtG7Bsrdq3Kku3iOGA0AA2D5aodT4kz2BEEpb5rYVsldcyN8h_xx8n5c_mE9x2RpxAryoZwYW1oxVSsSdQMjKsaY3DYAZEOYkC0GuJLlxkylwuMyWrpv0F9odgqPu1oDvuMTd0WiwKVj4XYsozDQ--OCEuq-PSosObTSMSs4B-Gua7xtfnvjtyhJ9KWlxjebb9otHdpyLMc05hqWLhx367Pc5BIXb5d3D55GYYpAbu9pztgGdlV0aZn3u5pNuLqYfYJDKmwz0DjxI4ckV3YixHVol329UwDUZ1UkHJfLqRdM8Y61hV3eJ8Jg__8eoC_qYmabiLjWYTlawhaY8Bk2RW_F1DE4mhpRbW2gEiLWv0cjx_6ydDwJPT8jvMx5xulA_JxD3BOMxdjEaACx_GRKbHoypkyMjmN256kz4TPS6tjVv5mK9EB92MWb1yRSCLJi1CGo18rMmDq8A3ZjGwjzYbPTLdk0oe3h1sGXm_rXfnyFO0WneFLjHxiKZLwt99jt6N7UfiL-2jq7V5TJivy6EcNWN9zatbWywMQtPfI8qHZfIqo3Sx3o04noh-Rs3dTQlRd8muE0HHElbqIzCgqfQMQrphI__Eqr3k5V8XqS-nthnJoJzauK7o5Sg603d0J0lHDFLkCWUGb69kP2p6U-8rgqNzZphNEZqF1K0b9P0-ZpYVcO7JLG6RwsIucz599TqpUKASVQJyGyIYJzjlLvXjUq_J1zj_vziO0ylh5Z1VTC8-0anUUXos2aoPk70u79I8ftfu-DABLD4dQb8mT8qiwoyAk1Yl5zhrT_QsisDpKXfrrGNd2XZ8M0Vg6I46rl3s_Iko6ZaaJZf1JKT0B4negRmLm-FgyLwZ-QBxuMPDAXATScmq9WbHMO4nCYSqyaZjRyqT-xMxwl-UMRmeE1zUkPMmNJoq3UtX59TSwEix2Cvsm6HZOXcYYG68pDed-1U36PuESN6AnN5RQ8j56w28QfRMsA57laJkixZLiu0vUCw9z6I7DBUAvcPl8AReKR8MArbqTUiypojYyaijj_x8byxmEi6Wzwr9sYi8Qui68da-b4ZSUC0HxzAhB3ejX8bhwcdi-f-emk3dqnVTUyebp_PiMlDBHIWQQAQMaxIM5_C2QJkgD2p4JFdXtBF89fcpkXAxayigRwAOLetxNEPLg3YeUHZZpKz4BF8Qn_388LJSPkjVGseenqX4k_gj9bCy5EYz_4dbCQkXEKOpBaTz1UnD2xgtHb5z73xRRv3orKboRPpg7ryJpapQ5nEdZk6oSGloYY0UTDR121TI1tDtn4ENdqkF2tUnGYS6_0QAe3YyB0Feyx5q01jwbhVsRzyKmB0LBCKndujxnQnf_nPAzHCr3CovIgpFQRQg1mVn-XHIp4SUknsQQxZOwrNGunTkwsRWk1ddL8Nr5l0Tf0C8B46WiZWPbne4VYSFTiNGeOeiMWzK42XOLBFTxyCnZ3I3NOOP5m2lT0yJNGmzcedSopdfCKfJkcUnGt8jx0UyhB_40fELZ5sxo49X-KpVxY3erdRCv48QipMXObBKezh1IqFljlVH3GTPke73V97jAneKk15YlUHc0pmBE6K312hblHEaxoo1NzsMUo53oTM5rs2HKY9QY_mR36bCfDcp8qi0C3_A6FA8kE9PXWSGlL795emsM0EkTbqF_TjwQJU2ZVwW3g3ycAA=",
  "id": "rs_0feb634981959526016ab41ab9a03487d0b81ecef997d72039",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.385,\"right_y\":0.13,\"right_z\":0.005,\"right_pitch\":0},\"note\":\"The right jaws closed empty, with the shaft remaining to their right in the wrist image. I’ll reopen and shift a few centimeters rightward and slightly forward so the body crosses the jaw center.\"}",
  "call_id": "call_vkujZ2BFRtTMPSthhNeYOPJj",
  "id": "fc_0feb634981959526016ab41abaefec87d0a128bc943575bb8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vkujZ2BFRtTMPSthhNeYOPJj",
  "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]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5236, 1.8767, 0.5678, 0.6659, 0.4698, 0.1448, 0.9946]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3873 right_y=0.1354 right_z=0.0063 right_yaw=0.0293 right_pitch=0.019 right_roll=-0.1417 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -5.3538, 6.735, 1.5507, -0.2759, -0.0513, 1.0281, -0.7316, -8.7863, 3.7402, 1.409, 0.2906, -0.1343, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e879ebff06f02e5ae82b533c957b38fc4469ab96edfb993d06754f7908c034d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13480a690f4c27ce984797aa9f267399c0aea7423cd61cc4d116fa5866af6239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad418eb9b00f4f278469c85d167be18ed77806189d3d4cb8fed07f1df2102d3b",
      "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 · 6.712 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 1.3663, 0.7502, -0.0647, -0.5888, -0.3958, 0.0563, 0.6506, 1.483, 0.7963, -0.0292, 0.572, 0.2161, 0.9977]\nstate[eef_state]: left_x=0.3387 left_y=-0.1799 left_z=0.1415 left_yaw=-0.0634 left_pitch=0.0182 left_roll=0.0219 left_gripper=0.0563 right_x=0.3656 right_y=0.1626 right_z=0.1228 right_yaw=0.0382 right_pitch=-0.0042 right_roll=-0.1749 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -6.5436, 9.7846, 1.619, -0.3101, -0.1099, 1.0281, 0.4308, -6.2838, 8.3897, 1.5995, 0.3834, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0875, -0.5919, -0.4026, 0.0563, 0.6567, 1.9083, 0.593, 0.6231, 0.5797, 0.2291, 0.0134]\nstate[eef_state]: left_x=0.3362 left_y=-0.1787 left_z=0.139 left_yaw=-0.061 left_pitch=0.0043 left_roll=0.0302 left_gripper=0.0563 right_x=0.3699 right_y=0.1675 right_z=0.0003 right_yaw=0.0313 right_pitch=0.0189 right_roll=-0.1544 right_gripper=0.0134\nstate[joint_eff]: [-0.0615, -5.3812, 6.5436, 1.5702, -0.2418, -0.0024, 1.0281, -0.212, -8.841, 4.506, 1.4579, 0.1929, -0.0024, 1.1062]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5236, 1.8767, 0.5678, 0.6659, 0.4698, 0.1448, 0.9946]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3873 right_y=0.1354 right_z=0.0063 right_yaw=0.0293 right_pitch=0.019 right_roll=-0.1417 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -5.3538, 6.735, 1.5507, -0.2759, -0.0513, 1.0281, -0.7316, -8.7863, 3.7402, 1.409, 0.2906, -0.1343, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e879ebff06f02e5ae82b533c957b38fc4469ab96edfb993d06754f7908c034d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13480a690f4c27ce984797aa9f267399c0aea7423cd61cc4d116fa5866af6239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad418eb9b00f4f278469c85d167be18ed77806189d3d4cb8fed07f1df2102d3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrA-lZbStO5n3oA3038K0Pd6iGcVPuljHeM-v5_assBLkoQxGJbAZizV6uiVFLY0RQJ03AFY5aEj7Bd2ZZiop0TOLlvfc68iMQN7FFdRq2yNOduFkHrvRj2YXxGuYtKB6er8sUBe1ZaEX8_0jTnASGv0LbQdnU0Rws3CVxxClfXQ8xjZfBLqDcO-IDWhCvHqNsUvwLjLW0Bfl1TpsN6gZpZTFghmu7-YaNXuUolJ6Fd1xUTpIAU2echnQriao-QnEB2R5TlBPXGiWyb1O4QV2RlJzdN0JolfLQbVD0OoXlgOjnDP4BJJ9FRk6NnYmoBtEEt1-4Ce7E0IC5XeIGSo7G97NoapVm1W48Qn_AGi1s7WshtglwsCqCWzdBSh2SqJg3sYcNH6sYh2Dd-tsPPJLvV3RZ6-o1xaREA62sdQqZ_CNXEe3E1_4a0Bj9TXeUyf9ZJASmAbg7uQOQL7KIvHpFHPUZqIiUNe9Su1rzytHnLlRhX5gv9NAnkSg6p1uVnk28xInGwBaUppev7cGTQ-vTRpDjM5EYoQPzb-wiuUtDcVE9nnl9TDUkv1c89Y-6b0TPAAZ86orkrA3-T1U5aAUMry069GqCpMfMiPmRqQAD-B3zGvsz_fxHqYIQjWFk1dl096x-KNeAJYXER6hikSQlVUd03R1p3DkElBnuibmBtVpFkdzKV1D5tTV7IhflZYA3w0CGGsFE_AGL1F1oXIUJjEv2iSIHJ6W8Ymdd7aLI1Ziv73OSrFgHf785mz1vZPCkPqYNbXPNxHEw5V1mCr9_w2p0ap8KSG1LJkv_ZtBxUTkcvzh3HW9yOztKMoZI7dthFa0Bkt5HfLQf8u7FzThmDM3XP4rVLB_SiD73qI9p4lczBRfjovUljaziXHJ_quLqUWWkYzojrCgFt5s0YOi15v4qJHi-bK7cmqMa6d61YSxfNBkzMcBMnYua5aRCANygERrjkYiS_7mFqsrEJZAp3VhoOu6tdKIwiiPBXFPsCuSHu0bj9rTDhjLkKAgbkeXjpl3nf-6LW6Wvl0KYsusZUDalubLw0onzkDeYQr4MXaNzkwtMrsoMKr6jYcWww76vmdFzuNYmyCF8CDjR9Kr6y09wtywPOTlkVPrbXdULPJAQ890joBX4nE9U-r0iAJ59xo_3wnVqzQlMs5BMzs7HVbh1NwLvVQdHVs0y9Pbk9iSsxGK5hN3gu6X4mTp65dLvet8-SljVszWsayYnZBc4Fs621bGnKZrW-n9mtXBLo5WPdHPqnGc2xs2ikzGP1LSdV8KPC45__m6t57xcMvWMKcWPqwWGWOjCZFBtl-XG7PayKuR7Y-UPsCMtFcxBydAAtYgYxAikj22r_hwX_NlZvZw_zfxuXdSN_-OJkFMg3OhtaD3cPrt4VTZAzFgSZLXQ1",
