adhoc - adhoc_f079d89f.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 246.2 s
total steps: 364

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe long pen lies near the middle-right of the table, and the small cap is separate on the left. I’ll bring the right gripper above the pen with its jaws turned across the pen’s diagonal, then check its position before lowering.

move_to

right_x0.3900right_y0.2100right_z0.1500right_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6018, -0.3801, -0.02, -0.0181, 0.9998, -0.0185, 0.7918, 0.6094, -0.3771, -0.0196, -0.0147, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0016 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6359, -1.4838, 10.5641, 1.7753, -0.0317, 0.0171, -0.0366, -0.8, -1.2786, 9.812, 1.7998, 0.0269, -0.0024, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.21,"right_z":0.15,"right_yaw":0.5},"note":"The long pen lies near the middle-right of the table, and the small cap is separate on the left. I’ll bring the right gripper above the pen with its jaws turned across the pen’s diagonal, then check its position before lowering."})

tool

executing move_to over 18 steps (1.8s)

step 18

assistant

agent noteThe right wrist view shows the pen just to the right of the jaw column, with its near end low in the frame. I’ll shift slightly toward it and advance while lowering to a few centimetres above the table, without closing yet.

move_to

right_x0.4150right_y0.1700right_z0.0550right_yaw0.5000

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, 0.7994, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.469, 1.478, 0.8307, 0.0143, -0.0128, -0.0128, 0.999] state[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3775 right_y=0.1979 right_z=0.1292 right_yaw=0.4807 right_pitch=-0.0737 right_roll=-0.0012 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.7026, 6.9538, 1.7265, -0.0464, -0.0513, -0.0171, 0.4171, -6.3248, 9.1692, 1.9707, 0.0464, -0.0708, -0.022] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.17,"right_z":0.055,"right_yaw":0.5},"note":"The right wrist view shows the pen just to the right of the jaw column, with its near end low in the frame. I’ll shift slightly toward it and advance while lowering to a few centimetres above the table, without closing yet."})

tool

executing move_to over 5 steps (0.5s)

step 23

assistant

agent noteThe pen now crosses the right wrist view, but the section nearest the fingertips remains about two centimetres right of the jaw centre. I’ll make that lateral correction and lower to pen height for a grasp near its rear half.

move_to

right_x0.4050right_y0.1390right_z0.0030

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8028, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.3325, 1.7241, 0.7597, 0.2398, -0.1101, -0.0875, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4021 right_y=0.1631 right_z=0.0431 right_yaw=0.4679 right_pitch=-0.16 right_roll=0.0082 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.1829, 7.0222, 1.7118, -0.022, -0.0464, -0.0171, -0.4581, -7.6376, 5.7231, 1.9609, -0.2076, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.139,"right_z":0.003},"note":"The pen now crosses the right wrist view, but the section nearest the fingertips remains about two centimetres right of the jaw centre. I’ll make that lateral correction and lower to pen height for a grasp near its rear half."})

tool

executing move_to over 3 steps (0.3s)

step 26

assistant

agent noteAt table height the pen runs through the right jaw column, with its barrel near the fingertips. I’ll close the right gripper and check its settled opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.0196, -0.0189, 0.9998, 0.2684, 1.8164, 0.7044, 0.3782, -0.1558, -0.1257, 0.999] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0118 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4047 right_y=0.1434 right_z=0.0113 right_yaw=0.4636 right_pitch=-0.1637 right_roll=0.0112 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6972, -0.0464, -0.0611, -0.0171, -0.294, -7.8427, 4.9846, 2.0293, -0.2808, -0.1343, -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_gripper":0},"note":"At table height the pen runs through the right jaw column, with its barrel near the fingertips. I’ll close the right gripper and check its settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 36

assistant

agent noteThe right gripper has settled slightly open, consistent with a thin pen but close to the empty threshold. I’ll lift it and use the overhead view to confirm whether the pen comes off the table.

move_to

right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.8378, 0.6914, 0.4103, -0.1623, -0.144, 0.0437] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4052 right_y=0.1367 right_z=0.0042 right_yaw=0.4608 right_pitch=-0.1649 right_roll=0.0021 right_gripper=0.0437 state[joint_eff]: [-0.1846, -1.4838, 7.0222, 1.7656, -0.0757, -0.0366, -0.0171, 0.0615, -7.3368, 4.6838, 1.7167, -0.1001, 0.0073, 1.033] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13},"note":"The right gripper has settled slightly open, consistent with a thin pen but close to the empty threshold. I’ll lift it and use the overhead view to confirm whether the pen comes off the table."})

tool

executing move_to over 9 steps (0.9s)

step 45

assistant

agent noteThe pen still appears in the right wrist view after the lift, so I’m not confident that it was captured. I’ll reopen and advance the fingertips about three centimetres toward the visible barrel before trying a deeper grasp.

move_to

right_gripper1.0000right_x0.4380right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.5597, 0.9051, -0.1093, -0.1661, -0.1474, 0.045] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4031 right_y=0.1368 right_z=0.1056 right_yaw=0.4669 right_pitch=-0.1916 right_roll=0.0081 right_gripper=0.045 state[joint_eff]: [-0.2393, -1.1692, 7.0222, 1.7314, -0.0415, -0.0513, -0.0171, -0.3487, -9.6205, 9.0735, 1.5751, -0.0659, 0.0317, 1.033] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.438,"right_z":0.095},"note":"The pen still appears in the right wrist view after the lift, so I’m not confident that it was captured. I’ll reopen and advance the fingertips about three centimetres toward the visible barrel before trying a deeper grasp."})

tool

executing move_to over 10 steps (1.0s)

step 55

assistant

agent noteWith the jaws open and a little farther forward, the pen is now clearly visible well to the right of the right wrist’s jaw column. I’ll shift the gripper rightward across the table to centre the barrel before descending again.

move_to

right_y0.0900right_z0.0600

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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2337, 1.6924, 0.9749, -0.1196, -0.1848, -0.1768, 0.9948] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.419 right_y=0.1368 right_z=0.0773 right_yaw=0.4865 right_pitch=-0.2594 right_roll=0.0176 right_gripper=0.9948 state[joint_eff]: [-0.0479, -1.2923, 7.0359, 1.7118, -0.0806, -0.0659, -0.0171, -0.9094, -7.0906, 9.5385, 1.9267, -0.1294, 0.105, -0.2515] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.09,"right_z":0.06},"note":"With the jaws open and a little farther forward, the pen is now clearly visible well to the right of the right wrist’s jaw column. I’ll shift the gripper rightward across the table to centre the barrel before descending again."})

tool

executing move_to over 4 steps (0.4s)

step 59

assistant

agent noteThe pen has moved closer to the jaw column but is still roughly three centimetres to its right near the fingertips. I’ll make one more lateral adjustment and descend to table height before closing.

move_to

right_y0.0530right_z0.0050right_x0.4250

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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.0978, 1.6943, 0.915, -0.112, -0.2462, -0.2554, 0.9959] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4141 right_y=0.0875 right_z=0.0568 right_yaw=0.4512 right_pitch=-0.2959 right_roll=0.0261 right_gripper=0.9959 state[joint_eff]: [-0.253, -1.1145, 7.1043, 1.7021, -0.0562, -0.022, -0.0171, 0.5812, -7.3778, 6.2291, 1.7753, -0.3736, -0.0513, 0.1001] 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_y":0.053,"right_z":0.005,"right_x":0.425},"note":"The pen has moved closer to the jaw column but is still roughly three centimetres to its right near the fingertips. I’ll make one more lateral adjustment and descend to table height before closing."})

tool

executing move_to over 4 steps (0.4s)

step 63

assistant

agent noteAt pen height its shaft is now nearly centred, but it still trails just to the right of the actual fingertip position. I’ll advance two centimetres along the pen and nudge sideways so the jaws surround the barrel rather than close behind it.

move_to

right_x0.4480right_y0.0360right_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0013, 1.8374, 0.87, 0.0216, -0.2962, -0.3275, 0.9959] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9998 right_x=0.4179 right_y=0.0546 right_z=0.0053 right_yaw=0.4413 right_pitch=-0.3293 right_roll=0.038 right_gripper=0.9959 state[joint_eff]: [-0.1983, -1.3744, 7.0222, 1.707, -0.0757, -0.0317, -0.0171, -0.4034, -7.0769, 5.2718, 0.989, -0.1783, -0.1245, 0.0024] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.448,"right_y":0.036,"right_z":0.002},"note":"At pen height its shaft is now nearly centred, but it still trails just to the right of the actual fingertip position. I’ll advance two centimetres along the pen and nudge sideways so the jaws surround the barrel rather than close behind it."})

tool

executing move_to over 3 steps (0.3s)

step 66

assistant

agent noteThe low forward nudge barely tracked, suggesting the gripper is already at its table-level reach or in contact. The pen barrel appears between the jaw tips now, so I’ll close and then test whether it lifts.

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, 0.8082, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0109, 1.8435, 0.8661, 0.046, -0.3122, -0.3492, 0.996] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1754 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4206 right_y=0.0533 right_z=0.0057 right_yaw=0.4551 right_pitch=-0.3101 right_roll=0.0289 right_gripper=0.996 state[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.7021, -0.0562, -0.0611, -0.0171, -0.4444, -7.4872, 5.9009, 1.5604, -0.2418, 0.0024, -0.0073] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The low forward nudge barely tracked, suggesting the gripper is already at its table-level reach or in contact. The pen barrel appears between the jaw tips now, so I’ll close and then test whether it lifts."})

tool

executing move_to over 10 steps (1.0s)

step 76

assistant

agent noteThe settled opening is only 0.03, which can mean the jaws closed empty despite the apparent alignment. I’ll lift once to verify in the overhead view rather than assume a successful grip.

move_to

right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.6029, -0.3813, -0.02, -0.0189, 0.9998, -0.0109, 1.8359, 0.8703, 0.0612, -0.3233, -0.3557, 0.0301] state[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4254 right_y=0.0551 right_z=0.0129 right_yaw=0.464 right_pitch=-0.2819 right_roll=0.0198 right_gripper=0.0301 state[joint_eff]: [-0.1573, -0.9231, 7.0222, 1.7314, -0.0317, -0.0366, -0.0171, -0.0342, -7.4051, 5.2034, 1.1111, -0.105, 0.2222, 0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13},"note":"The settled opening is only 0.03, which can mean the jaws closed empty despite the apparent alignment. I’ll lift once to verify in the overhead view rather than assume a successful grip."})

tool

executing move_to over 8 steps (0.8s)

step 84

assistant

agent noteThe pen remains visible on the table after the second lift, so the right-hand grasp was empty. I’ll keep that arm raised and bring the left gripper over the separate cap; securing the cap will also leave a clear view for a revised pen grasp.

move_to

left_x0.3700left_y-0.1800left_z0.1200left_yaw-0.4500right_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]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0216, 0.9997, -0.009, 1.6581, 1.087, -0.4007, -0.3202, -0.3805, 0.0296] state[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0022 left_pitch=-0.0156 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4161 right_y=0.0555 right_z=0.0968 right_yaw=0.4874 right_pitch=-0.3423 right_roll=0.0339 right_gripper=0.0296 state[joint_eff]: [-0.2393, -1.4291, 7.0222, 1.7167, -0.0757, -0.0269, -0.0171, -0.5402, -10.1812, 9.7709, 1.7265, -0.2515, 0.2271, -0.0708] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.18,"left_z":0.12,"left_yaw":-0.45,"right_z":0.17},"note":"The pen remains visible on the table after the second lift, so the right-hand grasp was empty. I’ll keep that arm raised and bring the left gripper over the separate cap; securing the cap will also leave a clear view for a revised pen grasp."})

tool

executing move_to over 17 steps (1.7s)

step 101

assistant

agent noteThe cap is fully visible in the left wrist view but sits well left of the jaw column, so the initial lateral estimate overshot. I’ll move back toward the table centre and slightly forward, then recheck at a lower hover.

move_to

left_x0.3850left_y-0.0950left_z0.0570

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4618, 1.4158, 0.6636, 0.0677, -0.0429, -0.0441, 0.9997, -0.0044, 1.639, 1.2789, -0.7334, -0.3222, -0.4149, 0.0295] state[eef_state]: left_x=0.3544 left_y=-0.1639 left_z=0.0935 left_yaw=-0.4078 left_pitch=-0.1127 left_roll=-0.0034 left_gripper=0.9997 right_x=0.3978 right_y=0.0578 right_z=0.1343 right_yaw=0.5385 right_pitch=-0.446 right_roll=0.0793 right_gripper=0.0295 state[joint_eff]: [-0.4855, -5.7231, 9.5932, 2.0391, 0.1783, 0.1294, -0.0122, -0.7043, -10.3043, 10.4274, 1.663, -0.1538, 0.3297, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.095,"left_z":0.057},"note":"The cap is fully visible in the left wrist view but sits well left of the jaw column, so the initial lateral estimate overshot. I’ll move back toward the table centre and slightly forward, then recheck at a lower hover."})

tool

executing move_to over 7 steps (0.7s)

step 108

assistant

agent noteThe left arm tracked only part of the low move, and the cap is still about three centimetres left of the fingertips. I’ll raise the gripper to give the arm room to complete the sideways correction before lowering again.

move_to

left_x0.3800left_y-0.0770left_z0.1100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.4448, 0.6365, 0.1013, 0.0078, -0.0135, 0.9997, -0.0044, 1.6398, 1.2751, -0.7517, -0.3222, -0.4202, 0.0295] state[eef_state]: left_x=0.3612 left_y=-0.1393 left_z=0.0781 left_yaw=-0.3792 left_pitch=-0.1359 left_roll=-0.012 left_gripper=0.9997 right_x=0.393 right_y=0.0578 right_z=0.1307 right_yaw=0.5475 right_pitch=-0.4653 right_roll=0.0894 right_gripper=0.0295 state[joint_eff]: [-0.3077, -5.7094, 6.4752, 1.8437, 0.0855, 0.2222, -0.0122, -0.2803, -7.8564, 6.7214, 1.243, -0.2076, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.077,"left_z":0.11},"note":"The left arm tracked only part of the low move, and the cap is still about three centimetres left of the fingertips. I’ll raise the gripper to give the arm room to complete the sideways correction before lowering again."})

tool

executing move_to over 6 steps (0.6s)

step 114

assistant

agent noteThe left arm did not track the raised sideways command, indicating an awkward pose rather than a simple aiming error. I’ll retract and raise both arms into clear free space, then approach the objects from a less constrained configuration.

move_to

left_x0.2800left_y-0.1000left_z0.1900left_yaw0.0000right_x0.3000right_y0.0000right_z0.1900right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.4487, 0.6361, 0.1009, 0.0078, -0.0132, 0.9997, -0.0044, 1.6398, 1.2697, -0.7567, -0.3222, -0.4244, 0.0295] state[eef_state]: left_x=0.3609 left_y=-0.1391 left_z=0.0764 left_yaw=-0.3794 left_pitch=-0.1405 left_roll=-0.0117 left_gripper=0.9997 right_x=0.3906 right_y=0.0578 right_z=0.1283 right_yaw=0.5527 right_pitch=-0.4738 right_roll=0.0931 right_gripper=0.0295 state[joint_eff]: [-0.3487, -5.9692, 6.4615, 1.7167, 0.1099, 0.1978, -0.0122, -0.2667, -7.5966, 6.9812, 1.0574, -0.1587, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.10,"left_z":0.19,"left_yaw":0,"right_x":0.30,"right_y":0,"right_z":0.19,"right_yaw":0,"right_gripper":1},"note":"The left arm did not track the raised sideways command, indicating an awkward pose rather than a simple aiming error. I’ll retract and raise both arms into clear free space, then approach the objects from a less constrained configuration."})

tool

executing move_to over 10 steps (1.0s)

step 124

assistant

agent noteWith both arms retracted, the cap is centred in the left wrist image and is still well ahead of the fingertips. I’ll approach it radially with a neutral wrist angle, which should avoid the low, twisted pose that stalled.

move_to

left_x0.3800left_y-0.1100left_z0.1300left_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]: [-0.6048, 1.0176, 0.8009, -0.5606, -0.3843, -0.3862, 0.9997, -0.0532, 1.2339, 1.1324, -0.9482, -0.1223, -0.0502, 0.9948] state[eef_state]: left_x=0.2867 left_y=-0.1133 left_z=0.1787 left_yaw=-0.0771 left_pitch=-0.1368 left_roll=-0.0216 left_gripper=0.9997 right_x=0.3056 right_y=0.0089 right_z=0.1833 right_yaw=0.087 right_pitch=-0.4818 right_roll=0.0901 right_gripper=0.9948 state[joint_eff]: [-0.3624, -3.2479, 9.5111, 1.3944, -0.188, -0.0855, -0.0122, -0.7043, -5.012, 6.6393, 1.3309, 0.0952, 0.2564, -0.2125] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.11,"left_z":0.13,"left_yaw":0},"note":"With both arms retracted, the cap is centred in the left wrist image and is still well ahead of the fingertips. I’ll approach it radially with a neutral wrist angle, which should avoid the low, twisted pose that stalled."})

tool

executing move_to over 8 steps (0.8s)

step 132

assistant

agent noteThe cap is now near the left jaw column, with its nearer end still above the fingertips in the wrist image. I’ll advance a few centimetres and lower toward cap height, making a small rightward correction as I go.

move_to

left_x0.4190left_y-0.1250left_z0.0510

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4362, 1.3991, 0.8032, -0.2695, -0.3241, -0.3378, 0.9997, -0.0566, 1.2373, 1.1297, -0.9665, -0.115, -0.0418, 0.9959] state[eef_state]: left_x=0.3565 left_y=-0.1001 left_z=0.1036 left_yaw=0.0243 left_pitch=-0.2353 left_roll=0.0172 left_gripper=0.9997 right_x=0.3015 right_y=0.0068 right_z=0.1791 right_yaw=0.0734 right_pitch=-0.5073 right_roll=0.0914 right_gripper=0.9959 state[joint_eff]: [0.4718, -6.2427, 10.2769, 1.8193, -0.0659, 0.2173, -0.0073, 0.0068, -4.3829, 6.653, 1.3309, -0.1685, -0.1099, 0.105] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.419,"left_y":-0.125,"left_z":0.051},"note":"The cap is now near the left jaw column, with its nearer end still above the fingertips in the wrist image. I’ll advance a few centimetres and lower toward cap height, making a small rightward correction as I go."})

tool

executing move_to over 5 steps (0.5s)

step 137

assistant

agent noteThe cap’s near end is just above the left fingertips, while the arm is already close to table height. I’ll advance mainly forward at the same low hover so the jaw gap reaches the cap rather than closing behind it.

move_to

left_x0.4320left_y-0.1150left_z0.0380

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4294, 1.7401, 0.8719, -0.115, -0.3214, -0.3386, 0.9997, -0.0574, 1.2392, 1.129, -0.9733, -0.1154, -0.0559, 0.9959] state[eef_state]: left_x=0.3887 left_y=-0.1127 left_z=0.0263 left_yaw=0.0452 left_pitch=-0.3415 left_roll=0.0701 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1775 right_yaw=0.0823 right_pitch=-0.516 right_roll=0.0855 right_gripper=0.9959 state[joint_eff]: [0.6085, -8.4444, 9.0872, 1.6288, -0.0952, 0.0659, -0.0073, -0.0615, -4.1778, 6.4752, 1.2674, -0.1343, 0.0659, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.432,"left_y":-0.115,"left_z":0.038},"note":"The cap’s near end is just above the left fingertips, while the arm is already close to table height. I’ll advance mainly forward at the same low hover so the jaw gap reaches the cap rather than closing behind it."})

tool

executing move_to over 4 steps (0.4s)

step 141

assistant

agent noteThe cap now crosses the left jaw column near fingertip depth. I’ll lower the jaws to the cap’s level with a tiny lateral correction, then close only once they are beside it.

move_to

left_x0.4100left_y-0.1060left_z-0.0060

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3218, -0.3382, 0.9997, -0.0574, 1.2411, 1.1282, -0.9733, -0.1154, -0.0563, 0.996] state[eef_state]: left_x=0.4029 left_y=-0.1178 left_z=0.0302 left_yaw=0.041 left_pitch=-0.3003 left_roll=0.0485 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1766 right_yaw=0.0828 right_pitch=-0.5186 right_roll=0.0857 right_gripper=0.996 state[joint_eff]: [0.0205, -8.9641, 8.5538, 1.6386, -0.149, 0.0855, -0.0073, -0.335, -4.2051, 6.4479, 1.1355, -0.1294, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.106,"left_z":-0.006},"note":"The cap now crosses the left jaw column near fingertip depth. I’ll lower the jaws to the cap’s level with a tiny lateral correction, then close only once they are beside it."})

tool

executing move_to over 3 steps (0.3s)

step 144

assistant

agent noteThe descent stopped at about three centimetres above the table, so closing now would likely miss the cap. I’ll ease the arm back slightly and pitch the tool forward to seek a reachable low approach without forcing contact.

move_to

left_x0.3920left_z0.0020left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3214, -0.3386, 0.9997, -0.0574, 1.2411, 1.1282, -0.9737, -0.1154, -0.0566, 0.996] state[eef_state]: left_x=0.4028 left_y=-0.1179 left_z=0.0301 left_yaw=0.0409 left_pitch=-0.3004 left_roll=0.048 left_gripper=0.9997 right_x=0.2999 right_y=0.0067 right_z=0.1766 right_yaw=0.083 right_pitch=-0.519 right_roll=0.0856 right_gripper=0.996 state[joint_eff]: [0.0889, -8.9641, 8.5128, 1.6093, -0.1197, 0.0513, -0.0122, -0.1299, -4.0957, 6.6667, 1.1404, -0.1343, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.392,"left_z":0.002,"left_pitch":0.25},"note":"The descent stopped at about three centimetres above the table, so closing now would likely miss the cap. I’ll ease the arm back slightly and pitch the tool forward to seek a reachable low approach without forcing contact."})

tool

executing move_to over 19 steps (1.9s)

step 163

assistant

agent notePitching the left tool forward let the grasp point reach the table safely. The cap’s narrower section is now near the fingertip row but slightly right of centre, so I’ll make a small sideways alignment before closing.

move_to

left_y-0.1340left_x0.4010left_z0.0010left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5316, 2.112, 0.4683, 1.2259, -0.5552, -0.2058, 0.9993, -0.0574, 1.2415, 1.1271, -0.981, -0.1154, -0.0566, 0.996] state[eef_state]: left_x=0.3933 left_y=-0.1191 left_z=0.0004 left_yaw=0.045 left_pitch=0.2187 left_roll=0.029 left_gripper=0.9993 right_x=0.2981 right_y=0.0068 right_z=0.1753 right_yaw=0.0837 right_pitch=-0.5277 right_roll=0.087 right_gripper=0.996 state[joint_eff]: [-0.6222, -6.8855, 1.8803, 1.3114, -0.2906, 0.1538, -0.0464, -0.212, -4.1504, 6.6667, 1.1502, -0.1197, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_y":-0.134,"left_x":0.401,"left_z":0.001,"left_pitch":0.25},"note":"Pitching the left tool forward let the grasp point reach the table safely. The cap’s narrower section is now near the fingertip row but slightly right of centre, so I’ll make a small sideways alignment before closing."})

tool

executing move_to over 2 steps (0.2s)

step 165

assistant

agent noteThe cap’s narrow section now crosses the left jaw gap at table height. I’ll close the left gripper and check its opening 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]: [-0.5495, 2.1445, 0.4896, 1.2663, -0.5842, -0.1989, 0.9993, -0.0574, 1.2415, 1.1271, -0.9813, -0.1154, -0.0566, 0.9959] state[eef_state]: left_x=0.3972 left_y=-0.1248 left_z=0.0024 left_yaw=0.0515 left_pitch=0.2493 left_roll=0.0286 left_gripper=0.9993 right_x=0.298 right_y=0.0068 right_z=0.1752 right_yaw=0.0838 right_pitch=-0.5281 right_roll=0.087 right_gripper=0.9959 state[joint_eff]: [-0.7043, -7.2821, 3.8222, 1.5995, -0.149, 0.0806, -0.0171, -0.294, -3.9043, 6.4068, 1.0867, -0.1245, -0.0708, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s narrow section now crosses the left jaw gap at table height. I’ll close the left gripper and check its opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 175

assistant

agent noteThe left gripper settled about 4.6 mm open, which is consistent with holding the cap, and the cap is no longer clearly visible ahead of the jaws. I’ll lift and retract slightly to verify that it moves with the gripper.

move_to

left_z0.1500left_x0.3600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5701, 2.1509, 0.5098, 1.2503, -0.5968, -0.2062, 0.0483, -0.0574, 1.2415, 1.1271, -0.9874, -0.1154, -0.0566, 0.996] state[eef_state]: left_x=0.3985 left_y=-0.1333 left_z=0.002 left_yaw=0.0453 left_pitch=0.2503 left_roll=0.0269 left_gripper=0.0483 right_x=0.2967 right_y=0.0069 right_z=0.1745 right_yaw=0.0843 right_pitch=-0.5341 right_roll=0.088 right_gripper=0.996 state[joint_eff]: [0.0479, -7.6513, 3.6171, 1.6923, -0.105, 0.0806, 1.1746, -0.2393, -4.0547, 6.3795, 1.1941, -0.1148, -0.0513, -0.0073] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.15,"left_x":0.36},"note":"The left gripper settled about 4.6 mm open, which is consistent with holding the cap, and the cap is no longer clearly visible ahead of the jaws. I’ll lift and retract slightly to verify that it moves with the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 185

assistant

agent noteThe cap appears to have lifted with the left gripper, which remains securely partly open. I’ll leave it raised and approach the pen with the right arm using the forward tool pitch that allowed the left arm to reach table level.

move_to

right_x0.3890right_y0.1200right_z0.1050right_pitch0.2500right_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]: [-0.6514, 1.3911, 0.5045, 0.495, -0.667, -0.2462, 0.0563, -0.0574, 1.243, 1.1236, -0.9882, -0.1154, -0.057, 0.996] state[eef_state]: left_x=0.3606 left_y=-0.133 left_z=0.1403 left_yaw=0.0456 left_pitch=0.2665 left_roll=0.0099 left_gripper=0.0563 right_x=0.296 right_y=0.007 right_z=0.1728 right_yaw=0.085 right_pitch=-0.5398 right_roll=0.0888 right_gripper=0.996 state[joint_eff]: [-0.4444, -5.3538, 8.8, 1.6435, -0.2857, -0.0855, 1.033, -0.2667, -4.2325, 6.6667, 1.1697, -0.0708, -0.0611, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.389,"right_y":0.12,"right_z":0.105,"right_pitch":0.25,"right_yaw":0},"note":"The cap appears to have lifted with the left gripper, which remains securely partly open. I’ll leave it raised and approach the pen with the right arm using the forward tool pitch that allowed the left arm to reach table level."})

tool

executing move_to over 27 steps (2.7s)

step 212

assistant

agent noteThe pen is plainly visible in the right wrist view, running down the frame just to the right of the jaw column. I’ll move the right fingertips laterally onto its barrel and lower at a forward pitch for a cleaner table-level grip.

move_to

right_x0.4160right_y0.0900right_z0.0080right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6544, 1.3926, 0.5045, 0.4644, -0.6735, -0.2527, 0.0627, 0.4412, 1.5532, 0.4564, 0.6682, 0.3401, 0.2153, 0.996] state[eef_state]: left_x=0.3583 left_y=-0.1315 left_z=0.1342 left_yaw=0.0462 left_pitch=0.2437 left_roll=0.0269 left_gripper=0.0627 right_x=0.3817 right_y=0.119 right_z=0.0872 right_yaw=0.0298 right_pitch=0.1554 right_roll=0.0626 right_gripper=0.996 state[joint_eff]: [0.1983, -5.1761, 6.1744, 1.956, -0.149, -0.0171, 1.033, 0.4991, -5.8462, 4.9709, 2.1074, 0.2222, -0.0464, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.416,"right_y":0.09,"right_z":0.008,"right_pitch":0.25},"note":"The pen is plainly visible in the right wrist view, running down the frame just to the right of the jaw column. I’ll move the right fingertips laterally onto its barrel and lower at a forward pitch for a cleaner table-level grip."})

tool

executing move_to over 6 steps (0.6s)

step 218

assistant

agent noteAt table height the pen barrel now runs almost exactly through the right jaw column. I’ll close around it and use the settled opening and a lift to verify the grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4557, -0.6739, -0.2527, 0.0627, 0.3084, 2.0907, 0.4454, 1.261, 0.2462, 0.1356, 0.996] state[eef_state]: left_x=0.3576 left_y=-0.1312 left_z=0.1317 left_yaw=0.044 left_pitch=0.2351 left_roll=0.0346 left_gripper=0.0627 right_x=0.4091 right_y=0.0889 right_z=0.002 right_yaw=0.0175 right_pitch=0.1866 right_roll=0.0385 right_gripper=0.996 state[joint_eff]: [-0.2667, -5.2034, 5.9829, 1.7558, -0.2076, -0.0317, 1.033, -1.0872, -7.159, 2.4957, 1.1648, -0.1734, 0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At table height the pen barrel now runs almost exactly through the right jaw column. I’ll close around it and use the settled opening and a lift to verify the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteThe right gripper has stopped about 5 mm open around the pen, a stronger grasp signal than on the earlier attempts. I’ll lift and retract slightly to check whether the long pen leaves the tabletop.

move_to

right_z0.1600right_x0.3900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4522, -0.6735, -0.2527, 0.0627, 0.3035, 2.1101, 0.4496, 1.2869, 0.242, 0.128, 0.0549] state[eef_state]: left_x=0.3574 left_y=-0.1311 left_z=0.131 left_yaw=0.0431 left_pitch=0.2324 left_roll=0.0368 left_gripper=0.0627 right_x=0.411 right_y=0.0881 right_z=0.0012 right_yaw=0.0196 right_pitch=0.1966 right_roll=0.0359 right_gripper=0.0549 state[joint_eff]: [-0.1846, -4.7521, 5.9692, 1.6874, -0.2027, -0.0415, 1.0379, 0.2256, -9.4701, 2.1538, 1.6581, 0.0757, 0.0415, 1.2088] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16,"right_x":0.39},"note":"The right gripper has stopped about 5 mm open around the pen, a stronger grasp signal than on the earlier attempts. I’ll lift and retract slightly to check whether the long pen leaves the tabletop."})

tool

executing move_to over 11 steps (1.1s)

step 239

assistant

agent noteThe pen keeps the same position in the right wrist view as the gripper rises, suggesting it is moving with the gripper rather than staying on the table; the cap likewise remains clamped in the left hand. I’ll bring the pen toward the centre while keeping ample distance from the left arm.

move_to

right_y0.2600right_z0.1800right_x0.3550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4519, -0.6739, -0.2527, 0.0627, 0.3233, 1.3418, 0.5381, 0.4393, 0.2436, 0.1265, 0.0622] state[eef_state]: left_x=0.3573 left_y=-0.1311 left_z=0.1307 left_yaw=0.0433 left_pitch=0.2316 left_roll=0.0376 left_gripper=0.0627 right_x=0.3909 right_y=0.0898 right_z=0.1485 right_yaw=0.0385 right_pitch=0.2055 right_roll=0.0365 right_gripper=0.0622 state[joint_eff]: [-0.0342, -4.9026, 5.9556, 1.7314, -0.2076, -0.0317, 1.033, 0.3897, -5.7504, 8.9504, 1.8486, 0.3248, 0.0757, 1.0281] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.26,"right_z":0.18,"right_x":0.355},"note":"The pen keeps the same position in the right wrist view as the gripper rises, suggesting it is moving with the gripper rather than staying on the table; the cap likewise remains clamped in the left hand. I’ll bring the pen toward the centre while keeping ample distance from the left arm."})

tool

executing move_to over 15 steps (1.5s)

step 254

assistant

agent noteThe pen visibly travels with the right arm in the overhead view, confirming the pickup. I’ll bring the cap toward the centre at a higher clearance, stopping short of the pen tip so I can align the two pieces deliberately.

move_to

left_x0.4450left_y-0.2950left_z0.1970

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4515, -0.6739, -0.2527, 0.0627, 0.894, 1.5639, 0.8845, 0.1635, 0.7303, 0.3714, 0.0687] state[eef_state]: left_x=0.3573 left_y=-0.131 left_z=0.1306 left_yaw=0.0432 left_pitch=0.2313 left_roll=0.0379 left_gripper=0.0627 right_x=0.3534 right_y=0.2575 right_z=0.1694 right_yaw=0.0828 right_pitch=0.1829 right_roll=0.0122 right_gripper=0.0687 state[joint_eff]: [-0.212, -5.0803, 6.147, 1.7167, -0.1832, -0.0366, 1.033, 0.4581, -6.653, 8.7863, 1.4823, 0.4567, 0.2076, 1.0281] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_y":-0.295,"left_z":0.197},"note":"The pen visibly travels with the right arm in the overhead view, confirming the pickup. I’ll bring the cap toward the centre at a higher clearance, stopping short of the pen tip so I can align the two pieces deliberately."})

tool

executing move_to over 15 steps (1.5s)

step 269

assistant

agent noteThe two grippers are now close and the idle right arm shifted slightly during the left arm’s approach, so I’ll avoid a sideways insertion at this height. I’ll lift the cap clear and back it off a little before aligning it directly above the pen tip.

move_to

left_z0.2700left_x0.4250left_y-0.2900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8055, 1.8965, 1.2991, -0.0162, -0.8387, -0.3771, 0.0627, 0.8253, 1.5711, 0.8845, 0.1562, 0.8215, 0.4515, 0.0687] state[eef_state]: left_x=0.4401 left_y=-0.2633 left_z=0.1657 left_yaw=0.0675 left_pitch=0.1726 left_roll=0.1043 left_gripper=0.0627 right_x=0.3719 right_y=0.2174 right_z=0.1709 right_yaw=-0.1002 right_pitch=0.2067 right_roll=0.0473 right_gripper=0.0687 state[joint_eff]: [-2.865, -9.1145, 12.7248, 2.1807, -0.2613, 0.0464, 1.033, 5.5726, -7.6103, 6.7624, 1.5849, -0.9988, -0.9353, 1.0232] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.27,"left_x":0.425,"left_y":-0.29},"note":"The two grippers are now close and the idle right arm shifted slightly during the left arm’s approach, so I’ll avoid a sideways insertion at this height. I’ll lift the cap clear and back it off a little before aligning it directly above the pen tip."})

tool

executing move_to over 7 steps (0.7s)

step 276

assistant

agent noteThe close approach caused both arms to deflect, so they need more separation before attempting the fit. I’ll pull the pen hand back and rightward, leaving its tip accessible in front while the cap hand stays raised.

move_to

right_x0.3300right_y0.1550right_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8143, 1.9068, 1.5963, -0.4603, -0.868, -0.4477, 0.0676, 0.794, 1.5223, 0.8837, 0.2501, 0.8131, 0.448, 0.0734] state[eef_state]: left_x=0.4376 left_y=-0.262 left_z=0.2153 left_yaw=0.1016 left_pitch=0.0942 left_roll=0.1753 left_gripper=0.0676 right_x=0.3813 right_y=0.21 right_z=0.2055 right_yaw=-0.1515 right_pitch=0.2882 right_roll=0.164 right_gripper=0.0734 state[joint_eff]: [-5.3949, -12.3556, 13.8735, 1.8291, -0.6178, 0.0611, 1.033, 2.2222, -2.4, 7.2274, 0.4371, 0.3004, 0.0024, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.33,"right_y":0.155,"right_z":0.19},"note":"The close approach caused both arms to deflect, so they need more separation before attempting the fit. I’ll pull the pen hand back and rightward, leaving its tip accessible in front while the cap hand stays raised."})

tool

executing move_to over 5 steps (0.5s)

step 281

assistant

agent noteThe hands are separated again. In the overhead view the cap hand is substantially left of the pen’s exposed tip, so I’ll move the raised cap toward the right-hand side of the table while staying within the left arm’s lateral limit.