  "id": "rs_0feb634981959526016ab41abe31cc87d09dc51901b14decdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The correction places the pen body through the middle of the right jaw opening at table height. I’ll try the corrected grasp and inspect the settled gripper reading.\"}",
  "call_id": "call_pNPdQpkaZEnsAELVgKZb0muq",
  "id": "fc_0feb634981959526016ab41abf489087d0adbadaac993e2b13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pNPdQpkaZEnsAELVgKZb0muq",
  "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]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5194, 1.8755, 0.5663, 0.6617, 0.4622, 0.1432, 0.0131]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3869 right_y=0.1346 right_z=0.0052 right_yaw=0.0321 right_pitch=0.0127 right_roll=-0.1411 right_gripper=0.0131\nstate[joint_eff]: [-0.3487, -5.2034, 6.5436, 1.5018, -0.2271, -0.0757, 1.0281, 0.1573, -7.3641, 4.3009, 1.7314, 0.2173, -0.0024, 1.1404]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040da56190926ee8acd8aec5f0277e473921c32ab3455f658a4f793d886bfcf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dac0ae25ee07a7594cc730bc1ec90bb127a0a9e8dc527b78f8cf35db2621008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b641486ec1b4aa1fd1d1ddd29f724d6eca1972794f15113e73addfd90703b8e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 3.678 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0853, -0.5919, -0.4023, 0.0563, 0.6563, 1.8938, 0.5991, 0.609, 0.5838, 0.2321, 0.9977]\nstate[eef_state]: left_x=0.3365 left_y=-0.1789 left_z=0.1394 left_yaw=-0.0612 left_pitch=0.0061 left_roll=0.0291 left_gripper=0.0563 right_x=0.3715 right_y=0.1678 right_z=0.0054 right_yaw=0.026 right_pitch=0.0259 right_roll=-0.1502 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -5.2855, 6.3932, 1.7265, -0.2222, 0.0024, 1.0281, 0.3487, -5.4085, 3.0974, 0.5446, 0.105, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5236, 1.8767, 0.5678, 0.6659, 0.4698, 0.1448, 0.9946]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3873 right_y=0.1354 right_z=0.0063 right_yaw=0.0293 right_pitch=0.019 right_roll=-0.1417 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -5.3538, 6.735, 1.5507, -0.2759, -0.0513, 1.0281, -0.7316, -8.7863, 3.7402, 1.409, 0.2906, -0.1343, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5194, 1.8755, 0.5663, 0.6617, 0.4622, 0.1432, 0.0131]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3869 right_y=0.1346 right_z=0.0052 right_yaw=0.0321 right_pitch=0.0127 right_roll=-0.1411 right_gripper=0.0131\nstate[joint_eff]: [-0.3487, -5.2034, 6.5436, 1.5018, -0.2271, -0.0757, 1.0281, 0.1573, -7.3641, 4.3009, 1.7314, 0.2173, -0.0024, 1.1404]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040da56190926ee8acd8aec5f0277e473921c32ab3455f658a4f793d886bfcf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dac0ae25ee07a7594cc730bc1ec90bb127a0a9e8dc527b78f8cf35db2621008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b641486ec1b4aa1fd1d1ddd29f724d6eca1972794f15113e73addfd90703b8e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0feb634981959526016ab41ac3032c87d095ee49b17177e3b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.385,\"right_y\":0.12,\"right_z\":0.085,\"right_yaw\":0.7,\"right_pitch\":0},\"note\":\"The second right close was also empty; the shaft sat slightly right of the fingertips, and closing across its diagonal may have pushed it away. I’ll lift, rotate the jaws to cross the pen more squarely, and reassess its position before another approach.\"}",
  "call_id": "call_w0zjWRxGKxYXgPD0IMU3tXDR",
  "id": "fc_0feb634981959526016ab41ac7071087d0b51acb8fae0632a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w0zjWRxGKxYXgPD0IMU3tXDR",
  "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]: [-0.7601, 1.3655, 0.7525, -0.0898, -0.5919, -0.4026, 0.0563, 0.1295, 1.5631, 0.6147, 0.3096, -0.3161, -0.4084, 0.9949]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0026 left_roll=0.0317 left_gripper=0.0563 right_x=0.3898 right_y=0.1098 right_z=0.0702 right_yaw=0.587 right_pitch=-0.0192 right_roll=-0.1384 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3675, 6.5436, 1.5458, -0.2808, -0.0611, 1.0281, -0.5538, -8.5675, 7.5556, 1.5849, -0.1636, -0.0415, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f811d14dc4af24e910544511c23dd1b78569f587e074eac4c830be272615f11d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86cf0fc3a1bcccc3fdda8ea055c2e9bfde57e87ca41515dceb99d76ca7ce2037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9352d7a9692e60e35e699e6c306b3928fdded035bacabbadeccd0c7ac9bdd3",
      "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 · 4.479 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0875, -0.5919, -0.4026, 0.0563, 0.6567, 1.9083, 0.593, 0.6231, 0.5797, 0.2291, 0.0134]\nstate[eef_state]: left_x=0.3362 left_y=-0.1787 left_z=0.139 left_yaw=-0.061 left_pitch=0.0043 left_roll=0.0302 left_gripper=0.0563 right_x=0.3699 right_y=0.1675 right_z=0.0003 right_yaw=0.0313 right_pitch=0.0189 right_roll=-0.1544 right_gripper=0.0134\nstate[joint_eff]: [-0.0615, -5.3812, 6.5436, 1.5702, -0.2418, -0.0024, 1.0281, -0.212, -8.841, 4.506, 1.4579, 0.1929, -0.0024, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5194, 1.8755, 0.5663, 0.6617, 0.4622, 0.1432, 0.0131]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3869 right_y=0.1346 right_z=0.0052 right_yaw=0.0321 right_pitch=0.0127 right_roll=-0.1411 right_gripper=0.0131\nstate[joint_eff]: [-0.3487, -5.2034, 6.5436, 1.5018, -0.2271, -0.0757, 1.0281, 0.1573, -7.3641, 4.3009, 1.7314, 0.2173, -0.0024, 1.1404]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0898, -0.5919, -0.4026, 0.0563, 0.1295, 1.5631, 0.6147, 0.3096, -0.3161, -0.4084, 0.9949]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0026 left_roll=0.0317 left_gripper=0.0563 right_x=0.3898 right_y=0.1098 right_z=0.0702 right_yaw=0.587 right_pitch=-0.0192 right_roll=-0.1384 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3675, 6.5436, 1.5458, -0.2808, -0.0611, 1.0281, -0.5538, -8.5675, 7.5556, 1.5849, -0.1636, -0.0415, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f811d14dc4af24e910544511c23dd1b78569f587e074eac4c830be272615f11d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86cf0fc3a1bcccc3fdda8ea055c2e9bfde57e87ca41515dceb99d76ca7ce2037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9352d7a9692e60e35e699e6c306b3928fdded035bacabbadeccd0c7ac9bdd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrM6YxCwz9xtvWPto5WLyn3fD-hjsDgWZBtlHEJhHMKmh6jhfLaSo6RXVGLqcXXdJZQxfQUS8tO2zuuX6L1TRswJmUrqIbHpXKj34KqhZs2UpGURqgc4ohXjCcvpSjS3tvYnZfOUt3FGHNYYTqSjOXhC5Y-uodXhRaIjZMoYEt_dkwc12KYgJPNMyBTKcVGxc-xx9pAjhgZrslIfyCtYyzsUjidxWAw_BGwdSgCRvdbpn-5nDVhWeKrU13m-pYudoq9z-A3D3os0DUQToNA_spKojCYa9nlitHiQI_UWQzFMQK3KCg_jSQ-Ubskk59Hz5XcmnaDkzT3xT6uB-xXRNAuaJFRwB3jdMI0hKzgo7bdTAgdP7lzxZUvh7vr83tbV6N42KvG1mnijpw8QuFdHOIuIRFisfSVS8rdbmgWa7f0k6vuy7Z8mmr-mQeKlL1ras0uHJsyWbdh4k6boXqP8pgEqOCz8bjhn-yPlZAfVW9zML69lEnXGelcaVbWFxAYlSG9o1Gfw-9-uF-UmHHB1q2K5clj91unQTUL8-_cn64a2ma41laz90u0XbGxILoDSdgmoA-XNJwZAzK8dDNaquAT8rIlG6JOPVyH7XIm272mQJkRRTY1RTVkvKR3s5vQGrlLf_wg1f8SySek_nvJpgNmEQmBRu1g2-hHT7klx9Ii3Bb88NKaVAdrVy1NtiqyQxpN0pqkjLMULP5JruSw7HvdEIoLJEZqFz0ZgomAqSkGHLvUaK57_YuzQ7OcsKK9Chu3xAqSRjJJdagjh6MB2_vXcvQ6D35BJEiK4bXm4IqPFNCyGu3Ui53Uf2DZkwjZ9FSybIGs7CsQoU89ZIqFYeSx7IxpB6gdo8R_l73j30IvUVMDb7NEK1D2UTE177JEBWy28nE2yRTdesKIXqZ-v9sPcIMcou9-mro5keo0PLAQ-58WmeBXKXL7Fv61Q47APQ5xAmsfY5dMX7FR8b0jD6gQGXh7eJSpr7SXxyc9KFywBROCyobRG5ORtRgUPYPABOeXeOPi4FXB_go8OOj1fhbuANQ20U04qLvTB3f2Hn_ZVugmhvDYnEh0dHPmVXx_OX_GRE_awMcIQNkvyEhEWhai0uQGR_nkR6A1t_Imsmh4LRs-t8hGFaYeQI99sboUuJMqCYovz7wqyn7lDO48DZhX3KljV-o6GDmIi_ydGsKQSn9e1-vVau-3umBVV1fnO1P2AQwpGjn5vVWxKe3IBJRU2Y5-W5delIIywCk-KIlf8Z8512Y-gCOSu83_bibG9VwgbWEl6zZZwkNbbxqvS5J-VRqtGIixM8h5LU8HLqd3AnOjtFWhjI3g5L0hRTNgceais7llLwhw91IwyQ1ZH3m0vlV46P-yvCT1B_R_hJ004-QpSP5GMcunWufbeUw3ZolajjTesh1xDdoCqH6fgVgXZaX3MYWZT-7b1Uwz4XxE13xJHmYLFU9nmu59hrqNXgtaHIcPRlJ5XQQ-pkigCicB1jRFI0gaX98GhmkvUSwIgH2853pouF6MRKQckleycLBLn4rCa87xurOAI7B5LtyZEsiGCgDqwPUjwaDgiSMx7fQbX5oSE1rizuMrkvdUkYY_a-OLtVrdUSMwm8Thxg62E0nE8eWS2HdJqX9QVwZ9GpvUxc-RSJGrCu8F_yweiu_je02KTt18o_QViVY7cd_4oMvla-gVqAK1Q6Y16irelv8xb_h_8GP43b3xoqrS3dl72Vrq5It8auWO9gz7l3jvlMPsp1NkMA7Y-Abx7QqI7KgNr13EgF-N6_eYTQiSR3LFAenKPVZXYE2oOCSG3dTu9vEppBV9Hdl1ZU8Q0cLTIOgldHF2IC8Fv3j0uOzFXJVg7mYcke-L_W1Pgr8rEBVolINK0vfB37JEzvUjs99ZzCYdJY-ZP4WZBX3A6rxdJEMhjBmiUcGjkY4sHyi0amwGYGroCmi3Qp2iX3GH4ypJOORsefP2mKBZlWLU_O7DhmOz",
  "id": "rs_0feb634981959526016ab41ac9fdc087d0a9c3d19b083528bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.125,\"right_z\":-0.01,\"right_yaw\":0.7,\"right_pitch\":0},\"note\":\"Rotating the right wrist makes the pen appear almost vertical in its camera, better oriented for the jaws, though slightly left of center. I’ll shift a little left and lower onto the pen body with this orientation.\"}",
  "call_id": "call_rwETFEhRjz1mPZffnlNWu02J",
  "id": "fc_0feb634981959526016ab41acb896487d0a6b6d6fd02cf5a8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rwETFEhRjz1mPZffnlNWu02J",
  "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]: [-0.7601, 1.3682, 0.7525, -0.0898, -0.5922, -0.4026, 0.0628, 0.1249, 1.8729, 0.5381, 0.6975, -0.4255, -0.4526, 0.9954]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1378 left_yaw=-0.0607 left_pitch=0.0007 left_roll=0.0336 left_gripper=0.0628 right_x=0.3873 right_y=0.1257 right_z=0.0026 right_yaw=0.695 right_pitch=0.0118 right_roll=-0.1192 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -5.6, 6.8308, 1.5116, -0.2466, -0.0317, 1.033, -0.0342, -5.1761, 3.0838, 0.8083, 0.315, -0.232, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c7e601c04351834874c88c4bd98fefa1a5a5bda497608d40a82ff72f3327d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62fdd313aa7c39c1893bee47c2c82c9eef33618a59de07a486a8c8873103a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7e2ac4ac7514914b4a73c3eade6570c89246c412cdfa1e02cd3f1075ec669d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.049 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5236, 1.8767, 0.5678, 0.6659, 0.4698, 0.1448, 0.9946]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3873 right_y=0.1354 right_z=0.0063 right_yaw=0.0293 right_pitch=0.019 right_roll=-0.1417 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -5.3538, 6.735, 1.5507, -0.2759, -0.0513, 1.0281, -0.7316, -8.7863, 3.7402, 1.409, 0.2906, -0.1343, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0898, -0.5919, -0.4026, 0.0563, 0.1295, 1.5631, 0.6147, 0.3096, -0.3161, -0.4084, 0.9949]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0026 left_roll=0.0317 left_gripper=0.0563 right_x=0.3898 right_y=0.1098 right_z=0.0702 right_yaw=0.587 right_pitch=-0.0192 right_roll=-0.1384 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3675, 6.5436, 1.5458, -0.2808, -0.0611, 1.0281, -0.5538, -8.5675, 7.5556, 1.5849, -0.1636, -0.0415, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0898, -0.5922, -0.4026, 0.0628, 0.1249, 1.8729, 0.5381, 0.6975, -0.4255, -0.4526, 0.9954]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1378 left_yaw=-0.0607 left_pitch=0.0007 left_roll=0.0336 left_gripper=0.0628 right_x=0.3873 right_y=0.1257 right_z=0.0026 right_yaw=0.695 right_pitch=0.0118 right_roll=-0.1192 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -5.6, 6.8308, 1.5116, -0.2466, -0.0317, 1.033, -0.0342, -5.1761, 3.0838, 0.8083, 0.315, -0.232, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c7e601c04351834874c88c4bd98fefa1a5a5bda497608d40a82ff72f3327d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62fdd313aa7c39c1893bee47c2c82c9eef33618a59de07a486a8c8873103a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7e2ac4ac7514914b4a73c3eade6570c89246c412cdfa1e02cd3f1075ec669d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrRD46ohNB9OCU5-cQI--Cje8YcB_24Ax_Raumj2d3OTAZgB3oIOoYlwiSja4Y7dpFOg15NCsCdj1UNGdKFbgxXgDt6IVlXyBVQr82BEW2913mPpnsv2FfjHI2jrh2TVZn_xRSg4koFwY_tF9rzTXR1_rVnTYf33RAM1fFePlD9E6841RXMTxxr3BmsLUNbqGVGsHF9K1zD05GIFOlrd-R2ScW1G3KZfpfpS0JsQ1mV2eM_Z1TcOL3YMyoPZVK_2ezJ04y235AP4Yzyh7nR5a7yrwabcC6ZEafQ1rV0bKcqe1onYU4T4un_pNpk4TIYIDCNy_hIciqzCNUHzSNSZNDL9o2_CZLMtxXN4Dx3hY99vEyowqenS0YBUi14llL84TvGNt0XJ6mcMya-vQIaWsOqX8gdWBxsDy4Ky39IUkP0J8bBTFZ4hp870SRJ-wm654cvC8m9nDDLvrSpaMTKN6RoV-y8RedaRtDCtP4mTc0EqEO-jC7qE2wErZ14TWExOnwF0EgklsM8ewV2NsOfT0KSmra2dIPsO_w494LRQymLbqx87tfSvFjec_ZfQSJDwvgSnoYZVZ94CyMT_R4tRvYBHZO9ZePPucC60LEFI1FgF4VujcjlrSOvUr8DsHE4HGWOpsxsCvn5EJjEU2iviX5V0cGs7iLgHJshB2rdxcU6fu9Nf_KH0yUFAk5dI5oHezLbrCicen9628PRmhkkRzjTTakjHOd92GrkdYWo5ElV1hHzGE_6tRo5K1ZYn04JYihaToBgEjudUCybDBDKJk7E4X3fj6EkDloPvjhJnZpKTCvVgTLqG8AZYOhkmedGRwrqCLgzGe2RoshyxNavtMvw8_GYCCk9tv6mSaw9joUK9k-V4pTgLa_6CC-6OlU49Rb5rgv3xjw-YXVH_JBdAMQ2t6S31R03fTdjvHhiw06FTI4lOq9cSeUMLLf2zf3lNnQGipjkvI3cnUqNLMNbhq3Sjy4_F1qDN_JmkdBQxGpSK-eJgk79_NExOyvzVS7HvLJzDR5