move_to

left_x0.4380left_y-0.3770left_z0.2350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8169, 1.9144, 1.5917, -0.4793, -0.8711, -0.4522, 0.0676, 0.7914, 1.2739, 0.6048, 0.2436, 0.8047, 0.4496, 0.0759] state[eef_state]: left_x=0.4353 left_y=-0.261 left_z=0.2078 left_yaw=0.1012 left_pitch=0.0774 left_roll=0.1975 left_gripper=0.0676 right_x=0.3324 right_y=0.1604 right_z=0.1803 right_yaw=-0.1394 right_pitch=0.2635 right_roll=0.1365 right_gripper=0.0759 state[joint_eff]: [0.0889, -11.1385, 7.2137, 1.5018, -0.2955, -0.0269, 1.0281, -0.5538, -5.135, 7.4872, 1.9023, 0.1441, -0.0659, 0.989] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.438,"left_y":-0.377,"left_z":0.235},"note":"The hands are separated again. In the overhead view the cap hand is substantially left of the pen’s exposed tip, so I’ll move the raised cap toward the right-hand side of the table while staying within the left arm’s lateral limit."})

tool

executing move_to over 11 steps (1.1s)

step 292

assistant

agent noteFrom above, the cap and pen tip are now almost on the same left–right line, but the cap is held noticeably higher. I’ll lower the cap toward pen height without advancing it, then inspect the remaining front-to-back offset.

move_to

left_z0.1800left_x0.4460left_y-0.3770

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9535, 2.4443, 2.5713, -1.0203, -0.9428, -0.643, 0.0676, 0.7872, 1.2762, 0.5831, 0.2123, 0.8089, 0.4675, 0.0762] state[eef_state]: left_x=0.4476 left_y=-0.3774 left_z=0.2368 left_yaw=0.1053 left_pitch=0.0898 left_roll=0.1346 left_gripper=0.0676 right_x=0.3284 right_y=0.1536 right_z=0.1656 right_yaw=-0.1456 right_pitch=0.2308 right_roll=0.1072 right_gripper=0.0762 state[joint_eff]: [-1.1145, -13.0256, 6.2154, 0.5446, -0.652, 0.0708, 1.0281, 0.1299, -4.3282, 8.5538, 2.083, 0.1001, -0.1636, 1.033] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.18,"left_x":0.446,"left_y":-0.377},"note":"From above, the cap and pen tip are now almost on the same left–right line, but the cap is held noticeably higher. I’ll lower the cap toward pen height without advancing it, then inspect the remaining front-to-back offset."})

tool

executing move_to over 4 steps (0.4s)

step 296

assistant

agent noteThe pen hand sagged while the cap hand lowered, so their heights are not yet matched. I’ll hold the pen hand at a steady carry height and bring the cap a few centimetres back and down toward the exposed pen tip.

move_to

left_x0.4190left_z0.1550left_y-0.3780right_x0.3150right_y0.1450right_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]: [-0.9459, 2.336, 2.2166, -0.7959, -0.9268, -0.6506, 0.0676, 0.7876, 1.3014, 0.5453, 0.1062, 0.778, 0.4603, 0.0763] state[eef_state]: left_x=0.4455 left_y=-0.3699 left_z=0.1933 left_yaw=0.1061 left_pitch=0.0685 left_roll=0.1409 left_gripper=0.0676 right_x=0.3148 right_y=0.1455 right_z=0.1237 right_yaw=-0.0937 right_pitch=0.1137 right_roll=-0.0243 right_gripper=0.0763 state[joint_eff]: [-0.7726, -12.5744, 4.7521, 1.16, -0.6569, 0.0024, 1.0281, -0.1436, -6.147, 9.4838, 2.9963, 0.6129, -0.0073, 1.0281] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.419,"left_z":0.155,"left_y":-0.378,"right_x":0.315,"right_y":0.145,"right_z":0.16},"note":"The pen hand sagged while the cap hand lowered, so their heights are not yet matched. I’ll hold the pen hand at a steady carry height and bring the cap a few centimetres back and down toward the exposed pen tip."})

tool

executing move_to over 3 steps (0.3s)

step 299

assistant

agent noteBoth arms stopped tracking the close approach and the pen hand was pushed down, indicating interference between the tools. I’ll separate them by withdrawing the cap hand before resetting the pen’s height and lateral alignment.

move_to

left_x0.3550left_y-0.3000left_z0.2400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.947, 2.3287, 2.1605, -0.7223, -0.926, -0.6659, 0.0676, 0.7811, 1.2758, 0.569, -0.0788, 0.7547, 0.4587, 0.0791] state[eef_state]: left_x=0.4469 left_y=-0.3732 left_z=0.185 left_yaw=0.1143 left_pitch=0.0812 left_roll=0.1055 left_gripper=0.0676 right_x=0.3022 right_y=0.1342 right_z=0.1107 right_yaw=-0.0758 right_pitch=0.0142 right_roll=-0.1196 right_gripper=0.0791 state[joint_eff]: [-1.2239, -14.1333, 4.9983, 0.8767, -0.5006, -0.105, 1.0281, -0.0068, -8.0752, 12.6427, 2.4591, 0.569, -0.0513, 0.8474] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.355,"left_y":-0.30,"left_z":0.24},"note":"Both arms stopped tracking the close approach and the pen hand was pushed down, indicating interference between the tools. I’ll separate them by withdrawing the cap hand before resetting the pen’s height and lateral alignment."})

tool

executing move_to over 8 steps (0.8s)

step 307

assistant

agent noteThe cap hand did not withdraw, so I’ll move the pen hand out of its way first. This should relieve any tool interference and give the left arm space to retract without forcing either grasp.

move_to

right_x0.2700right_y0.0150right_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9497, 2.3245, 2.1418, -0.733, -0.9279, -0.6731, 0.0676, 0.7811, 1.2747, 0.5636, -0.1165, 0.7471, 0.4599, 0.0822] state[eef_state]: left_x=0.4436 left_y=-0.3708 left_z=0.1796 left_yaw=0.115 left_pitch=0.0708 left_roll=0.1219 left_gripper=0.0676 right_x=0.2971 right_y=0.1306 right_z=0.1032 right_yaw=-0.0712 right_pitch=-0.0175 right_roll=-0.1467 right_gripper=0.0822 state[joint_eff]: [-1.306, -14.0376, 6.4205, 0.9548, -0.4957, -0.0562, 1.0281, 0.0615, -4.0821, 6.8444, 1.7411, 0.3394, -0.0317, 0.5739] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.015,"right_z":0.19},"note":"The cap hand did not withdraw, so I’ll move the pen hand out of its way first. This should relieve any tool interference and give the left arm space to retract without forcing either grasp."})

tool

executing move_to over 10 steps (1.0s)

step 317

assistant

agent noteThe pen hand is now clear of the cap hand, but the left arm remains in a highly folded posture and has not yet followed its retreat target. I’ll raise and straighten its tool while drawing it toward a central, less constrained pose.

move_to

left_x0.3300left_y-0.2600left_z0.2900left_pitch0.0000left_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]: [-0.9459, 2.3238, 2.1086, -0.7288, -0.9276, -0.6876, 0.0676, 0.3027, 0.7456, 0.6006, -0.4915, 0.4213, 0.1219, 0.0824] state[eef_state]: left_x=0.4428 left_y=-0.3661 left_z=0.1685 left_yaw=0.1248 left_pitch=0.0579 left_roll=0.1338 left_gripper=0.0676 right_x=0.2718 right_y=0.0129 right_z=0.1778 right_yaw=-0.1208 right_pitch=-0.0197 right_roll=-0.1421 right_gripper=0.0824 state[joint_eff]: [-0.335, -13.3949, 9.1829, 1.1258, -0.4225, 0.1538, 1.0232, -0.294, -1.0051, 9.388, 1.5897, 0.149, -0.0024, 0.7546] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.26,"left_z":0.29,"left_pitch":0,"left_yaw":0},"note":"The pen hand is now clear of the cap hand, but the left arm remains in a highly folded posture and has not yet followed its retreat target. I’ll raise and straighten its tool while drawing it toward a central, less constrained pose."})

tool

executing move_to over 10 steps (1.0s)

step 327

assistant

agent noteBoth parts are still held, and the cap arm has recovered to a controllable pose. I’ll position the pen under the centre of the table at a stable height, leaving room to approach its exposed tip from in front with the cap.

move_to

right_x0.3060right_y0.2600right_z0.2400right_yaw0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9901, 1.7069, 1.6821, -0.9054, -0.8474, -0.6525, 0.0676, 0.3008, 0.7509, 0.5999, -0.5159, 0.4004, 0.1013, 0.0849] state[eef_state]: left_x=0.3408 left_y=-0.2716 left_z=0.2777 left_yaw=0.0157 left_pitch=0.0068 left_roll=0.1194 left_gripper=0.0676 right_x=0.2688 right_y=0.0151 right_z=0.1707 right_yaw=-0.0953 right_pitch=-0.0543 right_roll=-0.1597 right_gripper=0.0849 state[joint_eff]: [-0.5402, -10.1538, 6.5299, 1.3016, -0.359, 0.1392, 1.0281, 0.0342, -1.1282, 6.9538, 1.8828, 0.3248, 0.1294, 0.7643] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.306,"right_y":0.26,"right_z":0.24,"right_yaw":0,"right_pitch":0},"note":"Both parts are still held, and the cap arm has recovered to a controllable pose. I’ll position the pen under the centre of the table at a stable height, leaving room to approach its exposed tip from in front with the cap."})

tool

executing move_to over 21 steps (2.1s)

step 348

assistant

agent noteThe pen tip now points forward near the table centre, while the cap is higher, farther left, and slightly behind it. I’ll bring the cap over the tip’s line at a raised clearance, keeping the pen hand braced at its present target.

move_to

left_x0.4160left_y-0.3200left_z0.2650left_pitch0.0000left_yaw0.0000right_x0.3000right_y0.2200right_z0.2400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9031, 1.6192, 1.6951, -0.9623, -0.8299, -0.6575, 0.069, 0.9844, 1.5211, 1.3083, -0.8619, 0.8455, 0.6228, 0.087] state[eef_state]: left_x=0.348 left_y=-0.2251 left_z=0.3076 left_yaw=0.0951 left_pitch=0.019 left_roll=0.0707 left_gripper=0.069 right_x=0.2998 right_y=0.2188 right_z=0.218 right_yaw=-0.0236 right_pitch=-0.0843 right_roll=-0.2594 right_gripper=0.087 state[joint_eff]: [-6.9675, -0.0342, 5.5179, 1.8144, -0.398, 0.0073, 1.0281, 4.3556, -2.3043, 12.7658, 2.0928, 0.6081, 0.2857, 0.4811] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.416,"left_y":-0.32,"left_z":0.265,"left_pitch":0,"left_yaw":0,"right_x":0.3,"right_y":0.22,"right_z":0.24},"note":"The pen tip now points forward near the table centre, while the cap is higher, farther left, and slightly behind it. I’ll bring the cap over the tip’s line at a raised clearance, keeping the pen hand braced at its present target."})

tool

executing move_to over 9 steps (0.9s)

step 357

assistant

agent noteIn the overhead view the cap and pen tip are now laterally aligned, and their front-to-back positions appear close once the height difference is accounted for. I’ll lower the cap to the pen’s height while holding the pen arm steady, without pushing forward yet.

move_to

left_z0.2100left_x0.4070left_y-0.3100right_x0.3000right_y0.2200right_z0.2250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8982, 1.9373, 1.9919, -0.8394, -0.7528, -0.5987, 0.069, 0.9794, 1.5745, 1.3239, -1.0214, 0.8185, 0.6201, 0.0902] state[eef_state]: left_x=0.4068 left_y=-0.3111 left_z=0.2912 left_yaw=0.0193 left_pitch=0.0292 left_roll=0.005 left_gripper=0.069 right_x=0.2877 right_y=0.2035 right_z=0.1912 right_yaw=-0.0397 right_pitch=-0.2105 right_roll=-0.4172 right_gripper=0.0902 state[joint_eff]: [0.2667, -6.8991, 6.4205, 0.8962, -0.1734, 0.4908, 1.0281, 0.5538, -10.2769, 11.3846, 1.6337, 1.3895, 0.0024, 0.3248] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.21,"left_x":0.407,"left_y":-0.31,"right_x":0.3,"right_y":0.22,"right_z":0.225},"note":"In the overhead view the cap and pen tip are now laterally aligned, and their front-to-back positions appear close once the height difference is accounted for. I’ll lower the cap to the pen’s height while holding the pen arm steady, without pushing forward yet."})

tool

executing move_to over 6 steps (0.6s)

step 363

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8783, 1.8668, 1.668, -0.5079, -0.7544, -0.601, 0.069, 0.9928, 1.6962, 1.438, -1.203, 0.7418, 0.5945, 0.0922] state[eef_state]: left_x=0.4153 left_y=-0.3056 left_z=0.246 left_yaw=0.0448 left_pitch=0.0774 left_roll=-0.0586 left_gripper=0.069 right_x=0.2756 right_y=0.2106 right_z=0.1704 right_yaw=-0.0354 right_pitch=-0.3796 right_roll=-0.563 right_gripper=0.0922 state[joint_eff]: [-1.4564, -7.5282, 2.906, 1.1795, -0.2613, 0.022, 1.0281, -1.3744, -10.7966, 14.653, 1.0134, 1.0818, 0.105, 0.2027] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [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 · 16.48 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, 0.7933, 0.6018, -0.3801, -0.02, -0.0181, 0.9998, -0.0185, 0.7918, 0.6094, -0.3771, -0.0196, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0016 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.4838, 10.5641, 1.7753, -0.0317, 0.0171, -0.0366, -0.8, -1.2786, 9.812, 1.7998, 0.0269, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab3940ebf4232ae9acaf4d12c3fc4ea2efe59cb5360117235a0244ee335e07c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31133a7d7bf13235bf3fa2e64f86ee7c0a038f314bd15817d60d2249cf937814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e736498e13d64b734b88fe8cb80bd480fab4bb6ab2c325d7f4f1eacc9e11c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.701 s