jNKrciWLCgz9K6ZRlLB5dYvUbxtxtoBGjDTLs2d99CxMQhaE8RwzDoWtKrfcYdk-C1I255DUFA7lW437sAoNy2LfjL5yZUjkgr4DiWYso5mwLcXlg0YNntK664rSLWtbsVIEb0Utw6HtwMgeXnW-77QuigzHM3TmH4QW_XtCyM5W4meRsOiDrr0yBOP3fjaBXVrlRuXOiqT4fM3_WINDOEyIli3-wtErHit0LgniWJP4cKo6AKBpsFEHiEslT4nz4hnhcToXtu1Pv-BIZCjUV1qk3f8rK9KJSOCivwQZ5fBO-out4sXQ8Nhi6HFzF364ENXnMKtwDqbYqEKhvDoQSQ86aTb0PIKaBsVh2Oyav1iHb2JTbMORBrfBHMtfRjf1ni-dlIDhh1XL2KdtTeGHdSNHjr5ueWX46SfScr0PxzGU5dtGdcrnURgvnChOTJCZvvWbrNNvf5coE89WAruBkE6b2_Xu4A2L_LKgkgtGDfeA8qcdQsnkRvJfdguG7zqql6inBjvjfQWChU8Z_aF5LRDBfsAls0eo8BcHVI3I-AGcch3CJziRL_vNMR5cenUO2BU_t5TSFQAQLiVzTswro6w2055pbjtP8klzbDBlCbFt9MIaEzLBuP-zrGAMRalQrMlJqmBaijcxCl1rAbtc4dCyAVjkHVCeR6tfMs_5fNIu-GOcahugdwrzimuunmF-_Vq-YTWWCkopE0D2JMn3gopI8WQPH0lIkRBrCHQgTgcgk5SP_pzpYh4qvuecJ5dZzqyn-Zejcf5PS1EItuNCfdngGZeQAhfl326ani880ljLGqV17WQMRG9u3CDQTDwxeJtfE0fxGHgVVuF7naCePVWeqgaB_lz-Dk-qWIAVTex9lim4yqsSG5Qp6b6MZ6cQySgVHcenEzjAFY--KPEsAxWr_9eDo1vZnsVzlfg_afAYqRyPA29Th57PwOFS_p2dXD55dXzeXMdXhMlxr_Mnat2a_OWTKrs0yBtlx9wnxpNTOIH_2w928Mq83YoeuwMSPhboEhudWEVhpLULyuJBn_p9DW5rtX2hPixXsbIFw4n7n_SbtrXefNMRZU34zpGVqYVP0ANwZ1p3Q02dWF7UVDz1XSFZsEzU3RL9VxspAzpZXnNcSKq2w2znCBeUJrLv__znNl6dpv5yZwZDtZzbFMHUL-GIqMIc-_AqYm40v4LvNQpSNtyaJRtgpsDVs1iy3PfI0wjtuPj0buE4C1hqAArARlWIle3KugbQ-WNsfbpG3IGC_sMvBVe2W9XkxlZgfx61HBx-b_EhltJrli5B2zw70-8nkbd2QylYUpyZq9tCace0ldOy9nGAFUxrq-82TAMkzLHntIjXEZExyuhV8IMTMCedMOs_xsKhAs4TAKaHWY-yIhbIYTMQoZJYBcWGkKbSiseWnI5H0dbDer1Z47Y7zjArj9vY0nGppVn6f3sfMf2iMlhMlHNSSD9ZyatA_4sdR0TUZ7yk7pIoJA5XPpbmV6zcMFrozgO-GuV_BGWmSYqukezStGgN3D0PqX68CJ3HdLTW1qTkIrwKj6JOC-q5s8SayRxhnwuhgBBA=",
  "id": "rs_0feb634981959526016ab41ace642487d0b031cc4f82abc999",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.402,\"right_y\":0.104,\"right_z\":0,\"right_yaw\":0.7},\"note\":\"At table height the pen’s shaft sits about one jaw-width to the right of the right gripper’s center. I’ll make a small diagonal correction toward it before closing.\"}",
  "call_id": "call_BJ5i1xTGR46uokn4bO9YoVJO",
  "id": "fc_0feb634981959526016ab41ad0d24c87d081d32c3d5dd3a824",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BJ5i1xTGR46uokn4bO9YoVJO",
  "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]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5922, -0.403, 0.0628, 0.083, 1.9034, 0.5652, 0.7208, -0.4698, -0.4812, 0.9954]\nstate[eef_state]: left_x=0.336 left_y=-0.1784 left_z=0.1377 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0628 right_x=0.3984 right_y=0.117 right_z=0.0054 right_yaw=0.7044 right_pitch=0.0413 right_roll=-0.133 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.4085, 6.653, 1.5116, -0.2808, -0.0757, 1.0379, -1.2103, -6.653, 5.5043, 1.6142, -0.2027, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600d97edd56ec8fd585a9bac368016ad00f5377fb9bf691e392afcc0c4332720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cb60bddd7a96718cd306bf5c32847b0d83492a56a882b9d6be77be24da704d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc870689c0009cd40acee0279b8397643bcb45c5f8488d9e20175f13f44a1004",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 11.06 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0895, -0.5919, -0.4026, 0.0563, 0.5194, 1.8755, 0.5663, 0.6617, 0.4622, 0.1432, 0.0131]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0029 left_roll=0.0315 left_gripper=0.0563 right_x=0.3869 right_y=0.1346 right_z=0.0052 right_yaw=0.0321 right_pitch=0.0127 right_roll=-0.1411 right_gripper=0.0131\nstate[joint_eff]: [-0.3487, -5.2034, 6.5436, 1.5018, -0.2271, -0.0757, 1.0281, 0.1573, -7.3641, 4.3009, 1.7314, 0.2173, -0.0024, 1.1404]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0898, -0.5922, -0.4026, 0.0628, 0.1249, 1.8729, 0.5381, 0.6975, -0.4255, -0.4526, 0.9954]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1378 left_yaw=-0.0607 left_pitch=0.0007 left_roll=0.0336 left_gripper=0.0628 right_x=0.3873 right_y=0.1257 right_z=0.0026 right_yaw=0.695 right_pitch=0.0118 right_roll=-0.1192 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -5.6, 6.8308, 1.5116, -0.2466, -0.0317, 1.033, -0.0342, -5.1761, 3.0838, 0.8083, 0.315, -0.232, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5922, -0.403, 0.0628, 0.083, 1.9034, 0.5652, 0.7208, -0.4698, -0.4812, 0.9954]\nstate[eef_state]: left_x=0.336 left_y=-0.1784 left_z=0.1377 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0628 right_x=0.3984 right_y=0.117 right_z=0.0054 right_yaw=0.7044 right_pitch=0.0413 right_roll=-0.133 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.4085, 6.653, 1.5116, -0.2808, -0.0757, 1.0379, -1.2103, -6.653, 5.5043, 1.6142, -0.2027, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600d97edd56ec8fd585a9bac368016ad00f5377fb9bf691e392afcc0c4332720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cb60bddd7a96718cd306bf5c32847b0d83492a56a882b9d6be77be24da704d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc870689c0009cd40acee0279b8397643bcb45c5f8488d9e20175f13f44a1004",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrVQiKti3FpS4gcS1rmFSfUIRZ7NZIxqLOXE8mSYtnJ4ldJZadP57emS9JFEBhMFQIqB5Ov1JOe-8hFXfKKImvKInL78jwhG5pgFp7LqmoA80PBY0izok4q-KEUxSTB6Ncbz2Upxvqu9lEieGj8o6uey02eJTOVCBOHDhfeuN6xE2VPN6vhXPSqxyOmxZtbH8e4FCSrIJEcLmq6WhzY80GPZksWtodb5ZY5UpllHUbxm2RwZDJo--f9Kgpq8YVcoE7h2UqHXQ6Xk4uxVulDtWYgTyOCU68PjsH4EJynylcY3dAII2YSYgK-4JYVjylXQYOOSPzYpvC5i3XIF20n3Gzkxne80xEvOOx_DtuKP0d1r71702j0UqIxNxbGKOi0HHaQRQQl7KguMC8xNxEtnGBsIqPHnu6phUkcCVLvSB4OnROQZdc1DPNHrFIRvQen3RsFdO0VkEFo5Za2LNU74JBBuU6Y6jZcOhOPAa-xOPNG5rwxoycAb5ZhsKdfA5rZF8S0pmAYevHD1cMfWaazdXM7vi2kNnQcsEIwZZt5FSWw5kuy-8kz_ruYTvLhcmW15Pq8_rTX8GSwDQ-jos1uPnCSjwXrH-v9zxN_XL55QkS3ouC4ywk6QmGGLmURK3ltdh5RZuR78awxAs_ALZlepnUB7iQ1-G0AA-vcSdG2NTHJEfdXBwEIZVoGVT7qyurxn_qOHn498rxRyNc416GrDkzoruJpdhZFsydk05QI5FB4IH7NdN8J1MKCIxvs1PtCpJQs2kP1CR6AhgWAN3-E-a3wqtMWfbdvH7oV1sabG7ppSlFHAlxX1MTBJoeWDPD1m25t4oMBEiP3HLW1X3QNtCsfBT2AsjU1DGx88DvELAeO2x0vndecazhuCQbf1N59I5XqU9HmNP3rPETVB7Ua0IRsrF8ZGZ3RpTST1PAHte4XKZcSlASbnOMgKQY-cj3XcfkoHYufQZGp_EtiZF2JpZCRylWpVoyzRByyPiKhp6xAXabw61OUuMbcAjopM5KlSEuQD3VDeeoCbHZm3uUTzNvS4mLAeRD9O6z_hWip4ZNbkVWLEx9XV0ApHrsyDAAtl91S4x_WzuZfdfbNq1UcjRYTzD-6tbdFBviwfEur2g5DYkmQGC54YIF75H2zUOvQKi6TFuRzVNZJdo3SAWNYi9pwabwukyCSg2N80skHgp2bE6FzuhjDNOW8JCX79Bbf5l61XhSlrQQneBfCPFFHBhDcRLG78MZb938b7DVZMoWPkQU=",
  "id": "rs_0feb634981959526016ab41ad4fe7887d0bc75a20bbfb3e813",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The small correction brought the pen shaft onto the jaw column at table height. I’ll close and check whether the gripper stops on the pen rather than closing empty.\"}",
  "call_id": "call_0a41yjX28KOhYoslJuBFZ3Be",
  "id": "fc_0feb634981959526016ab41ad52d5c87d0b45ec63fb21b2592",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0a41yjX28KOhYoslJuBFZ3Be",
  "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]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5919, -0.4026, 0.0628, 0.0353, 1.898, 0.598, 0.6876, -0.5049, -0.5125, 0.0166]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1377 left_yaw=-0.061 left_pitch=0.0002 left_roll=0.0337 left_gripper=0.0628 right_x=0.4088 right_y=0.1035 right_z=0.013 right_yaw=0.702 right_pitch=0.0556 right_roll=-0.1467 right_gripper=0.0166\nstate[joint_eff]: [-0.1299, -5.3812, 6.5436, 1.4969, -0.2515, -0.0415, 1.0379, 0.3761, -6.4342, 3.9316, 1.1111, -0.4762, -0.0464, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b095b1dc945528b7d0eb18c26e574faaf1e4b8a650266e2a528b70571a9d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7ef5d01a1d2300f00406bede4e0de52f22501c8f2c511be0984df40abaa755",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f883bead89c4e58b93fb9a96e467e218e1ead15345d5a4fb5fcb58c853c27c2",
      "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 · 3.158 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3655, 0.7525, -0.0898, -0.5919, -0.4026, 0.0563, 0.1295, 1.5631, 0.6147, 0.3096, -0.3161, -0.4084, 0.9949]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1387 left_yaw=-0.061 left_pitch=0.0026 left_roll=0.0317 left_gripper=0.0563 right_x=0.3898 right_y=0.1098 right_z=0.0702 right_yaw=0.587 right_pitch=-0.0192 right_roll=-0.1384 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3675, 6.5436, 1.5458, -0.2808, -0.0611, 1.0281, -0.5538, -8.5675, 7.5556, 1.5849, -0.1636, -0.0415, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5922, -0.403, 0.0628, 0.083, 1.9034, 0.5652, 0.7208, -0.4698, -0.4812, 0.9954]\nstate[eef_state]: left_x=0.336 left_y=-0.1784 left_z=0.1377 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0628 right_x=0.3984 right_y=0.117 right_z=0.0054 right_yaw=0.7044 right_pitch=0.0413 right_roll=-0.133 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.4085, 6.653, 1.5116, -0.2808, -0.0757, 1.0379, -1.2103, -6.653, 5.5043, 1.6142, -0.2027, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5919, -0.4026, 0.0628, 0.0353, 1.898, 0.598, 0.6876, -0.5049, -0.5125, 0.0166]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1377 left_yaw=-0.061 left_pitch=0.0002 left_roll=0.0337 left_gripper=0.0628 right_x=0.4088 right_y=0.1035 right_z=0.013 right_yaw=0.702 right_pitch=0.0556 right_roll=-0.1467 right_gripper=0.0166\nstate[joint_eff]: [-0.1299, -5.3812, 6.5436, 1.4969, -0.2515, -0.0415, 1.0379, 0.3761, -6.4342, 3.9316, 1.1111, -0.4762, -0.0464, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b095b1dc945528b7d0eb18c26e574faaf1e4b8a650266e2a528b70571a9d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7ef5d01a1d2300f00406bede4e0de52f22501c8f2c511be0984df40abaa755",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f883bead89c4e58b93fb9a96e467e218e1ead15345d5a4fb5fcb58c853c27c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrhVLE8iGhWW7ncEMEBjHSa2pk00A-OY_FVHvIgiENotZvjkT1rVlZfJwdi-om_M9UcNT9aytHYd9JBlOSanGqH_xN542wXclOGAiIUqBi4hv_rHAduUZI3gYPMS40-z1Txfr9-kuFytGbvhRTSxPbeg7Hcx1Ne1kUG1NjyJvo5UUyIOddAkqb1Ngtf2Hnx6BpqyjD9vGhciy3LrO3YqilkvpNxIFj0gkcRfvscIE83gWxhuUvhAp7PgR5rbS1aWJ1Jwk7A9OxVkCaNP4ND8bGIWTQa8vqOFN8BoGbif9cJVPplZ4zQo89BdOs_qvwyCPXNdSDijjR4t34RakBwx5SQ0benOAnK8Kj0F3q3Yo1K4ocYeE1blIPjtemxmuRn254r7O_EXpJpsfjQeWRBn47ZJZ8AijPXbVhOrCFJcnBRxEVgFUI-cGtMzx9JJ2mEHOso9kGcHsh8yeo7SIYegPqakaMJxjv7aNFza8zkxGkS08QZZGWi3V-ocKmKLXQGDt4CSpwBY_h14NRo6PCdZkt8yTl30idgN9T1L59U10lfGZGHZ4BZ68_w8usDR247lbTh57WZq_tfLjA3XRkDN1y3vvuOo68m4WKxVEOqNOrA8PKtkLANEvdbyt7aULLfOSW1KPXKDaxgafuteXVTWQENqzY3Sup9TzsZZ-FUtyViNYK9ISjsFYqFIi70Y4mb-UIUSl7a8aVwJUqgUKUG6z8qsPyQONWTr-JtXFPhVTYxQXVO_baNEb2oRoD89uZz-UqlG5CTAOcs7uSQUzvVFBQJjCrtDDq2NjJFCGb47oUy84BtKlZjYCF4V3eagxU2PhBlB4FzAmFo0W8EnvxySJt1a67IbZ_lH87dSf2k-9J_bvuwCC_mmaCGMdT2yZ4pNkA_yMU4alzYl65cF3GuGstVwUN6G80-23cMBvqGBNzpIoNkdVSNaVmEEHb-zI9CRuzFUrJzQq1tqXC2QgXvnX-jLVofMUkdIvtyZK8yv3Qv0dS894CqiPFKtUaBoFG8zzxAXmyiquThP2vEfe4JDoGZXWI5WMN_ksfzUTdZ4JbR_EO6MEGaVAGTxyNzfBuTil8CENyr_iS_2x0vuCBq8slYeAbUH2dtyV_noGtNZJdY7ww-QKeSz80aPkKXQAe_lALaSEWscLU0JMzUfHEu8rE17rtpYGbb5Oy-a5tFis91jJaXRHrReIRMM_lDQwE0wUteLeDavBpePO1X6PBEAsHUEk3UHNdO5LyHVjuOZl7_S1jrqltdFGYh05hgjPEBlTWvcLjdpZMNlE93OOaiYVMO-_x_rHTRcntJCIDT4bKML2Dcsqe-blhndRpkD8hEvCqE-fUfbeVqvxUYbaMDOkDqgmd8Gk91GXnxpOEL7vgPdrTOj1WwVSpIf53lzlfWywkwvt0MNi2iokpnk92e6Y-WXtrXef5J1COI_SrJ5G6cInK0a5WsdZ_fz49gvWq1C6wuKJKH6wTOJK9ic0WvcEGP7KHHSqUM84IZ5I5JSFSZ20NU6Ixdtk9xzHdIqqikLqrubLyZoOTWuupMYomp7sh7hqDKUXh5HXVCUwjLZ7FNcH71o-JI6VkPH-4TyUGoWxV93WvzqYZtpkTvsw3GFP52bHieaNQeANxEycEGyMf9-VUlfCUVsnvsvPgwCUmFbSjmCRcNXOjfboExsrTyALBYwKC9jd4j8aEWGtT5ccpP3oVJoCep28oa_E_Wf44c2ZFH-c1G80Zcv2SHQoJbTgTa9LpHcaf0RumAfEEOcUAKt-roW0BHmEeE0QrEwiSeJXS8AU4tC-w6aNizXzkO-q2UZM-mumfdSG8wFyLKDq1hVf6rxSnsH1_HNWdUNo4yJ0kolI61-qXEvNMq-TYxmqM0Mlkuu35pOI0P1JEuoAEM8olkg2rEhojLb6YcCKetiwbESvkCIPQ6kHuMT-fb1OuG0t2fJMiaeiSdgKSxchW0Mez3WrqtJ2psk8f9fwDDxO0QSqCaaBAFUW0YPyXPAdCYq9BzuqOEKB3Cg6BFFUbqahYXB2vSQXUuG97oHFSOiSo2WOju23D52u47StXZssjQEkBh5GxeT1AeeCanct6er-wMeqPH2xFJLvoMIxng_MAu4yaXjWV4HHnFoKVIW43M7QlKAG0lkcZso_i9M4WIm0A_AP6pY9pAfml_ZdK5YLnEF2SPLowrYAvt_a1iS5wbZx-6z5IaRI1I3fLXbmmXDasqcf8QamqBdv8YKGKpYHdHFZ8vgtPMrlY2p0cI7AnwNG6yP49uHMGN7jW6WmuNCg7qzdk2UhSha6jodA32eM-cAVPTfyhWJASN0pDdfp6WNiNaCR9x1TYRFAASuBrffU-c-NQrWgiQIpAsoEwgxPBJNm6wDQujNJkBUkf1l8lmsJcGqXMi2Bra9UI4WAkJlU9MASgwTU1e662zc6HpA4LQQ4dmytY_NppiEPA-02q6rGO1l-sir_iinHtH5SJtBL3xNU5mBoybMdpDSCq4x71zob0_M3KEn_xOkIiP79Iq82BRqs_PjQQknv_8ETqvaV12Na_MJ_4uGZB4865QiLz56SKXDcndG8unFYfEaPEorE4Qj29CsEj42n7zgrnq3JEfjmvy-SmYuxY7gtpffyXlF6qW-YcVh9ZLC1Z9KVe5Yg5-JXdTvDE_WvivZuT3T4U5Yy9rwwnmZCQavpoYgSj6jRyloSIQzZaXZCWvujNCtCAVirClIW_1GPFaOLQUtK09TcnAYLyHwZ4FWrIl6wd4xiObF3bQePHHKmW39X9IGlygHqaix9uMg8lON9FITy7hfM7ZF2DxJSnc0e0v3nGeFF5-rK-SiSTsoahtNY4UMlgZPMGZzmtTisEr-eqZTwpiORMDQFZkMToKj88lpOEEIC24hliVMsiEZMiIvRjeEZ8g0KKtyHrgQ_vcbK7Bf2cYJpLNrTLUbbNoXVADyjXlBGM4LXO6UkyzqMmukHCl0GAyms2GehNtX8tLXuRAPGY49cs-CRCl0becxy8-bC5xOCqlaap3f4qCnHcLmGxRYvb9mmMey9h9WrxKX7bnoICBuhQIQkU15g685sNbKf1Sphw96YU-8BGWNVfeUkFUHDopUd-VdQosY134ioGkuSv6namxQMWUB7fQ1CxGXnIQISt_j7A3SXR07LfRs03rA5UptXCshZvRDRD30f2lafg4dw278XBSGE6-ivtqPBUSOWndH6BX_tYrazKDp-sEZoQzJqh0apecjYRZaGEaW2jY_cqzbpfSq-iU7QeFl5R9rAGnwvWRM2HpYNxOaMptRjE7RXTA3AMjL1UAuI4SfQq3v7Lqs3TKN2ltoJlM2pfXtgSIu9dcO7_z6EsXzkZumKJn8l_mCMcDwe8VfkB9gSDHBEWXslH8o9PUXI2dk4Y067z9CbdkjRSOPC1YY50eLEWscnOhkQ-gnG3VogCs-rOQt_F_KJKlWkb4PmdJOsoGRdV6EsBG8b3ANxsvEh8doPne8TQtwUOcvUBkUD9mKp236zuuCYOKz1TL3dPHkLuH5PpWOzcRgeS36yW13PVTwVvPEnYr--27_IMZpkJ9NpxC6pG_MBhWrHMeR2ByOv-NisSovMHCUP_BUtmXbD8gQY_3yoyfGfxFNuXoASIzQUkMBvrXh_ahJadp5v_gOw2KsGyljIAqfJxX1B4xdIEIoiJ3vq4Swh2LOirdZE2uzoBERj8lZQm0c-FlK8P4VTssAk2p0Vw6aLu3y1PEatsDJo6ofev1vpJYd7McczTuueJ5M6Jgs0dMpFqGWdTUcMOzJwaHfQ6XTosnIXRMCIkrLAj51ygA0Ty7xw9c9ujgI02vkn5V8p3aMAtCGlXYvRUlKW9w2sTsh9q6Am8613e5B6GVWzCS87mXZDn389HwZLm61gp3fsa9tQXyPoQ3AxV1u96m7J-HMvG8bo-ftkeNuqc-q3jFl7FtCbztj5eix7H6nGZ9fHuBXzSCKM8o_2q2",