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

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab43247b75887d0a69ef02fb3b24751",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJUsciWqSy77v10LuQ4GHEQi6mZ3EPb8qWH0gdeTMuTbq8Z9gt1z0Mt2L0DxSEbEL6kh_8YUpE9iZask25UIkt7cHa1L4EAQrFTOCVECbzVY-EegvVIJaxzohj66n7HVVmjc9emaeGHvGKVLfx_1pXFDHphAScPYpYN_v9dEFnvw8cIvTm082NJM-Hqh_bvX8ccTQV0lhS7BK_XlBDVXPzd6Khk9olpdv930YqXfWGredKkdvrA0heiUY1iA5bE8dWfL8l9-A_Bq0-oUsfLj-EvihyorbOWG68tQOb29XrA7FsEc9T6WD-8cxqmd3gjTW9z3UobpYxLXKVWk2dqA82fwcoEcy8_g0hY7FG7vgXKabwV32B8ImdZPZGxIz8R8pYF6HZ4zsSaZe14DrkbOtGYkodV9z4lXcMc_pPdvkZINZriTPxdcd72V1e5882EJsFvL-ogk-eMR2wCi_K3SL8klj1D4giqNKVUXHdLNlJ7Fu5DUpM5mWegYx_pEzeupeCBGSCzE1y-2rpaMQPRuLgPKG-6Y1qMXP3ELLKqNN16IuyVFwybLyP0fKS45hyKsBa9wLS7EyWOgi6lufnPca4OZV_pIvuNVsglRYczC4pednFPvvb_UVXSEpjQF2iyYDgjpBFW_jLbYRxA1iXOqBn-B--vmTs-Qn_Qb4leB5yYsuX75fUVc-QFeFMgnOdSHx47kX413xfoLeVQtnt-UXyPTWx8Fhmz0675D1AmQOioT0PZzgFPuki2GlavPv1h48cIsB4YyLZYZr7XI1AH72gHtx25qfffJRVRNwJgAUF9PRyRG2PnOyzn3nob-_Go7RbyOPv3z4Og1p7Ky1bUPyYUt6Zfh6X0IN5vb0rJlxl7uYEtvqgxeJdgchX6HTPTKvRViPzYSWjaNc9Z4GZod210Ost4WmoU-Tzk1UkudRq2PRugQkFa2NmJBkJYH2jwxWVRr4zh5XNvUV597CEoAaUdlw-_W9odhMSm148ausoCnOv9pTRYvqH3M-PCTeZc5ZwnPx2eHmXXJrpezN3g8NokpD7IlZqb4f04qwKUZlbY7RixIgvaJs5lMmnIcFIENwUGb9fbt3MlkjI9jYrMjwcAVHS6IfWn5HVFtfvod1PV3xFJsDckYuygaEaL0YIxRO46zMuHwx6dDH5u2i4_rWi7nx05lHwowm_jKDLopFITDXDhswC5U7sFfdAAOzaaf1Z-4tcIMUpl5UniE3mb9IPwhfnG1Az1B5mcPTdke1tKzqnukgCYM-9u3dkG7uWe2AgFLNu3weVUHXtX5anOIn92zy8iwuISHW13wYwP4ZEp2aH8uTdTRYFj5CVBouXAzF95Lnk9ZU7w2638OpziLMXh8ciAue_GfLOjC5yuh4Omer43qwj3D6PDIRoOb9JjP3oOU7tBjOkzBJqopfFvzw6JnJgDvp3BBsQg3n5mbLLGsRU=",
  "id": "rs_0dfd50686a44e884016ab432522ee087d0a2ed12ffd21b5673",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.21,\"right_z\":0.15,\"right_yaw\":0.5},\"note\":\"The long pen lies near the middle-right of the table, and the small cap is separate on the left. I’ll bring the right gripper above the pen with its jaws turned across the pen’s diagonal, then check its position before lowering.\"}",
  "call_id": "call_QACM1IuudJVJQ5qtf9ZFroQ0",
  "id": "fc_0dfd50686a44e884016ab43252cc8087d096a3ca3b67f991d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QACM1IuudJVJQ5qtf9ZFroQ0",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.469, 1.478, 0.8307, 0.0143, -0.0128, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3775 right_y=0.1979 right_z=0.1292 right_yaw=0.4807 right_pitch=-0.0737 right_roll=-0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7026, 6.9538, 1.7265, -0.0464, -0.0513, -0.0171, 0.4171, -6.3248, 9.1692, 1.9707, 0.0464, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962534bfd23115350efd76fd0bf3b52ade81b5025859ac64645fa72754733db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74b862a49fae545afb30ba25bf4fd31fbbfab8da4ebabc08e43b40a4d848af1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c60dcf9d78cf6827ecfe1e6ed5dcff2f52d4092d8402ecf6589d89e8c81431d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.597 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6018, -0.3801, -0.02, -0.0181, 0.9998, -0.0185, 0.7918, 0.6094, -0.3771, -0.0196, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0016 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.4838, 10.5641, 1.7753, -0.0317, 0.0171, -0.0366, -0.8, -1.2786, 9.812, 1.7998, 0.0269, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.469, 1.478, 0.8307, 0.0143, -0.0128, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3775 right_y=0.1979 right_z=0.1292 right_yaw=0.4807 right_pitch=-0.0737 right_roll=-0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7026, 6.9538, 1.7265, -0.0464, -0.0513, -0.0171, 0.4171, -6.3248, 9.1692, 1.9707, 0.0464, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962534bfd23115350efd76fd0bf3b52ade81b5025859ac64645fa72754733db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74b862a49fae545afb30ba25bf4fd31fbbfab8da4ebabc08e43b40a4d848af1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c60dcf9d78cf6827ecfe1e6ed5dcff2f52d4092d8402ecf6589d89e8c81431d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJbLeY03nEZZpt5bv5qYcleV-sHJZZhdEhxOrdqtkLnGyPjhVF1pakLBCG-q9nKZ0TUxRUjhXlStTwMOzDCfWPM9KmxOJ6uVQ9D8hUkoz8wIntQljJNPRx7wZVSh5K9164o9okPunpnVSw8WTDifTuFltll06AMq_IXVzWNMigsVMAo6ZgqOzUatSWPYD9LfpVPziRZ30ch0AW3fSVwdeqniWnnOytmkiX0JlegzgL5VobSt01r6S9bZkYHtzu2EyCsKEpDmFs2ucKEIMtNCFTcjWHZSNfrhlnamX9HkjVaqGhdwZ1tjslSoZeyYZDfDVkm3ibzXDXHkuBrngFXRrUUbLJA3K2LB5FjsFtngp6ienfxAjNDPsuJzoHuRoDZsSsbg_dsD-kI9Y-jFxcXtnw09Z-MIUx9hAxeDsFCyrVgofwa6VaMYzHy7eWUPXpoEPHEYZkZcUY88NPw83ADRJliG1_itr7JFdCb0Ucy_FzA7x49wZ1gjtj_KTTKT8na8Kfi0qqpKaKWgSKxW-8ZIuNBJu7LoM8fexlRN1pifjojtdeuSTtuFR3574pYQXTT4clPwvZoyxCt3RYgnpEWPZJWeB7o7C2bEBv7J2DL1-YTxA9sIGmomt2knPBUgl3mEnf7eBidwk9Lsrac7do-943gs658gSBNAwnos4niwCXptdCqrmPyjXlx0u9xg7M7VfMaft7n4zw2wwcJMgzdap699bY0V8NfR0k3pzqmGJPSGrpkL-zEs0gPwPiCUHnlK5K61nyM3tQCrlQtD86fCX5KNwo_UllA7g6e1EYZ0e8yMimPOJBqe1qTZfSRYGLpQ726NI2XRDz2wlPF4b_Gl3wi1xWI-yYfo1YAngpoEPMrVE7Aw-3EBjmS5l-m3l9F_1dYvMq36YkzTtimk46mWv8IoocXslTGd9s5NIzLoQestuYTGe5PKhvXAaNb2Lc8XwDcSHXGUbtFfHswCOM0_ih-ZOcrwensYj_OlgpLGo44dAhFRCP8c_efRMtT-fLriK-wv_IVvMDg04IvTvFapo43Qj1LdBANVzO_G7yg1g8sPYVWKWdPiyW-6062lJg-799yJuTn_zE2Y9gAvFa4KBgIQFP95IpcvohWmeXwihAoo7V8kJQlh5-ytqGbxQ5jtHEXKV-mjFqS6VYhsIqrboPpHwfedCBWq3mHcVSvgTA3SVnpZF8SLwQ_f0bHICX0CxlQHzc3bzu6k8_bocoeew4mngIZKcmz5kVQqty2pU-QQl9RSp3xEYuI5sj63VlasHZ9auO_LPt8HBsAGOARTMmLQAg2vpAqjmUDfd5fwuVn-jXBZHbUAAGUdelcIH1CVV81mPOtVPeHDFlLQ61vsi_lfp_eKWkuB7aj6NXSpsYzeOA8_9E8L6hO6yqragBlK-ptVprGLWqMT-nKcE6e4XNZKwUHbznUpOEkk4TkvgT5bGZXDeOv7dmyVpM_DLhLbubQcj5loGqQjPERQZnJ9XHkmTQZQkxNd10zoIxVCDai-KG4sjuJZVXpKDncVZYFIAWGNxlRjhDZKhKstRhgH4S2FC3acIvw_f9odZGSRrDr1A35gctOL4qFqnOSvMpYSLVY4EPPyr1A1IZbIff2jlGarhk-JZuHfogy1Yr0pfJGeqyyAS6KgelcESpQGRTKSSBm47lZlwhBrGA05F5D6PQBL15HaDM2SB760GmF7nQLTE3OerfMDAvbK1fs9hfHyXcuFGhNyjSvqL7aDQogmvT05ejejogGxyQmNYd105QAjlPCYnr5t3WwqzKtod6y2CcP6FWA2jJkJeX7yxqJ-_AjATCGieHt0BvmgW2ziU-vTsjvFKSWI9XnXo9NoRk58g7xvrl69ZuZvrTG6xsVVFv0_Yu57dvDt_Y4gp1ZedSWGx7JTRWKTnTGMSzGmtjy6eYLMDFG8joTLwhaJ1Su3giLFYhnpJmlyH2OudlP1r1HK6FuGpfvnv-A76byIlkDSFCt2gUOY2-d4Pjtsfk9bwIDheYlLYx0Xw_gnE7cfCbt4PRDoC6UP1Bcmh5DvT9cVABV64vWFG5khj1uHNSsP4XHy2kNoeUCNmCdmlFSBYEicqCfnGO0htH1f8432uoxfWoW9h6n4rreI0UYngzIyIHOr1aQpCSKzUuVgrcTiaopzkL7zqRJdLKJh-l_4ezNtmWdr5cDsT0Sjp0Um7k4om1xLdqQ2K3MMy9vsJIOnyb5tjNl0_EbLGZ6UxOwQgi5OsiRYfwByHGgFilAkxh5ZzqfJNoGxA8A92wuvNXq-nNIvDJOLOUD5a2w6P2fLFv6Q1z3oWe3PJ8nx_3yWxECw2kvJNp4NXkyDRAaoCG6vHveLLS8dcV1KIzj4X1XyHgmLCCkDa0XUVvy_15sLMMFAyJywX4MmVQOFPmpXkU2KC0JRgzymV8fpjPp_ErxDz0YvVDH0Y5kt-zkJ8OX_w2WDxKVAWQn1dNlGyZROCbVrpJyY29gq-WQHiy5bC8DeiAhLZz4Ma4FOt4T0PWcjPyeJizgjpqclz7DOdnmKG9dJx42e5rdwfe37vChz2QLXA_FZE1LyIryKsxP5nWy10VYCNdinfHJP8wV8bl4aCg-dNSie5t8egkW3TRQZP9e69PkF2PAMemNaLGxXOGrbR_RsZgnWM7MIL8LYuH5ApTIrHT1NrvSljzckWT3Cen_qSqeYTFUTq_kInRVXjGCpF9jpe-V8gHtlb7MB1pU-_zoDhWOZrPYHRwIWatb77EpX66ap8J4C7okleCziwSd3TYiOP4He_jsHCGthcbYBjxws0uGMc3hO5oZXpbYAW_-UKko9OvrIiavs1OjAQ-AlTWPZMbmcoYifw7WkSPb4MSPn_VCguAf6pKYIUOgS4kxD9_G_-H12_xUie1IDETp5Uh2JXITCAVGHpCI42XRFPc_Ci-eemYoHgELVgKCL-ZDW_oVQWQD44xrwu2cZpWl97KU2tTfK22btSfqlxu-AX-KhDugkaKaQJTJdHvfTWvJQsViXSoghxOzMOBXLbJqethQwqc0dq4H6jju2I8_JAb05V1RyvTCEOhKNZlqyaUac_YZvxG4onoComhl20GvqX8OIjHmgTWZiABF6jAn1z_6bC0IMLgIcOAZH__83RR-f-DU0ITelXmaCKWAlY-wEdnyucq6axN_hH0xVzUaK4d3Rl_UisRQXJx8I6YiioCdsPFsMoG4QeMH-uAmAXpZkdRkT16Jr2uIU0rbFv36slZ_c4yxAz2dfWNcQe19LOqIbYz3tMYkyk-1K7Py2eza__CuhXY_oQ==",
  "id": "rs_0dfd50686a44e884016ab43256cc5c87d0878ba53478f8b704",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.17,\"right_z\":0.055,\"right_yaw\":0.5},\"note\":\"The right wrist view shows the pen just to the right of the jaw column, with its near end low in the frame. I’ll shift slightly toward it and advance while lowering to a few centimetres above the table, without closing yet.\"}",
  "call_id": "call_OxXLTum11TjpPmcLne6C5vZq",
  "id": "fc_0dfd50686a44e884016ab4325a7c7887d0b26a6e9041725b32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OxXLTum11TjpPmcLne6C5vZq",
  "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, 0.8028, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.3325, 1.7241, 0.7597, 0.2398, -0.1101, -0.0875, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4021 right_y=0.1631 right_z=0.0431 right_yaw=0.4679 right_pitch=-0.16 right_roll=0.0082 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1829, 7.0222, 1.7118, -0.022, -0.0464, -0.0171, -0.4581, -7.6376, 5.7231, 1.9609, -0.2076, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb3ca78c507aa483778f2f10901952a2db0d82e0c87b235f7999f33111c8001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c513bcd422ab3516c4b61e95df9f9683f08900ca354844ac43f95375bb7a919b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ab22e6f6372ee0842b70ab83beb92dd3981f04bbb3ecbc56c6a3537fcbd928",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.877 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, -0.3813, -0.02, -0.0185, 0.9998, 0.469, 1.478, 0.8307, 0.0143, -0.0128, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3775 right_y=0.1979 right_z=0.1292 right_yaw=0.4807 right_pitch=-0.0737 right_roll=-0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7026, 6.9538, 1.7265, -0.0464, -0.0513, -0.0171, 0.4171, -6.3248, 9.1692, 1.9707, 0.0464, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8028, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.3325, 1.7241, 0.7597, 0.2398, -0.1101, -0.0875, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4021 right_y=0.1631 right_z=0.0431 right_yaw=0.4679 right_pitch=-0.16 right_roll=0.0082 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1829, 7.0222, 1.7118, -0.022, -0.0464, -0.0171, -0.4581, -7.6376, 5.7231, 1.9609, -0.2076, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb3ca78c507aa483778f2f10901952a2db0d82e0c87b235f7999f33111c8001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c513bcd422ab3516c4b61e95df9f9683f08900ca354844ac43f95375bb7a919b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ab22e6f6372ee0842b70ab83beb92dd3981f04bbb3ecbc56c6a3537fcbd928",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJhFLxkwiLOWB8Xd5sUXu0Q339zTDjSSIjTOLVx0hUH4xIC5hLMFKKAqidqSQaqF0f1JUrX0-slKfrqnXol4IHeImRV1Qm3xnTuD_SjPCXhOIYIXRjkjsJtuUa9cYCmUH35hl7DPPk0G0oHH5fDz06c-tfUVG8f19YPdsq8-YDnLWECAPAcSp00qbXwYQTfpWJbikZJhb1Fkq18LnxkbI2UIVPpuvdQzDbi62Hh50rdrBGCqmbqgXmL_tN2N-tD-2IPzHroLyYdy3a1dQfJCjxVlM14srimCw7CKA5zLHgTdKPqlkuD3jsN55-Gjyx8tJLyfk8wlC0T1lF8nx0-ZJPN24FIbX-6iu0_35mpxKeBvM0GpYE0nA4LzAlLYF4QGq-lTm0lwrmdIvpmwPQj_oxONosEQEOqIBDv32IncqjozFFwPfvdnmW-t--gd2SsLuSIY3v-zqsUEenGNPRAF1Qwh-euWwQErGjLo2bEQiBcpiQhWBgnKpOL3XLnkmFBS6ElaP8Epbs9Tff9rVueRaRQ0Fj3Ui2ti4eQAG8dwl6Aw2vLmUaERkkBglqt5Kdxrbo3xFwxTFF0TTg-eGMjAZlJk-c3FOOKlCYxCjs-ja5YiuuICA4CRsZtY8tvwg7nIhyKs5EnuA5b8_A2UjgiSdr2o8tXt3ixd6N86LWhzzFF_iUpS5pb8L6oFiGwlUxf9glFjhnrLzpk9v2qHlo3F9ygGr60Wbn90GR0KdIepu_5wlLd4No5Gtuny4b0peRm-JDz4VfNc-YJC6rZduR2K_vOpxHjDOKL0DyjM0mT37MBc5UTPAa7lTkkCz-Db1DRM074NvNMLQOet1VqFJp6PnCFKxN9gZ4aWgb8zk4nk6U1UfEkzqQZ0DbzyOokoM6Z8B8b-q9PBsOMB_8ZIuoM73cRhIZlb_mdCspB8r23fcKNLweuB4L6Ja8KkFIcnDc5l_Qkp7E30KQ-RrUe5xCrYq5gWTPp_8HAh-sLA4PqaMZb06vsFAXnL8-aB_K_EKlTZr7HpASIAtccjLWxVGltr8aKBqCVONmyBMpriRDNd7fMw_dlPaWT-KaWCiM_z9mJfV_T7TRbzMcJRiGszoBD0LQvqhVidmawyF_0dMs2ouVbKvCZy_8CLGVXFnN2HWDUh-f9Ba3JHh_RXb5DFLxDaWBfiEdKX1CrixGQkYInwECcj13S1HNPTEGff2pSsr6IzGTY_CjWHBpzDEwpoi05zs7wMkmW3ncX291LqpJGMQM_BYrc2bSeNKa0R7X8aMsjNsdNl28ylcP9Cpl2C2dXhH9qO77jkj8_xgtWab47h4P9tpb3cmDx3mGXmM_wT8qO9a430lgl0mhviYJq4d2Bhhjo8vKMbjyKfvKc3weIfbaKAnuszQyg_P-BY0FSqfDfVpGCsCx3Uw2j4jcb04fF1JnWPpl9faexNEA1drVmQsPWz033Yn92EQcDwSpiVz1il8HFeW866s7s7l9aO6KD6lXFdvQG6IO5_DSL6Cf2LWqFEn7RyfCEzh51czYUg-ZxfR1sq7kBPrJu8Hj8K_CwtUCb2kYUeebsyQ468JCJc9PwQGdwy8B5MW_wlNvFLoCvHkYzork6OFIK1OPN3iYIZvQYrlh3DA3oVEDMQ_1TEwq_OakOIgLYsI5i6pamXAhzbg8fDA9xVap6mfq_Xm-3z-U2n7TB_5UprOEGKg8hak_GSNDb4QoiC8fSA8RJVzIsosBX8LuK0pTViIUuBBd-kOvt821XAuaSD7lmmklOOL7X6XDOCNFTqciw2dCNcxnp3mNOsWYIQJesqz1k8-zriVnLXKmJD56tx4j7idV92OwbB9RnN7m0gO5j-wvLfJ9WePyQsmTy7vHAPWCVoovsN9H6rB3uM9eIO6mSFD9Zi6DF-Sh3619e1S-7-fWfZx28D8cQZMdqsj-MmQtsF7N3oNbdpYpqlaalsV2dnULnRX5OUebiPQnaYerzQW1tt1R7tsWTRBS1beMnddNOkjCpR8yw70tUm-S4ZKGB3a_06zWVsITlXbXSTgLLDeExRTJR1E-7mwRva_3HIBNbE8xGVuhvNUW5F6Ka1_9NQQyZ2rhxKZlzLCLwhoYmljeiDp6W2bwdkuIHwu5O2KfX-9Ds6mOOLx_pV_bQQ4269L8_-36tKo1SE-1-_cvDxSptezAY-8LyMy96W9dgQgiR9UGLCCQgr8snyapeZsUEcr2I5QLzfCHAfAvsSAqqYKseoivP2GPLZGHQLXlbNfzN3vhFMi-jq4KMCHx4zaEI3fV022RyTfXgJuFHSLuA609jmoRWFXmokdLBbMx97J_-cbXk0NcpEtbaBOkG1Fu4BJotUTrF8v05QydrETU19UOWRoBYLEhVHLMpIHdcuUYbe_9K5x74CQrwZBievhPE838CNDr0OybrTjTajuJ1Wag7x1VeOcdkr6-hyMwuVOoNSODMMuL3Y6Pjb9wm_DdVVPTpB7GG6DK-8uthF6GktQHHJdcJ7cKGe3Dp4V6kF8QdzRhR9Sb0F_8jwRm5QqlUKOoysS-57yLRmfg54Tu9kUOuse3kpH4hwdXw6TwNZuEKXtpDUynw1PTkgqjseUMyV85VdAEhYizc8mGjNbUyZ6q60BeT-vI9VZ63kvTAuV35cd1uY77pzotOqctR8d7hxKdzESRB5uck_ckRXYzYF_KKW-bWt1oGocwlY6G63pRHY_4C2lBG9QxfZ0sx2RixGQPDEfcE_TJRRoWwdp3_gzvM1Xl78tjE_OQc0qdDr9KUVDr1zXEk4L-58m2nZwjtjQ5J_gYPB8oB3IKPsN0TVk6T5dCTwwNdGis3vtkdCYvwlZWj_2oFTtTVEhYSJOSEF3AVt64pkBnFzxeRRnxbw-DSyxnMSiT-oTu2D8sikvD31a42Xs5ChzAySdS9-I5AplGotBeL8wvA9IJJVVfWWmaOkgCAxo0zh1jBJZVrYB8s30HjBo--kUPA44nrWUL5wA9MJc8I7bmZyPLOnV5Ls4PsFZg1uns09y8CFD0P43MqNvv2496QpLoOoW0hPngV3AM1CIQmHTH4z1bJUkDrLadzMrNmy7T4bGf4BE1ga5iIS_MUtW8m6yMDaT84L1i4gbRxQX5lFfSai-rFnHQuISAqQvAuBDYJ",
  "id": "rs_0dfd50686a44e884016ab4325d00dc87d0b7aeeef43bbcf4c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.139,\"right_z\":0.003},\"note\":\"The pen now crosses the right wrist view, but the section nearest the fingertips remains about two centimetres right of the jaw centre. I’ll make that lateral correction and lower to pen height for a grasp near its rear half.\"}",
  "call_id": "call_KVlGPKFwYxEpy8LNxYBvFLsi",
  "id": "fc_0dfd50686a44e884016ab43260983487d094bcf3d49d79fc29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KVlGPKFwYxEpy8LNxYBvFLsi",
  "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, 0.8051, 0.6029, -0.3809, -0.0196, -0.0189, 0.9998, 0.2684, 1.8164, 0.7044, 0.3782, -0.1558, -0.1257, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0118 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4047 right_y=0.1434 right_z=0.0113 right_yaw=0.4636 right_pitch=-0.1637 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6972, -0.0464, -0.0611, -0.0171, -0.294, -7.8427, 4.9846, 2.0293, -0.2808, -0.1343, -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,$blob:3ee81a801f0698b97b0031941f1a178bd12ed225c48df25666c8a953fa20aca3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6de941c51ca188be141339f94c60044b4da6fd1b1fb64c02daf03e6cbdb23a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cecd2b69a9ffe776895484a50deba059b6b1a1d18b410433ddf47425fc805e66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.26 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6018, -0.3801, -0.02, -0.0181, 0.9998, -0.0185, 0.7918, 0.6094, -0.3771, -0.0196, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0016 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.4838, 10.5641, 1.7753, -0.0317, 0.0171, -0.0366, -0.8, -1.2786, 9.812, 1.7998, 0.0269, -0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8028, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.3325, 1.7241, 0.7597, 0.2398, -0.1101, -0.0875, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4021 right_y=0.1631 right_z=0.0431 right_yaw=0.4679 right_pitch=-0.16 right_roll=0.0082 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1829, 7.0222, 1.7118, -0.022, -0.0464, -0.0171, -0.4581, -7.6376, 5.7231, 1.9609, -0.2076, -0.0464, -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 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, 0.8051, 0.6029, -0.3809, -0.0196, -0.0189, 0.9998, 0.2684, 1.8164, 0.7044, 0.3782, -0.1558, -0.1257, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0118 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4047 right_y=0.1434 right_z=0.0113 right_yaw=0.4636 right_pitch=-0.1637 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6972, -0.0464, -0.0611, -0.0171, -0.294, -7.8427, 4.9846, 2.0293, -0.2808, -0.1343, -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,$blob:3ee81a801f0698b97b0031941f1a178bd12ed225c48df25666c8a953fa20aca3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6de941c51ca188be141339f94c60044b4da6fd1b1fb64c02daf03e6cbdb23a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cecd2b69a9ffe776895484a50deba059b6b1a1d18b410433ddf47425fc805e66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJkA__cJVvxktvTnLHQzXDMtAHSKYejdJlRZtCEx-gGB_jjoI0qmh1vrqEdv3GQbPJnAa03mzzkXaM1SX7drKYy9uCmarnUzXX-T2wu7hABHtBNpBlsk3jAHeeDiavTB7vWPfIOcCw4YqhL18CTvnpcpapd4AwZ5-YvJkDKMyqmnDMdQ-O0sqSui-71m2pFShgCtA7ztnIDZSliYMSQ_EKV78vp3BdOz6fbRM2fv_ygLDYPjaSXpnrFptd8_5aUvRTjTr4jMZc_arwmbjhiBERHYsEgOjr11LyKcZjduZBEUmAmlNJmGA6ubUlJ2paOTiJmRIhdorSsoLEzVYN2Ov0OBvGEjOqaBYj_qouZOZ7OkIbTPMx-XPqEvGJEBjkYbywaB7L_KQF2gKWq1NGqJtGrT86h6Ad8wyMn3cmjtjH_YQ8SlojzJPuRK2oldwkHk9AHMI35Grt8lu1wciErpsTs7gbOsluRr507QEuqSpUYyQe1Qsdq5BrPFD-7m8HyP3sARUVswqZ_Sck9EH2DPMGK3xzcr80x963NsMn9O54U1u81xWv4dj4NKw8dHZd_D526dLuXSq7QWqWMZHQoTmyFpi-Ftl0sAGxYQV7tUx1UE2SWdTDQVv-1aMv8potBBZ6_zH4BA6X6xjeT92P2hwU3WMEkQUIVeoLNROm8lTw3KegLrkVSqLXUt-fDU2CuLUAW-PzZ-_m2hdCtt2G7dR-sn7H1qNdHg22-906i4Iz-cgcirPzCSSU0QlvQeBB82I8n4VBvYIHOpTuYBxnJs7BksviJRwh01J_SQ5YnYD1ezxxfEhWbvvH1KysNVZVjlpYDABj1bydGfT3Cq5v5mE-KVPbpiW3onDWDBQvnvg0tuKFsJqQgzSQqLMxkh1dan5kV_nbH1-y0RWSLnMvhCmBhwaoI_OpI_fO7toTh_n5vTpzRZaIlE-LVEFpcRzIefikNp7-eLDf2cXe-Nq7-1z-pC4Wmex2xbEVmbm2UQpngRyxaZHOGS-Jl0fiSj6tTBEcuJUsiD_BoHKUXr1RjYyLOOS0zZV480xSu22ASv0UAUDHdtKjJikdxeDwWzoVMVCu2APciH6KOZO_J6DRFPgs9k-6pZlEy5MHRQ5GLDHMmA3cDBI72UdnIO5be06isyNp0LKyxmjhiB1tso4KLJi2HW9e9n7FKopJu6r2qf5f67wDFgJpVmwLXQ4T7t2x2mxInBVtNuVOeT9hZolNufJYQ0QJHfH4pQpAQdcBRbPNXAucfY_9vqIr6M9zOtVzPq5lIDibi0WVXj4rfKQlexJT7FBntwZlAAeBFWMpMhdfqf4A=",
  "id": "rs_0dfd50686a44e884016ab432635d6087d0824cce15957c8d06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height the pen runs through the right jaw column, with its barrel near the fingertips. I’ll close the right gripper and check its settled opening before lifting.\"}",
  "call_id": "call_Mh7JrFeeNnJcaDSFSnSYONn0",
  "id": "fc_0dfd50686a44e884016ab43263fa1887d0b6e2c0c0e14d4f6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mh7JrFeeNnJcaDSFSnSYONn0",
  "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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.8378, 0.6914, 0.4103, -0.1623, -0.144, 0.0437]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4052 right_y=0.1367 right_z=0.0042 right_yaw=0.4608 right_pitch=-0.1649 right_roll=0.0021 right_gripper=0.0437\nstate[joint_eff]: [-0.1846, -1.4838, 7.0222, 1.7656, -0.0757, -0.0366, -0.0171, 0.0615, -7.3368, 4.6838, 1.7167, -0.1001, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9be2d72ed70c183cfe5156253c49aca7e5f48c8930b6fbdd5ff538cd2878f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e0044680159059631fecfd864105df22d08072aab1ff80de304cf9e055e12d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db60c7a525d289217fb63c301d29497083189a8e99c5da4df24df65a4a1ec17e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 6.593 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, -0.3813, -0.02, -0.0185, 0.9998, 0.469, 1.478, 0.8307, 0.0143, -0.0128, -0.0128, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0012 left_z=0.1777 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3775 right_y=0.1979 right_z=0.1292 right_yaw=0.4807 right_pitch=-0.0737 right_roll=-0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.7026, 6.9538, 1.7265, -0.0464, -0.0513, -0.0171, 0.4171, -6.3248, 9.1692, 1.9707, 0.0464, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.0196, -0.0189, 0.9998, 0.2684, 1.8164, 0.7044, 0.3782, -0.1558, -0.1257, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0118 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4047 right_y=0.1434 right_z=0.0113 right_yaw=0.4636 right_pitch=-0.1637 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6972, -0.0464, -0.0611, -0.0171, -0.294, -7.8427, 4.9846, 2.0293, -0.2808, -0.1343, -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 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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.8378, 0.6914, 0.4103, -0.1623, -0.144, 0.0437]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4052 right_y=0.1367 right_z=0.0042 right_yaw=0.4608 right_pitch=-0.1649 right_roll=0.0021 right_gripper=0.0437\nstate[joint_eff]: [-0.1846, -1.4838, 7.0222, 1.7656, -0.0757, -0.0366, -0.0171, 0.0615, -7.3368, 4.6838, 1.7167, -0.1001, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9be2d72ed70c183cfe5156253c49aca7e5f48c8930b6fbdd5ff538cd2878f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e0044680159059631fecfd864105df22d08072aab1ff80de304cf9e055e12d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db60c7a525d289217fb63c301d29497083189a8e99c5da4df24df65a4a1ec17e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJnO3m64COHtSJJK8ovstFc1f3tvIj1ToHXokaiwF88HfHHzMDfkVzDQT7zYwcr3GtOG41VRz2T9BdpuGdoxj0CLDwgoP_1-u0_rjL6YB8r39B_Fs-hxoMlq9SIir6bkPz0Hb8q1K4yeSfdE6p3NE6pm9raJl7d6kUvtJfFnE6ckn8wKftFkkP99SVHgtePyBX0E-mlmfd3rMqt5N-WSboUqEs3fwHmKoia8sTUyP3WSWmISB1gKO8Z553MIL4Iz_4JEIgim1wdt9C697nGAzMki633O9z4eD-4XiAQeUmJ_YZo1Cstgu-gOD_d1Z1BfB-AhmER47u4QLEYOXNaat_rIJJsReetzYCukhivLBvfnFCtpLD6Wfcn1HUTRBQu_bBXIMI9JI4Z30VeDU4k6bLsH-vT2IijM4Ec88nqKK2GhLnEwEc0Nsil65qNefn9_rDTWZA3SV94pyhi4lpYfSIW1qgUizfmRjxakyuXp4H7dn_0OBDDoD2y6Ew-qF8TWgOzGxhA0q7vuiE3z446YXGwzfIVb9ko0oXgjkCCJMBBDZizn8fLVNzDCHYA4T7Gmo2FUagfcgkYZDBOWAXcL9joYdCXqiKonu0bMea-Y7uGIM-j5vWicVZ_suZxAiTxrmsKr6A9kYDXW1CBT_9QjZVK7xSnE7JeM1xYiu99vz0rOl36W4jcZJl-UOfdkc6NoEsSdVN76wFbDyO5gXL8HEMz4AhsB1jXbCcW07COKrP4LIJZBxd3pBXOtKYNmvAo2wUxSWZYrO-zBKIxA7FHbtLUk_c2rodv4Vs0D2rbhgmmTwdK9p6yA9gQ-zmLAUf3OEaCwfpVpirrvG50uIRFpZGRymPNLXez_ykDtraCD61blwjeQlCNAr-g93VbvGrmglnCJuKv-ZXSAuazOncZMf6vTQkVr7ZWbhbCNN5C7BuuQDhJALYYay2kWdmHcVkj5iHh12zYbS5iOCVVXyMIMDxpIvezM-j5OG2hjmMuD4SQjdCTsz0qyQ0f_Co97eWyGSrBBArOtxIm2A5aBFInEFtLxKxhH8d7GR44qJGguLGzFmm-ShpI33uH5B_6r2CnWZ4-Ln6TJ9CAzQXAQijdSI-buWHKjVSRXb5c8lM1bDF594HjGMqYfThLG5SPViX_NeolJFBrejHnTmGfgmR-k5HDn7oX1D4hgQPv0XjIEad09fhEwH7SIavhv09JyxHlFBF47wtZAkyzYHPWDRBAluzpVL05mVfx2RDuyt1R34H_pFf_XA5ugFJ9oAc0ZVXGEog13HcD-BBhKA-yUU3XKWUqEQ==",
  "id": "rs_0dfd50686a44e884016ab4326697f887d08ce142bd43adf091",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper has settled slightly open, consistent with a thin pen but close to the empty threshold. I’ll lift it and use the overhead view to confirm whether the pen comes off the table.\"}",
  "call_id": "call_uHGw7R4mQBWhF0WllB0fMaiK",
  "id": "fc_0dfd50686a44e884016ab43266f3fc87d08c8d9ef2a1d622a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uHGw7R4mQBWhF0WllB0fMaiK",
  "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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.5597, 0.9051, -0.1093, -0.1661, -0.1474, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4031 right_y=0.1368 right_z=0.1056 right_yaw=0.4669 right_pitch=-0.1916 right_roll=0.0081 right_gripper=0.045\nstate[joint_eff]: [-0.2393, -1.1692, 7.0222, 1.7314, -0.0415, -0.0513, -0.0171, -0.3487, -9.6205, 9.0735, 1.5751, -0.0659, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bda794582869b7d6eaa94589384b23886072aacd7db050123ff8408417a2e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e7e3fff31951be054345f9ae7693962c25145d338ffbc32d8d28290e942bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1aacdf46ebd485745f20ff55c7fd2cad37b16b32d0eb1d40ca59b7ae082295",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.941 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8028, 0.6029, -0.3813, -0.02, -0.0185, 0.9998, 0.3325, 1.7241, 0.7597, 0.2398, -0.1101, -0.0875, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0012 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4021 right_y=0.1631 right_z=0.0431 right_yaw=0.4679 right_pitch=-0.16 right_roll=0.0082 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1829, 7.0222, 1.7118, -0.022, -0.0464, -0.0171, -0.4581, -7.6376, 5.7231, 1.9609, -0.2076, -0.0464, -0.0171]\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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.8378, 0.6914, 0.4103, -0.1623, -0.144, 0.0437]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4052 right_y=0.1367 right_z=0.0042 right_yaw=0.4608 right_pitch=-0.1649 right_roll=0.0021 right_gripper=0.0437\nstate[joint_eff]: [-0.1846, -1.4838, 7.0222, 1.7656, -0.0757, -0.0366, -0.0171, 0.0615, -7.3368, 4.6838, 1.7167, -0.1001, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.5597, 0.9051, -0.1093, -0.1661, -0.1474, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4031 right_y=0.1368 right_z=0.1056 right_yaw=0.4669 right_pitch=-0.1916 right_roll=0.0081 right_gripper=0.045\nstate[joint_eff]: [-0.2393, -1.1692, 7.0222, 1.7314, -0.0415, -0.0513, -0.0171, -0.3487, -9.6205, 9.0735, 1.5751, -0.0659, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bda794582869b7d6eaa94589384b23886072aacd7db050123ff8408417a2e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e7e3fff31951be054345f9ae7693962c25145d338ffbc32d8d28290e942bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1aacdf46ebd485745f20ff55c7fd2cad37b16b32d0eb1d40ca59b7ae082295",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJvAy4ZVXwN0qaoLFmmXNaXDePfQfXFr8hCocHDR1KnWaU_qDtzeBypSVfxPEugXYlvHz_t5eRHgOyaZQ2UQ7hUCemNHH-CmiRxSVTVeV4Xb-9vc2cpJQ_S4mrxLT2NTwnDgDmhdzb8XsHlBRIUj23Ezbx7TEpKJxsT8T20xabqi67Kvk8Rhb57CKkzAcwTih602vu8Z0JH_mmhrmC6UGdUBjfTYsptReEOklqXE8Z0pVv-2rWTHIuhT5joySvd1vdfhbmI8JU5iy8IPLswnmWV15yDRq-eTuvad7xYFBSlstOkYWYjZAFxaRQLEb5dW3fcVKJF4bbtgavhjwNU6pBHsY-momNEy0FFvLQ9meXpTfPoT6dOJxqK779Ccxi9xt4I-AxhpKu60xzVOex0-UmLtqqJAEXmqLcIrE_6yqVDptn6FM2JlPPIF--7JivUXgif3Tc7V-sQs3c_6tInaSEgfDnjZGoN-BRXIU8hREd7P2YQkJM5JvAWVA8OHWoFwSiRWtscAQtLF7jujHrhu7pXSFkqcUXO2KWje8q1MDgGrlulVfsaXHimBaoLUXaG33XAZ_cia1mv0s21b6cOKVPraw-SsngEnGR9iWQCjR8AGrOZwtQw_Fnnly4KLWy0U9C2zOh3JG-XGjzOlXiQhbINNDjey-qqmesPCPZlK8CHO-Zbw0EGjxn-stN2Q1t0eZlcQJ4aTAFo60vbtAiisNWNOgJ1p13effIdGpJvX6TzmzDGFJ7JodNumoa9k9LFVEF53F4_MvMWCklw77jea-Dsi90XwKpFMH0xfimpTIwWXIZvHNbL6D8ZCv4p6ob63vtzgH9mkUa-hKQvvc3hJTyUvmu1EQ-KNf2uVJlJT27980Un5rSxVRkaKv9XIhYPaW95QSO8SQVdgbI8Q-oLR3v3l1KSzpd4i5B5hWntRcjRwXsc20Aw69kmjqXWZvZBLMumP3LvxmvigtN1_DN3yJJMVD_1Cs8Pe6cDfcC9QbM-9Y7An13yTCLLZfDzfeNr9rHjnfSAawxy4Zc2Y_RZoG-RjvJLjhzchSaPZia-977gG_N3aoY1TBiOKhqqzyBcHpNtaIjETMvyIGZQ3wvB11cQbRnWiIrb0aCeezxFYN627YOtCxFg6NIrpIvPlzMff4GqPY_sVyer4-7vvkfqvmUDRZqcjKysR8sjdFLbNQe33d6IYDkPtQKiG1qSPAVVZFsqEvjPzOsISWOFH-DE5rnFyh-UqxqRtsGgANTG71E2dKMOeO0PXpqOC0_YwkGVsQ2dA4KRrVpGCwkvVrGN6mBDuMWMZByyuCTimhTU5zXmCJgiym22xJXmaVPDthQkysFb6vfAS-0UTrayMqNOEC_v0vFho4RtA2uQUg6LU0sgD1RHMW9PnG8CUahCEhykfc285xEvSt7Df2LxiSkNXUZZlsYt6o0qm2Fg6PoJHgvMcHSWKe27Wxs5kgddtKFXLuojIznl89TS09y6XqvRshDNTXiorZEylELWuf7qB-giXLA4hRsXYn8S-s6EoJwHqQU9JJ0SqmtO_qGafHuy_Egw1H7E1bMmVirrH3Rbt2jglQojgZctXfdmyBkOOfCCh7m0VMPpguM-XDysh7QcxGu3lXO9BflCDnkagLVaAxnpvTUkkWN_yFQqAdAZ-SiGs6QnjEvbQAb-104wsD7vN_-kab7zbxQ4CzNLcgLzRCz32j8kzgNIDnu3TJ8kUhh74y9Fa25e_51Pr1DQ4HGvu2xxIg4tJTb4Bwg62138zyfdFFS072dCx_Sx0e9tT9xdg5VHP0KWOUY7h-NhIm83SfonfU8Ylt3wuVfw9fo1zZK5J24kW2F52XMvCCY0K6IXaOzCKcUrHPplehI-sflzkiZCOQaSDGYfyYJTzgqsFesqTyEyuxs0_VyIT6NBuW6ngstHvkHRelklXnoB0aNSWPDQ5RPcBEFGfSRqy1dy7No9gSJjm3t-4PfqLvTdTX1gdV--L3XSRgs7pDoXyFC0UWQxRKWDDUItQ001IGwnQSi4di3ALbR6dhkMyx4pZOoGMHpiVoTud-HHFcGujH4129U7BUWG9KZRPccx437mFGFdxfGczkAqoLrAW3NR5DmgGwEzR5keyYPGK9HnRy0YRBJpgsvoL_OdiFJgkbQB-hJMziWYUlrBSE-11XGqSJYUZIyxCP7dxliUXFrTgfburjkUACpgirFkXz8WCcASvNsqt2q3T9nr0GrmyiC9Yh9eOw6fAQNaDkfnw_B3d9bqskB4BQn2uRZJ-PCzyYBz4wqPdTL52rknTLtmsA9MI3lrIFUm0SmWOjKWN-IaxzEXrGRcQcppiAXEjs2RuIdVbKw1t3yOu8fLrRDBFq0DxLR_57Ydzy6SmTUF_hn5mvcOYQLaBMNY-Of-_yNbq2RHOd6h0Ri20TGHqaixaXDrctn5DJY73ccgVImmv6s1h-FnB6MIRhEovMhZz458Ovjz4dAaIXD4Yd2NspeEbGoPz003HdetWL0Wfg0H3lDIuxX5_87lekHeBtJmlL-oKJaJq4ZarDStd5xD1sf-EE-AocQgmDrXI3pdlHVn4U939R_kF9V-QwRYdFblj5RD7h-d_Eh-YCq5HRwN-C5Rrb9o2HPAequsAcT-cZVwvSihkenqbO1nqlalLSOmXUWHxwKXUAzGFgKaIcDEEDeLUv2xWNdwiwGWePlKBBOayc0KzusWdCAWYJgNjbLcGKoLlxM33DiHQoIjCsap-8wNp9Plb4yGaX7y4TJslfSepVvD1uEXR2kRyy2xj9hK6xgzUDbAHbtt_TM4713wRBSxZeqFm8JBUIJWdWNbd8n5-CDFCNch17Reuwmt4wjMoaKXGhw_8ootGWZbQ15bOjYdPYhwp7Vc0Zk9f7NX7czRIadwgamPSAZ17g48IX2iu3W3OI09NcZEQf8A_Ye-nomcOuzeIDX4-5IiIaRyN_-yHgCIRd5ZoLNFT0yu4dbinBcW7d5soS-2TOP1a12ERw1zb2fPK08Ji6pPmMFgyvVv75GSpIgZGkl42mV2JK86cpaAEg_b5Fa_7IAtsxQ0q9BXVPfZCrsgvZbDD51FrlQtzENPxndZstoWmMY2Eh5Y7rT4qU5t9uvC9sY1_8ZU9KNQBBNJU1WZmeeowtdOucywHzJ8OTnQ3dMNMdOMbhTyK9kQ5AWNNLlTD9EK3WuqcHCuv2CK1w1f1T3-ijCA2NmVuEUm6to9X8b_XeczZzVrENb9F01wE6FOZrEyPU3pC1wgcJR8jrgB7z-KRC57Z32o5S94CG20HjCAxvNMtkDvKjETzJxhKmYS-1L__m-rcVufKQ3YobIygcQbuv40Btkdvq9j8xnhcoJSxTb5sZ-R88debu-ac8-8ky7npAxfX2SJR50OYTNVi1crET2q6ociZHPlcTK76acFL691xSuhovoCYE0CMt2-KeREbry47wUM6eR-M7a-UsOMjuutAURJThTubp-nqEB4RnoIXdDdC0gLSwTflpj8Hq8NkP6gB7T73AUh9wxJJRDV_HY9E3nPaCgI7l0XrCV5TbWdV7lNUwzaDgTwpKN2hpd8zV65wH0Ighz5sqXXsjvGTcwZOm6iQDUyd0ijok15m6CsVBketiHX5Q_K2Up8skZPLrZUNAm_Nx90MSBUNJe6XFEaTP-Y64cmU-_aRUM7SbBExZRfAuMFDRUDsZLPadjmiuQp0UBqnUW0jvLR3c3taIQhv9gMuJqmxBj-81DZShf1Q67lW6djqMn6siqc-gKfaOpHSsh5gNKBrF_db0H75l0n2paiSLcthyL6tnWlhMz3XsGcGmqjlq1a5w4att_0LYfEdn8tsUmzNzXBBKOd4HrFUD39hxMGDiW92I09sluoBTQLGfbmPMWjrpWymYomuQ6wlHRspQdZrdL_jRX8q_Aqy1eO9j3j4-K4Upz1y4mxw0Rd8x23SZ_UXCsAOi1QAkwR2GFFoQHjerg8sfWDUWLtXJ1iQ8hngkqBFIt0l6W9bJ8DVggd6fxtPX_1CHw=",
  "id": "rs_0dfd50686a44e884016ab432698e2087d0bae6d1bce7f6b133",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJvnXSR6ri9eoSnngJRIhsbsmH9vGoARyiscLUw2z3J7Xcfm2wo5z_P4yAKoveWjGUAdC3T1uyJCy6mNd7UEq77NowO2LtrQwHn0VoNMdqoUIwXnqnSbRHSKPwfnOiDM1jP9XpwutFmOMsh5ub_AcGFzCOKxE6ewnorUDaWVGQdBTPzAzCQrx1QSh1XtHgB4F2Y19e7EtNh2EUmGwLLftPoIPLicDnZzGuVkzK_a9YVfxpT4D2sJrOGMbdop_mNhg5YDtUGEZEnqJKFAqrMLvb-2XhG8431N5b9w0eZvhcDFyu-vnO145rXnN9u-qYP_TCNeq6nTdLAP2o4HwuWuORNkukag4NoQrO_vMNBeTVcLoCDklTwvLSPpvuOgRr22z0AOmWhOzYi3HL-7uWVlfu6MgI_5iQZNY81xjjsyUytN98PEA2roAGIHcouC6-x1kg1xcfXESzaA9vqqWa6VksBP3rPCJTB8nSYh0_GUvMcDqGeiVXvaDj4MFHlc9q2_xGgIxdpXwmBqIgn1gB93wBysW2h7oVdb7IFcQFwIdJmkkjG8yacAWP3C-wU1OeHEXFTb312r4WDfsukVX_cXBC5Ka1nn-t8P0F-nKtXVy3c8n2IW951b34ZL7mNWW2hzRa9DRZQe3MzZGtivIxK1BuiFXOWfJCUY9dc5Hf4HLR3QI222elLmr3DQRhUz83KUnKeXBYpIuLaCy5EJ5QrJ0rDzFvKFvsaV2xMpFn-TM3iGkYD9-8aoDVOw1PSNiXU0TfeSoKNuUwkUN5gRVQnQ5RWETNCiVYZIFc_7pDx3mOFNISigyVPufG6jFueESPDEbGybaSPtMIl8Wcwpwluq8d-cUAvUfLCF9KCK29r05OV0woKt83gHPAieQPATUeJQl4zUvp-NJ23kK8kKvAkNeJCAF7qWAnP191wqlJFtHalwbGzCnF5WvotRl9yE5Ddd0DsF63cr8UHDbvFbXwgFaz4h2BB0z3UKvCb61isar1GsAlPEYBHDxdqaAOByt1LM7q8bY1e_2FiH01vbG-GVhUAZHPf2WoqtWFcMRCvYmUxVetcLSARHIunSMfvLNB9j-eqObw1u7GaWfxqmjX9HOxdKBnhMLZeLs_OwUdl026HO1hMpyeRYkfOjrdQeDFijlTGtHPrLtlhOjKV62WU3iq_IT86IdPoxX0NIRu8E_UplnvnNMIyJq8m-AWOqR76RZ4rEPVK25aCKAPZHbeV2XLH60BU9egVyx4Xw43x3MizNEs6z1Wn-8JTvaAVeRsByp1ioPQ4xrCiLdB0LQEpzwME3Qiv3aesAERpNWIHzMETDUTfdIF7Fa7QfeuB3CRYFet1gM9GSKXbKRPgauHjLV1SjeWEa_8ep2yB28N39sjS8JGuNFZQ7NIK0szX8ZkvnWIkxnas5zRKqW0RY_kq6kh-LA==",
  "id": "rs_0dfd50686a44e884016ab4326e2bec87d0bd518605fa6cd81c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.438,\"right_z\":0.095},\"note\":\"The pen still appears in the right wrist view after the lift, so I’m not confident that it was captured. I’ll reopen and advance the fingertips about three centimetres toward the visible barrel before trying a deeper grasp.\"}",
  "call_id": "call_64pExcf2OV8kPBT6e8dBFV26",
  "id": "fc_0dfd50686a44e884016ab4326e835c87d0906c56f3b087ff20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_64pExcf2OV8kPBT6e8dBFV26",
  "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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2337, 1.6924, 0.9749, -0.1196, -0.1848, -0.1768, 0.9948]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.419 right_y=0.1368 right_z=0.0773 right_yaw=0.4865 right_pitch=-0.2594 right_roll=0.0176 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.2923, 7.0359, 1.7118, -0.0806, -0.0659, -0.0171, -0.9094, -7.0906, 9.5385, 1.9267, -0.1294, 0.105, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de328a4dbb3733ddb1bf9f329cfaeb365aae4fa39885ed223222e406a871fe2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3acdd5443aaffe377b1d60cb1c06fe161859cc885f37c7d1130309c289b61b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f70264a88523f986cb23d83d72b1693b574a1115b2630d59c098c32fd2637b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.672 s