  "id": "rs_0feb634981959526016ab41ad7dd9887d0816aa061ac6e7a09",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0feb634981959526016ab41adc0fc087d0b10d8095bb08664a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBrhWfP1wPWX9KA-pGBRW0hI85Mj9CDYJ-Ac9U4lXz0fJHIFMiYV7VtgxcTSOnOVH_tYR7xvE8qaPtFdhR0TP-fKcHNJzcn48u_WotkVM12KlfxmSKyLP8HGpIVqJ1fhtTuH74eP28TL1rWiZMT3s7FvDu9vWBGDuJNOh3J6BnZgbj7dzZhz64WTCDFL3G5aWC43hivHAZXkxDubZ2cBF0boqtMfzvqrmEh4Zpsxe4e_gBQsV2xY0PMRmKgXgOAp6AIqBmK6L6XsA5hB3SyNfEb6eccYpCbccbg_Nubeeqk_HZTcRuHXvMlXMgbHsT2K7VSzly8oSA7StJCrgZgd8jVAc4EDzlomb3SwkR4H1JqXcUvOUvbHKGzOrcWo_bX6GZThKvS8G7a2DNwRA4j200Ofo9h1OepMMx7-Q7xAk_fST1-Jv25tT8nI9kT2jHoTqzej7vVYldJiXls_gXsS8o9ZxMtfDWw9kCQpDFkfQAIi2XzXRVKneQWwHV5x_I3WvOP1Qf34RWAkmXpjt3WRa_Z2q7VXV6EPfLydOYFxVH-SLMgtJtk9eITuBLgkvLTzBPkHlId8jVDKiU6M3yOqeCteJ_6aswDRqAmIV1Vevnyc01NdwWkl2OGVBB7q0zbBzVVX2SwZzqWzs71NIkEOD4ZQ_5b6igVIqeSZvGYd7mxW9mVW-d4jck1HUQGPLr_K9NTaR5fmU9ZhMmyfFuSrCj6GQ1grUIU9XXGYadNr8BX27f8byXCUBlztE2A-a6R4Zy_N-Ncp94UBgA2hil6iEHHOinjPChUhtic-VeZRt0tF2m_YbutFSuoi8_Zlh7jafvDa3tHETs_KqPkF2_j-_h43c7_YjXcK0ZsWHRD1M8pZHW5awUkNXpimGB5oqLYA4YNZWlIH3dP3t-VnJ-30NKG1949Bb9VWsmkSQ8a19AJTcUQ7L89PBJqd3xUghhCsk51m9G3C1ZqnNvQPKs0LjbxGQCQdFVF3p0MmFLMi_BGMSlPwBFFYg9PruJfphcJGsU4sZWug_aLBeHkGsMXu5d2Nvls9ayBh2Xa4oR6WaH1rvw2riajmaX8VZsS9THuNTEJFKebeAyWV2mNACOZQIhauUCh_plCI6r-z1mIHGbkBXZgRsk5zG4FnIC14rP-cKGVNMUh2AKJdZ0_mZEHEg2cDl2WScQZbOb7-591fGogXX3Y9lrvsgkVZUUwh0He4tPh33vud0vpruS46EVjUs_NkaA==",
  "id": "rs_0feb634981959526016ab41ae0756c87d08efe851622100156",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.397,\"right_y\":0.12,\"right_z\":-0.02,\"right_yaw\":0.7,\"right_pitch\":0},\"note\":\"The right gripper still closed empty even though the shaft is visually aligned, suggesting the tips rose or slid away during closure. I’ll reopen and press a little lower at the measured pen position before one more grasp attempt.\"}",
  "call_id": "call_fDYzkBcil0Yfq87BC2fgWt0x",
  "id": "fc_0feb634981959526016ab41ae0a2fc87d0a25aa4601c41c81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fDYzkBcil0Yfq87BC2fgWt0x",
  "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]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.403, 0.0677, 0.0986, 1.9598, 0.5838, 0.8165, -0.4557, -0.487, 0.9949]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0677 right_x=0.4104 right_y=0.1223 right_z=0.0063 right_yaw=0.714 right_pitch=0.0836 right_roll=-0.1781 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3812, 6.5709, 1.5409, -0.2857, -0.0562, 1.033, 0.7179, -5.2581, 2.8103, 1.1013, 0.1148, -0.105, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bedfdf7c59bab5ea4f618dcacc1b26319e43ca8c7a331b66d84f8f870ed77b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ccb1feaf54bae7fcc920bd558f8610db027152bdc741fe9bcdace2ad3c82be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575bcbf8b91a291170a73ac570c3779b694b9b180041122175bd9834312a361e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.241 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 151 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0898, -0.5922, -0.4026, 0.0628, 0.1249, 1.8729, 0.5381, 0.6975, -0.4255, -0.4526, 0.9954]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1378 left_yaw=-0.0607 left_pitch=0.0007 left_roll=0.0336 left_gripper=0.0628 right_x=0.3873 right_y=0.1257 right_z=0.0026 right_yaw=0.695 right_pitch=0.0118 right_roll=-0.1192 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -5.6, 6.8308, 1.5116, -0.2466, -0.0317, 1.033, -0.0342, -5.1761, 3.0838, 0.8083, 0.315, -0.232, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5919, -0.4026, 0.0628, 0.0353, 1.898, 0.598, 0.6876, -0.5049, -0.5125, 0.0166]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1377 left_yaw=-0.061 left_pitch=0.0002 left_roll=0.0337 left_gripper=0.0628 right_x=0.4088 right_y=0.1035 right_z=0.013 right_yaw=0.702 right_pitch=0.0556 right_roll=-0.1467 right_gripper=0.0166\nstate[joint_eff]: [-0.1299, -5.3812, 6.5436, 1.4969, -0.2515, -0.0415, 1.0379, 0.3761, -6.4342, 3.9316, 1.1111, -0.4762, -0.0464, 0.6667]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.403, 0.0677, 0.0986, 1.9598, 0.5838, 0.8165, -0.4557, -0.487, 0.9949]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0677 right_x=0.4104 right_y=0.1223 right_z=0.0063 right_yaw=0.714 right_pitch=0.0836 right_roll=-0.1781 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3812, 6.5709, 1.5409, -0.2857, -0.0562, 1.033, 0.7179, -5.2581, 2.8103, 1.1013, 0.1148, -0.105, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bedfdf7c59bab5ea4f618dcacc1b26319e43ca8c7a331b66d84f8f870ed77b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ccb1feaf54bae7fcc920bd558f8610db027152bdc741fe9bcdace2ad3c82be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575bcbf8b91a291170a73ac570c3779b694b9b180041122175bd9834312a361e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrl-jgTQXvZecwY7IRDatlB9d5rYBo1gZXdIfs3VZofeSsFjis9UZvdfjhyCcSC-yj3F6OsbPESft3OIUUWlhOhH5OovpQcwNesMUSMGjha-a5iPKlbyNy79VJWuk3mR4Vz1egNr6DZu_eS_kFdqgWGaLu2wfce_uJF2eLFpD46xJ2FpcbxhKOgz3bJ4qeMGN3TLfM81HAlz98ybb92SRADP--yZHDWaRjYeqenLSiHlsuEBQwzxZB4K5ustad0YI7Qk7zG5g4Z4D8n-bBx3iKLf6VulV26qGI_8SFwqvGXi4rt_RcINb9dLcsgfrsUiEsbZs-TryObXbk0HCdbwTLBmD8XyzRS7odAfw8hRZedxCEbHwJlxXFdj0KhuxZYBLbOjedMDqJBxShVGG5DeOcuhwiO0BJDRAK-UVuDUwlQZR-Y6wHMdnpxPu8vBrgBfo7N5pEGCyHMJYgzjKb-GA9NrfYCJ3eyDrr_QMKoveod-dHnWIrAbzfgGkXqqRM0PLbygwucxVIc04h7EAy-haDyqSVfzG_-Xo8kZI4etCrXWelNV9K6Zo9YLHHrG6VPiXuWzcTI9NiGqZpG2PeHWLpnsKvLO6YJYcLmmWU6KtkYiVVJH1xqOFHp2k0gPUdzwZJ_xnaAwb8Ya0gJC7x53rdU6-wH_ok8N79KejCXUPrI6zhkU1zbd1QU-rOqrFsCT_yGGLpaVb8WQeiPM6cMRny6xuVpOg2LMGUQSVQ1Cls3OTdKIs8yax-zlobyPlMekXgOqxbGYmsXZNngUP7VVa8wfqFZuMos4_tg2bBch9cqJ3NtfbGdh_0_QYfaLRmG66QUnbzRiueuPd8Bqe1XSI6kjgVUwsLFYBOV4z6UIC9qnMDnF9Pn9FWdNpv1jBTdsmXh-uO5-Df89xKFJfXG0cbrpbOE1OEgEwhAMwgymCuQMtjO51Id9kMJyZVLZOcmSvO6swffoAgjIRhsp31yhXjRa_spCJhJn4sa6bGCFz-5ZHcf0A2d0eOykkas1tZvkr_9m6xUYPyk2u5M67B-O7snoND6Ei1J3B6AwXkESe3YH99HvGrviV2InSHRyM39kj47lbvaaVtcldfAXoPp17GNgkCtzSJ1UMT3TUo2x6kmXyw1VlRJd-6sqGBqDV0h51Am8HbmSgZm0NUqlPpxx3b_cVmA3K0Nw_tHCzNo4JI0XHkSiXm_SaMN1upH_ejYNobaO057o8bXR0lISTJhyVdrqnHo3W2CxxdSOY7bOwLZoH3A3gMuW5uGfsK5sbkCijkavsIyCvzMTKVAcKDAZllyOugHonwhh7kefoWmYQzidbPsBwRCg2v10Ve4wkX2tKpNp1h7XP5d47xw1_hhoD13CghSsG3E2XMXp7AdFL8C-GNnfUIjuVkzoF2KB8g-U5gfXD_3h9q3xS2PiRl1YiuvrUhhbKt3xr0_wu7dsdG6hMup2NEyCrt0Xryi5gesjWaRYNJGAl5pd0-voR-aquWoqsfxhLFjB3qfck8dgIUsVzYXhiB3E4_aFYzYexAYUmQD0YQGC4zYQ3UyFwjFavfoOB2kiuyo2HOmOCp1mIrfoY-yIcovPummFEIKpG57xCDCWSj-YaaGiOM9Et_Arv_M-mGlRu8AdeOpiYcdK7PSt87wM9oklzkUVgtU-JF2mFdAjUHEEjtCliY6yi7LSclTPA==",