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

message 15 changed as sent

message 23 changed as sent

message 28 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3809, -0.0196, -0.0189, 0.9998, 0.2684, 1.8164, 0.7044, 0.3782, -0.1558, -0.1257, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0118 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4047 right_y=0.1434 right_z=0.0113 right_yaw=0.4636 right_pitch=-0.1637 right_roll=0.0112 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.3607, 7.0222, 1.6972, -0.0464, -0.0611, -0.0171, -0.294, -7.8427, 4.9846, 2.0293, -0.2808, -0.1343, -0.0122]\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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.5597, 0.9051, -0.1093, -0.1661, -0.1474, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4031 right_y=0.1368 right_z=0.1056 right_yaw=0.4669 right_pitch=-0.1916 right_roll=0.0081 right_gripper=0.045\nstate[joint_eff]: [-0.2393, -1.1692, 7.0222, 1.7314, -0.0415, -0.0513, -0.0171, -0.3487, -9.6205, 9.0735, 1.5751, -0.0659, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2337, 1.6924, 0.9749, -0.1196, -0.1848, -0.1768, 0.9948]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.419 right_y=0.1368 right_z=0.0773 right_yaw=0.4865 right_pitch=-0.2594 right_roll=0.0176 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.2923, 7.0359, 1.7118, -0.0806, -0.0659, -0.0171, -0.9094, -7.0906, 9.5385, 1.9267, -0.1294, 0.105, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de328a4dbb3733ddb1bf9f329cfaeb365aae4fa39885ed223222e406a871fe2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3acdd5443aaffe377b1d60cb1c06fe161859cc885f37c7d1130309c289b61b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f70264a88523f986cb23d83d72b1693b574a1115b2630d59c098c32fd2637b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ1ByA0qKxu0SZj5eVcg130-Ux8JW81rvtZhY1tdNCMEWi7ny4WY46uvTPkfePMsrvxCv_oCNAL5KoLPeHHLzgUZrnSkuf9I5gSlIxm2rsksgi66BKJN63fqt0jIF26srIZCvLMU3dEEIgax-NHB1q-_F6FUNXqXKoj-Q3b8A1kRnRGPDCcvPV1WUz3-zZKcMMvEQlcXzg4lKZa5MUp2cPjqH26cemEKdlzoRvgM102rA3p9a0Mo9VB-aP73DmMArifhicIJjZtCGmoFLLAfQefLYZXFWVkSyzijZYpkoLl_CT7FoZjXCxvaQHF-XSSN2q-nHrjS-pJPR5I7tMY2MA0ZYyOv_aHaDsiOEwwFA_kMXyaG7FxlmjZGWb1mASTVoZrqyq599hdTh8I3NZ_w1Ku7cr6FOz2TCZYSlF5t-x4txWQsbuuD2VT3AdH44DX_1GunXRtgM1a3IT3aD6L6d3-2S4XIDWwOeaVkf32baoRdichFLX55J9RWjIL7hwejflY--PcqGJMjXk2v_v6LIGIhIUW0tJtDX7S31wjvk9PW96INb3rA6YUJd6NJKX2fBRwUYbO7eiADu5mVUrkB0fHTnzgASlsNJgKX65SCoDT84dSUF4MF8yfPC1eBXRXERdx_WchfA7YQkhWyvIfKTzwm7t9vQEmQnYM57slZ7GYtSNFKnhuLTZiRv4g9itA94O09lVHcko6EE9abhtn8pT8CuKRT9jZoVVJWB8mkdt-4N5jijlhiQC70odp6olmZIH_g0TIz7m5Ax2fIEv1q-2knMzBKBnRF4XXSuVWYj5K8Ynba4hQc_HIxWPrwKaBzgYfHP1DiqZKnI5w2mTJWkxo_36TJexnqiUfNKu26P9EbRM4gaIPhhDk88NtHME98Vzpix23Yzk3mXoGQ5XEqZNh5rWgE-HGG98EVHfKTFLbOQTgRQmxeBLbKt_cJwEsejd_oER5xnZUsJrQhB1eZtVIwiZ_kVuczVjhLFiOgVZZvSqd5wsYDQ2TJTfod3HeZwqs5MQwvl6RM6lp9ZY2fKi7j6k5c9oCWR93KzIdRj3QDWDF1zghoBUjOLwQmWvU4pSiHYNR4-AgDpXZ6YSrDT-d0GB1M_49eajoog7BD2aMaDEzn1bZaWbCxkaqkJGEoGxp2By6K-eChuJmts5wVsQYUQUQCUhTXsp7enxgYiDfXEMUL6MKS2RqyowLxnxHtUXH154LAyqRy6Ii5xnvkPCQomkzsZ3VWKBEt1Wy6s8o6IqrVaHDP_VlT5eCOk0RVGG7yUcDnEYx6TCfmfToHjm7Wp96JpY2_mxyLV52SM61hsU-rlbYOcj0WQwW8_5SmboRO9zvZDphr04xtrQ-wTHKYxx_XmZtWclphl8oxpQXplSN_CcXHV3vNUyr1i6ZJts-RwGvArUpf8vcYhjbyxkibUIOj4mo1JMsGkgGXOYTh_3Ddrw5HBXX4qeljYB5MJyvvYy34XuC0fD09iF1VqjEIz5XtAd9rnjSJceagIsYBbzen8qf75L_RksBaNjO21tNe6q_8i6AO_d1s47K_YFBUweM2gTl2Dx-3FjncyD1k8jj_zYC7tsi9kjhZodJaaX-wsVCtYZHxrfo7q-UxxhqsbzTVHT-b8pBwkK4YlivvRhSbDSOIHqH-PM9JvOud6XkhigLr-owAW7SyLcC1ZXtGQVxJVaTxp-FdMvGiwl3Ud09fLHNf__-ElxR7QRhJBLGpVJkEbmMwxng38EExofiKbsOnKSeHMIRfReLwTfi8XFDG5EFxFQxdfPgH4P2mQh481ivVnXjNBdha8X04N6NSJxxCWZOZ_myM2uIC5KJeIl9z2-LFXyhnjXAJMLiOGS6diWiUOm284shDaX8o3HdpmrdamXefK-zHxsRZp9TJS9lfmAjCtjcDISCgtmfua5gD90K86s7sbPsoY6ii0N0S5CSXuW94bDDEFuFeX9DY-bsHTPXJcOnj8TnOprdOdrCvLdAmr9aLPtIgh9C2SyridKs4zOje3RuEbJSFPrBqWT-NFXbTXtdhfhfmIusSZDERRCtyOR6KhTwLfgLlDjDmY5MaPqFGWxAERaBZBYUsIQnl5g46BjuNTZ-i2umZRGJHcBDVmFIxbhBjlkMceSTHxMcuXDSQ-qRKbpBSn__cslSdUU6_X6WRVdARf0rkGiSQQkdHwwNGVsgRgMLaS63X_lRjApotCEte5C8LxY2mBuaFvxv3YJRznMySzJkoi-APm3wsmpeQcBPV29jOv0WjHMlgh8g9FrYRVBTsjRF2sENgLEhTRr4s0Wf0uqNtrfZ_gjYFMXrS_JPBSNtbPnlrBFQREezCi5DdT7IGFAoilrLAyqEhmbQB9UG6M-rnJB7SvN77nggu5SHQP6HU9eOtY3PwmTT8C_GsWqtQ1PM4adcOx9j6XGMturoreZ6rUG8T3jY6QyxF8UJAVZjAAz0-pQQ-NEbtAHAYkGPgAPa7Jj09iRcDvBpMaFmCLN1gDncTgvq80nEYT0UT4zBxqnw3s-acPVWvEKQvkt_vbyfKtQxle-4ff2-2zWpMIoYdykVhrBgdLyjzMpG9ZJ4r6KUHvVTWMrbHlq9xF_ihQj3eTAo-Z3KQ4-nGlK3zRIWhYiO7Z0qmZ--hCn3MFgvFR1tG9kTKXS_uN9Ji9fk4kvtMs8Ota7E9_-_z5EtnjRfWWYs3nBtwbsEzNpzWylvBCDHPVY6S4gkbC3md73BFFvwkf5qj-PChdksfKfWdIZaBjcoldvNjeSnjPvcAY7pzrjxqJo6khAdN8h02vLkb3NCmKdXRlIDhG3Q58SC5WYekUYGa_c5klEe9x-vCT_QQobkFdzbFaHy_8UCb4UwKFz31uk=",
  "id": "rs_0dfd50686a44e884016ab432710a3087d08bd95859ae5aedf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.09,\"right_z\":0.06},\"note\":\"With the jaws open and a little farther forward, the pen is now clearly visible well to the right of the right wrist’s jaw column. I’ll shift the gripper rightward across the table to centre the barrel before descending again.\"}",
  "call_id": "call_H056VBuyfLgqLPDGnBJDRagO",
  "id": "fc_0dfd50686a44e884016ab4327441dc87d092c1805d810fabdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H056VBuyfLgqLPDGnBJDRagO",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.0978, 1.6943, 0.915, -0.112, -0.2462, -0.2554, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4141 right_y=0.0875 right_z=0.0568 right_yaw=0.4512 right_pitch=-0.2959 right_roll=0.0261 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.1145, 7.1043, 1.7021, -0.0562, -0.022, -0.0171, 0.5812, -7.3778, 6.2291, 1.7753, -0.3736, -0.0513, 0.1001]\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,$blob:c8bec415e6a2e92735f4a904b64aeea99c9d69ff925fb9fcb449d644b725da2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05762a0639c56688bd24705d047a37ef7e93dc32dfbca3a97b00bbc234206f3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb015f69f62de87ba88e5f2298a14f8d1f4b7d394ed5e36fd5b4639ff9af4a11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 7.5 s

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

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.8378, 0.6914, 0.4103, -0.1623, -0.144, 0.0437]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4052 right_y=0.1367 right_z=0.0042 right_yaw=0.4608 right_pitch=-0.1649 right_roll=0.0021 right_gripper=0.0437\nstate[joint_eff]: [-0.1846, -1.4838, 7.0222, 1.7656, -0.0757, -0.0366, -0.0171, 0.0615, -7.3368, 4.6838, 1.7167, -0.1001, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2337, 1.6924, 0.9749, -0.1196, -0.1848, -0.1768, 0.9948]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.419 right_y=0.1368 right_z=0.0773 right_yaw=0.4865 right_pitch=-0.2594 right_roll=0.0176 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.2923, 7.0359, 1.7118, -0.0806, -0.0659, -0.0171, -0.9094, -7.0906, 9.5385, 1.9267, -0.1294, 0.105, -0.2515]",
      "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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.0978, 1.6943, 0.915, -0.112, -0.2462, -0.2554, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4141 right_y=0.0875 right_z=0.0568 right_yaw=0.4512 right_pitch=-0.2959 right_roll=0.0261 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.1145, 7.1043, 1.7021, -0.0562, -0.022, -0.0171, 0.5812, -7.3778, 6.2291, 1.7753, -0.3736, -0.0513, 0.1001]\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,$blob:c8bec415e6a2e92735f4a904b64aeea99c9d69ff925fb9fcb449d644b725da2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05762a0639c56688bd24705d047a37ef7e93dc32dfbca3a97b00bbc234206f3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb015f69f62de87ba88e5f2298a14f8d1f4b7d394ed5e36fd5b4639ff9af4a11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ4qgbMtZT0gx9vyipIt9Mc1UijYlH-UKdQhutermtg0x243VcSE0MWqi5LIX-8rQxHiAPkpl4h-9qgesFWIvOqEdNK4H9jfy9MRR7rtPsizXhvLBhRTzkjQfe4XeLyANsOXHIkN6OYnhAVaHhv66WrpMPIqYKPbhYi6_0diRE5phh93VLcwZER6PZiNz6NEE1bjf6zZsOk1QBcK13tMWzgZbwLeOUvggO5Pv6UFL3WIUOORxFtSfL6q-c3eKNJTQ3LK-REeFss0OCzlnA2hN_SBuZYuLqEgszUQddOl7i_2d1DxmBZR_6_k0eYtv_rDwba-2BdKRA349SVb7ey1FQYzh99Fv-IyaguywD9egec-AIqtb3CeZEY_MYAGWahXs6O7YvfAAEMI-dcYPjtvtuQ14GYGSGk49BUBHkkHHJ4z7qpAnc45dRoayxTGJqyZ0Pk7s4V7AKgS-kh3g_w-wJUnnux09OGzlTMoZJiA5I-2FQT7MqYzrdoSF_s1l_pupjjLQcl7dC1oJmdQ1G55ogZFu2ACKACSWx5bFzVhMb4cwb9ENnfAr3b3d7fpWQItUBdWG2m_pTDeV89WdhndnvkWEQOTI04A1FaJZXNnctHBCqukJYqZksFvV4v7C_EKVyUNgdNJqOcd5npySq0Mjzh165PcSuEXwuNDwnd9D6iUnOOw5gZoVqWPNdB3sbE4Nm6RAlRpPEgpjoV91qOfSBJ9vKqhls1lRLguHFX76csnP2m6keZkBfaCr4BGJb7orMwgiJvGjPi-QYDARPizjgR3GqxGLBpNIK0KMRFpBlznjh7fvovOa18sUFRDh42prf4YUsU2dRn5j7yDt1tKEqGy9cs9_NbmvR6QH8XeDRo1gbNyd8_suAQfd931quIa9LPhgg9k4A3VywU8CarLZZGHF6MjslMbaEYz7Ga3t0HXF6wdkxXW57ImkJOGJUgPwD_J1tWZ-9HdbI9yMydPMKwSeFjfNFL9W3n5elIoXAOwVvkBCaK5bQa6mRDlcapZjEhQGjI1PYf16Nn9YJ_Wm-1MfUnnlR-dfO5pINVc61Mkkh0y0rtAwxcLWG4CPxNHqwNseKjQho7KSEMuszvITWa-3IFidnyBOWZPkQlIEiw0x5onk8fzRi_68xDDMZDRUkuU-x4pcgE4KycE97vC53j3XbL0PYY3NRF84ZdqCWnG-Wj9jcYh7PILBmV_vgiLWrTXv-TjnWK4vN9otfYTfdlYAKjJk1Fb2v4_0ZwPMz4OLXzBJn-7e5zM85CmL-HizDMLclrMki1-8MrSqUenNvwAXs1jro352w8sMJcXe9yzFXsCvRtfaBcCM8BqiJYZotL-3J6XRh0HJT_fSOmMHrdGvENT1C_PC-BNMoITIrvj5L0eErtEHFJv9Emxh-Oi2yVdZUlejKbgRAPO6aCACWijxaj_zo8rFTN1YTS9QBYt4bEpNXiNhp26ovbZg3S1J67IzWcDIvqiwATHDZS40SHIQOIv7j2ERX9PiRyaMDOOwtQ2eTqU_KHUlTmv7hTiQdmBXG3Y-OaLWw8fREl9cihAVFEG_1oSAxOTyDAlYzxmvMBCad-W8R2fDA9XhEzcGgaLJRUk36aYCrkX8O1vNljjl6nHKlcHoNsR3ZoEnnPw6eQXAkt7hYSKEstnczel0fjgu8evlB5LYHNw_CNwy2eYQ==",
  "id": "rs_0dfd50686a44e884016ab43276874887d09578f71cade1fc9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.053,\"right_z\":0.005,\"right_x\":0.425},\"note\":\"The pen has moved closer to the jaw column but is still roughly three centimetres to its right near the fingertips. I’ll make one more lateral adjustment and descend to table height before closing.\"}",
  "call_id": "call_zdeSm846keDd4q8bWYQnwQSj",
  "id": "fc_0dfd50686a44e884016ab43277ba8087d0a210fa356d628766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zdeSm846keDd4q8bWYQnwQSj",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8078, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0013, 1.8374, 0.87, 0.0216, -0.2962, -0.3275, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9998 right_x=0.4179 right_y=0.0546 right_z=0.0053 right_yaw=0.4413 right_pitch=-0.3293 right_roll=0.038 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3744, 7.0222, 1.707, -0.0757, -0.0317, -0.0171, -0.4034, -7.0769, 5.2718, 0.989, -0.1783, -0.1245, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c734b70ee5e2904ebb82f7035c540182fc8504688b82ad9d8e85fd3dec4605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a02935e5fee504b57a9bbfb4d30c9804dc6f0e5c36e734a1e540ba46b9ceea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4360f8e781badd6c91a4e5bd0891dafbf3f6f3effc0f742765e5f157a7899f97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.635 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]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2501, 1.5597, 0.9051, -0.1093, -0.1661, -0.1474, 0.045]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4031 right_y=0.1368 right_z=0.1056 right_yaw=0.4669 right_pitch=-0.1916 right_roll=0.0081 right_gripper=0.045\nstate[joint_eff]: [-0.2393, -1.1692, 7.0222, 1.7314, -0.0415, -0.0513, -0.0171, -0.3487, -9.6205, 9.0735, 1.5751, -0.0659, 0.0317, 1.033]",
      "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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.0978, 1.6943, 0.915, -0.112, -0.2462, -0.2554, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4141 right_y=0.0875 right_z=0.0568 right_yaw=0.4512 right_pitch=-0.2959 right_roll=0.0261 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.1145, 7.1043, 1.7021, -0.0562, -0.022, -0.0171, 0.5812, -7.3778, 6.2291, 1.7753, -0.3736, -0.0513, 0.1001]\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, 0.8078, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0013, 1.8374, 0.87, 0.0216, -0.2962, -0.3275, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9998 right_x=0.4179 right_y=0.0546 right_z=0.0053 right_yaw=0.4413 right_pitch=-0.3293 right_roll=0.038 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3744, 7.0222, 1.707, -0.0757, -0.0317, -0.0171, -0.4034, -7.0769, 5.2718, 0.989, -0.1783, -0.1245, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c734b70ee5e2904ebb82f7035c540182fc8504688b82ad9d8e85fd3dec4605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a02935e5fee504b57a9bbfb4d30c9804dc6f0e5c36e734a1e540ba46b9ceea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4360f8e781badd6c91a4e5bd0891dafbf3f6f3effc0f742765e5f157a7899f97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKAoZ3YtkYR9YWsyBGMU-AaU_z5LlP0AEpUtu4UFIKeFSwWsG3bvrZW_krH_2zL9jfXHsTX8XjKdhWieGasn6mZaQBtcDPflRG6lPoJpV8azQiw_-ZFt00rADvk-_zqwJVOcXQ_am0KMRx-HYslxacbCFEz8YM_K95P2HtnSYcqyo2LF0SUAlnPcS0iIBaZat8e0UIkuDbc7BpVkqBfgBtdhW69l2NRgOo3_omJf9AV9BK8Ndn3copE4O5UFPNcnUssLSCp4EkgDjeK9Xs6DIkWKIluAQXPnz12qpGXezaZ4Kf1Ad-pQ1r7RJpvidRyKQngNrdToZcR2uHrOjtXohgCBfc1t9dIAf4jC8lGI7aijcpXTeryiR2jN1iHQOcA0ARlf1ONrNQM5mN4c4wuC4u25Tvh7cEXiua_IxGXbZxBBqazmT8X8pELGce0GBw52Aic3ZRkEv8KUEp0Cqh2qM6VqFouaW97zcxFl6G_FNvJAyo5m9ywsI5imTvwNuBTt986PPKfVoMFJXRWXy5g6M3-zfDl-47A_RCNpQph-pCVSu1Li9tWl1YYaGyFPUlYWJvA7dgv1BHY7GsHbHWlcsEEoYwDhBssYJ0lExC-E5wyy6Wa-2CV3Maw4h5wRBm8HPvW1MwHptDJDqq1j8xdELP1NCjJlZ19RFSH7aOfflTsitUjUE6gbSFi4hKLUypVTPNlzuU03yPySDce2rBepobi7IUhyP9iT6eAbOVbsvHEj2DXmnpr48DHgOTn5f4h9gftscfxWn0yxEPRjbDmwStn_x7Yme9UKHDn_mU0F5EFb04NxGILOglV3tVAtb4NoEOxg9ZhEiwO-mmfY83CjNWRG9uHdz6RFXPw0XEeby5Xa0ZAvp7TfjnB5rLoA5RtuTr22Afkb-dRkz038AqUDQ6jboB_pmHxdGIzxaw7dyyG6Z9SoTK0orLAdd4Aba_704hurHLLGzBabLdqpizHEUPPrl0hIjQYZuhWxlYNqGKSIzIdGsK9_S3dDFX44tnNrUYn1-Ym1N2afLmn2UxLnHnetW7vggwOdL4-SwilYT209l-YkWxFDQIfazWhjxEu_VyU2mlwvWuvWLqJLdFBq5brFRLHAocamd3Jkp9DTxw92yNTyUOCKTrTgewacP88oBKao0iCRcRf6ygn7GYeJRWlBP41JHEE92wZEOCFeXap8RNc626o9Ce85fOklfbtosy8mxSpPcmddG0yeODQxg1TLqt3N1GhcNfQDA8XcBeWxlVAdRnBLH9Z-8DfriOP13FdYYfXWFW3FJB3CDTTQbN7gYX_DNHx3VR16mBdR2uDW-VdSEKLDoAp9rmcT9gDYm_ZbbdjbwxfzJZ66GYIakqbLYIfTYxOoATl3NP-Bf9uAPuCXpfgIEu4pW6Pq5oqHropiKGawTN2zsmAWWeANryNJZxwVu-mIgaw91mmohlA8LPn3xuEwxZT_PbTlDh1BjBKuy_epR4EHkpzN9brFnbSvoTxUlyp4HYzFYt9X0f54Do5Smu0Bk7dPcElCUZHcw1x2ju0pbe4L4hWGTsaovWgpjgaR5mW6N-AmNiBb366yTbrrPRVPWh69QwQFBIU8DD_Nlsau1anI6-sTA0DNFmwXXzRg-1EZOhqFzbuscVLx6ej0D7VbbSibbzLA3kW-xuNXaHOogJkX8GJm5WGQuz8iSAkIetrHA7o3RhOPLJro2lnDv3abi2y14XOeZXyGq00Nnp-utrajJTV1-FUSVofhpGu1ARcDE6jWWIdCDbLgVw2Z-DdUjM5lRx2RJH9W9taVjOcC_Xf-l_HRrgg21zjyFhvHp8jGbLsUYY1lPFnvYq9ucO3wRj8JAK4m-V_Ss8FqbhG_51GQCMh69TES6-j75ORSm4MEKHmtXjl7pXzuucB44FmB3wvyFYzFXBSCyeNPaE-GSgJ-AoKhdrTrjwMu3zl6RrTJF6JT8e5r2sWpiwVccmaytKAT79vS81I3YueYfMjrrtBmKdz9eANas3KhZOTKFj1sRi7h4d7TFv_1GvNbImrksUByDzaCvNTTefKbaahK8Qaqujf8YDloLEv5dN2Qtj7B8TUTEbcJ3nMTc9ZryYDFEbARxppa8x1Yhp4",
  "id": "rs_0dfd50686a44e884016ab4327c029487d0bbc07a38fa6234a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.448,\"right_y\":0.036,\"right_z\":0.002},\"note\":\"At pen height its shaft is now nearly centred, but it still trails just to the right of the actual fingertip position. I’ll advance two centimetres along the pen and nudge sideways so the jaws surround the barrel rather than close behind it.\"}",
  "call_id": "call_trxUnSrhLbQkfZNdOV8szfqN",
  "id": "fc_0dfd50686a44e884016ab4327dfa0c87d0bc2db4830443bdd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_trxUnSrhLbQkfZNdOV8szfqN",
  "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, 0.8082, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0109, 1.8435, 0.8661, 0.046, -0.3122, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1754 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4206 right_y=0.0533 right_z=0.0057 right_yaw=0.4551 right_pitch=-0.3101 right_roll=0.0289 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.7021, -0.0562, -0.0611, -0.0171, -0.4444, -7.4872, 5.9009, 1.5604, -0.2418, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e992b19a412d0afe4dcab6452fcfbf689ddfb0f240424f5f9773e410822c802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca41606e5256b4fe173a2c82dddd50b15c6f5bec7491bc383dc700c443661ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4604bd58bc084fc4953aac141f33cbedd32bc7b91527669b73858d983d3fadb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 2.541 s

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

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.2337, 1.6924, 0.9749, -0.1196, -0.1848, -0.1768, 0.9948]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.419 right_y=0.1368 right_z=0.0773 right_yaw=0.4865 right_pitch=-0.2594 right_roll=0.0176 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.2923, 7.0359, 1.7118, -0.0806, -0.0659, -0.0171, -0.9094, -7.0906, 9.5385, 1.9267, -0.1294, 0.105, -0.2515]",
      "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, 0.8078, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0013, 1.8374, 0.87, 0.0216, -0.2962, -0.3275, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9998 right_x=0.4179 right_y=0.0546 right_z=0.0053 right_yaw=0.4413 right_pitch=-0.3293 right_roll=0.038 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3744, 7.0222, 1.707, -0.0757, -0.0317, -0.0171, -0.4034, -7.0769, 5.2718, 0.989, -0.1783, -0.1245, 0.0024]",
      "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, 0.8082, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0109, 1.8435, 0.8661, 0.046, -0.3122, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1754 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4206 right_y=0.0533 right_z=0.0057 right_yaw=0.4551 right_pitch=-0.3101 right_roll=0.0289 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.7021, -0.0562, -0.0611, -0.0171, -0.4444, -7.4872, 5.9009, 1.5604, -0.2418, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e992b19a412d0afe4dcab6452fcfbf689ddfb0f240424f5f9773e410822c802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca41606e5256b4fe173a2c82dddd50b15c6f5bec7491bc383dc700c443661ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4604bd58bc084fc4953aac141f33cbedd32bc7b91527669b73858d983d3fadb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKDDUeBtUTk_fM5XVgkC_IPzUhdD1zvuFNX2my7w3DLJsCRou_6uLLWI4bkHsYzelKMBSepMQaiM911yFVHQlxEosnhOUSp7M6G4CXdqmS8hSMLSOonf4REwae7Tz6-pbFHaydHG7gp3QBnK6UG4ap8iQWapRZKzZtyoX7c6H1731pUBMTA_kPO71XZ2VwdaScuPLO51zH4mKTtc5OQUSz8kN3KotZ0nEh4LlLvz2Qxf_yUm_qXmKtAB3-ibG5etoY8HJRV8DZE0IjAMN4kkbZbdQ0IFiOB705_-y1z4YXRQOwXtap0Fu6cK5IHJ3nGXCKuqhehmaOWZbkGceGTgggecVcQN87-JXABFmJ82Ivngni4qFhZubrm1z7EZtvE6c7CJC9N6Ovn4EYcFDNKOcFeKSsYTAtuaDJYIcHypJz-YpdS9TI66xW6VIH5SkxM5w3WOTnUiVF9vQCB2mVDPeb5eIJz6QlL8CvBiKE_q-mA2Tc4iY4DJWBqfevIpLq24K5J8ccGNs-jFjaH5TZIJsFtoXdZXus87DFWL9AuOauG8v2_8oV7jA-ezP9zxgDIveNcLtrC_Zl32fyFP2au5VSb9-vvc-MuXInh6LrCjW6iKxCWBdwOrW_VTDqgVpyxPx7bJML41xCJ3fL0v1AWBi2EXjVXmRIHhXRx4HsjtMZ-lhnF_wvyYaG6mk5O58fIyO4j4V7xfUO5dvrai7eHx0u82VaCTDmOg7CPBiNHUJIvvrTx8hNek53MVJ7zhA2WTtUHjBjlshDwvqxXwHCHK5M1JJItdHMeQZCVxS9SIaTF3Yqay1wAJsLAmPjRnGk7LOD8q0_d99O0cf10ZQZydpOOmbSD29g9fK4GQkibF8ucDPEU7mY3Q3jXy0JQCaaThT-HvWdClO5gkrxl59gy9jEKqBRFrXSi9WbcRQArIwZ9ro1Wv1thcNTA5yrH7y_ZlpFvErvaDTPrfxR1_7_MhxgmU0g1yw7584FmDV_gurnEuUxtGyAeuM1nmAbWXqN7btE4OgcdPNFEIh_W2QdNRRnp4FGnGDiWYKhPY_TeuIPD3B53KAv8OBmMMehYD8ceJNrCGota0WrYI6Y_1WxZWh_yXVbuWNQKrVoDa0xjWycIUAIbSMoCjYGb8sRKBJff7XY5DC1OlgGP1C1WIFT4NLP_mI2VeEPAE_CUAf5yMpXRL1OAmi-3bpmsGfXTGdEezyzVfcw0-Xb1PvyEF2tg-EVopnUJ8m5aeoTis-tER_AFicuqOtUhwts6y0jcZbGNtPivjDUgfbpujW7IPbM0O_vc2JXBUpErJCdRtkAsjBfO_ZDAHz9Zx0cLnfH3OZTC_VlpIWeXVs3o5NybVYRPcg2loyQAbDh0sXKwj9G0l6i-G3ATdU88FKRhvrTeVq0J4IywBOiyyvGukc7uA1mLa6no0JzLkHPYFAsc3ll1AhdAV6BCOufoFIg6mOTkUSFlu_9kQrRr3sVJMhjxUic1YjrNr92n9vZQmy4mm8pCD6lHlQBgZ4hfsU-61WhFOqAJCo3jNezO9OHpfS6dmJyHJIvZsw==",
  "id": "rs_0dfd50686a44e884016ab432824c9487d0ac2f53cfa24c7667",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The low forward nudge barely tracked, suggesting the gripper is already at its table-level reach or in contact. The pen barrel appears between the jaw tips now, so I’ll close and then test whether it lifts.\"}",
  "call_id": "call_En8QMZD1qu9i0CC7HI7hIdW9",
  "id": "fc_0dfd50686a44e884016ab43282ea3c87d0b1614fffb20ae660",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_En8QMZD1qu9i0CC7HI7hIdW9",
  "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, 0.8082, 0.6029, -0.3813, -0.02, -0.0189, 0.9998, -0.0109, 1.8359, 0.8703, 0.0612, -0.3233, -0.3557, 0.0301]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4254 right_y=0.0551 right_z=0.0129 right_yaw=0.464 right_pitch=-0.2819 right_roll=0.0198 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -0.9231, 7.0222, 1.7314, -0.0317, -0.0366, -0.0171, -0.0342, -7.4051, 5.2034, 1.1111, -0.105, 0.2222, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7361da92d70dfe80037727e7667673382b50b08691a61a4499cb6ab04c210fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851b563fa655e343b522b73da5ef6b2fe457312f2440696bd71e4752103dc54a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e7bdfb93733b4d37a45415fc9ef0c5648d30bb784070de4b4fe7ad4db8b7ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 7.364 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, 0.807, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, 0.0978, 1.6943, 0.915, -0.112, -0.2462, -0.2554, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9998 right_x=0.4141 right_y=0.0875 right_z=0.0568 right_yaw=0.4512 right_pitch=-0.2959 right_roll=0.0261 right_gripper=0.9959\nstate[joint_eff]: [-0.253, -1.1145, 7.1043, 1.7021, -0.0562, -0.022, -0.0171, 0.5812, -7.3778, 6.2291, 1.7753, -0.3736, -0.0513, 0.1001]\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, 0.8082, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0109, 1.8435, 0.8661, 0.046, -0.3122, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1754 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4206 right_y=0.0533 right_z=0.0057 right_yaw=0.4551 right_pitch=-0.3101 right_roll=0.0289 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.7021, -0.0562, -0.0611, -0.0171, -0.4444, -7.4872, 5.9009, 1.5604, -0.2418, 0.0024, -0.0073]",
      "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, 0.8082, 0.6029, -0.3813, -0.02, -0.0189, 0.9998, -0.0109, 1.8359, 0.8703, 0.0612, -0.3233, -0.3557, 0.0301]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4254 right_y=0.0551 right_z=0.0129 right_yaw=0.464 right_pitch=-0.2819 right_roll=0.0198 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -0.9231, 7.0222, 1.7314, -0.0317, -0.0366, -0.0171, -0.0342, -7.4051, 5.2034, 1.1111, -0.105, 0.2222, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7361da92d70dfe80037727e7667673382b50b08691a61a4499cb6ab04c210fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851b563fa655e343b522b73da5ef6b2fe457312f2440696bd71e4752103dc54a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e7bdfb93733b4d37a45415fc9ef0c5648d30bb784070de4b4fe7ad4db8b7ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKHyHosNzeQKkEY_M4d_1TAA50li8ZrBt_bjc0sd4Kg7vWwCcEAiS-Cig-dzkgltPrkiBlHs-Ettpcl4Jup8M_rrzR1t7ZWWBjswUm-mzM0yD2S4eZEiQGbcPKoxeaI3UjquS3XL4cB-B69YmpHySm0hagkmt8XWm6UkP0U2Iewjgmw4hsB8Gg8D6DAfmA17nop7UjvJ9R0f5_0pg5C_BNAQJTtewtd50g53wA1HXYoiVl1wOKBN6MCdE1WyQIpDgLL0E7VXQ1nl-IXpgDzd7b8Zlb-nhnmbL6v5jl0eaiKBBT5x-qIigddYkP9JZmfl-PUgf35svZSwGPnEurTqxjqQIjVTV4dmhjKiPllltRh2JoJGR1R7jhmq_OpwxVRGkLhz59QKfKVTMNLIC5PLpZj4CuMhSqUhVb-ad2Wgus4PpG11g8yqtnRT0MelnB5eO81fA1o1oSNVhVQGZRX30labR68ovOPohTyItI4F1kkrdizkn43EfQJ7DIZLXQmu1pD6syG8-avm1VEhxewErhmiLp1qCFwu2V42RsrGKCwITqzntCiFZMohH-5ZoHDdcagCgGp0CMV1AMcrF519uYZImQFMhbx01h01gb90Y87eSnD6w14Oelt308qFyNEH1M5CYocGa0uVB5Kw2203rYcoDBjM4S8xqaDTK33zSAsMzIDh4OI5IatWymb-foj9WNc8sFQxGIFbMjA7ZRYerZC6qMfXx5HvLi8IDb_gL100dI_XgdOgV5Bpha0NYvrq_b7CA0tfRkjNOczpkLTy__r-0J3BMJhe9S4LBQgCHAQMcmnrq5P79OMosNcqeebzQ3RcyAgBdyB0QMQfsPxcaXIcRGWFU23Ii7GAq1x_8LDiQvxXSrcgMkT_sX4JatPlhItTZiKskbHuAUlxBgjM5xYa-LldaoNmoqC-VsCFsVHd8BDM34yyrZRxyTlr99i6tO8enGfxG-pE6qUHAVN7j5R7f1O1err3oUcWM1lqhWaUIV2-0fwWqzhtOKC1hZs9YWxIxlXwP10PqhVcxcOEyLHq1ARXKTcHtUnXI0LAau28F3EW9x6aVdXKlYY2XwjRE59tYb-h4CaKtaN1wwUcBNR9oc3VwzwFCK0Tpvmvpy5lQqNzcEOFNdn2L1lowBATtITXtOAssBzdgs3ClonZkNCp15kO9z5vOCQppALrndW8qgzQMb8l7SJfjdfqrtuuhe3wtZNpWLkxLvQOR67WystDP6GFd4D4l-hywMp_6MnxOUbc93fenSkwQGzu_xFRCQhmGoIU5Kp3nnRs5_FgM-KINFqSBG5T9U5LTow-oreZWeF-RPirXQi3HZkRZFnw6IN1wqzv_VH8LXDURrFgKSVmyqKAOl1HFLKAOc0z4TqdYan3hgGfVG_Y0lxZFRxT_BA",
  "id": "rs_0dfd50686a44e884016ab43286389c87d0bd399391a5b83da9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The settled opening is only 0.03, which can mean the jaws closed empty despite the apparent alignment. I’ll lift once to verify in the overhead view rather than assume a successful grip.\"}",
  "call_id": "call_7OnBTTJspVVCi0IParswMWvO",
  "id": "fc_0dfd50686a44e884016ab4328698e487d08f429a2e03b239b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7OnBTTJspVVCi0IParswMWvO",
  "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]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0216, 0.9997, -0.009, 1.6581, 1.087, -0.4007, -0.3202, -0.3805, 0.0296]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0022 left_pitch=-0.0156 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4161 right_y=0.0555 right_z=0.0968 right_yaw=0.4874 right_pitch=-0.3423 right_roll=0.0339 right_gripper=0.0296\nstate[joint_eff]: [-0.2393, -1.4291, 7.0222, 1.7167, -0.0757, -0.0269, -0.0171, -0.5402, -10.1812, 9.7709, 1.7265, -0.2515, 0.2271, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7164b4dbd5d4abd510817246cc441c7f5ce472aa43d832610df92d9deb765ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964180df88c17fc6f8fc7f37a8cfcced79c96589d437da63bab4d764f60de1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3cc3f677bf59ec5bbef9e00dd3c9f1177326708de6b9eb283d3cffea047ed4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 4.891 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, 0.8078, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0013, 1.8374, 0.87, 0.0216, -0.2962, -0.3275, 0.9959]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1755 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9998 right_x=0.4179 right_y=0.0546 right_z=0.0053 right_yaw=0.4413 right_pitch=-0.3293 right_roll=0.038 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3744, 7.0222, 1.707, -0.0757, -0.0317, -0.0171, -0.4034, -7.0769, 5.2718, 0.989, -0.1783, -0.1245, 0.0024]",
      "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, 0.8082, 0.6029, -0.3813, -0.02, -0.0189, 0.9998, -0.0109, 1.8359, 0.8703, 0.0612, -0.3233, -0.3557, 0.0301]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4254 right_y=0.0551 right_z=0.0129 right_yaw=0.464 right_pitch=-0.2819 right_roll=0.0198 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -0.9231, 7.0222, 1.7314, -0.0317, -0.0366, -0.0171, -0.0342, -7.4051, 5.2034, 1.1111, -0.105, 0.2222, 0.2027]\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, 0.8089, 0.6029, -0.3809, -0.02, -0.0216, 0.9997, -0.009, 1.6581, 1.087, -0.4007, -0.3202, -0.3805, 0.0296]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0022 left_pitch=-0.0156 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4161 right_y=0.0555 right_z=0.0968 right_yaw=0.4874 right_pitch=-0.3423 right_roll=0.0339 right_gripper=0.0296\nstate[joint_eff]: [-0.2393, -1.4291, 7.0222, 1.7167, -0.0757, -0.0269, -0.0171, -0.5402, -10.1812, 9.7709, 1.7265, -0.2515, 0.2271, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7164b4dbd5d4abd510817246cc441c7f5ce472aa43d832610df92d9deb765ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964180df88c17fc6f8fc7f37a8cfcced79c96589d437da63bab4d764f60de1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3cc3f677bf59ec5bbef9e00dd3c9f1177326708de6b9eb283d3cffea047ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKPe2oOJkl-x4xcuW7L_-f8BrjEpTy6go_rGBN4hkhax5W-X1kfqAr2E2Kb57wDGukWhdfktlqzuJs991faYmy0InY0zQ9EzLRzbg3F_g5E2XyD4Hw-8spDJImtKUmftwcpuTlonNhVVHh-nt_mxhY_XqjwyEce135DWcgSZkhRHGPh1f9S1lPqDToc8svG7j50I9jGdyjA8nc_fSb0azH-NA9_PPJqabARauXUU9j8jQSfJ6o85JAg0MiqtUTS3SEWDBZj7yFFBt3N23eizLMp2_1X2DKhVv92PeYrb_Cq1BVLh4bs6SwaLeBKGrlv1_a6AcwjqtRnx2cKs9DYMLQ_Fl6qHYvk8txSZcEQSWCUwATlbeY4pFbzNB1ub7hMUa3eWOW75tOmuvZIJi9M7FpLnn3ZyE07P6Jlly4rgPZja6gQcpLkPjLWBhb5xyClUUt-XzjJhWncId3D1djQFwdX4M3HWctEevhB505Zs-gr2E9XPEKoAF07QcguA6UmBEafEDpeM0TalVkW2NjeFVmcRWYSGSiaZTwbBf6ZPjC8aBO4G93FBicnttfoXI97ohlCUJnB7pIAtCVACINLAjgGghxGKKXLAnCzjlA4_mzIb2sG_4B2VDtnA0Rxzm_rd0veeFe3hgpiAy2MK276XLiehU6KA1LDhbhdASeGcMqz2BBpRSHVlkGYMnlqSa2PSAKg5kgYg5VYFvN3uLUdBdzqibIRG_zpUGMKl-D64B_WXRbtJBlYN58E46_7Q6tcjdXZ8In6v-6--cn3pt7ed8_DJcgQTPk4Cdl6oHIyVzTPFAsa3eqUrVq5okfibZgKVsWkME_-zYtnqghFgghzrwV2MeNT_vbcJhL8byBhMxjyW4bRlDG1XVxPQJgB9-XFMp57waGmRpU2Ra_uTN7CJ-2SAymx9VZh--c8xilsR-tLB61tBsvd87foxma5NbrSqaGFMqQZoci4oZ48mqdLe0vET7yuc2LxMBjf4Xno8avjwoh5miJxHo5auaL-2M5emkguAUWI9LO-VZgyR02jWYAkNw5PH4fAUpVkkH48MQOzVev6MbVSDtbrMO3-tvdqyd7mWJdZKAF9VliEpCpTuy29_Y6APGVuJHO2yxIAkhYpO-hKKBmnngyfdQTHqU_IxoTqvOL6dpAGi29MXunqkuEqBNiR3ulQzAaq-l7s_NxgvJG2kbgixgg8A_S0L0V6BTDh9yaU1Ss0MAefDqalCNeavP3CKhBc4n-QQ1cieBfjBuvzWVG2F3M_A-n5t5f0YiGxBwwcJhIYu-76bJxyQEMzI2J2sr0WkrmvVoKo_D919Py-6deu2dRdNk2CxWG8HHMH4TuLQqd65aXhex0ZwlWY4JARbl1VjCOXasDCfFEQSZg8Dp17pjbe2iKEDkkSxsxwDaM4MEKP8mOd--2I73AlFzqyJpE9OUMXBhBoZfrncoohwhaabJNrkeCH9ZYMjfZwROfvWoLxJ5MtaZK_GLAZ669az1-Zv5345pRSJOcCjqBDwJrnYRRyD577vrjGeLL8NIzshZJGyx3WW1YGWDYYWxNzKvPeGSAkke_za-TYYVIAw9qx-OzLh6GYy_aIxWWOCO8kRREG2a1XwAKt3fXG-73z3jeb2xNPMEH5033PR3D4AvFu5Hvl5fq7OhQGoa1_LpqZYKcN0fF1rqFrLv5AsnnDyxdHxYRcrqCKwOcN46XUKxsPHo7uuymupsCbgJo5l8bF8HDWIUjd02b4V079SBf97bqj2n7HIBvevZG_qsZaB09kWLD4LYRsfP6YLkkISg7RRu3iaqCg4vgNuIO8-F5Qiy2ESscu8riTUWF25ZKc1vTVl34aANRSktO1zr5kGr2x5bTq42zxWjbOnTe4AQatOCKT7IX3gz6CHfrnBSOEVWl09Gbhd1R5FbS8EUbeJsVnwZhJ2bblHaIM7LxyoqDH7Gv_fmp22FfdDmOw4wRx74k8kY5y--sgUw9SF9AFvkmkwNI1PEhYH9DIJfQfY36gv4hpVDi_ywsER2_vxhJTEhwpLwW95fBf2EFniDM9MFJmbWQ1a962fxLa2wR68B4IF3trOGou2OMcMernBoVTT6mj2q__yovyvKq6svFIz9GO5DEfa3Yh21rU0s-56yA0w02pTFVmR_QetwTAsE7hHNkxhNFewj6aVKyCcBik8CqTQEC-WnXgLo997KiNA3_11pxRwyx_Finqn8ZOtfDk7E9SOd_Zl27sUiLFGrEnKNGdiZhqN8p464ntYZ4cQUMoXxeKbtFXSzHBF2nli5Z4WwNSzUZWgMrb-Qz2JRBsP-jy92gOK9HgCReRgI1EGxYt_V_VeYKNLfuzxI9J1rf7VtqEVtUkwyORArllwk6Vpxzv7toyHzLBwjF8ikAortxbxMayS9DmvIULSmJV-x5zveeMEy0-KjOGdXOsnPiqFu8ath3-DbwK7fiqVI7inOMxuVi1YIBRoozByiTrvoSzcYnsBEWSiRfNrgPXpRbZj2ZVlS1oKmc0VO-HMmvhoGTpTwEWMXFrIeSPIytvvYQIPuWZZWGvDyveoJCsyodHn64ELlDJA_gkpgSACthdia2qeoUgOpuldQnB5wzmEopiAlNRGV1qTl-81LqyQ_nj9UCKYQyxx5_fRYj37BH4qiHzGLbHq28xlB8--LoSUFEhHlNqH22Dd5K9SCjkerq_L9HHbMlC_XnkVrCyPpotIVvzMiWbKL8u3NTS7308OkRf9_WvjJzX7IfdIwW8u1zwDHFZY4G8vVdKXMwWkRJYPaf1YBBmXo0t0eKVuOXB9cuOEqUoJg7Kt9WYQkt-nnJg5AC19rHNWxRoA_UfdPmsnEdnePRL8v_AEL_BaJXGq3CNFTxcHhX4y2fvTTrjuJhOt05CTxJR2JVqnvP3EZoOuBPU9hUuhPaT3hq7xTEtTQ4FCIX4TjX_idmmyUlQrUzEmSE9-YQIcJisFoGWf0Q8vaUD2L3gkcQH-lJKSTyGgTeRMj8rrus9rjJHO0H8r5qkqIC4xsKzknOyWhc5ey-4IqRloEqw9yX5wcWNhVGFpX8F-7Wu4NC6TXivaEi4i8Enc-UEocpKq3pGoiflJQLjpMQKW-y3VyxjxtzYqaHqu_WP9LDJd8_x5NF7fiFC0EN8znKCs7rKl-CO7OS2zx91AZeGRAiaH6XRNE0t5-MLdJcZlV2E8rxBMlGpHDK_eiQDqj2JJHukGEuliXFdlAS7UvcAuxsUlZ3r_V72e5jdHGMjdqj7UOMIBzTjhKTSHuGGqmKcjc91Hi58ivpH6XjDgZvcwcCqTCXxh465xB_iW2XN5Vwgbzljuagdf4gaqWqgTpk1e1YIDGdWwsprxmS8pfnZdKH9YtXK-rN-vsT_6LM0bovvqedLg7v8vKwYm3ZgkSPmOJLTYoYWzcsXQcvRTURvvlkjf-F3V-HqNyvzRLLdIDnEGOsIwj3OegPSyYsrwqZsDtf5yg97MIYMekYObK4Jtl0XhQA97mHWGmTdywFLtXbu5CG9f3eWSNkWiWJtvlrYl5kl5QR2Hiacsm0bV9nU-yTMM5aOPqDgjMO3g-aQFW43LrSMLVCWbQP7HUATz6BiPiT3F83bggoyBAMAGMAoZV-Tu4nNL5HJGKKBvZ5fQIdZwyQ_0Fh11Re3BtVshzHEPpfgr-__1QvAfKC2_w==",
  "id": "rs_0dfd50686a44e884016ab43288eb7087d0b8f1e01e16391b26",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKPaMdJjtKQi82x6Fn_taPUbCQqjVZdrDulveBlb31HcDWQ_yyZ4R5zqOVvpUSQoEcJJmhKdsvmzrkx7YZ4L0i_a9-iyqTQS7JTwjGFiUNEkdJja-h1d5sj7rivpdcHCPK3T3wGmt1WVwTG6_OpADg7HcV2I3yIJOkd4arqbRtZ11chm9lRFMMxJR5wF94X3CQHZugjeWcf6OMbl8YKL-5ogLqHXhbUzEiUETkNduUtyrqaN0zK7PIogWZVdPl7YYogZ5p-HgAx-zUAFDyRFjPXOumIK4O7zlToR3rGerAM4vZEXy81C2Rb5M0g5MOyuzgVi91yy1yH_usById5dKzAbC2FYKuPQqdnpenuklY08tM42YthDcSBLQbXi1wgijOKUYo4I4Gzr8Z366EUMIFb8PPsL4Wh7WCLI4Zs5fB2uBVd_LqEFd6ZyePgQipLx_Lkj_pR5GCei1ItoWMg-yoxY7nCfO2BVFWpeMgasKP4AorUzVMJ0EGF_nDks4DZZ1xVZS2dQs7z1i6uY6DppojXYUqTzECEhb8EuDdwW9u8XGqx31Rd7Qe7tGUOpHGW3aEMGL0PQggdHt66hQr-Yi7eNZVxq23QLMNPGBNmKQx9EmDix_oNGid0w7NvLzizl3uauaDxAKd5Ud_gG1HAZbpqUcRmVYoVN-S10PHiY78CjoAQuTE2VvPgsLFAr7EXBIf-8sLL3e_OmQDk39_AiNx2xJBB07WFFp6yCDFmW4FR2Zq3rrnLITkMqFr-EM_wVjDKNRU2xYzb0lneNrAoS_L5DQj1fdDQusFuH20G7Pdvu3g4Efy3m9rS44YBLlBpnzie5qBAzJuh5_CpeLoq6q4iu3bXUiT_VbTXXzPGhy0uVgdyU2div57w-ijbilTt6S6DuKd3RvL4pPtgDLlWNP5iY14Ohr9puBUL8QD3yM9DoXCbOxnnEk1WFXShHA-0yuorfXROh9gpBCDJ9oa6DrfFl9zhUr7UfhwPv1FjWUvlNjAu_DxjetK-pQicr3e8sU9PzAAgchBD8yK3vbF9CNp5mNNcKcLfBowy-0Da_kxwKZibIYGRCRSQvgodWLSdmzBM8S2aUPIeg2f0r7nfx6S1E-WBooZn3E2YdXMAWGSrt6OLH-9u6Z1EUMF7yjhRaHfrxxQ3hXX4tqy9SUIfjnUstg6bESlv-b1kSBCZa4wg219luy1SxfVcvgFnCPGg-ciJPpwhzJOnLUlhll1-pbJFmQ8uMsSKQS3OjiPYch6JbKfuCVpXsm93nlmHphg0oJTrfMWKBlVg-kzAPpG7YKvESCuqxZPuMXLmcZxUxsVGTJkYs7X8fj071Ow_S2IiJmNok98p-pc7_lnCeEJPNsWqM2-mWGHLr1iDMgjmYCOfPTOSuVUo0jjR2wp7YKkTaU4_pO1TaN2J2KuC5pwtRxHY-tF6GW7JaSlY4hFbk30-I5FDhswYbdwLg_mY0BbK-qSgvviZnKbCaImTPNjXPxTRvkHj_Cj9ijz1yoLx4aHorYjixMbMguOSRwyVXLGPw7pwkN41r57tAdhixAvxli_um2DsdXAPuNRw_732NOLL5kxvpDCh7nAcMH-p6trWpB0IEwNYhz0xWWnvUZNtICGV7bySP24kHbOVt0ITSRxBsGDxnqqNpYLtI1hu7oVIZttUjN7AGMj5P5E2esP26PcRsR5_z5_aNLkYnD49kqt66nQssyerURBrGhOiOUC8sZWh50OT-VEQfQ7lW9ZyEb0EardIEvkFgASyfebtJTRum3JG5VhxLpbdAU-fdxRSlSdRGOg8Y-orMJ6I53LVAVLpfXC7hSnv4hMVQsn_31bACXaGQN29a6EWQVyX_Ig6NnEDYvtrnlaLCgl3ZxCET3nJzSxRMG4N4-MVg2uD9Iq32bfIlmGTMEJLX5w8DWYUNHBCMWy92TPzgbzTqVXUQpiXQw==",
  "id": "rs_0dfd50686a44e884016ab4328d2fe487d0bc3480a874719a81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.18,\"left_z\":0.12,\"left_yaw\":-0.45,\"right_z\":0.17},\"note\":\"The pen remains visible on the table after the second lift, so the right-hand grasp was empty. I’ll keep that arm raised and bring the left gripper over the separate cap; securing the cap will also leave a clear view for a revised pen grasp.\"}",
  "call_id": "call_yFdJNFraPtg8lJGbQpsJvrZJ",
  "id": "fc_0dfd50686a44e884016ab4328e54fc87d086d2e932204d16d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yFdJNFraPtg8lJGbQpsJvrZJ",
  "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]: [-0.4618, 1.4158, 0.6636, 0.0677, -0.0429, -0.0441, 0.9997, -0.0044, 1.639, 1.2789, -0.7334, -0.3222, -0.4149, 0.0295]\nstate[eef_state]: left_x=0.3544 left_y=-0.1639 left_z=0.0935 left_yaw=-0.4078 left_pitch=-0.1127 left_roll=-0.0034 left_gripper=0.9997 right_x=0.3978 right_y=0.0578 right_z=0.1343 right_yaw=0.5385 right_pitch=-0.446 right_roll=0.0793 right_gripper=0.0295\nstate[joint_eff]: [-0.4855, -5.7231, 9.5932, 2.0391, 0.1783, 0.1294, -0.0122, -0.7043, -10.3043, 10.4274, 1.663, -0.1538, 0.3297, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c045ea10959ac695b7c81d322e0b486e60bfb98ad2e52293405ea0fda5265ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee5270b1461c1afba8ab4071837bc6f5ecae3d7b446bef839b5a7bca786c102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a39e04701cbaba3ed28bfea232a1881489c9723bb63d43eb64ecd0d78d1f839",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.367 s