  "id": "rs_0feb634981959526016ab41ae3cd8487d08fda905b9c2d8f7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.04},\"note\":\"The pen now runs straight down the center of the open jaws with the fingertips at table height. I’ll close only to about a four-millimeter gap first, avoiding the harder squeeze that could flick the thin shaft aside.\"}",
  "call_id": "call_STMXaFDlWGFZoQBLDEviZqrj",
  "id": "fc_0feb634981959526016ab41ae507d087d0b09a8720a77aeace",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_STMXaFDlWGFZoQBLDEviZqrj",
  "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]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.4026, 0.0712, 0.0998, 1.9621, 0.5854, 0.8307, -0.4538, -0.4866, 0.0455]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0607 left_pitch=0.0004 left_roll=0.0339 left_gripper=0.0712 right_x=0.4124 right_y=0.1227 right_z=0.0085 right_yaw=0.714 right_pitch=0.094 right_roll=-0.1863 right_gripper=0.0455\nstate[joint_eff]: [-0.0615, -4.9026, 6.5846, 1.5702, -0.2613, -0.0464, 1.033, -0.1983, -8.253, 4.2462, 1.4969, -0.3248, -0.0562, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24db4e7a691d523df5830468ee87099e1aa0893b45bbca19b4faa90c18a37cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7380b30b1f340fe0367be0e70977d47eb1f1e34961e4d0c3b93c61bbb809490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b057226ba617c03e01d390ee1a8eb8fa98ad7a8315fae387721cc07e0e732b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 14.34 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 151 changed as sent

message 155 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5922, -0.403, 0.0628, 0.083, 1.9034, 0.5652, 0.7208, -0.4698, -0.4812, 0.9954]\nstate[eef_state]: left_x=0.336 left_y=-0.1784 left_z=0.1377 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0628 right_x=0.3984 right_y=0.117 right_z=0.0054 right_yaw=0.7044 right_pitch=0.0413 right_roll=-0.133 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.4085, 6.653, 1.5116, -0.2808, -0.0757, 1.0379, -1.2103, -6.653, 5.5043, 1.6142, -0.2027, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.403, 0.0677, 0.0986, 1.9598, 0.5838, 0.8165, -0.4557, -0.487, 0.9949]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0605 left_pitch=0.0004 left_roll=0.0335 left_gripper=0.0677 right_x=0.4104 right_y=0.1223 right_z=0.0063 right_yaw=0.714 right_pitch=0.0836 right_roll=-0.1781 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -5.3812, 6.5709, 1.5409, -0.2857, -0.0562, 1.033, 0.7179, -5.2581, 2.8103, 1.1013, 0.1148, -0.105, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.4026, 0.0712, 0.0998, 1.9621, 0.5854, 0.8307, -0.4538, -0.4866, 0.0455]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0607 left_pitch=0.0004 left_roll=0.0339 left_gripper=0.0712 right_x=0.4124 right_y=0.1227 right_z=0.0085 right_yaw=0.714 right_pitch=0.094 right_roll=-0.1863 right_gripper=0.0455\nstate[joint_eff]: [-0.0615, -4.9026, 6.5846, 1.5702, -0.2613, -0.0464, 1.033, -0.1983, -8.253, 4.2462, 1.4969, -0.3248, -0.0562, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24db4e7a691d523df5830468ee87099e1aa0893b45bbca19b4faa90c18a37cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7380b30b1f340fe0367be0e70977d47eb1f1e34961e4d0c3b93c61bbb809490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b057226ba617c03e01d390ee1a8eb8fa98ad7a8315fae387721cc07e0e732b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBrpKdpnHsB8Ce55DSRaFI2NP8FLQY3kw47Nt3RPudNe-pRJ7tBxurIcQo04LAF_DLTp_yDw9ZHyBFN1qKGizYqv63IKLxYjggyL4TcIj0y8aVBtPQ5hi8DoplTPJDlYYloSgRwG7Bn4mYWoLFN3M6LE_waa_AiUfinl2aPpUdjo7JJ-3n_qCX1BqXRcAXUDfmWiuDgU1FZ1Qw6ecUM-AlXyUPSkHTZWGLyWHrAl-bkSB2-l4BIn2ikiBLBHxHoGhuuLgInxGv3KolcjtaBlLS5V2ULhqrMHPl1giXLd4CZQX4M6cn4ez_mvY8xSJd-vC2ZWyCcMFoOYAYmMbXZafA404wEhBXrBWDwXNn5LFsNLffx9mLl4oouUjfVE3Gl4JWky4xhceslECiiY5is1R5y4LVFgaLa5sH7MczqFPNMI75gOQSXG6GIzTW9jI0KTl2qxUfhsl2oMfHHjA5Pi85SYR28knnh2TUm0wIEbBfipglXeVqn-t-bG9Fg2mGcW3de3c8c9WVRpnmIdJxc3yoVQ0H0Uy8Xi003T7FWnuIyMxhX470D4Fz115DCCEtSjQF4TJ7brfUcE0vACCScYUKN7930Uhy2g8pMWysWbTGPuG7of51i02v2HRok3SQE3rE_A8wuXONr_QM4mIG72YhK6C90qCPcLFhKIqcQlXtqjo-K6C3d_4pWQR363DVW3Bl7C122WqyYIvhaBjyLeZj2Lmfrx6GIqeeLRQ-pWRyYAorDOga_oxw-74pvYANaPrhL1QZNPBHqy3lSspTHBFslyHfTMKSZiJT729ZtXbmsmLdmK-VHLLm759-4967Pqyu7LZp_D2L3kKoZ3GQg5z7UeW4QtlsK5-q16drpMZemnDSF6iaOwAxx8J-jSut5m3NbcqSJap5d9kyjQzOuCZXmaX_Bo33RA7d5LSCNsZsNQwzAFbl-kNzqicVOY2NpqWsWgAkE0gEcI1UbHDxygvOAg43dOIqhhbcyc4aSjp-4h5K76bWxUx8kl9drPM4CKMWvk9QzmC-3ucb6un2ovdhmyLbDCCbxp7ajHKNPAmh3RRakbPrMORNrHFayTeMvYalNPWBys12ucnU4R1MXtRY4J2HY0uHMz-GvqN52jYEGXpOOMlAvkvICOa_NOQUDlXnipN9XbeWkaltAwHLaQViG5UdqHcJo-XV1bwPXNEwH4OnBuauZqSiJ_H5wd8eefOKOBizO5rTsquQ0FhZueLdonD96B9uzYesDmzYCGFOHFsFxz0eP_vkmtn1nLOs17bvYlkRMk18MKsRc0vtdzXcGrvdRVWa0b2SagWdrOUBSHYh9q0KYw_bJ2vEK53Gg45VlkoF49liNKvwG2HeaGhNc5ckHiAaOm4HSpz5M44kR4LE5OouNiEChkYX2QUTbtVKD6xXwd5X24Dzw9sqo-h2K24DNX37FPq5WF1SkDCjbSGDXw6vFIIn798HPeMQE1feGL",
  "id": "rs_0feb634981959526016ab41ae808ac87d0b2735e19e697b673",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"right_x\":0.41,\"right_y\":0.12,\"left_z\":0.16},\"note\":\"The partial close left roughly a four-millimeter gap around the centered pen, but that alone does not prove it is held. I’ll lift the right arm and verify whether the pen leaves the tabletop.\"}",
  "call_id": "call_gBx3j4956sUMIaYiGYa0MSMB",
  "id": "fc_0feb634981959526016ab41ae8f9f487d0a9c95f3e168bc303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gBx3j4956sUMIaYiGYa0MSMB",