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

message 40 changed as sent

message 48 changed as sent

message 53 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, 0.8082, 0.6029, -0.3809, -0.02, -0.0185, 0.9998, -0.0109, 1.8435, 0.8661, 0.046, -0.3122, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1754 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4206 right_y=0.0533 right_z=0.0057 right_yaw=0.4551 right_pitch=-0.3101 right_roll=0.0289 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3744, 7.0906, 1.7021, -0.0562, -0.0611, -0.0171, -0.4444, -7.4872, 5.9009, 1.5604, -0.2418, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0216, 0.9997, -0.009, 1.6581, 1.087, -0.4007, -0.3202, -0.3805, 0.0296]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0022 left_pitch=-0.0156 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4161 right_y=0.0555 right_z=0.0968 right_yaw=0.4874 right_pitch=-0.3423 right_roll=0.0339 right_gripper=0.0296\nstate[joint_eff]: [-0.2393, -1.4291, 7.0222, 1.7167, -0.0757, -0.0269, -0.0171, -0.5402, -10.1812, 9.7709, 1.7265, -0.2515, 0.2271, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 1.4158, 0.6636, 0.0677, -0.0429, -0.0441, 0.9997, -0.0044, 1.639, 1.2789, -0.7334, -0.3222, -0.4149, 0.0295]\nstate[eef_state]: left_x=0.3544 left_y=-0.1639 left_z=0.0935 left_yaw=-0.4078 left_pitch=-0.1127 left_roll=-0.0034 left_gripper=0.9997 right_x=0.3978 right_y=0.0578 right_z=0.1343 right_yaw=0.5385 right_pitch=-0.446 right_roll=0.0793 right_gripper=0.0295\nstate[joint_eff]: [-0.4855, -5.7231, 9.5932, 2.0391, 0.1783, 0.1294, -0.0122, -0.7043, -10.3043, 10.4274, 1.663, -0.1538, 0.3297, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c045ea10959ac695b7c81d322e0b486e60bfb98ad2e52293405ea0fda5265ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee5270b1461c1afba8ab4071837bc6f5ecae3d7b446bef839b5a7bca786c102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a39e04701cbaba3ed28bfea232a1881489c9723bb63d43eb64ecd0d78d1f839",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKV3pZkYPOK_O9csBiu_3yuj3cc0KE9bRqByL67Ky7R4JurTGJN9nNQtbXpngUj1MJmJoJO-a4ycDfoKc8Fv2i8hPqnWRlbsQHI0GkwX5HRfbQ8gyVKh86yrHDcyX5x3blXMZnsxR3aiiHn0zT1lJoqQYyc5IsvwdTBVpc2tciHcWKtMwZuIMqppvG6Ajbu4QLmTZToYNMnu5rzm6nZjSMphNAJg8WuRmu1NNiFYehgwWaL_uMsUIvLaLt9MDYVYIReDP0euMT-ZT8mPiXU1qi4meBwLmnIXM_6muatiCTywKFM2J7P95ruNZ9IwtZKJ7mYSLGLgcPnD2Ct-a28nnT_Jmcjx1QPi-O7Lr26yX7CkqHDpPu1MPOaLgQlO0F8lOuGgYuxga-eQw5_coEGbjkMSBmEw7Yp2paXbpDftsGbZVvtfzDLisq7u7UqUkwy-8ydo547CYrDcXiqBeXM97foRkN4PhIeIxi18op6LxNiIpkGvNQNeHCeT8IMzH6HrYd8sYqrtzYmzzGR9jhkJCqKIbef06JVgzD2uXeTNMYCGkAct52Ty7iJJrg3Yt-GKeF2_9t-Sj9wtkpsRJywHbFbBc2QBeDiUiUveHz4OtefTx41FZN6d3GKLBS8y0Qv0PL5GwUGtVjBiX8tYV1ftL75O63YPOFI0-9wx4yfFGKZS5lHVqOT2C3B-vx0arc9ybgzFinDC5l7c7uptLjl1Mj8HNTxz-f3bJCbN9diM99-DMVYNKbyQnZ0mJYMmGkMyEdcxVeCxb19wO_FoYwHhUa_5bIzgp6RK7rYRDpESSAmH_fgBdAG7RlMt611oVYhgClGOrBNK-Knbl5qL6O9AMmMyORGcnce6WHnzvNJSFg1vDiU0zBe2r8ZEbIxeC8rsYwpxBwbc32TLacrPPJHPERyUtk5xKDCcTCE9Vr4trr28F7qQe2R_VOdxzsJVhTr7v47i6hsE6J1wjDgN5Jbjju7kw5cVb7jgZb_wF3M3q67Bxh89ep46j55uODOOtcSCAIRxn7wMejuN3v47rYmJhq1FJGcMgPMXBiy2N0UvLbfZSRCGxs-ksHAWgp3Oc8ujJeT7Ovph3tYx7OSF7W2fi9M4Cz_rRw5YR3WBRbS1bvxNxZO2ZDl5f6eJtXj4WoDHJX8dUo7jyZqq1pJCPthlptTmHbGOu4fz1TCP4ambMY_rPOekrTNY5spEGBhLj6xr8fZQxW4fK4AvhKJCvTn-_unR9VR1gBQ7k09ghneTfUL1Z_NMBv0izudChp7X6RzlayU3rBNPXW2ynmM4hTYK6D_IBxSj1C5zkKxYkBGp2ydn5MRIMdevq7SsQIL-3EyDX6aJ_LwziA7LDpmVspGvWO1lqLkR5sO_IN1fnTrMTtiOGtkLeKKpkg1y9yQzVYVK8PEJfnZORiFL4mpU0tzlpedwB1CsQAaGrvLGxuSlNv5Y0xTfra-aVSDTQOf_WMmfkuP6mIwcCAQT5LZdcKEWkgQZnI4dosOlHjeCmMVSIEQvCQaR0CO8rwV5uNcUgWmgy7AfRxATNlTnDvRi8csR_HKoFQ9pYM7W1VPKxhLpSbDfqGAzAYJq8JX6CmdQ8LptNlyb59wQmLaPwYF5VJoAHTE9LxeBLM9tU9ShgO4YyeZHPEWeEmQ7QGByKFj_xSvZ07bkZ0XP-uPiWDGxgDGgSs_sSQoI97aXb-4BBpKFq7BHB5EPQAzU9kkknLSXPyhT0K9ocJFfap9DfID0ozhFIxsueBPE6tLcgOVxvxi7gzIqsiB1TPYHHUik67Qi0YThGJkrypQOHBlo__2GBXYk26DuZ7rM89H16bGDfEDeNM63kCWfzJImVvnyDnQrNYFCMkemR-qDaFuwVm0hQMZWJckDQbJOFjlIcGf4GWjVgvfT2RGAmPzdUzOHvSXOCjJWSPKu85Rks2DGgl95DXM8jvbIlew8LhDYpr9wyZYCgXnlUEo_5FOO4rThNhQUSht_V1TKv9q5xIOUwV6n2eo5BMvaju5RSRbP_m2TVMzj5Ay9ikInrMOR7kEd5EDQMZsakfepVqgalw6ryQJ6u4XXMJDAQ4lsnfhO49RM_srPLTxNcmgWOs0Ct7AyZK9mefF2j8c8hhxEqA0uQL9M2fOf8p2mjudcpM9Auhv3OAqPP6CnRVAKTVFkWkJxWejREbmm0_n78o92hzZjsMB_iEYJ-lvHbDAbq6BTJAyJGMRDjIeGcbs8Ie_foX4UxigAeUrQI6niPhOxZ4hR-wB64Fp82A-6N2FLcuDSAYbO7eRR-tDGNibOWZXYaVaVmk9TBpR24uhxUSlKAeKm6V9rrM6f6iMKS6txv-n5DBeBH6MczhYxBE6vFsIoBB83gGreMg9O5GF2CVa0JYkgMYVhzve-sQW2BwUNK9cJqeTkJN0FEf76t8zJiJrJFY6hPU2LfYz_iBOkqlqOy80miiVPtq-vz9eTnYUnqqxG0bvLrDmeor5Ae0cTMwlvOdKPPFyCu5paaZkvfF2QtlxDeXGLC25r0bwsezxdP4RtcCEzPJVvYn5DuWsSK6Cp1-QdwMYT_gqGyoYv-d65jVR6apWzr7n2LselH63wkYrYULjKjcZKu9opJwllRqGfAOvXja6kU831aW97fC8lf8Z8Jw0eg4YthLGXTmjtYQlUMMp0nW3OWW45wbZv6BkTJF55kSxC_IoPpzdADcPK-6EffzuWhTkweGV_3OeYfQAz3JmopobhL28_zo=",
  "id": "rs_0dfd50686a44e884016ab4329252c887d0bb10863a2c601df0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.095,\"left_z\":0.057},\"note\":\"The cap is fully visible in the left wrist view but sits well left of the jaw column, so the initial lateral estimate overshot. I’ll move back toward the table centre and slightly forward, then recheck at a lower hover.\"}",
  "call_id": "call_QrYMLdNs3QhDpX9EgwuuN3xQ",
  "id": "fc_0dfd50686a44e884016ab43295199c87d0b86e9b43881be885",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrYMLdNs3QhDpX9EgwuuN3xQ",
  "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]: [-0.3737, 1.4448, 0.6365, 0.1013, 0.0078, -0.0135, 0.9997, -0.0044, 1.6398, 1.2751, -0.7517, -0.3222, -0.4202, 0.0295]\nstate[eef_state]: left_x=0.3612 left_y=-0.1393 left_z=0.0781 left_yaw=-0.3792 left_pitch=-0.1359 left_roll=-0.012 left_gripper=0.9997 right_x=0.393 right_y=0.0578 right_z=0.1307 right_yaw=0.5475 right_pitch=-0.4653 right_roll=0.0894 right_gripper=0.0295\nstate[joint_eff]: [-0.3077, -5.7094, 6.4752, 1.8437, 0.0855, 0.2222, -0.0122, -0.2803, -7.8564, 6.7214, 1.243, -0.2076, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a6359f7f35babd5cee14141c6df2755735d1da5252542784bb29128f8b230b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0080c7da3465d3de71660f3895b819615f483e1d1faae5563b74715bbbb36efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb48af9c6791bb41027fa5b4738af7e2b16424abbdc1c6a49b3cd87bc7a0538",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.673 s

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

message 44 changed as sent

message 53 changed as sent

message 57 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, 0.8082, 0.6029, -0.3813, -0.02, -0.0189, 0.9998, -0.0109, 1.8359, 0.8703, 0.0612, -0.3233, -0.3557, 0.0301]\nstate[eef_state]: left_x=0.2954 left_y=0.0012 left_z=0.1753 left_yaw=0.0008 left_pitch=-0.0153 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4254 right_y=0.0551 right_z=0.0129 right_yaw=0.464 right_pitch=-0.2819 right_roll=0.0198 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -0.9231, 7.0222, 1.7314, -0.0317, -0.0366, -0.0171, -0.0342, -7.4051, 5.2034, 1.1111, -0.105, 0.2222, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 1.4158, 0.6636, 0.0677, -0.0429, -0.0441, 0.9997, -0.0044, 1.639, 1.2789, -0.7334, -0.3222, -0.4149, 0.0295]\nstate[eef_state]: left_x=0.3544 left_y=-0.1639 left_z=0.0935 left_yaw=-0.4078 left_pitch=-0.1127 left_roll=-0.0034 left_gripper=0.9997 right_x=0.3978 right_y=0.0578 right_z=0.1343 right_yaw=0.5385 right_pitch=-0.446 right_roll=0.0793 right_gripper=0.0295\nstate[joint_eff]: [-0.4855, -5.7231, 9.5932, 2.0391, 0.1783, 0.1294, -0.0122, -0.7043, -10.3043, 10.4274, 1.663, -0.1538, 0.3297, -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 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.4448, 0.6365, 0.1013, 0.0078, -0.0135, 0.9997, -0.0044, 1.6398, 1.2751, -0.7517, -0.3222, -0.4202, 0.0295]\nstate[eef_state]: left_x=0.3612 left_y=-0.1393 left_z=0.0781 left_yaw=-0.3792 left_pitch=-0.1359 left_roll=-0.012 left_gripper=0.9997 right_x=0.393 right_y=0.0578 right_z=0.1307 right_yaw=0.5475 right_pitch=-0.4653 right_roll=0.0894 right_gripper=0.0295\nstate[joint_eff]: [-0.3077, -5.7094, 6.4752, 1.8437, 0.0855, 0.2222, -0.0122, -0.2803, -7.8564, 6.7214, 1.243, -0.2076, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a6359f7f35babd5cee14141c6df2755735d1da5252542784bb29128f8b230b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0080c7da3465d3de71660f3895b819615f483e1d1faae5563b74715bbbb36efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb48af9c6791bb41027fa5b4738af7e2b16424abbdc1c6a49b3cd87bc7a0538",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKZtxPuEEuCsAUpjcngbYUPc2QhUfzYq8jqK2qjN1-8y01aPdmJaTCJHX-PgGoRccvFpXwI3bOw8s5JdoeW0PEZIx6wpS1IS1u128L2iwUZk8GfBGrpHzfyPddJ0V4kl5KdF8cjIAoAIQ6InfwrEg3lGlHlFN5g4WGpK7B-fZF_UEyU6XwuCkGff46gDifiH3D-5CxVm4lWgE0Tf3AHWW_AhSj9UxbqHBIeP4r180d063PgjV_TYqQMcQvCRl0Vr9oBtjZvNXme4hHOXIMB0dvKML0Hcgxs7tJPkURvFotgmSXj2D8RHRgvscrj4hTQP4TbCMIolRSjyHhiGXrvfPXirqN91TgpaXVGxbkyQazswnxsXP5wY4ovtzZkT-nlPpdcz39pQN6mUQlG7nA3rNPcOPD9p3bODUS9y1iu8LvkQQVlEbRQ3cuzmhaFSW2K-DjFWunGBJzIrFpgAvCa8vZLsTRaUPsOEN4Mwn1nPABByEjb7XsI0inkGJv9I6WWIXmAp-LIyEw2WMwHuHMKTTPnsaVXkIlwaVGUSgHIBBX5OzWVnfVAgwNcJYX-DI2XF_0XJSGMnQ2DQMggcZVcdoMg2pRAmwp7OIM0OdYU6QrXCTIqkiTTzKw0FwCjucpApp8K0t1X5qQheWvbAGK-lSZByl9AgmgdpgmgrbvisrYu4tBFJhEKxow2a16_GSHGgng8GtlXzrtoUsnahUbq_plDNvRjtxwQjYnq7TELmipa1dnmLlLz9nt6cBS3itWX166fB-SAi9_dlyhvFGncraUXN7XcIGV3UJ-_eQ9RUIefZiGsK79Qou244BXQwcxPlMTY-_7M4-LwFBMPnEFqITPKhYh_O5EFlIEaB-cJhW3pXEDBe6YI9lg_ktTdfgGg7veo4yR9xGULU5-GghMEdWRW95MM4fLwVvMXgqHgdjQgeu5FCuTyZCmTJcLF2E5kffLjOgnYtYz28txvtUsEZ1fMuwr2OBR-o0TvLZ9-e7qpgg1Mf2nLZORH8trIcyWIzCEs379zQmVis28Rv9xB5IjPfERZzM-S95er-p2qUVzMWox1-h7iOTHhAOHYAdAHFkScdNGnfCzhhF9S7U7F3weQK4bsDp5pfg_9iNG7AVHcaWYw55LUMQsoFPLR2PkEqfeAqMi4eBO2oZXzJCgsgT-Qx5DBZXcg_WE4NV1Y2MikafFN6nb1qY_v5WQIFM0juoDBmBdBmYaTVNxxKAKCIX0Tng1BnVXZT_qJC5jccMaHuW9fnOwmxOaJv1Z3jKlTwAIvUN0OSI_AL6HZA01j6d5CreCg-qFhwTZyreeJeMOzHGegWHeUyMs1_COXkehaLVqKbsDZwTtrV38OiwXedtqy068wrFNu138fIBwP2o_2ukxvO5dnzqQeeFtTcnpbGALRskWyzbdImzT5E_oG3sPIhAWmYzvpQ8iQPeTe-8qvSbSH10xv9ewYm3_uVLC8idwVfAWfEhjkxFCwYve_TSyOyshAzazZgWUeJHLvz6ExCnpBeQ827gad1J8tfI4iI5OBa87A8jFFa7lQ-e1cwGRbzJiGBy7snRvWAufnSkmh0hqcoATHX4iNZ_ThSFwSj7HkAphRd9dRr2don3u5DWoRXdkHkYIe0jXGusLmJZnmB35ANv5f_uzSF9GWD12c0AajLkHXbSW-U00kpamNg3BKPEZDQNKmi-DU00HIRBIUux1emHG0ZNkRizRtAmA9Kg9mL8_1oVwt91n8qEveGDcBpbBZE0Q0GCDniCtXCp77TXEw8L6_WONqoB-jzxBEifsPWZ4fZ-jZDB7DoTHU98J_fd6wLVkmF2xwQd9ICWNqttZVz_EZ0pCXUb2iugNHcQX_HzJ0ETpQaS6pivWMkkDClyatKVi8k3rWayD4U_EvUb2Bm7d6bAI9HD18msdOxv0PPAKX9kc-lrwz0ONwpWXol0i8RsGBnV4LHc_a2pwyR5HdQRYGRNpxavqXxBb3FaVnBN8UxyPw_PnH5Dom5HytRF__RvB6SEiX5-U1Wf-uPUGvzYz5sNyEO6kl1XJjiEyqkij4kU5y4XsSdXOhXednog==",
  "id": "rs_0dfd50686a44e884016ab432976e4487d08b2fb43fe0cade13",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.077,\"left_z\":0.11},\"note\":\"The left arm tracked only part of the low move, and the cap is still about three centimetres left of the fingertips. I’ll raise the gripper to give the arm room to complete the sideways correction before lowering again.\"}",
  "call_id": "call_Er9lI8ZGd0JRjK97EUzPaY8b",
  "id": "fc_0dfd50686a44e884016ab43299248087d09adff9e69aa306eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Er9lI8ZGd0JRjK97EUzPaY8b",
  "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]: [-0.3737, 1.4487, 0.6361, 0.1009, 0.0078, -0.0132, 0.9997, -0.0044, 1.6398, 1.2697, -0.7567, -0.3222, -0.4244, 0.0295]\nstate[eef_state]: left_x=0.3609 left_y=-0.1391 left_z=0.0764 left_yaw=-0.3794 left_pitch=-0.1405 left_roll=-0.0117 left_gripper=0.9997 right_x=0.3906 right_y=0.0578 right_z=0.1283 right_yaw=0.5527 right_pitch=-0.4738 right_roll=0.0931 right_gripper=0.0295\nstate[joint_eff]: [-0.3487, -5.9692, 6.4615, 1.7167, 0.1099, 0.1978, -0.0122, -0.2667, -7.5966, 6.9812, 1.0574, -0.1587, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebda259c8b6868a6ea3045f196e22d9aae876677817f9be71819fed95174c38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eedd762daae5cfd5ca961416e8912a4994a88d0f91626bcc220c22e21105ae9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f87f5f94eddf6b7c8a2155da22e427aad9479ea0f7698379b92c0b5befcda0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.008 s

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

message 48 changed as sent

message 57 changed as sent

message 61 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6029, -0.3809, -0.02, -0.0216, 0.9997, -0.009, 1.6581, 1.087, -0.4007, -0.3202, -0.3805, 0.0296]\nstate[eef_state]: left_x=0.2955 left_y=0.0012 left_z=0.1752 left_yaw=0.0022 left_pitch=-0.0156 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4161 right_y=0.0555 right_z=0.0968 right_yaw=0.4874 right_pitch=-0.3423 right_roll=0.0339 right_gripper=0.0296\nstate[joint_eff]: [-0.2393, -1.4291, 7.0222, 1.7167, -0.0757, -0.0269, -0.0171, -0.5402, -10.1812, 9.7709, 1.7265, -0.2515, 0.2271, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.4448, 0.6365, 0.1013, 0.0078, -0.0135, 0.9997, -0.0044, 1.6398, 1.2751, -0.7517, -0.3222, -0.4202, 0.0295]\nstate[eef_state]: left_x=0.3612 left_y=-0.1393 left_z=0.0781 left_yaw=-0.3792 left_pitch=-0.1359 left_roll=-0.012 left_gripper=0.9997 right_x=0.393 right_y=0.0578 right_z=0.1307 right_yaw=0.5475 right_pitch=-0.4653 right_roll=0.0894 right_gripper=0.0295\nstate[joint_eff]: [-0.3077, -5.7094, 6.4752, 1.8437, 0.0855, 0.2222, -0.0122, -0.2803, -7.8564, 6.7214, 1.243, -0.2076, 0.0024, -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 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.4487, 0.6361, 0.1009, 0.0078, -0.0132, 0.9997, -0.0044, 1.6398, 1.2697, -0.7567, -0.3222, -0.4244, 0.0295]\nstate[eef_state]: left_x=0.3609 left_y=-0.1391 left_z=0.0764 left_yaw=-0.3794 left_pitch=-0.1405 left_roll=-0.0117 left_gripper=0.9997 right_x=0.3906 right_y=0.0578 right_z=0.1283 right_yaw=0.5527 right_pitch=-0.4738 right_roll=0.0931 right_gripper=0.0295\nstate[joint_eff]: [-0.3487, -5.9692, 6.4615, 1.7167, 0.1099, 0.1978, -0.0122, -0.2667, -7.5966, 6.9812, 1.0574, -0.1587, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebda259c8b6868a6ea3045f196e22d9aae876677817f9be71819fed95174c38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eedd762daae5cfd5ca961416e8912a4994a88d0f91626bcc220c22e21105ae9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f87f5f94eddf6b7c8a2155da22e427aad9479ea0f7698379b92c0b5befcda0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKdBn4TwbGhG7E914y-RIB1dvF5uahZdky8E7KqihbbkRfzx07qnHhuJIsxaVSs_sI0JMDoKRE8b_KTvHqIoV4_kIXRYm5HrvFzZS07pdDdH5xk0arKNGv0Oz0HoH2pNYYK6HSyPC0uDginGbHAWctPbUlv8k_w_OTHvfUScVRgo0q_Z0v7LGYTc3n4EM5xXkLTC-9dhQLK3JSArprL372R7HYeoogjH8rwKoU8s5JtdAO02g4yT_uDLF1LDtglOB26Un_61AC3POLmPPmzmPEFEUS9eqiacd-bX-x3KhSUFxAYaxBjhT1XyjQX18nsAfj_UBh6yZamcnPD222v5YTm5nDZ4J_eMi2CStvxagzKJZMAzptejSYkcaiVunn0KvCD8GT5RFDmRdKhlt1HntXI9ipM04WyvBtXvxTiKm76pfXsBvWBdEMN9dONYYLek3CELlUnClLzF6fhKyzMVKa6fG8-OjPhSQHIFSLsfR-RM-gW8GtpGd9AprUhwJbxeREFcec_v33kIPBFmOEhnHnvWq-CkwsKPD1S1GBnm2d6kUvtxv3_QWjY44WKllv2gDgJu7Xg6lK9rhyUT9jth5zXn7HsG_pexfhQuCmtPF03OpLL5b7BkN1lKOjHimJ8fMYZs_9nsYAC3u7K63myGPH1AYnduGNIGirl_Xr3fZQXGh1jiOLOCPjiSUG3Z3CEfG7YTquk6pGAa3YK6VgVPSR1WT4Asj2WXC9jHzwYi7NAvHv8s_wH0WS10FPjNYl0fy2p-l1pEdnHHtv7sryH5WZi5REKeU2HE2azwV08Wfm9Ir0Y5UV4l5UXoLLr_B1X-EwPL8bR26pM9BCkEyGVHofkf7u-SKRITbRNPiLwdw1Q3UGjJihbUcLNTOa9bWr0_TrrIN1wnZgFQ7GFbInIdGwkJkKgJMkyEunwZ3IfuJjGCbWbgr0IirCkcbmRxiqBFeU4A4QnO4ifDk1QBOZQOJ3GuozyeVkZ9jhkQjT8BDsx8DprKaanzuiRDQqbaEwa8atDz3uJ8D2_iqG8TbzQapcUj0xpTab1nZfv7IHCJpl3-bkk0l2pQh1GqzpgR2IAWoWYyH8XgCzes6WDVcZvKZKqEQguYG4gFd1X3nYkQrLDl1gHY50mBx9km0_7SwVzwG0kTvQAn-F_U7mbAdoAl-8jkqXxC50t8lnWoenbxjpSHQJQcWyyEdSOUFC217joPTUiTm7Z5JjRc2mErZzMbbVK5YJCgOVRq46LEurge2SYEyyCUtZjcygv_PYzkr03wtnYzPPp2T5QkvcAgfAOkLlDDv0puNiFgqHjJNZaO58_LFJs6s7LjrwjfsAZsF8xLKW_wk6xuxJfNxB_GZIvZp4uqVSIcTTi2FS4Oiqn4evzaMMM2NiDGOzRFxeC2sp8LA-GsFcJzWmGXbVLf-QVuFZYWyx724Rdun4Q4x6L0jMUfFBvDGfy_K43WvyztX8J1ATRXhO4_h5mlkYVcVLEkx1iQHHFnZUAIsufMA-z_B5BDvq3yCy4M9ZMHLhws-Dgb613Xw83ExRgHoCzRFcnjeIoEW0pHCYFUE7RHGET3geK_4YqghX5HLk99Yk_MGP0LKcCc5v-N3ejolvm55asAEsLglqK_M1Wc5dgd5j7CPw3G34=",
  "id": "rs_0dfd50686a44e884016ab4329b4e1087d09a615e8dc7b0f733",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.10,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.30,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The left arm did not track the raised sideways command, indicating an awkward pose rather than a simple aiming error. I’ll retract and raise both arms into clear free space, then approach the objects from a less constrained configuration.\"}",
  "call_id": "call_xWkfMWPNSylUlEXTimJjfhOg",
  "id": "fc_0dfd50686a44e884016ab4329c217087d09717575c8409117a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xWkfMWPNSylUlEXTimJjfhOg",
  "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]: [-0.6048, 1.0176, 0.8009, -0.5606, -0.3843, -0.3862, 0.9997, -0.0532, 1.2339, 1.1324, -0.9482, -0.1223, -0.0502, 0.9948]\nstate[eef_state]: left_x=0.2867 left_y=-0.1133 left_z=0.1787 left_yaw=-0.0771 left_pitch=-0.1368 left_roll=-0.0216 left_gripper=0.9997 right_x=0.3056 right_y=0.0089 right_z=0.1833 right_yaw=0.087 right_pitch=-0.4818 right_roll=0.0901 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -3.2479, 9.5111, 1.3944, -0.188, -0.0855, -0.0122, -0.7043, -5.012, 6.6393, 1.3309, 0.0952, 0.2564, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b1ff2e432bde3c3acae26b4f52b37abcf995bd33c33cc89b16938d870f7e86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156de16d03e6db2a19811a88a168df45fa574c9ea04431649a78b9168a3aa961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c287cfb232e28b0f6b0a49e127776a3cbc396d77ab4461814772864b1b5003",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.066 s

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

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 1.4158, 0.6636, 0.0677, -0.0429, -0.0441, 0.9997, -0.0044, 1.639, 1.2789, -0.7334, -0.3222, -0.4149, 0.0295]\nstate[eef_state]: left_x=0.3544 left_y=-0.1639 left_z=0.0935 left_yaw=-0.4078 left_pitch=-0.1127 left_roll=-0.0034 left_gripper=0.9997 right_x=0.3978 right_y=0.0578 right_z=0.1343 right_yaw=0.5385 right_pitch=-0.446 right_roll=0.0793 right_gripper=0.0295\nstate[joint_eff]: [-0.4855, -5.7231, 9.5932, 2.0391, 0.1783, 0.1294, -0.0122, -0.7043, -10.3043, 10.4274, 1.663, -0.1538, 0.3297, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.4487, 0.6361, 0.1009, 0.0078, -0.0132, 0.9997, -0.0044, 1.6398, 1.2697, -0.7567, -0.3222, -0.4244, 0.0295]\nstate[eef_state]: left_x=0.3609 left_y=-0.1391 left_z=0.0764 left_yaw=-0.3794 left_pitch=-0.1405 left_roll=-0.0117 left_gripper=0.9997 right_x=0.3906 right_y=0.0578 right_z=0.1283 right_yaw=0.5527 right_pitch=-0.4738 right_roll=0.0931 right_gripper=0.0295\nstate[joint_eff]: [-0.3487, -5.9692, 6.4615, 1.7167, 0.1099, 0.1978, -0.0122, -0.2667, -7.5966, 6.9812, 1.0574, -0.1587, 0.0024, -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 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6048, 1.0176, 0.8009, -0.5606, -0.3843, -0.3862, 0.9997, -0.0532, 1.2339, 1.1324, -0.9482, -0.1223, -0.0502, 0.9948]\nstate[eef_state]: left_x=0.2867 left_y=-0.1133 left_z=0.1787 left_yaw=-0.0771 left_pitch=-0.1368 left_roll=-0.0216 left_gripper=0.9997 right_x=0.3056 right_y=0.0089 right_z=0.1833 right_yaw=0.087 right_pitch=-0.4818 right_roll=0.0901 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -3.2479, 9.5111, 1.3944, -0.188, -0.0855, -0.0122, -0.7043, -5.012, 6.6393, 1.3309, 0.0952, 0.2564, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b1ff2e432bde3c3acae26b4f52b37abcf995bd33c33cc89b16938d870f7e86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156de16d03e6db2a19811a88a168df45fa574c9ea04431649a78b9168a3aa961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c287cfb232e28b0f6b0a49e127776a3cbc396d77ab4461814772864b1b5003",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKiircCqUly8bk3aBWRgOCY4InA6OPulW59VNyxVgmyqKQiigapPDE7JCDdDGeJoIJkHcun8R9DcKtAd0dj2KnkHMM9ZRKJyhKiGlcWiJhjUL-Tq3XdQPUj6ammA2p6U5Wr-7OhGyIUewj3rxw4AoCz1WVKc4uvOWcCpkMstcvX4khxOeNbTjIZi1H8RNocdAq24F9x7lmHrgs7beUP-eN2BPVwWye5-Dcda-3y4nfUTl_U8kNLIaUcAEOqRRlcl_Dp97k70KSwKO97AzEdUzenkHNo0pOQXPcLjtcSX8mNLnpy6001nzihetrXYmSPNfBPCRdKy41rjclyr90UbVhBi2eJZUBby1osXsgbX9HGnz-H5V6Y7PFCk287rxSe90_Jke2LN72S_MJ6TZpWSGCuK5UPmLpq3BadE8T066fqV9Na-YHWEDv9jKtqLPCN7tpaRHOTWFFEdr7m2jDPNCILQITOh06j1DZNSAr6dMCvRFJIpiTM-4Xw2JuMOWSbgmv_d3q00J4ylAWt3Nr0ageoinxjfh5jBGahLVIMzTCeNB61uyu-EYL47RPX2oBsTdoZRZf1xC-ew_iHLMsRn9n9LJuMAfjd1OUFLlKdCqiYCNYZR550HfD0d3cHeYAGnQPio65RrXqvubPmidfI0WRgyw5pu6RD2tpdbMfRQP9V0osV3KUg-6D9WZxRVFHIeD9mcW-7obH2PCX8Qvt5W7CBQ60TXdgWgA7-IkTXwhXDc8mxsljtAejo7xD2m9vZFpQW63IyDEXV_B2tUQTt1t6IyfoBxlmx0GieC3seQNRI6lrPFMkl_MWGNKHtz1TFTiDUxmJQS2PgZ51wgJAJuMd7jG6kP3uY4BYApAoS5pfydOj-ZN0_tgFN2iIrmHHc-tzSRp1yqCs6SJOgmwywcOHD8q8eiFzEb0SHC53Z99WKe3wxyV794Cq_6Uwr480uwtDkI7yrCHUZ9RNER39Dbtfq6oOw1xNd_mSVuS7IF6r4hUnqfYOCX-BYGXnihbKmkAnN6bedL3UddMoJLO1rvBzP7SAHDw46jobKagNyX-BtiMuUzGLFNR1zzJFxabVVTwEUHcsGCjnwnQywyItmYonmpLAnqjtvFBPQDznXKDfVwFDVeUq4-c2BlO4TtPMkgMtTtAbwsQMEstiKGqN-i4mulhCq0MQ0ndOvy9zIQ9TznMZvsMViejlNVBbCaJPE7VLIdJ4twGbtdNPbBZjY94-zq7fCCqIRcvyMJuB4cKu2vLzF8142VF2Xy2BTaXPsYzB6-MHRy8OCB7eZxiaUMThs8_TGPmzSNyC4oO0GW5shPWz-TE8MRYUIG8zuVnFP-FHeWSsPlcXAqiG951wfu7NiPB00R2MW_TbRDPHilVN9BfOTRbjfhrAdX9cCftD3x0PD5o1hqNAnnGN9SOWGm8LAi_T-ZiJW82IkdX72JWG8E2RDJYeFIGRGJcpLnpevOljfTk7qY8YmKZiZfzcNzM57t8xmp7n-Th8mZOcJYxwYgd5cTJkNkxqohdv0V_mrQkdmHnAfc-IW_jkHZh1A0MQHOIx69_dGn77R9kLNva2ZCXhFw8ie5j3-rlDIgyX3sRyVMlR8mt-iZ49zfvNw40sodF3cDzwbqBjFCLeK9UGDtSZKd4evINTrkkmDEA2XFKpbll9HkImaZZYiqlX94ozmxOpb_p2LRCD1bXM7abqmE4Z_QNzNCkrlKU1D-XX-un8QBjHCvX3bSJXug7ifbhkrVpkJYiRROUj2A1No2yaTpSMQU8dryw5kKt7U1ZTGXhp7nUvfvK7x4xWq4RnEDhRcc2t1nNcyGWtm9oc2Oc8DYRRZYk24jzr5ibMeb-409Ekt_JIvmPjTAsX9XWaZNor86HSNg-l65sRAC3u59HkNHBhuUi9QUadmkKUTNZmN2mSvin5FiZ1-ky7HBuP6beE0c4BPhsSvMWYbQoLK-4O_xsRrW4czZGPn3qFMT7Uq9jZu9dAIZAzq6K3nSKr1xd15qf4Jw1EP75hekOE7AgO_WVPX_9VRMAFSlS0k1zZbcRGJRQPiID9ppZaINuL8rsaVwYPoNl6uB2wkAb68ypTIcNJTdjeirYwhXrqIYsoYBLJiIcaiYqLfBwlqMGHtyDZwo0-vp1uI3AUR17X1pcU67RqZXnL07gzJPQcn9a7-E1WFuYonv4ncjhsY0EY8iVE1l2UiSiTtXfEpnPxj1tRzAZ9eQ2NL0gPe8GiT1QiVw9k72go8Uh9pKAfXp8JQt9SyYQ==",
  "id": "rs_0dfd50686a44e884016ab4329f14ac87d0975b8fb7805959ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.11,\"left_z\":0.13,\"left_yaw\":0},\"note\":\"With both arms retracted, the cap is centred in the left wrist image and is still well ahead of the fingertips. I’ll approach it radially with a neutral wrist angle, which should avoid the low, twisted pose that stalled.\"}",
  "call_id": "call_jahcpRzObKIEyLDovSf8E5oI",
  "id": "fc_0dfd50686a44e884016ab432a12bd487d0a371ac960546c1ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jahcpRzObKIEyLDovSf8E5oI",
  "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]: [-0.4362, 1.3991, 0.8032, -0.2695, -0.3241, -0.3378, 0.9997, -0.0566, 1.2373, 1.1297, -0.9665, -0.115, -0.0418, 0.9959]\nstate[eef_state]: left_x=0.3565 left_y=-0.1001 left_z=0.1036 left_yaw=0.0243 left_pitch=-0.2353 left_roll=0.0172 left_gripper=0.9997 right_x=0.3015 right_y=0.0068 right_z=0.1791 right_yaw=0.0734 right_pitch=-0.5073 right_roll=0.0914 right_gripper=0.9959\nstate[joint_eff]: [0.4718, -6.2427, 10.2769, 1.8193, -0.0659, 0.2173, -0.0073, 0.0068, -4.3829, 6.653, 1.3309, -0.1685, -0.1099, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17021557d59d458496fd2137b3c708870e9e0c7fd4bbbadecd43bf607b11022f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f850be9eb8c41f609c6319e16e609bbccb75a03b09f38d59ec69932c5ebbf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda7c61c6826d51ebf68c03453c8aeb0ac18cfe0f3d55b64f05b9eff01cf9c85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.407 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.4448, 0.6365, 0.1013, 0.0078, -0.0135, 0.9997, -0.0044, 1.6398, 1.2751, -0.7517, -0.3222, -0.4202, 0.0295]\nstate[eef_state]: left_x=0.3612 left_y=-0.1393 left_z=0.0781 left_yaw=-0.3792 left_pitch=-0.1359 left_roll=-0.012 left_gripper=0.9997 right_x=0.393 right_y=0.0578 right_z=0.1307 right_yaw=0.5475 right_pitch=-0.4653 right_roll=0.0894 right_gripper=0.0295\nstate[joint_eff]: [-0.3077, -5.7094, 6.4752, 1.8437, 0.0855, 0.2222, -0.0122, -0.2803, -7.8564, 6.7214, 1.243, -0.2076, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6048, 1.0176, 0.8009, -0.5606, -0.3843, -0.3862, 0.9997, -0.0532, 1.2339, 1.1324, -0.9482, -0.1223, -0.0502, 0.9948]\nstate[eef_state]: left_x=0.2867 left_y=-0.1133 left_z=0.1787 left_yaw=-0.0771 left_pitch=-0.1368 left_roll=-0.0216 left_gripper=0.9997 right_x=0.3056 right_y=0.0089 right_z=0.1833 right_yaw=0.087 right_pitch=-0.4818 right_roll=0.0901 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -3.2479, 9.5111, 1.3944, -0.188, -0.0855, -0.0122, -0.7043, -5.012, 6.6393, 1.3309, 0.0952, 0.2564, -0.2125]\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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4362, 1.3991, 0.8032, -0.2695, -0.3241, -0.3378, 0.9997, -0.0566, 1.2373, 1.1297, -0.9665, -0.115, -0.0418, 0.9959]\nstate[eef_state]: left_x=0.3565 left_y=-0.1001 left_z=0.1036 left_yaw=0.0243 left_pitch=-0.2353 left_roll=0.0172 left_gripper=0.9997 right_x=0.3015 right_y=0.0068 right_z=0.1791 right_yaw=0.0734 right_pitch=-0.5073 right_roll=0.0914 right_gripper=0.9959\nstate[joint_eff]: [0.4718, -6.2427, 10.2769, 1.8193, -0.0659, 0.2173, -0.0073, 0.0068, -4.3829, 6.653, 1.3309, -0.1685, -0.1099, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17021557d59d458496fd2137b3c708870e9e0c7fd4bbbadecd43bf607b11022f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f850be9eb8c41f609c6319e16e609bbccb75a03b09f38d59ec69932c5ebbf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda7c61c6826d51ebf68c03453c8aeb0ac18cfe0f3d55b64f05b9eff01cf9c85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab432a3cdc087d0b019bcfd2f3c80b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_y\":-0.125,\"left_z\":0.051},\"note\":\"The cap is now near the left jaw column, with its nearer end still above the fingertips in the wrist image. I’ll advance a few centimetres and lower toward cap height, making a small rightward correction as I go.\"}",
  "call_id": "call_pxA24jCCshIqKpiP04hoKGil",
  "id": "fc_0dfd50686a44e884016ab432a50bc887d0b22e7f3d5203cbd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pxA24jCCshIqKpiP04hoKGil",
  "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]: [-0.4294, 1.7401, 0.8719, -0.115, -0.3214, -0.3386, 0.9997, -0.0574, 1.2392, 1.129, -0.9733, -0.1154, -0.0559, 0.9959]\nstate[eef_state]: left_x=0.3887 left_y=-0.1127 left_z=0.0263 left_yaw=0.0452 left_pitch=-0.3415 left_roll=0.0701 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1775 right_yaw=0.0823 right_pitch=-0.516 right_roll=0.0855 right_gripper=0.9959\nstate[joint_eff]: [0.6085, -8.4444, 9.0872, 1.6288, -0.0952, 0.0659, -0.0073, -0.0615, -4.1778, 6.4752, 1.2674, -0.1343, 0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015ba6fe810cec0e048be8fdb846bd0baa6f5adaa2592de10f8c33c79d0f1585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c914c79874c713eadda59797058a415ab693de5b188ae0bb7ae3d9c1f0bff3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b714646c9daa9e515ffe36ea672f54193bedc2fc9e50226f8abc35f73798de4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.857 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.4487, 0.6361, 0.1009, 0.0078, -0.0132, 0.9997, -0.0044, 1.6398, 1.2697, -0.7567, -0.3222, -0.4244, 0.0295]\nstate[eef_state]: left_x=0.3609 left_y=-0.1391 left_z=0.0764 left_yaw=-0.3794 left_pitch=-0.1405 left_roll=-0.0117 left_gripper=0.9997 right_x=0.3906 right_y=0.0578 right_z=0.1283 right_yaw=0.5527 right_pitch=-0.4738 right_roll=0.0931 right_gripper=0.0295\nstate[joint_eff]: [-0.3487, -5.9692, 6.4615, 1.7167, 0.1099, 0.1978, -0.0122, -0.2667, -7.5966, 6.9812, 1.0574, -0.1587, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4362, 1.3991, 0.8032, -0.2695, -0.3241, -0.3378, 0.9997, -0.0566, 1.2373, 1.1297, -0.9665, -0.115, -0.0418, 0.9959]\nstate[eef_state]: left_x=0.3565 left_y=-0.1001 left_z=0.1036 left_yaw=0.0243 left_pitch=-0.2353 left_roll=0.0172 left_gripper=0.9997 right_x=0.3015 right_y=0.0068 right_z=0.1791 right_yaw=0.0734 right_pitch=-0.5073 right_roll=0.0914 right_gripper=0.9959\nstate[joint_eff]: [0.4718, -6.2427, 10.2769, 1.8193, -0.0659, 0.2173, -0.0073, 0.0068, -4.3829, 6.653, 1.3309, -0.1685, -0.1099, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4294, 1.7401, 0.8719, -0.115, -0.3214, -0.3386, 0.9997, -0.0574, 1.2392, 1.129, -0.9733, -0.1154, -0.0559, 0.9959]\nstate[eef_state]: left_x=0.3887 left_y=-0.1127 left_z=0.0263 left_yaw=0.0452 left_pitch=-0.3415 left_roll=0.0701 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1775 right_yaw=0.0823 right_pitch=-0.516 right_roll=0.0855 right_gripper=0.9959\nstate[joint_eff]: [0.6085, -8.4444, 9.0872, 1.6288, -0.0952, 0.0659, -0.0073, -0.0615, -4.1778, 6.4752, 1.2674, -0.1343, 0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015ba6fe810cec0e048be8fdb846bd0baa6f5adaa2592de10f8c33c79d0f1585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c914c79874c713eadda59797058a415ab693de5b188ae0bb7ae3d9c1f0bff3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b714646c9daa9e515ffe36ea672f54193bedc2fc9e50226f8abc35f73798de4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0dfd50686a44e884016ab432a73a0887d0bb74b771882e1c7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.432,\"left_y\":-0.115,\"left_z\":0.038},\"note\":\"The cap’s near end is just above the left fingertips, while the arm is already close to table height. I’ll advance mainly forward at the same low hover so the jaw gap reaches the cap rather than closing behind it.\"}",
  "call_id": "call_su2BZNObcwsg23ZnS01LXSKY",
  "id": "fc_0dfd50686a44e884016ab432a9cd0487d09c6e2b9aa380e216",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_su2BZNObcwsg23ZnS01LXSKY",
  "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]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3218, -0.3382, 0.9997, -0.0574, 1.2411, 1.1282, -0.9733, -0.1154, -0.0563, 0.996]\nstate[eef_state]: left_x=0.4029 left_y=-0.1178 left_z=0.0302 left_yaw=0.041 left_pitch=-0.3003 left_roll=0.0485 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1766 right_yaw=0.0828 right_pitch=-0.5186 right_roll=0.0857 right_gripper=0.996\nstate[joint_eff]: [0.0205, -8.9641, 8.5538, 1.6386, -0.149, 0.0855, -0.0073, -0.335, -4.2051, 6.4479, 1.1355, -0.1294, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbba4afb5627fc121c8586a856abb9c3c6d4ec65eb8f1e3e621e80dc73d77c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e667436633e0252b9d92f357705b5531a1d30268ff4ad12351748405176b0d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3082bea3f7f356270798ed1fb088fc95fda8874116aecf20acd89f1daa8b4c22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 6.137 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6048, 1.0176, 0.8009, -0.5606, -0.3843, -0.3862, 0.9997, -0.0532, 1.2339, 1.1324, -0.9482, -0.1223, -0.0502, 0.9948]\nstate[eef_state]: left_x=0.2867 left_y=-0.1133 left_z=0.1787 left_yaw=-0.0771 left_pitch=-0.1368 left_roll=-0.0216 left_gripper=0.9997 right_x=0.3056 right_y=0.0089 right_z=0.1833 right_yaw=0.087 right_pitch=-0.4818 right_roll=0.0901 right_gripper=0.9948\nstate[joint_eff]: [-0.3624, -3.2479, 9.5111, 1.3944, -0.188, -0.0855, -0.0122, -0.7043, -5.012, 6.6393, 1.3309, 0.0952, 0.2564, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4294, 1.7401, 0.8719, -0.115, -0.3214, -0.3386, 0.9997, -0.0574, 1.2392, 1.129, -0.9733, -0.1154, -0.0559, 0.9959]\nstate[eef_state]: left_x=0.3887 left_y=-0.1127 left_z=0.0263 left_yaw=0.0452 left_pitch=-0.3415 left_roll=0.0701 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1775 right_yaw=0.0823 right_pitch=-0.516 right_roll=0.0855 right_gripper=0.9959\nstate[joint_eff]: [0.6085, -8.4444, 9.0872, 1.6288, -0.0952, 0.0659, -0.0073, -0.0615, -4.1778, 6.4752, 1.2674, -0.1343, 0.0659, -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 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3218, -0.3382, 0.9997, -0.0574, 1.2411, 1.1282, -0.9733, -0.1154, -0.0563, 0.996]\nstate[eef_state]: left_x=0.4029 left_y=-0.1178 left_z=0.0302 left_yaw=0.041 left_pitch=-0.3003 left_roll=0.0485 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1766 right_yaw=0.0828 right_pitch=-0.5186 right_roll=0.0857 right_gripper=0.996\nstate[joint_eff]: [0.0205, -8.9641, 8.5538, 1.6386, -0.149, 0.0855, -0.0073, -0.335, -4.2051, 6.4479, 1.1355, -0.1294, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbba4afb5627fc121c8586a856abb9c3c6d4ec65eb8f1e3e621e80dc73d77c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e667436633e0252b9d92f357705b5531a1d30268ff4ad12351748405176b0d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3082bea3f7f356270798ed1fb088fc95fda8874116aecf20acd89f1daa8b4c22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKtZhwqA5gBYyLBUN1rW-vhi7Eil8Hk2h9CTJCHtVRPwY_YPh1BJcpHsGdiF6jp76gSDFassD-urrYc_pUi9e5rOm23Z8hQ5507AdbI2nWYsmjpwlvtlbFUyhfBYv9eaDK0Cx2Yyl-VZfxAoY79cD3wkr8AcrlGIJvlVoKbRbyDARYdgVJP0JP2jlACOYyIPoDEDKuOV411Q6OPmZpLXiwNy4sNKc7YELVkn5XbJ4Zj4qXguJXKKv3e13ete5Sv5hHIvkkBGqCSJfGJOk-KESIwqMb3J8WYd5M9wai5rLZU06htaTWdngmaXHpabwBsm9sMzXmsAeNwPNSGntXEi26G8iJb9UCG5mk8E-jroNQSSdw0oV_z6gG1X6urtIK_dFE8_8lkhlYqxarwxIEtq31kXW07iE4RENm9rvbcQy2Emd9WvUu6XugExCjQPtPScnVb6Qh76q1VBPLFWjkd1HAGugIXYG1R6Lj05WrDvXNyCS9kAiplOil_RCAw2oMS9J7Zv-05HIJ8TFZznedTfZjomXzbgh8jIxyqIqSXZUF72cPwBLebLlhEF8N0in_Mpds52kIUMdWjwP8qxsuzr2VQIaNgaGsyjA1gjJnbRoTQUehtdRPboWpsFWpr08b43QpQMmwa5YRzueU28WpRuOiP5tX7B-ei-HZUrryFVqef2T-8ahGuA4m94PWWlmErMf4KykwSAl9oDNaKt30-e81xN0Ln1w5x0Ss-VgAyW_5cSmFWI4v36Eu0AOX_jbM1M7Q7wlvq7joiJ2tZbVNDl8rNc60Um5QwJqmga_GwR_nORG6_4qIN98sTTqhz1ViuXhI44Z9iR122lKNqjrdA16EkMsOvLlUptnHLTcf-oFXIYXsOIVyi8KKRkhWcemRJcPy8DeOFFxMCDkARZEGkOak9cW2oMJPcEl3BL-iRJ4gmmvNhygKluD3jVM8NRUtwgSXadloDr2BtNUo2uKnGlNW_k7jDJ_Lxvo4u-oK9WbPYbmxDB8OeoVGbG76thnWw6DUV24SI1ENtrWa9OkGR0O-eDj8hzGQtX_2Ix1H9VAME1N2jQrOVWRl2Beh3ozqXb6ZbvabwGRwgkvcDmDOeOi-mwgjx2vJj1eu9wox_4P7_ImPR7Lx4_Xzjl3FnlH-NrK7K7TibxuFol3oBqOR_YPa7iHhLZxV79EeOIAlp1uNBpt5qVbxsO7GUPU2PMtUcpzqfaOgNzc9Zw04DMvW2grlsanyMxXVhrfRPPfVeMju0TZl6Fs2jEoRLPPo1Ap94ZWfRX41VmAb8Uoa_8-MDBMAKef_D1DbB8_jo2dvhaORcDX_OcLWhXNu_wCYYYfh60XjlgUa4QXH4NsC3EVTuyj6ba9UYdFIrQYcYAoJVxSGwjk8bb5EDwW8PF6y8HAinE17LPtS5DNyT11iH5i102a-s5lNOjSMdAS9ZWCvYf3qsE2O9LwrbN8f4KbqcNUBkd-wlv0-5OoiWw2APytIRPNnSD1wdpkraB9UsgjvYKQag-gfDGVFdYjmToMftpAeliVq65iA4FyYmOhZxavu0rwENwsImeVdF7X_bB5rF5JkQz1dE3x2NPS5VPvOkee7hFYS5vZOlYXPBV4zDa8YHOW5GCl__mt-IuWE4CBi4esNVsgRqupfNKeK3gFMXSZ5LxLHauqM90DseEaZBeH0Xv49lLJIOD1o_re4_H9WPx_rrmwSs0ghCoNUXjtKvLeHb-ed3iM6b4e150WzU28XTKPAOWg==",
  "id": "rs_0dfd50686a44e884016ab432abf14887d0bec7cb9b0ff6ab27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.106,\"left_z\":-0.006},\"note\":\"The cap now crosses the left jaw column near fingertip depth. I’ll lower the jaws to the cap’s level with a tiny lateral correction, then close only once they are beside it.\"}",
  "call_id": "call_YZprUdbWH04icbulG7qJoLDM",
  "id": "fc_0dfd50686a44e884016ab432ad1cb887d08a69720edcfc77e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YZprUdbWH04icbulG7qJoLDM",
  "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]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3214, -0.3386, 0.9997, -0.0574, 1.2411, 1.1282, -0.9737, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.4028 left_y=-0.1179 left_z=0.0301 left_yaw=0.0409 left_pitch=-0.3004 left_roll=0.048 left_gripper=0.9997 right_x=0.2999 right_y=0.0067 right_z=0.1766 right_yaw=0.083 right_pitch=-0.519 right_roll=0.0856 right_gripper=0.996\nstate[joint_eff]: [0.0889, -8.9641, 8.5128, 1.6093, -0.1197, 0.0513, -0.0122, -0.1299, -4.0957, 6.6667, 1.1404, -0.1343, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6bb668184e0e336c61db8a8b06de1120f8fb4e3ee680cc3ef1cee6a4e6a8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:667e933305d5d36a12ac699ad4149c50b58fd9fdf4601ad4371cdd8f3cb7ac66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de2ff8607002ba496d0637e1c831fb7a7b8909e56d737e44fb6fc10e5063336",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 6.09 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4362, 1.3991, 0.8032, -0.2695, -0.3241, -0.3378, 0.9997, -0.0566, 1.2373, 1.1297, -0.9665, -0.115, -0.0418, 0.9959]\nstate[eef_state]: left_x=0.3565 left_y=-0.1001 left_z=0.1036 left_yaw=0.0243 left_pitch=-0.2353 left_roll=0.0172 left_gripper=0.9997 right_x=0.3015 right_y=0.0068 right_z=0.1791 right_yaw=0.0734 right_pitch=-0.5073 right_roll=0.0914 right_gripper=0.9959\nstate[joint_eff]: [0.4718, -6.2427, 10.2769, 1.8193, -0.0659, 0.2173, -0.0073, 0.0068, -4.3829, 6.653, 1.3309, -0.1685, -0.1099, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3218, -0.3382, 0.9997, -0.0574, 1.2411, 1.1282, -0.9733, -0.1154, -0.0563, 0.996]\nstate[eef_state]: left_x=0.4029 left_y=-0.1178 left_z=0.0302 left_yaw=0.041 left_pitch=-0.3003 left_roll=0.0485 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1766 right_yaw=0.0828 right_pitch=-0.5186 right_roll=0.0857 right_gripper=0.996\nstate[joint_eff]: [0.0205, -8.9641, 8.5538, 1.6386, -0.149, 0.0855, -0.0073, -0.335, -4.2051, 6.4479, 1.1355, -0.1294, -0.0464, -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 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3214, -0.3386, 0.9997, -0.0574, 1.2411, 1.1282, -0.9737, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.4028 left_y=-0.1179 left_z=0.0301 left_yaw=0.0409 left_pitch=-0.3004 left_roll=0.048 left_gripper=0.9997 right_x=0.2999 right_y=0.0067 right_z=0.1766 right_yaw=0.083 right_pitch=-0.519 right_roll=0.0856 right_gripper=0.996\nstate[joint_eff]: [0.0889, -8.9641, 8.5128, 1.6093, -0.1197, 0.0513, -0.0122, -0.1299, -4.0957, 6.6667, 1.1404, -0.1343, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6bb668184e0e336c61db8a8b06de1120f8fb4e3ee680cc3ef1cee6a4e6a8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:667e933305d5d36a12ac699ad4149c50b58fd9fdf4601ad4371cdd8f3cb7ac66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de2ff8607002ba496d0637e1c831fb7a7b8909e56d737e44fb6fc10e5063336",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab432aef8ec87d0b98ee100b7085706",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_z\":0.002,\"left_pitch\":0.25},\"note\":\"The descent stopped at about three centimetres above the table, so closing now would likely miss the cap. I’ll ease the arm back slightly and pitch the tool forward to seek a reachable low approach without forcing contact.\"}",
  "call_id": "call_6JVPirVRj647U0qtaVE9yzFT",
  "id": "fc_0dfd50686a44e884016ab432b3461887d0b15ad996c2521038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6JVPirVRj647U0qtaVE9yzFT",
  "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]: [-0.5316, 2.112, 0.4683, 1.2259, -0.5552, -0.2058, 0.9993, -0.0574, 1.2415, 1.1271, -0.981, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1191 left_z=0.0004 left_yaw=0.045 left_pitch=0.2187 left_roll=0.029 left_gripper=0.9993 right_x=0.2981 right_y=0.0068 right_z=0.1753 right_yaw=0.0837 right_pitch=-0.5277 right_roll=0.087 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -6.8855, 1.8803, 1.3114, -0.2906, 0.1538, -0.0464, -0.212, -4.1504, 6.6667, 1.1502, -0.1197, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df51ba26c532036d2d265a82aa0cdd0e3c6c9fa800870356dbe79d4d3fde221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0ce073aeff7024349849558982f2439b5190caeae7192de9ab0cae99181b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ad2f6960ceb926d4ebfc2a97acb1722a255dcfb3772ed3593c8043c0e38570",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.652 s