  "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]: [-0.7601, 1.364, 0.7811, -0.1707, -0.5919, -0.4034, 0.0726, 0.0978, 1.6527, 0.6407, 0.469, -0.4541, -0.4927, 0.0443]\nstate[eef_state]: left_x=0.3323 left_y=-0.175 left_z=0.1375 left_yaw=-0.06 left_pitch=-0.0362 left_roll=0.0637 left_gripper=0.0726 right_x=0.4085 right_y=0.1216 right_z=0.0811 right_yaw=0.716 right_pitch=0.0961 right_roll=-0.1933 right_gripper=0.0443\nstate[joint_eff]: [0.0205, -7.4598, 10.0855, 1.4579, -0.2076, -0.0366, 1.0281, -0.6222, -8.5402, 7.9521, 1.8095, -0.2515, 0.0024, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caecacebf13e6eb7e4034eff8b4869eeba6536d58862647763ca796a95ca0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca194089f936c4f25440dd86f386e67ae9c0a60f60a0ccc86b1562d183892867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511cfa61e4610d0c9f3d76e64b4231c8c507ecf35e19bb93b0ed2f2a97521831",
      "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 · 7.289 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 155 changed as sent

message 159 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.3682, 0.7525, -0.0902, -0.5919, -0.4026, 0.0628, 0.0353, 1.898, 0.598, 0.6876, -0.5049, -0.5125, 0.0166]\nstate[eef_state]: left_x=0.336 left_y=-0.1785 left_z=0.1377 left_yaw=-0.061 left_pitch=0.0002 left_roll=0.0337 left_gripper=0.0628 right_x=0.4088 right_y=0.1035 right_z=0.013 right_yaw=0.702 right_pitch=0.0556 right_roll=-0.1467 right_gripper=0.0166\nstate[joint_eff]: [-0.1299, -5.3812, 6.5436, 1.4969, -0.2515, -0.0415, 1.0379, 0.3761, -6.4342, 3.9316, 1.1111, -0.4762, -0.0464, 0.6667]",
      "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]: [-0.7601, 1.3685, 0.7525, -0.0898, -0.5922, -0.4026, 0.0712, 0.0998, 1.9621, 0.5854, 0.8307, -0.4538, -0.4866, 0.0455]\nstate[eef_state]: left_x=0.3361 left_y=-0.1785 left_z=0.1376 left_yaw=-0.0607 left_pitch=0.0004 left_roll=0.0339 left_gripper=0.0712 right_x=0.4124 right_y=0.1227 right_z=0.0085 right_yaw=0.714 right_pitch=0.094 right_roll=-0.1863 right_gripper=0.0455\nstate[joint_eff]: [-0.0615, -4.9026, 6.5846, 1.5702, -0.2613, -0.0464, 1.033, -0.1983, -8.253, 4.2462, 1.4969, -0.3248, -0.0562, 0.1929]\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 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7601, 1.364, 0.7811, -0.1707, -0.5919, -0.4034, 0.0726, 0.0978, 1.6527, 0.6407, 0.469, -0.4541, -0.4927, 0.0443]\nstate[eef_state]: left_x=0.3323 left_y=-0.175 left_z=0.1375 left_yaw=-0.06 left_pitch=-0.0362 left_roll=0.0637 left_gripper=0.0726 right_x=0.4085 right_y=0.1216 right_z=0.0811 right_yaw=0.716 right_pitch=0.0961 right_roll=-0.1933 right_gripper=0.0443\nstate[joint_eff]: [0.0205, -7.4598, 10.0855, 1.4579, -0.2076, -0.0366, 1.0281, -0.6222, -8.5402, 7.9521, 1.8095, -0.2515, 0.0024, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caecacebf13e6eb7e4034eff8b4869eeba6536d58862647763ca796a95ca0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca194089f936c4f25440dd86f386e67ae9c0a60f60a0ccc86b1562d183892867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511cfa61e4610d0c9f3d76e64b4231c8c507ecf35e19bb93b0ed2f2a97521831",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0feb634981959526016ab41aeeb9a487d0aad4f5e4604757ca",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0feb634981959526016ab41af2d48487d0800cbaf2353ef96e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBr4VUc5syMzUtznjEbSWXTuoOq4TwN14xQCreZVWDflcg1lTny-QuB_Q4YKZ5SKw9pq8QTQJSseYQ95jCFfplC-35FuLHZKpzpfvkkERMymA2RqNn37NioPrr9XYqH99YFhFBEjWvjMMHaIPwS_9NmFm14EQdiYF0wfmJ6lEeoyjtdsRHzP9N-6BYuAOjyv-uSufeMaInwhLg6fY8tnjthjnudEgpXU4bj4t7GHmStBpGkwvtiyhE46PSRJ_g4roMlXvpzZetwhGMxJDrg35ZxjdvWc6LYFm9jgVxQOsiBATUqSRHD-r2kmzeUA4GUD6LdI0fXiWAZNNppXl6Yx6AHlTvMzWjFmX6QAfBTWTcaLNTRoIM1dKtPtpAyKZ6DN4xkClFEQ_Bn6Kxd6v-Stba1NUQZC8LZTaMgx8Ass7ekJN0wBcYSMHn6Mh7-ot2WfTSGMeUws-04DGus0zNji9ibvDYPybL5xTBUGJ01VqOySCaJOsVJ4fgnn0HPPEV0KEtYB4gsu4y6AIqMX0RLjzo0ngRywzE4hT4HDZHckSUThpjHfssmqoEKT5Wo3w3_lrzandP0Iw0auUPY_fh17jH1oi1-qJry5v__fNOQdLH9YbWqjWYlizBfA10oLIpG_oCin1xDO1WMfmk7cvGbiwF3v78EOE0o_bKV46BJln1thZb-WGetEz51lmQIvz5dwymJNQnAgN7gLCqc-9lMkT6XW8yay8bnQGBV73B_5ELYYSLnDgclTmyKpxq65rXd8XOl7TclvQnN-EnAzmWcIXm7K3VH7uGR8nwLvI4Puiu1G81_6Snk9pqn3dX95tzLpcUFV0Wzt-EY86D1qAN1LKlQjgtpmF6En-mJalC_n5vv43_zBu1fJU2HbCh7fnLerJ_f3fXYUG71-QBB_Nem1__gqvGqljjVpP70Ze8LT3uTMOV4Y_uxYrbeFzOJ9JASI1c85MkFsdowW9J0c5qxQencc9G_Btyga4mVl0XJiRvvbMBXR5fTSLC-CoS3efAVCBIDhFNGMHpf1UQSA1qEiN8v8F1xSv_fji2kYL4wFKUed04d2Htu6rYG43Yqjwdu3sasDjZrL3wJMzlVS2MgyqHbgKHVWrcrLXL7xqAUoHLnJvf_Mg2i-38_ANM1fZPy6bqy7nZLxXoZzKp3-3SGfR-9rk0nwNQtImdPM6jQeltuSKbEEzIufrRSZhYeuhq-FN3d9mQGjyETyBgCn2YtI8J5mMmatFWtJq7FJdZ2VPNvVU_VUrJ3-VshMffwI2f0n838K0fI_t-N58CwRgA78Xgq_WvK6EHPcqG6t73tDsymdqg_8_AD9s-nZResCJyteAPwD",
  "id": "rs_0feb634981959526016ab41af72c7487d0b27e2cbabb8a762e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.225,\"right_z\":0.17,\"right_yaw\":0.7,\"left_x\":0.335,\"left_y\":-0.18,\"left_z\":0.17,\"left_yaw\":0.65},\"note\":\"The pen rose with the right gripper and is no longer at its original tabletop position; the cap remains held in the left. I’ll carry the pen toward the center and rotate the cap so their long axes can meet, keeping the grippers separated.\"}",
  "call_id": "call_Qls3QO08FILjwQWByVX57mRO",
  "id": "fc_0feb634981959526016ab41af78cd087d0be82fb97e331980e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qls3QO08FILjwQWByVX57mRO",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 1.8687, 1.4986, -1.0836, -0.9203, -1.3586, 0.0739, 0.4683, 1.4799, 0.8043, 0.157, -0.1577, -0.3294, 0.0443]\nstate[eef_state]: left_x=0.3435 left_y=-0.1957 left_z=0.156 left_yaw=0.5536 left_pitch=-0.0771 left_roll=0.051 left_gripper=0.0739 right_x=0.3761 right_y=0.2253 right_z=0.1475 right_yaw=0.7524 right_pitch=0.067 right_roll=-0.1958 right_gripper=0.0443\nstate[joint_eff]: [-0.7316, -9.6205, 7.4462, 0.0904, -0.8767, -0.0269, 0.9353, 0.253, -8.8684, 8.9368, 1.7314, 0.0611, 0.1587, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e988d215a17bab60b49ed8800ea765a5a9e57cb2f647b70d490b92757badb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8c2208ceff9d73894060f31b9c28dc559d0752032dd7b9e09aea0e073d38e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe6bcd94685193ee220c512500ca3ad332c639f6e6a74c8219a0c022623f948",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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