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

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4294, 1.7401, 0.8719, -0.115, -0.3214, -0.3386, 0.9997, -0.0574, 1.2392, 1.129, -0.9733, -0.1154, -0.0559, 0.9959]\nstate[eef_state]: left_x=0.3887 left_y=-0.1127 left_z=0.0263 left_yaw=0.0452 left_pitch=-0.3415 left_roll=0.0701 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1775 right_yaw=0.0823 right_pitch=-0.516 right_roll=0.0855 right_gripper=0.9959\nstate[joint_eff]: [0.6085, -8.4444, 9.0872, 1.6288, -0.0952, 0.0659, -0.0073, -0.0615, -4.1778, 6.4752, 1.2674, -0.1343, 0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3214, -0.3386, 0.9997, -0.0574, 1.2411, 1.1282, -0.9737, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.4028 left_y=-0.1179 left_z=0.0301 left_yaw=0.0409 left_pitch=-0.3004 left_roll=0.048 left_gripper=0.9997 right_x=0.2999 right_y=0.0067 right_z=0.1766 right_yaw=0.083 right_pitch=-0.519 right_roll=0.0856 right_gripper=0.996\nstate[joint_eff]: [0.0889, -8.9641, 8.5128, 1.6093, -0.1197, 0.0513, -0.0122, -0.1299, -4.0957, 6.6667, 1.1404, -0.1343, -0.0464, -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 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]: [-0.5316, 2.112, 0.4683, 1.2259, -0.5552, -0.2058, 0.9993, -0.0574, 1.2415, 1.1271, -0.981, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1191 left_z=0.0004 left_yaw=0.045 left_pitch=0.2187 left_roll=0.029 left_gripper=0.9993 right_x=0.2981 right_y=0.0068 right_z=0.1753 right_yaw=0.0837 right_pitch=-0.5277 right_roll=0.087 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -6.8855, 1.8803, 1.3114, -0.2906, 0.1538, -0.0464, -0.212, -4.1504, 6.6667, 1.1502, -0.1197, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df51ba26c532036d2d265a82aa0cdd0e3c6c9fa800870356dbe79d4d3fde221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0ce073aeff7024349849558982f2439b5190caeae7192de9ab0cae99181b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ad2f6960ceb926d4ebfc2a97acb1722a255dcfb3772ed3593c8043c0e38570",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDK8RHa9B-ui-T4pHcqhwG24ZQC-Le8KN5mLLOFBIelV-2-ZdyyTcrnrulMIgKllViGYE9MO1MMyfBI7Hb5zBFzjAvPJwYMGM0q4DW6qqcTjSV9nO1v57ekQAaqnIhGJN2WCfcxS-m1b7ac48j2IcSjpuKjPzEzSA_jgovEmcQdWarSXkexFw8FQKE8P2kXLAB8dQKfhEQlcg7iAEYQdUl0zzJInkXPRWIj8OHXGihvioejXaSba8GC5eQoMoa6lo_rKvRzgCiInDs3c7WIa2dbIVm0o9lkUesoaZCK0Y6LUu6SKvyFkE1bvrtReh1sOXbeNLlH4-MPXDFjiU6jJcX7CpO8bBBzusMBoXyJoaZTFfgNl3aNqbRblvhYZRWge_b_T7K_gyxo2fh549H5ps-Zp1CVNtgV82FSTsgbzIXV2wc47bZJXEli0L3TWP-oy5l3cN8FPBqVXgAMbifU-9TwC6Jb0Fcs3Evg_4gyWPy50keJyrM_vwilkT2c0fAeGsrKb4HJ5MBVnLskP04ZzRXge1tvLG-a06g9Dl6ZuQQeBBDIkDJ8o8qBwrxNxDj7EW1aFPQqrW9_XaVJGaGOF02HM134HijRxG-dY1ODVirUzmF1HfDJS_O7t8nYz_02ydfpKyK_oxWzRqkRHFWecR_8Duo55IHRm8IixSXKN47fLYTRPFl2esScq3i076huSIyYYEsnTJvxhgqwI7vnPexQmuA9rK7IiqbldHv6-R9x4xmlGurW8QSRHUwqAE8vb-vnhodrW3vSOzopcpSKXjvW0wtIvVQjatDtb6HGRczRhXPw2CNxFh7JEHQldDcOc0T35qDP7J4lRz7ZzlqEt-L_mBBo8SLH0EFGXEQ_6nxkA1ARs0flIw8d5dlTLcA8s-fTtU1sLPVNUCBFT2QUOClp-rsmsvmjeI3UefjoV0mOOnMezqu8rVbBHzUoA7ZJmETF2jUMuHf_VJzZdHsPMGTWiK7yd77rXKZvfqOvREct6UTpW9_tpmiUZN_Dt5j1R-IXi1u8fokNSre63L9UwVHvWLrXTx2oY4YyTlD1GVltwGPXrGC1-dCaG1Ye0Bqg2mR-cetr848NewFAzMbK5PKhcyN6prqEB_mi7RBiuWd8VRcODfoG675RqN05WWT7Yz_BcqbvXmROIz7WNbNH18CHFpnHNX1R0nYtbVQxrRib5h8w-jKMIpdsUqLLHQMhQvN6Pu4Y-IjerBHHMO4evBEbvr7JyXnUuIJOogo8F9DfU3oBg9VH0tJp-NoW2NKIKnqK47nlBxWjJVRgc8pwVnO351RCBbFZAOsGTgFjimniTsSRJ_Isu5URbuIbe9-BjAb-ljBuppa7VTNiAKQFeHdKuVj_qKx-P4itE-uetuzgcLfxUYgW-J45sKBW9o9CjJKRZDRL1i9xG9S-gBbQtYhZZAcAp5m2wiVLJvgg-S9R1hBASSTf-J8WtJ32pFjo42TqDx4GwwM1ey3YmYS8_BMExvngXUA_8QtE6VHeNO95SC8eG-6jbFgSkqaBCNoMiYLzJ6NRvzkAk_2ZcsG1igG9lnCvaq8vGvgd98EXO2BIkxLpSTp8TQStS6WPWdR9-_YF20GRmju8M5ruYTKE08o_wy1EAkhG6bBK7LkeUJXvPl9bPXqTqVS1hh0edlGdyxmn5JYDRlotJ1NlRUHGqX4DjqLhmXD3i-v-Ej6OGk4ixhx2B1y0CzU2ncutd1qQ3IW-kKdUoaicPXcLasgpmdZPGxFW6vR31a7-qHHgSV0gN66-cTqscnMwYrncZ7JJ7wgxQWRC9EVY0ochz0FeinYyVyW1sbw8TCGb9sUh4b1N5E1eMqf_Mmj-aUnNEbyTNq60eZgvAhwOdMraB1-6dEWdGDkqcIwUS6VQr3Oi9KhERExoUF6HwwWOYdWeikh8eQeglQAdiAvu-bIxKAPoq1TSIJpppVS-iSPo8OP51zFGks0CmsZu1zN5LAA0ApW4rUsUU5J9vjGDRjc5BfuVKo10dhAbilc-nh6b6FXE1e6Pz7T_u8OO76MBwxDTi59L7bAMNXhX1MN0pFKAmtQ4EYlnmtbmOodqTJfFAM71LuE0qWjco_w9QV-JfXBDma0yWji0E-5363MNNT5ilf3NetxDQo0w17s4_V65SeYg9JMGLKLHuj3n-2gKl2wMXxc0k1PuNWT3Hk5JA7hUBwUAgUVBEfs_RUp0w7kr8ReqrYCwIXls63slNRZ-saji9j27lh0vqx9KqzC7gC8MYE5Canrw5LtQnz1PKvltlZ5uQBSav2ALSQl-nPjxU2ZzFI3-GhZgbh5IkaquxNkqXA29o7p6bbMeDspaL0MrtxeoL-B6dKCzwHIrWPkWb9O77gNFNkeEK6X_AHhdwGxzmpe6o81AzrYdVmqJzNDF6m94eP8YtImpjkPrCf_aN27MjNbR7TX22qQDxMG1Nc6Mk3vfEaHEy6U_M2RD5O1YLDRfhnarv0MZU5MoKBhqtWKgJUjbIEx0DDOG2N954Vn7s-dK3ni5Yp0jQpyHUXw2Dyga21ise1vMohZaLDAixgNxcRsa0hT1vrfxAUpvxtjwNSMatUnxTUlkiqV7nBBrdVWivqjBrqzt_bTWpRmIzEMi5sZsSshOKomiJKYR09_ZPZesASau_d7WpcRMTMg8zukZAg0vVf0FDQTChNZQ6_yvmnZKRBRhsQl-feKFcc8gO1wi1xyTeeQnRPE8TFUwQABsud1htap2IgJ6P8MgCa7HbdQ5COlfBtlDto3V32H1UPHmokQCNXB_Gore1HP9J5u3NK3p3aSkVig21-y6lRSSbMGinV-Peiu4EnlCWCmt95Scrio5TA5QhWp0IgdaQPiWaNcrK7b7PFar3x4TJNU8XmWfJ-ffNQ6kA9ue1Lz-Js7xH04VDgHxkBZ6fGXX-LytOTt55z-nO5xC9UKG9EdSsGKl7j8vibZKcQFX16hKhA5UDgmG13ukENX_dFhBzULpdgm7yrGuk-4Z0QHBdllWLF9CFFiSQ1-ech5r2zFe8WmnSsmzRfyRfDH9NSpTJypcIN6TD6IzU7IkZwFBzSlMLP4IO7DoldzGs19ycXVW5UoMl_vq8lbHiQTlVEq_nUxG6-FpMbdB7a8RYhI95qiZ1IiksbJoKgGt-aNrbx15z0_NRPziwQQHGETtnxkswK8-zKV8fKgoYKfl-PzZT9HGJoKhD0AodfTcUxbF88Ppn2PdIwBv0xGcHMkyIdQVrXVjWkzctbWmEpn69GQmBNtzybJdmuf09Hw88wqkBsbStEkfZhollZkTyIMfPlfKG8trko-W5qTVlltM7qSjTuZuO5lU9ek5XoaDr1MRomq922_tzBXYEhEqm3HFrDqjc1FUGQgVVCmNHsGAV5sfkDUAxLwORBE8L",
  "id": "rs_0dfd50686a44e884016ab432b75b2087d0b8dc4d5d4382b5cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.134,\"left_x\":0.401,\"left_z\":0.001,\"left_pitch\":0.25},\"note\":\"Pitching the left tool forward let the grasp point reach the table safely. The cap’s narrower section is now near the fingertip row but slightly right of centre, so I’ll make a small sideways alignment before closing.\"}",
  "call_id": "call_qQ86PpUrAwPWq1cNVxEzyigT",
  "id": "fc_0dfd50686a44e884016ab432bb408487d08c016b1709f835d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qQ86PpUrAwPWq1cNVxEzyigT",
  "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]: [-0.5495, 2.1445, 0.4896, 1.2663, -0.5842, -0.1989, 0.9993, -0.0574, 1.2415, 1.1271, -0.9813, -0.1154, -0.0566, 0.9959]\nstate[eef_state]: left_x=0.3972 left_y=-0.1248 left_z=0.0024 left_yaw=0.0515 left_pitch=0.2493 left_roll=0.0286 left_gripper=0.9993 right_x=0.298 right_y=0.0068 right_z=0.1752 right_yaw=0.0838 right_pitch=-0.5281 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.7043, -7.2821, 3.8222, 1.5995, -0.149, 0.0806, -0.0171, -0.294, -3.9043, 6.4068, 1.0867, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47afedac933b7ff5b7e73a74a114d7351b12936395f37aec39ff67a9c7b51541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4940e67cf4aca71586adaa335a4eefdf680cd09582a6b388b00697fc04869f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c55bfb9e1b5fe99a3a755a606340c0b218a491d9f33ddc45d1b24db9fac969",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.022 s

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

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3218, -0.3382, 0.9997, -0.0574, 1.2411, 1.1282, -0.9733, -0.1154, -0.0563, 0.996]\nstate[eef_state]: left_x=0.4029 left_y=-0.1178 left_z=0.0302 left_yaw=0.041 left_pitch=-0.3003 left_roll=0.0485 left_gripper=0.9997 right_x=0.3 right_y=0.0067 right_z=0.1766 right_yaw=0.0828 right_pitch=-0.5186 right_roll=0.0857 right_gripper=0.996\nstate[joint_eff]: [0.0205, -8.9641, 8.5538, 1.6386, -0.149, 0.0855, -0.0073, -0.335, -4.2051, 6.4479, 1.1355, -0.1294, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5316, 2.112, 0.4683, 1.2259, -0.5552, -0.2058, 0.9993, -0.0574, 1.2415, 1.1271, -0.981, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1191 left_z=0.0004 left_yaw=0.045 left_pitch=0.2187 left_roll=0.029 left_gripper=0.9993 right_x=0.2981 right_y=0.0068 right_z=0.1753 right_yaw=0.0837 right_pitch=-0.5277 right_roll=0.087 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -6.8855, 1.8803, 1.3114, -0.2906, 0.1538, -0.0464, -0.212, -4.1504, 6.6667, 1.1502, -0.1197, -0.0464, -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 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]: [-0.5495, 2.1445, 0.4896, 1.2663, -0.5842, -0.1989, 0.9993, -0.0574, 1.2415, 1.1271, -0.9813, -0.1154, -0.0566, 0.9959]\nstate[eef_state]: left_x=0.3972 left_y=-0.1248 left_z=0.0024 left_yaw=0.0515 left_pitch=0.2493 left_roll=0.0286 left_gripper=0.9993 right_x=0.298 right_y=0.0068 right_z=0.1752 right_yaw=0.0838 right_pitch=-0.5281 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.7043, -7.2821, 3.8222, 1.5995, -0.149, 0.0806, -0.0171, -0.294, -3.9043, 6.4068, 1.0867, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47afedac933b7ff5b7e73a74a114d7351b12936395f37aec39ff67a9c7b51541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4940e67cf4aca71586adaa335a4eefdf680cd09582a6b388b00697fc04869f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c55bfb9e1b5fe99a3a755a606340c0b218a491d9f33ddc45d1b24db9fac969",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDK-N8V2Qp0MDZFHDYaY3qRk8FaDXSc3zUffwRBHUpkK_zNQgeNLA8KC-WAMlF0EI7k5Zzi3xVS5WpBbNIv35XzpOfi_LrsAAdJT5CpeWm-vh2T8pw_RTDszcisBjgSSSgSVrMtRMQOYmXvj1NIoKjXQBX-Z6qAFBNwkcEw-LcV2TndBpmOdfZe8BAw9mj1-hSBFUGzqc06GfqjxN94Tlb2DiXf66QsASyWkw2Wd6xFbZMa4Q0JIoOcFTpLxAGiYlE9wbDpQmzIhUcdwIhE3i9BqRqRzrEz4lf2KX4SQGEQM2NTVOBKA0YG-Fk8fC_K8C4U-Q3He_eF2260SV7C6HKTh9d8OyGp6_l_awp-IVSh2Fhkadnz15FhASqrrDFjg-rKOu_2kARIIkWKZK5EsJghZJPJ3Cqwo80xq1LxzbIo3ePhmAxGNq-MhEJrOCr0VUBQOhc8bU70-oV9-S4F7FZQJUpC5tgfUkF7nC9vk3at_Ytr24EYKoIDwfdd2G4nSXCYxccV_xTwkI1lOm-dYlNi76hXtOdy_I8evj9U69N2fdKKY5d5DvwPBSJcfDUfWpi_dg7F-Ttym3kaCM0jwvJKNlNJhplwR37uy8O0NzThoalYIjSzbkyXWrmRmZofvu_bImMHTMwiSCxYZs65zbzRS9i9yOgYYue0elAX2A3iTOQ9jv6U3KlUDWI1mSfcvuKga0eJ8bpNYTAFr9OHz_ji2SxsvjR9D9doeW-vePRF8UwiLDp9histX2QdqIhBLudGqakLRS7EamUoBbZGvyk4q6sgrb8Ak-9m7-EzfvvGQ0255FbA4u7ROZVijzAZHMqifX222uUMCTPOFR2SZzJOHzRGbDyEamf6Xv8rpQfjvviiK2-QWqUaWrCRcK8sJ3yv-7WJQcwpgk6j2ToevgO9v5kHxbe3_ETbXNudmda5tls9MnJ_sxZa2GYtgqAxQbAqrocnjrmsC-_4lYd2LMz6foSndw1BCzP_cEIqDWgQ8n-2aQ3RHh1Gk1es6so0nOCLEW-mUjI3TnVAVdFauGPTKBWjAQqXXpTAmqQpVjj4JJVQRxdAKRvt2eqSsw18xx5A7N7lItQM30FvCc1ls64TOnNvhWvcsjb_temcVXG1hsEnbKQf1xzTswexmhKnevKLRV_Xj_4dZQ75OJwv3SFVjFTjxrOv2akKj0cm1Q1dMUxZ3tHGlFVnJzhJAnE6GDnMhES0zsbEZdTknVa_GastF4UrJqaJk9bMlnlI-J14pK5LfkrUNzSLzMN_kONAmoJxZcTTWVXdI_tpAU2jmU6ZYXrreAZziVlF-Z-N_Y2WNMGg=",
  "id": "rs_0dfd50686a44e884016ab432bddfe087d0ab2303cd0bdb9507",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s narrow section now crosses the left jaw gap at table height. I’ll close the left gripper and check its opening before lifting.\"}",
  "call_id": "call_7UgaFAguMhY6uZBoXQU5XP7E",
  "id": "fc_0dfd50686a44e884016ab432be409487d09e82d9f85a138757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7UgaFAguMhY6uZBoXQU5XP7E",
  "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]: [-0.5701, 2.1509, 0.5098, 1.2503, -0.5968, -0.2062, 0.0483, -0.0574, 1.2415, 1.1271, -0.9874, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3985 left_y=-0.1333 left_z=0.002 left_yaw=0.0453 left_pitch=0.2503 left_roll=0.0269 left_gripper=0.0483 right_x=0.2967 right_y=0.0069 right_z=0.1745 right_yaw=0.0843 right_pitch=-0.5341 right_roll=0.088 right_gripper=0.996\nstate[joint_eff]: [0.0479, -7.6513, 3.6171, 1.6923, -0.105, 0.0806, 1.1746, -0.2393, -4.0547, 6.3795, 1.1941, -0.1148, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c7eed125ac37879624c4fb178e2897b6bb210b93f02e90a24f5f7b53be4016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc41b10c2ed3992fea0cab652e3c519a5c0f6d2f2d6c0fb4afc67157d34abfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef24c2f2c1f35b2edb4f0b1658bdd5514e0328eca685322d44dd7f89254c8fd7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 7.052 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 1.7672, 0.8932, -0.0631, -0.3214, -0.3386, 0.9997, -0.0574, 1.2411, 1.1282, -0.9737, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.4028 left_y=-0.1179 left_z=0.0301 left_yaw=0.0409 left_pitch=-0.3004 left_roll=0.048 left_gripper=0.9997 right_x=0.2999 right_y=0.0067 right_z=0.1766 right_yaw=0.083 right_pitch=-0.519 right_roll=0.0856 right_gripper=0.996\nstate[joint_eff]: [0.0889, -8.9641, 8.5128, 1.6093, -0.1197, 0.0513, -0.0122, -0.1299, -4.0957, 6.6667, 1.1404, -0.1343, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5495, 2.1445, 0.4896, 1.2663, -0.5842, -0.1989, 0.9993, -0.0574, 1.2415, 1.1271, -0.9813, -0.1154, -0.0566, 0.9959]\nstate[eef_state]: left_x=0.3972 left_y=-0.1248 left_z=0.0024 left_yaw=0.0515 left_pitch=0.2493 left_roll=0.0286 left_gripper=0.9993 right_x=0.298 right_y=0.0068 right_z=0.1752 right_yaw=0.0838 right_pitch=-0.5281 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.7043, -7.2821, 3.8222, 1.5995, -0.149, 0.0806, -0.0171, -0.294, -3.9043, 6.4068, 1.0867, -0.1245, -0.0708, -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]: [-0.5701, 2.1509, 0.5098, 1.2503, -0.5968, -0.2062, 0.0483, -0.0574, 1.2415, 1.1271, -0.9874, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3985 left_y=-0.1333 left_z=0.002 left_yaw=0.0453 left_pitch=0.2503 left_roll=0.0269 left_gripper=0.0483 right_x=0.2967 right_y=0.0069 right_z=0.1745 right_yaw=0.0843 right_pitch=-0.5341 right_roll=0.088 right_gripper=0.996\nstate[joint_eff]: [0.0479, -7.6513, 3.6171, 1.6923, -0.105, 0.0806, 1.1746, -0.2393, -4.0547, 6.3795, 1.1941, -0.1148, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c7eed125ac37879624c4fb178e2897b6bb210b93f02e90a24f5f7b53be4016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc41b10c2ed3992fea0cab652e3c519a5c0f6d2f2d6c0fb4afc67157d34abfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef24c2f2c1f35b2edb4f0b1658bdd5514e0328eca685322d44dd7f89254c8fd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLCsrLmOMbSTrW3oq2O_gcFm6ue5WWUEfIM7i6Pavmt1k_EF_wzydZQLmah_R__ZKIoGOyPuWoPuGZyX81Tc_Bruvvxm-lLCk-1tdma0DNYqN8tpn8w64teXY03AbSTwoyf4tSsIUwHyN_6ZSS6xX1BjoR0VsRq-v_82299_2B_serF60r_i-fMCn3yKptbvQAgRvw8ZdD88OpKOJv9ONO1McGFNGQiP6k3P3Z4S_cN3Usr5DK-i3pfnm-a1HOSbrjRG3g1PPNfQQw6UR-1KlWRMDjH6XRvxnNS8oZYrGOIotCEQFD6rY-xyOf3sSmJpmUGyJYfG5UAAPh4sBuDPfiPw3V3NBcZL0fA86t8joD3SxtRF1aNzLP0PG8mYIZeVbz7u-nKcgGwGi-SZFKugjhKpRQOOI8xhsNUL4vLGQNTXl-PVwaKk4K5YPVHR92CvENP-nJQ5SNJdR5OC2RJFhuWEwVoLT0w_A00150QiwaUwCB1FYLzAADwKx_eUT2KEmjq6ywKzgq4lgpSrxQYpxSYlilcN26sWwm1hxZn3uqA-gFtNYukHvnRH4yuMErvpS1cfk2hk-CabCp4g9a-7suAyghvjhwD4r5lf0wpjhV3kklUrbJZH48wGc9z5dz-0jLnAJjTI1aUZjsSJZOhYzhCGmGNxEh1Po6JTPe6e6FudQUoxN0qu8s-QNSuUUyTzFfQxeBxkEmA9LH92bEoPcGcqZImzRAQDxFe55fj8M5nItQhIMsNRsOb3ejV1TxBS2hAvYf3ERDvo-0i_dVFraHx1dx8u5L6MSeLmPLk4y0mnRWMP4GJsg6rxZqtq5QWHfWi8fnnnZYFl3j5vjNwSzqkQ2p17KhO5uusoMPqYDIcmOLnE2uzC8IrtmPUvyZmIu0XAGDOhVU425UHaLnjWjOf1G43UYlg2znYy3cZHmeLPaN4IRtiZop0v0g5Z-vJ3Fa9oLHD7tZDvzVkU-ddJbHmc43JAhNaTDjjH03pAWU0fXJKRS1sNOVzNJLcOf77R7br5vGTxJgFzrWoz_P0SS6vt2B-vAzAG4sANMTnWnzs1AzbVsk0jZgyBLX_iOU8IGQPSDIBGXR__XJGpRfYXHkUinJfi0oRRDNxzUOKEXONz98SHd_IQRnyQiik0BD56Mx7_sQPo0tmXTb2y1-JPuBN1Sb73Cbv3jmZIfU5Wa4BO5oLhHfINakhujkBPmko6B_nxB4lVc5dDDCUCXZLWzJirrZqfR3K5pxokpGgzTKljuJwHGF4phjHnG-PjXuG8EfXld_o3MQfmyIhDoDGHmsNtiQZwd8rigwzzfKHt2uPkzUBKWlDsMEl3NiYoHZ5f8SgjMv_fd4y8j_OWaqwV6vyDYHs7ddCUqU6tZ1seCIYZ-uXlGTcS8kelw7wsGUs0sI3qZw3JfjiMovIoC74YRsbRIHXgaEJiN9SbLX5EoqJVgK61VILX_qJcHnfGOewrBj5JZ3e9gNtU_dqHQllJgavNlleVniJH80zB93uMWuY889wg4WfmCSC6B_a0YRwefY8",
  "id": "rs_0dfd50686a44e884016ab432c139a087d0ae590b5fefff8daa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_x\":0.36},\"note\":\"The left gripper settled about 4.6 mm open, which is consistent with holding the cap, and the cap is no longer clearly visible ahead of the jaws. I’ll lift and retract slightly to verify that it moves with the gripper.\"}",
  "call_id": "call_e2TaWSe6YHoZGkF6lKG662FZ",
  "id": "fc_0dfd50686a44e884016ab432c1c9d887d0926c5e7083706155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e2TaWSe6YHoZGkF6lKG662FZ",
  "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]: [-0.6514, 1.3911, 0.5045, 0.495, -0.667, -0.2462, 0.0563, -0.0574, 1.243, 1.1236, -0.9882, -0.1154, -0.057, 0.996]\nstate[eef_state]: left_x=0.3606 left_y=-0.133 left_z=0.1403 left_yaw=0.0456 left_pitch=0.2665 left_roll=0.0099 left_gripper=0.0563 right_x=0.296 right_y=0.007 right_z=0.1728 right_yaw=0.085 right_pitch=-0.5398 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -5.3538, 8.8, 1.6435, -0.2857, -0.0855, 1.033, -0.2667, -4.2325, 6.6667, 1.1697, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5f6a6664b8316b8c9bf74cce3861df7054817c1aaaa66e3c10c2a94cdc2139",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c6dceac48f6ccacb7a52d2494a757ce374e5f05fe42ef124deb4c8e695176a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31d945f1034b3e9a8338b9fcc40bc005a1839f84549e2c1518ef85fd9995eb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.39 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]: [-0.5316, 2.112, 0.4683, 1.2259, -0.5552, -0.2058, 0.9993, -0.0574, 1.2415, 1.1271, -0.981, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1191 left_z=0.0004 left_yaw=0.045 left_pitch=0.2187 left_roll=0.029 left_gripper=0.9993 right_x=0.2981 right_y=0.0068 right_z=0.1753 right_yaw=0.0837 right_pitch=-0.5277 right_roll=0.087 right_gripper=0.996\nstate[joint_eff]: [-0.6222, -6.8855, 1.8803, 1.3114, -0.2906, 0.1538, -0.0464, -0.212, -4.1504, 6.6667, 1.1502, -0.1197, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5701, 2.1509, 0.5098, 1.2503, -0.5968, -0.2062, 0.0483, -0.0574, 1.2415, 1.1271, -0.9874, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3985 left_y=-0.1333 left_z=0.002 left_yaw=0.0453 left_pitch=0.2503 left_roll=0.0269 left_gripper=0.0483 right_x=0.2967 right_y=0.0069 right_z=0.1745 right_yaw=0.0843 right_pitch=-0.5341 right_roll=0.088 right_gripper=0.996\nstate[joint_eff]: [0.0479, -7.6513, 3.6171, 1.6923, -0.105, 0.0806, 1.1746, -0.2393, -4.0547, 6.3795, 1.1941, -0.1148, -0.0513, -0.0073]",
      "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]: [-0.6514, 1.3911, 0.5045, 0.495, -0.667, -0.2462, 0.0563, -0.0574, 1.243, 1.1236, -0.9882, -0.1154, -0.057, 0.996]\nstate[eef_state]: left_x=0.3606 left_y=-0.133 left_z=0.1403 left_yaw=0.0456 left_pitch=0.2665 left_roll=0.0099 left_gripper=0.0563 right_x=0.296 right_y=0.007 right_z=0.1728 right_yaw=0.085 right_pitch=-0.5398 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -5.3538, 8.8, 1.6435, -0.2857, -0.0855, 1.033, -0.2667, -4.2325, 6.6667, 1.1697, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5f6a6664b8316b8c9bf74cce3861df7054817c1aaaa66e3c10c2a94cdc2139",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c6dceac48f6ccacb7a52d2494a757ce374e5f05fe42ef124deb4c8e695176a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31d945f1034b3e9a8338b9fcc40bc005a1839f84549e2c1518ef85fd9995eb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDLKUYluObpYakVoM7rp4IDshE0VKN3_7yXjCK1YuVFz9-XVQeLDAo4Oi-m_mzDBqbMBttWBX6e6dZCMIgrcCrWNEIXFl_2o49fSK5O6C4DD6ae4wtWElUeBtQ4tXtpfugqepPPkwpgspqbMoENJb98_k8T5c6T3gOzB00XVNigEkQdGFwYNRRbPGoKT1fBLMnbRTT-FtKVZtXLgIquNNwOkPDxAa9hkgwdaQQPCOVUGW98kfQoUjMnJuNLBzNCK5vvtc-4Z5SxTEt4f-buK2vfkvpLEW0NtcVveRfkuDkTJdF8jwVx17pK8bbYa_ro_r4D6vLAz_4GCp7yYk1VGXmWZfoQFmfaP0057rvB-4xHi2m0i0PXBp6nKNY5sZBDfHIUwSIn30K1A8vS__m4O5iyuUg0MGBazn-AVTA-iZhz_QgLrScMCTtKkdax_Mg88kAETzv373uzq3EKsoJgnRi6goEVuYZfmCOeHOVpX8Xr8IGaU1LAm2uhok3-19HrRioWmyg4UT7q-7rLxOh18mObHPDigDDYJxTHnkkIO13-Y_OPtTt6YT9OieKTvt0__xaWpD_EERWNHY4bsJb5KlR6o2M6eCeaSVmDqRljJ_f7UjlLWUvmAmGlDycxuyicHjV81jmHELj9EH_pptbx9s-XwUBoG0wZGvap6bajk99DUdCqUCFcAGLmiO0DoRPoRYjjCW_2OEeXb3Jt3H9BN4y-Doxd3d88CyT6qkW6QKsbqiALeSwPxWv-c8ihlPcYJiRdZHmyFl3Km_MbKc1fz7cDc5OsL1X6unam9mESzCqA9iegm5LGw2FpY_OAI1VJjZbGyXT9AICV76xcZQqLxk28pI69igHWHyq2sbX36yRQQ927n2seGUSbXPu9dqWWuvAfVEE_L9ArbPO-aur0lIUYRnTwkUCfsrrtYMvVHc1cYBaXjbKItVlyZoReMEHfX_r0ZbJQe2sipSexR6cKRaEjp6WfcmoShowuJVwFU4TBVIzvLwUJmIs4LUkbpscHX5O29vBo8gtX1JcnasxXm9RUb-nPedGKnS8DL4ZKBtYqTqFunUrL0NTxQuF8ntA4sNDmhDHhdzcU8u2mhTW2JDxTPs2wlc4mzEwTiPKIdQQIrexgkF0mr73PlLToFw0DuplurxAsXRbK6d53uePEOhqluw6qyk8xsdUcVZPt6Z2fCgJlsIgbXU0k4ZjazWqNEassAGhc6S56VPhmZfZ4bFxxqW8g8_kk63dMbOEEWUYWeJ7GgdyKUA9ltlMct7CyywKTcNDzpXtosT5RvlW2giqTZmpVJUD0PLr0bCsz3gJYBBfdMAR2Mdu4aNNV0xj_xrTwJc9F5Nh7jAE1kCMg6hw4NX9B_4kiRYBxRNFOkqXgQ6msfy-B42m7WMhWd3-P6R_WD8mdYpgbS1b0YxHSk1S8SlcxGlle49Rr3v_kG6biElSLB85cUcKEoW14J2GC_BJQHzdt7wrIGAgoVWZ_-_FCOV5CRWb65qY082uOEvCVcgtHivlD1Zt-0vQkicKxZ0aPVf2GTDZLIcsuUIxyAt2wptgrkcaVYRk7vc-cpK66UqtycNfGZZtKGEqAhqGzzR_jFmjDBj4-nBlBTkNVNH3EvzTjk737RlXpNgKKb7EO-f7xtoUjnnsv7dAR59bU5kWLt2Hsoz9LNq3_SPAEUxdJrCkdhZUmqvJqAofr5jHiyuXmIm4kEhEhDHLbCNMHBQP09w-cLgvuezoV9xvHjR-M_WovsK2HB1qh2zU1nmavZjXb3J6gnzAhGz60RsjOPnxagw_WB2jNgECiaYuLhB9IqlhIA-NXGz5PqvTKjyETHA8B17ugEgg4HtKbfxe37Tn7nKCMpRdIpF1j3qVhCEYlucVKjtAIvQvPLjupU54FapvqWtNBIlFsvnHKWZafshpSvc0URoib2K_zSjx-oZ9LbJPdOFRnBjnGLW8a0se5Xyw8QSggOlL2-Qp9RCZOlEJiR1fcrC_W6cUjweNg_9omPT6Rft7Aa4R7iy6sAgRvqQjdQh-f5bYRGirfhQyBOkvo4dGkTFuShMcrYg7fUcv9O4-XHrDL5azJn1_DigUZr3iQLeJuMXjIhz8Q9TNHCD_gLvMLDdJV78tbDVk2nqvHSRNTUk0xvroXp9KCNkHSn08S9_mj11ItnA3P5fRjS5N05JGgNZDgNt2U3xVLTS_FkAmt_sJ94YKPFAvWNzJD06jSyTIuLPqetlHV7FLpX1_bPKXYk0M63uWRiMXW8vVqzUKV9Nf_C1EpvEg06jhdLPC4j91nMBxTZ3AhMZ0Bu_ljw4LK5qnNMQN5J1WZkyGu0qAJKOdTFcrmL8tdipLtbVfDiofDroWe8tdmqil-2315nWUX1Ie5uhJs9S3E8gbFxkBc9ggdomv7SvjvKo3A8xcO_sBYly6Fha-rkv8gT8qjxpm2hZ6fX407N7x9nLXhqTWKlwnweb4l66Lsj5oM-QcRinDPyg1NdFsFpcyHMv54ixn11vp_M9JsG6nffThlBn3gXqFX1u2XeCokrqol4T_fz41hbR8Di6-gCuh_AM11Ko247W_zy24e-AYzOHFt7YpLVudCS8fwPSrWhGXpooDgEBF3kiakQ-bDRDD1MtONmZt6KFVcDQBiKEvM038GCVhsgXyKn6ByD9La-inO-31-axoY9JGGu0fhDhTf6h8FNedyASElnY_en8GUUgDfAo52GqCwVk3JTmiwdAJKrYl5gRbJ_d7L-HM3gWMzsh9sq2YKBDlyZXshLnv1N_NXzwLR8ec4MeFGnjCWowquhfHqbjtq14woAa3IvNEku0n8gDAZ64_2AFCWrdtm8S83uq-uTxHG0lbVeUMFLsEi_JQCq42Yt2f71tw-RNaMaxndhk70iiV6nMvCEmwCcicBypP-qN9hYbJ82bGwqLqKUJ19Oo8SeTLo5cyfz3HhOhLhZeU92OAXd0fsFOIRhdRyKM5B6Xq2B3KAUs1wcqqfxCWTzGL5WkVf3PKno8eks1XXNLqkwTNESk4GGHH7e108NM2nL-38Mo1mtkAEEfq9g1ixvBv4j1ghW9DhyUYAMV4WrODZC2A7c1NB4BnJuYy03-Pe-jun_Mc1Wbt5HyZ36o9awbwNH7bhrNuYBKJrqBGVZVRKCkJB0RPZRtoQB6AK84akWIFrFYO-9NuGCQdggXs37OHgMSDFL9lVOiLSX2B2aHrZhf1jrj7-WBpAbwl9qusEcluyUh__UGgiqpy0ek85DLr9LhJU5Jrm6F2tbSEXIcfxHSHe2HjxhxFQpGyqPPQSHGrIMSYO5nsQQ5IGJrprNwJ55Dgr3TR26ikNj-Z8uYoY9iZ3vCkvr4NQZgpJ7G3u9k3CbPhzOI-peVs3Uj4w3sid5r3BVRUc6VrM5ApuopfiJCcKuuHXSjTJVtcw-b2tjgXYM5E4aINmyazRRU5C74ZfrgrAZ9WJsK0Kp5oHc0ApRSISdT1ZS_5YdO3IZ7hUibM2FnV1O9t-y8VxvF00znJDlwxLsTqV_DIyNHxIYfk5kKgT0ureY01YS-f6rmbCD790JHyG4GMybstYbL8GZ7a5egHLcVdgBrW3x98ExvqzAbWfWrjk9sN37vFY37Q==",
  "id": "rs_0dfd50686a44e884016ab432c5306487d09d87a43107980268",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLKbha-uBaDcPvUJI2r1MW6XKQPwyezHULE-jbYvNhuwUPeZCwhw56df-9cYLO-GCiSy_bTjYTW2A5L66jNPXxz9Y5AED99ArZ1hNGWB1vnwPg1THUa0rByH4lC2K9fZaBPkt4oTNXJfGf8B1IXe0GfhD9svZ5_2XpuAaK2K3vtJ0d1ffbVrK0yLy7aW9GZXD-CbcIXMaJAvB1Khf8RK5t6qY3l0K2CPGaYKkc3-VtMceTuJ59Y1zGUphmjCvevFmF9yCQk2BhTQk5s5YQPS41th-fdnP0Yt6JT-0myVUQ_ew75D44MqbbGFgUD8FqNyBIcWOHMSCHBziMMwbNn-8fYwcB3r4b0ULkJGPDeeq9eZ4WnsXI5E_ALFSdt74hQCN4-wOQCvAoboIFMbj48zbJ7TCRLwdUVwmlUmRU0jX0blDHqG3LFQxI7rPXi-RS-3oUTePSMH8G-8XIVmgt63ZcZbyIBP-B6k-H3DBHZOJDK9Jm2xZEf6KN5aJjrrM4WPN9DEQUYdIA6kHBeQxu9Z0BuMQUo09vs0C1hOVXE6Z3F17iCXweT_2tywTaYtvzoKGs1QGZTXIPGNEi62T_o6yrF3tKuGxgoxXSiu_pm7lelHMhScNg_octjUXw7ixmc9iUJpCOhO0bwDiiHksYKCwEgOajc6o2-g03ShXUqA6tpOCxVx1_vsrOspr2tnKoFwNtkNNU7JkTkt8Wen_CfrGuX56zrOflPWGPNjXa36NNyGLeYfXfLi6ZqpDU1zjLl0alz0jTD9kv3lmUxek0y07cJ7Ish6PCQErUdLWtCj67DSE5TZUCFq3ULQyPvxWf1dcOQp0FuQUTrbHJo5c5jUUtn3DY9Mo669Jl8hGzi6riyRXj8rYPruBs10ZETZtR0gXzsKdlyysjEqLL0B5AbBqqDei2GJP8uMq63y3oylfYfso6-iBna-dz_on1VthhAi0BfSvsYjprwFXhzgwBUYUr5nWi1gVxjyGqA4Hl6DJFj83LlvFkCXY8EoDGL2htsqkA_Zg21_qL1CL0867_-1ZsJMau-r388Ke_S1ELO8F9VES5IUCY1hb4RG0a46cHBfkQPMIY1AUyjGYSpJJm1rzjWbLXJeMzdlZYC1bvhMv9YfZHuXOaGgCDMd0VD4nftGU8mTaj3A1_gEPtXOAMD9_VnQt1_6Lbjy8tbwROXilunfjbioWtOKb8qP24dCJjSoU-pnHyBTdIYaubUTt9mhQ-MAzOeFPf1hnjtUi_jnk4Jt6j0QT22jTMUIi-3zHUX4ECA21Iy9LZQgj-bi3C6J219KJXKyWjBdUVn775KsacJyzR1wDSYIl83pkvc8APSp2N5IbzvzYhUfmNiOR5H7MJvXkhU2a9S-N9o4KCTLpPfb4iZR5JCGqrWTGL9rhzdPlEGBN4lvf62rmzrHL51PGrxTinpGCmuQVLn0mBhiF0-6T2jpYLACfXNcTdCl1Uts-ewoiOKljj6knMXOw0oRV9beBBOfsHVs8KwDEd0oejxa4_Xm5J8LjsBhlgYlTotkn8b",
  "id": "rs_0dfd50686a44e884016ab432c921b487d0a6f5e52b27254651",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.389,\"right_y\":0.12,\"right_z\":0.105,\"right_pitch\":0.25,\"right_yaw\":0},\"note\":\"The cap appears to have lifted with the left gripper, which remains securely partly open. I’ll leave it raised and approach the pen with the right arm using the forward tool pitch that allowed the left arm to reach table level.\"}",
  "call_id": "call_R1YDjtO2bmR5l9gVzWulkA6Q",
  "id": "fc_0dfd50686a44e884016ab432c9eea087d0a814df5871a4d9ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R1YDjtO2bmR5l9gVzWulkA6Q",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.6544, 1.3926, 0.5045, 0.4644, -0.6735, -0.2527, 0.0627, 0.4412, 1.5532, 0.4564, 0.6682, 0.3401, 0.2153, 0.996]\nstate[eef_state]: left_x=0.3583 left_y=-0.1315 left_z=0.1342 left_yaw=0.0462 left_pitch=0.2437 left_roll=0.0269 left_gripper=0.0627 right_x=0.3817 right_y=0.119 right_z=0.0872 right_yaw=0.0298 right_pitch=0.1554 right_roll=0.0626 right_gripper=0.996\nstate[joint_eff]: [0.1983, -5.1761, 6.1744, 1.956, -0.149, -0.0171, 1.033, 0.4991, -5.8462, 4.9709, 2.1074, 0.2222, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0910a7a1c28954b6f764b052411c98fca61b8194592262b76dcbe86a886e7728",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208e95fd021be7b4f40673675656cb1728b2b8eab3a9e10e41b2a18f18e8f376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb5ed133840b12d3e80f813da795f8d2c5d5e8c380992b1c8c1a1061358e1f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.86 s

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

message 89 changed as sent

message 97 changed as sent

message 102 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]: [-0.5495, 2.1445, 0.4896, 1.2663, -0.5842, -0.1989, 0.9993, -0.0574, 1.2415, 1.1271, -0.9813, -0.1154, -0.0566, 0.9959]\nstate[eef_state]: left_x=0.3972 left_y=-0.1248 left_z=0.0024 left_yaw=0.0515 left_pitch=0.2493 left_roll=0.0286 left_gripper=0.9993 right_x=0.298 right_y=0.0068 right_z=0.1752 right_yaw=0.0838 right_pitch=-0.5281 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.7043, -7.2821, 3.8222, 1.5995, -0.149, 0.0806, -0.0171, -0.294, -3.9043, 6.4068, 1.0867, -0.1245, -0.0708, -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]: [-0.6514, 1.3911, 0.5045, 0.495, -0.667, -0.2462, 0.0563, -0.0574, 1.243, 1.1236, -0.9882, -0.1154, -0.057, 0.996]\nstate[eef_state]: left_x=0.3606 left_y=-0.133 left_z=0.1403 left_yaw=0.0456 left_pitch=0.2665 left_roll=0.0099 left_gripper=0.0563 right_x=0.296 right_y=0.007 right_z=0.1728 right_yaw=0.085 right_pitch=-0.5398 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -5.3538, 8.8, 1.6435, -0.2857, -0.0855, 1.033, -0.2667, -4.2325, 6.6667, 1.1697, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6544, 1.3926, 0.5045, 0.4644, -0.6735, -0.2527, 0.0627, 0.4412, 1.5532, 0.4564, 0.6682, 0.3401, 0.2153, 0.996]\nstate[eef_state]: left_x=0.3583 left_y=-0.1315 left_z=0.1342 left_yaw=0.0462 left_pitch=0.2437 left_roll=0.0269 left_gripper=0.0627 right_x=0.3817 right_y=0.119 right_z=0.0872 right_yaw=0.0298 right_pitch=0.1554 right_roll=0.0626 right_gripper=0.996\nstate[joint_eff]: [0.1983, -5.1761, 6.1744, 1.956, -0.149, -0.0171, 1.033, 0.4991, -5.8462, 4.9709, 2.1074, 0.2222, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0910a7a1c28954b6f764b052411c98fca61b8194592262b76dcbe86a886e7728",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208e95fd021be7b4f40673675656cb1728b2b8eab3a9e10e41b2a18f18e8f376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb5ed133840b12d3e80f813da795f8d2c5d5e8c380992b1c8c1a1061358e1f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLQ71cf8mMmusamDvsaTZ-MlahW-tLbQ6ypV11llr7aWox4aOoNr_1naPpp6Fx8XtgHLHg1CFoS5SVPTP6Ym-geypc604GLPO5eHZ8bEbrPrLmLueqpTfXc-nii6qCmKFgnZbNJAbKLTjcnyMC3CuYW1bVF9eMRBESX8dgS4GWVZfEG73Tqb4nXcGf3DIfNnGuTBGdkje1Qe9gjEpINwmY83oGV7tNnVuTs5eOqAHLDvHJq1DnUUXseWfr5o0wN6UhTlsCUdiW2XbDekSRumBu7ahXZzOHpAjO4HwdtneVZ9t1ahfGHUekfNO4J2UuCv700IWzba-fv-TwZ5QkkuqTNo69_q0G9dix_m06GJBjxyG-RYTKOiZrHRAbF9DPl1B-CZSlju_1zqC9A4lDS7ai-hNTWyELkRC-DsIeWhloboIk_Zz7NNjN4hKEHwkZuumW1FpnlBOFxMm9WKemzR2jr7pZ5lLkdMFQ80n4oSg9NDquPEZqT2kORtxKAulzmO1MmN1YlWlhVsxU-rCinfURjVBvld5962Rf-cmUqIpHLQJrkJ5dBCWetScshVbjnjPAi3eTYf7UbUe1bKiQB8u-7uRJLnYRqao3dLZfYnUgzo8ZdzepueKlfySbcT2AiaHB-K90eNnGKRnDCzTqcgSwS4Ny5zT8JJTnUm2ePaeD04PoWZDHCwo-ESiewLAlmM_OKX6u4NONyLWHDFfPBBtGDHQhPaC6hb-uiA7rV85T1S1mEyYJBK1Ttzibq-IRViGB-uQ_B29WpdI4fqDh9Dqq58FilqvvzvOB5AlVAkZ-0NkZpVaBgUpZ5mGzOp1vUHnqy2TK9W0DBoC6zKkOgXjUMSPx5xLU43z8qOa16oFuaFLhZwpC_onXI6g4gbrQbZAy39t_mfrcL3ypp8pQLAzQNjRTLrFngST4TsbQBG5BmnhDgKuwbLQOgr1HFeso6-RIO5tqee7yLyfXXm6QenWuMbFQClkIbB-5gWZ3T4z1n-c18UQfyy_iLpJ6evRei1rSErN2KzdGvbwnblydXAZfBWG7fRwMoA8GgpDwbYslTAKqOwxuzHfc4WceEEkZW8LyAxvNYrvroE7URYtv0LjTPgM7w9BTNJ6uLzAv6cHn_PBQuhAOlM-XjpwEZ_wIcYq2hPXq3zJCrclWvfurQiMUUMEA8Ju0dSPV2gi982fZswCb-oypD_cI-yOfz0gP_AmzeVBAKIo6O9PVlZqWWm7aglqqs7sXhl5dXfPz0p5D2praBYiLh5sTYNu5BBe6mDDXwLYSfhdu6py0H71YFhTTzlzaHJxw-gKieYEwxnfmaLSlDdgAixapBQl4as_3PaEiebMU9fzu56xb0gva-3zYkSqo3eU4UcA48po-VTLVOqz7unM_t_tdIFGkCD3IUUVIRxju78nyGSNWak-qpQMHCmzueN-3uc69qWQ4hfB7jRtEbHJ370nfAAr28FgHmKQaVTfrLrBWoviV6924xIOzFY42qfMx35RR9_N-TQb62Rgvevo2BB05E9KYas4Jued4SlOKHU-gB9pk6X3zZiGKt4b4lvr-3lh2km97W0gDZlIqWpftfZ_sfRCqoIae5HPmFBt8GJT9Da-H6wcnB450IZifVgjeDFRX1VoifjYI-XTetvbxbK4bIOn0WElDGwrL9QLd2KiwOUGkiSMm5NeozXElXDpXxQxkl8Z18TsaFQ2T5eZFwCsfCTvqVkKH6o22hF-pBScFAfVjYqAFiRPAmxcrvU5MEeEEKzkYyT4cnYa5RI3vSQVYaw5waW2syrGU88LF2RKh2pzAVer8JoVfLpr0QRPfHSn2fdX5b8-8azhvHx1HG2r8tIsCwqQ31pcHm464nS7dmdsbnkFEU3rntw-SLLvEp2Kjye9vagUST-H-01IEtt15NV4UQXlevTIOTRL3amxQjpyc2ZW8zVPGc20G7AHr5RVlrb_YNACr-XMkEdVBNjXHxd8aTOlFkxvPwk-Im1X0zjG-fCJwWW39j9ni04N4ySngW3EMPe2hygfza03xGskjEk5_M2xJVQsQxtbmoSn8HinPAjm-n-fgniQ_IZydB_2XgtuTRl7BenpOyJqIZuUTTw1yuiSvnzpwV2_A1rrQhUR4TCKr37lKoLW05D7chCtFnvSGsAHJaEqI=",
  "id": "rs_0dfd50686a44e884016ab432ce73e887d0a8f1832f269d83a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.416,\"right_y\":0.09,\"right_z\":0.008,\"right_pitch\":0.25},\"note\":\"The pen is plainly visible in the right wrist view, running down the frame just to the right of the jaw column. I’ll move the right fingertips laterally onto its barrel and lower at a forward pitch for a cleaner table-level grip.\"}",
  "call_id": "call_YDQRJt60b81RRAViHgYhV2iT",
  "id": "fc_0dfd50686a44e884016ab432d0084887d0ae0c957c2174357e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YDQRJt60b81RRAViHgYhV2iT",
  "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]: [-0.6552, 1.3952, 0.5045, 0.4557, -0.6739, -0.2527, 0.0627, 0.3084, 2.0907, 0.4454, 1.261, 0.2462, 0.1356, 0.996]\nstate[eef_state]: left_x=0.3576 left_y=-0.1312 left_z=0.1317 left_yaw=0.044 left_pitch=0.2351 left_roll=0.0346 left_gripper=0.0627 right_x=0.4091 right_y=0.0889 right_z=0.002 right_yaw=0.0175 right_pitch=0.1866 right_roll=0.0385 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -5.2034, 5.9829, 1.7558, -0.2076, -0.0317, 1.033, -1.0872, -7.159, 2.4957, 1.1648, -0.1734, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ce10aa7b7ad4edde018c81eacf27592a226fc0da6336764eed787f22ca3b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46fb195fa4034438efbc88bd66c597d76081db90605566bb8cc86ed606cd3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eaf09f1f0e9e82c77261877208a86d89538bc4b470b4b634949024eaf160047",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.494 s

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

message 93 changed as sent

message 102 changed as sent

message 106 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]: [-0.5701, 2.1509, 0.5098, 1.2503, -0.5968, -0.2062, 0.0483, -0.0574, 1.2415, 1.1271, -0.9874, -0.1154, -0.0566, 0.996]\nstate[eef_state]: left_x=0.3985 left_y=-0.1333 left_z=0.002 left_yaw=0.0453 left_pitch=0.2503 left_roll=0.0269 left_gripper=0.0483 right_x=0.2967 right_y=0.0069 right_z=0.1745 right_yaw=0.0843 right_pitch=-0.5341 right_roll=0.088 right_gripper=0.996\nstate[joint_eff]: [0.0479, -7.6513, 3.6171, 1.6923, -0.105, 0.0806, 1.1746, -0.2393, -4.0547, 6.3795, 1.1941, -0.1148, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6544, 1.3926, 0.5045, 0.4644, -0.6735, -0.2527, 0.0627, 0.4412, 1.5532, 0.4564, 0.6682, 0.3401, 0.2153, 0.996]\nstate[eef_state]: left_x=0.3583 left_y=-0.1315 left_z=0.1342 left_yaw=0.0462 left_pitch=0.2437 left_roll=0.0269 left_gripper=0.0627 right_x=0.3817 right_y=0.119 right_z=0.0872 right_yaw=0.0298 right_pitch=0.1554 right_roll=0.0626 right_gripper=0.996\nstate[joint_eff]: [0.1983, -5.1761, 6.1744, 1.956, -0.149, -0.0171, 1.033, 0.4991, -5.8462, 4.9709, 2.1074, 0.2222, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4557, -0.6739, -0.2527, 0.0627, 0.3084, 2.0907, 0.4454, 1.261, 0.2462, 0.1356, 0.996]\nstate[eef_state]: left_x=0.3576 left_y=-0.1312 left_z=0.1317 left_yaw=0.044 left_pitch=0.2351 left_roll=0.0346 left_gripper=0.0627 right_x=0.4091 right_y=0.0889 right_z=0.002 right_yaw=0.0175 right_pitch=0.1866 right_roll=0.0385 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -5.2034, 5.9829, 1.7558, -0.2076, -0.0317, 1.033, -1.0872, -7.159, 2.4957, 1.1648, -0.1734, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ce10aa7b7ad4edde018c81eacf27592a226fc0da6336764eed787f22ca3b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46fb195fa4034438efbc88bd66c597d76081db90605566bb8cc86ed606cd3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eaf09f1f0e9e82c77261877208a86d89538bc4b470b4b634949024eaf160047",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLUK5S6S99Ziv5wcEIZNwCMQkAavLSvzDG2s2J4qQJ9GfM583-H-A0nFQDWixsZz8wKYQDGY_VkmEI9PORFXZjMOmfS5Avoc30R6UtJ5ABhunp3VkIa4kNPhPdUwXoXzSpBgRug9IgOVNieESlJ736OedQhEEToqQsDBA2NWw9uEHnufxif2f5xRkUra8yLwXdCwnTr5rhkqajn33ZzH72_PM9zH42WVoXu9fgCieL81XOSaCUNiFa54QgP0mbtKlTCXnHYZwYkGn4Scz4gl099g6X3fRidfVlGHSV2EHb8VHtVa8bgsVR3noRo6DuEaNQ6_858YsyLNJ-SDyJzNqCJFHLz_91MG03QfoWxZX2elnAhnY3MZAG6laqjiksbFhMub0x9pbeBUeD2h72ccZLz45xUwdr2UeMHsKS2OG9BjrYW53CdipLa10x_vLbV0Vvfj2F8k2hVgxbMKpDg8iWaSsZ8J5cheWFRMaiFlOS-qYodaaBxTS9A_IL90Iinx6cyTtlYe8pVw3sCtCFYeIn4wlZvOSjoPlMvzPrL0a0y6fVZUoKfhYMfDKbYYcp__UVTWedQWQUxMsz15-_ExDqDnAOHesoTlt2Hn9nTiTTf9d7Xu4mxgby_t-OIESz4_aI3lI5KkdBoGAvrNPmm6VLAho9Z78hrRTVI7zBKo9mbWFK4V17u9rdVraKLbqRynM_-Lun8eiZ48H9QGN64o16F3UTK9H5jg70W9pc6_YA_GHSYCHE57YeWoePnu2iwLWZ7f8iLmX3Vg1YHLZ8hrFUus0ikpV2bKlMtUiWSpxfsh8mLDUB43FMOXSx4tJaYJGkSB9ftuJb2YqPap_OYzpCVQLSFx4flnQrJiON6Y0YLq2o_TNRqfJ8Whu7GJDqvLZlsm2k-3lFg6cTV0nFzs1CyfefKxbd21BJlGsHVaYJAZj90vfDoD9RXRfL5MpkMj5k_1fF7sVuuwE9zBDrmfEMn84eIGdxmHZ1ev4FJ28rbcVUZKiIkeYL8lJbkkGMjbYlYwXkCcxhJC6n4cnuBjjpemlkDN3xuW8Dz-03YBn3YbOlh7uiMgEhQmuo2l3QxjFD4kh4C7uG_60g5XnA1DiCP-yLQmqlUZLhlQRQ5mLi5ytyD5PRyFBfsJwrcFtX5qiWjRyfFqZXwv4kSoibycuckfYnOV7Xc33kPLLP0ca3jk3BEoNMcaR4aLtzDDzeLDInX-OczjMUrLTjZjulWLWpTqkvsOIHHvJwNVgT0igtZMJ2CaeqVBdBBVmf7kWKlyN4HMGAkuaVU565-elaIhTEWnw==",
  "id": "rs_0dfd50686a44e884016ab432d3530887d0a42c41f7864b7aef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height the pen barrel now runs almost exactly through the right jaw column. I’ll close around it and use the settled opening and a lift to verify the grasp.\"}",
  "call_id": "call_Q0FGNBjkngJ6FV3bDVTWzi3X",
  "id": "fc_0dfd50686a44e884016ab432d3a00c87d08bac1f449dbf0ffd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q0FGNBjkngJ6FV3bDVTWzi3X",
  "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]: [-0.6552, 1.3952, 0.5045, 0.4522, -0.6735, -0.2527, 0.0627, 0.3035, 2.1101, 0.4496, 1.2869, 0.242, 0.128, 0.0549]\nstate[eef_state]: left_x=0.3574 left_y=-0.1311 left_z=0.131 left_yaw=0.0431 left_pitch=0.2324 left_roll=0.0368 left_gripper=0.0627 right_x=0.411 right_y=0.0881 right_z=0.0012 right_yaw=0.0196 right_pitch=0.1966 right_roll=0.0359 right_gripper=0.0549\nstate[joint_eff]: [-0.1846, -4.7521, 5.9692, 1.6874, -0.2027, -0.0415, 1.0379, 0.2256, -9.4701, 2.1538, 1.6581, 0.0757, 0.0415, 1.2088]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e8a6700d2c0c0941dc31eb017c76d1a18e4e44a745f41588bdbf04cca7da44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daab7852879822c166daca0f18ed5b08d24af5bab8297233361f2d667213fc81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda6b67d4f56a10f174e53ebd0f25865a66a1f21dab751275c533f4f39a4c1af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 11.74 s

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

message 97 changed as sent

message 106 changed as sent

message 110 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]: [-0.6514, 1.3911, 0.5045, 0.495, -0.667, -0.2462, 0.0563, -0.0574, 1.243, 1.1236, -0.9882, -0.1154, -0.057, 0.996]\nstate[eef_state]: left_x=0.3606 left_y=-0.133 left_z=0.1403 left_yaw=0.0456 left_pitch=0.2665 left_roll=0.0099 left_gripper=0.0563 right_x=0.296 right_y=0.007 right_z=0.1728 right_yaw=0.085 right_pitch=-0.5398 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -5.3538, 8.8, 1.6435, -0.2857, -0.0855, 1.033, -0.2667, -4.2325, 6.6667, 1.1697, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4557, -0.6739, -0.2527, 0.0627, 0.3084, 2.0907, 0.4454, 1.261, 0.2462, 0.1356, 0.996]\nstate[eef_state]: left_x=0.3576 left_y=-0.1312 left_z=0.1317 left_yaw=0.044 left_pitch=0.2351 left_roll=0.0346 left_gripper=0.0627 right_x=0.4091 right_y=0.0889 right_z=0.002 right_yaw=0.0175 right_pitch=0.1866 right_roll=0.0385 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -5.2034, 5.9829, 1.7558, -0.2076, -0.0317, 1.033, -1.0872, -7.159, 2.4957, 1.1648, -0.1734, 0.1245, -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 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4522, -0.6735, -0.2527, 0.0627, 0.3035, 2.1101, 0.4496, 1.2869, 0.242, 0.128, 0.0549]\nstate[eef_state]: left_x=0.3574 left_y=-0.1311 left_z=0.131 left_yaw=0.0431 left_pitch=0.2324 left_roll=0.0368 left_gripper=0.0627 right_x=0.411 right_y=0.0881 right_z=0.0012 right_yaw=0.0196 right_pitch=0.1966 right_roll=0.0359 right_gripper=0.0549\nstate[joint_eff]: [-0.1846, -4.7521, 5.9692, 1.6874, -0.2027, -0.0415, 1.0379, 0.2256, -9.4701, 2.1538, 1.6581, 0.0757, 0.0415, 1.2088]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e8a6700d2c0c0941dc31eb017c76d1a18e4e44a745f41588bdbf04cca7da44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daab7852879822c166daca0f18ed5b08d24af5bab8297233361f2d667213fc81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda6b67d4f56a10f174e53ebd0f25865a66a1f21dab751275c533f4f39a4c1af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLXmonBigp7SpNrPNRW-mXWTV0GEVPeirOPu8o_3bO12zcGxMVek51EIcQhDVa7Nsvz_Rqbr8cx0mmcSMqmpWkTWeJsF_DFANS-7UUO-ImQPh4JOVszj4o0JlZcVzyx4haWSkYcJX0HyYlj9zIgEHqBbOr6ncTlZRV1wEK_i3ri2QeKTnqli3AkSTrWGcIO1I05-8zFo0O3DBRcHsIHl_XBEQvqBqr_Ajs0Fvf-MOqnqHyAkKbaxH0kG7sLgvX_OasxPX17vw7A_foLLGr6ksNU1ZBSi9tziQsQFw0hcgUGwR3xq1m85P4mMLw8P_4MkcYZRCyjqFc5wW8d_q23TGXBVuVlbee33r6cyl6RwKrCmxF5q21g0Are5VcloRuhepJDCHNmK6PNwV667svzpOwzMVqzz4pMUsclguqD2DQeCnmEZpHSbSgRDsY_Doo4AR2WaVq2yGDrCheq1f3c25j6IN-S6gsug-OdMOZH5gU7klml5LXYhtb9PNIIrhTpouc5yiKb4Bkm_SMTnuDfBQH7J-A3D0sgtXc1FF1HmSkuJDbxtv2ySxxNLfnnsWZ1eI2XWvfn3Q9GT4Aiw4MGTOEX0HQ5s0NBOsv1yxgHDGIoty6Nf-e5P_m0AHQz-FRGoTDWTRazWoorK8W0iGMBdgsJYvdmGZXrxG4AYVngewFxGDd2KWSLUYMsJcC8iNE2fwcRp-BHDxYgaeePb1ksb9AOWvsHnIZeLKWVYxbgIB54VmssAIVmTtGTj2HTtNiMlLVjhY2qpONPnEr3UDUNftdeNjzcyiQ8-_ZPFNCutCAg943axBeaamIHcLQxvvaT1vfmG4zfMHdePjZxeCQBTyGNk0cLvbU2akWhF2rdlqOTwsw0q9VUUiyr9i5S1jx--DiliIB6mMiRR0znF3y90iPKy7cH9RA4CqTqVKLAPiqavHgq3YMFv2mSWkBbYj6OvV2uwMwmJXUvigJd08hxuy7XWHXJZxaLSdEwhUSAv-RvAYuOGWKQ9IFGYYN4oSN934cQb67Bcn7eEpGM2_M_Nm75M4iApHQgNgmxL217tUTPLAu_cpvTnpWXhGfAn_cPKF-_kxytvIfOankiFbOPs2w2BSD3bNDswWSWl4YvZANRt1NTfqvuPeuwRqihaHi_Zfnm9hKi8oAFOoCQmTfd5cs-iA1fLvGAgMeY_e4CqahTQ46Ujo3nu8UeKLxHC5ErZJVbsUhZnb7zNdDVblYD8lcTV0I0_dMGI1pLnd-bb2T0-1QYuOIG2zq6pWW28pGDQzhX",
  "id": "rs_0dfd50686a44e884016ab432d62e2c87d08ed0d4bc45e6910c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_x\":0.39},\"note\":\"The right gripper has stopped about 5 mm open around the pen, a stronger grasp signal than on the earlier attempts. I’ll lift and retract slightly to check whether the long pen leaves the tabletop.\"}",
  "call_id": "call_uhrdlwxa82FLmBUKFbC9dfRH",
  "id": "fc_0dfd50686a44e884016ab432d6736c87d08744b502e3667c7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uhrdlwxa82FLmBUKFbC9dfRH",
  "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]: [-0.6552, 1.396, 0.5045, 0.4519, -0.6739, -0.2527, 0.0627, 0.3233, 1.3418, 0.5381, 0.4393, 0.2436, 0.1265, 0.0622]\nstate[eef_state]: left_x=0.3573 left_y=-0.1311 left_z=0.1307 left_yaw=0.0433 left_pitch=0.2316 left_roll=0.0376 left_gripper=0.0627 right_x=0.3909 right_y=0.0898 right_z=0.1485 right_yaw=0.0385 right_pitch=0.2055 right_roll=0.0365 right_gripper=0.0622\nstate[joint_eff]: [-0.0342, -4.9026, 5.9556, 1.7314, -0.2076, -0.0317, 1.033, 0.3897, -5.7504, 8.9504, 1.8486, 0.3248, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65906db61c4ba05e9e851147aab94e17c923611808b1e493f9854f10147b00b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a60ca54caa82620a8be8f3972282ada1e81286100690b9c0176b4b592e0b98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bf08d875214a8d6ce8969c535f682d6fc49df842b4ab2cc5b365abd2bfcc8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 5.717 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6544, 1.3926, 0.5045, 0.4644, -0.6735, -0.2527, 0.0627, 0.4412, 1.5532, 0.4564, 0.6682, 0.3401, 0.2153, 0.996]\nstate[eef_state]: left_x=0.3583 left_y=-0.1315 left_z=0.1342 left_yaw=0.0462 left_pitch=0.2437 left_roll=0.0269 left_gripper=0.0627 right_x=0.3817 right_y=0.119 right_z=0.0872 right_yaw=0.0298 right_pitch=0.1554 right_roll=0.0626 right_gripper=0.996\nstate[joint_eff]: [0.1983, -5.1761, 6.1744, 1.956, -0.149, -0.0171, 1.033, 0.4991, -5.8462, 4.9709, 2.1074, 0.2222, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4522, -0.6735, -0.2527, 0.0627, 0.3035, 2.1101, 0.4496, 1.2869, 0.242, 0.128, 0.0549]\nstate[eef_state]: left_x=0.3574 left_y=-0.1311 left_z=0.131 left_yaw=0.0431 left_pitch=0.2324 left_roll=0.0368 left_gripper=0.0627 right_x=0.411 right_y=0.0881 right_z=0.0012 right_yaw=0.0196 right_pitch=0.1966 right_roll=0.0359 right_gripper=0.0549\nstate[joint_eff]: [-0.1846, -4.7521, 5.9692, 1.6874, -0.2027, -0.0415, 1.0379, 0.2256, -9.4701, 2.1538, 1.6581, 0.0757, 0.0415, 1.2088]\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 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4519, -0.6739, -0.2527, 0.0627, 0.3233, 1.3418, 0.5381, 0.4393, 0.2436, 0.1265, 0.0622]\nstate[eef_state]: left_x=0.3573 left_y=-0.1311 left_z=0.1307 left_yaw=0.0433 left_pitch=0.2316 left_roll=0.0376 left_gripper=0.0627 right_x=0.3909 right_y=0.0898 right_z=0.1485 right_yaw=0.0385 right_pitch=0.2055 right_roll=0.0365 right_gripper=0.0622\nstate[joint_eff]: [-0.0342, -4.9026, 5.9556, 1.7314, -0.2076, -0.0317, 1.033, 0.3897, -5.7504, 8.9504, 1.8486, 0.3248, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65906db61c4ba05e9e851147aab94e17c923611808b1e493f9854f10147b00b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a60ca54caa82620a8be8f3972282ada1e81286100690b9c0176b4b592e0b98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bf08d875214a8d6ce8969c535f682d6fc49df842b4ab2cc5b365abd2bfcc8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab432d9dafc87d0aa632b6dc2c1e5db",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0dfd50686a44e884016ab432dde75c87d0b897a72d57e9dc13",
  "summary": [],
  "type": "reasoning"
}

{
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  "encrypted_content": "gAAAAABqtDLkFKBBVNYtREUdH3B4V2K3XTuh9nF7IQTqQIUh-Xzq15RrUXisoonhr52Tbqow21-FH8o3zKdjzUNhWOV4c-qYdRsc1Oj25WuxLdjpaTPgz-OHY95yuz313d-wY50o8e2Q5H-Mnc74OJcV6k9XBpIdXBWGOg3M-WwlBsUlfpHfkItNgNKq35YEjn_tczpxPKBHpAaRDWAUzWdXB90GE1-pZ4pkO1K_gtd7-U8HMW8abTtMCofDymoS386-rmCMraMY1V7hdQTRj8qCBBjuhMJLVknmOGVoEcpD4aokVy2NuPFJKCZ_HL7fthJztjogyHThyq9oxkLypi5Wy4FicuAyLwD30_LNNaBDZgzPU17O5JOWhfTdW0ta4uWComNB9lrAO0Lx8fXr6cMQejR2C2xuuRbEjllLHtl-7g12kPXVhqUEVFr2Uv6g46Gf9dzwpPcHBmos5IlUcSXEenIDJ0EKR4DD4dPXCwwJqoMc0iKLcFscjq_9L76AbdzIbPk0Bicj34FIYJNsSAGRYJRQ-5JStlR5fy9zbSPHI6L54RSWo5bt22ag0VaXGq3h_3ycO3tjDmsnkEnD6jj0wOBhuLnDYCObwuBW6me7VrYXjY4lgZJyvcvsqIu8C3lnfg3Tv-CWOzDy35wH7wEi9GjNSdpCLSjBqJ460Q1_QpDg4awJdpEmZ1m0Kf5J9P7npAR0sR6YHRO1CcqXvdziB5tkPTdLLW8-cvqYb1ov1iF4qf7uf0Uoev2wSavVc9FC28XWp4B8QYgAWmIAcLM5Cj0iyB7Xud0dNrTaqDgl67H21iwO5wFb6s1Mg_VcfAKtiTLajxnAw386zfEhIpjukt5PdD5PAau302hu4_42uSy4SkWhyDY57I7g5p_lJrrbV01wGq6llqqtNmy2Ol83oQh2pFMlR9SuW7O2GFp1Ctz8p0pEJhr7SmrA7PIJ98pU6Lj9tGT5R_1-npemC40FOcRt-lVhU6W8b8vompSMewNxZqE8Skid0mtuNBnOuoyyU0B2JmJwz6Enttr0S5twEr4BFGO9uD3yG9BqdGqURmAFovnDzLeb4JUP9JWaj74qdEdLZCeUiPQQcH_Kkaq_Fdwtb-bKXWxBPIvo-2_dGBoPhZ8b90tfrkE6ZwURv5zEbuSrGMK7jsRyZTSMocTkWli62iKH4cF1ZGb7F6GfCMUg-27s3eozuBjNIdJz8i_b6SZsuwwG1r_nYw8XnkoO5_nsGdUaQ5QN3I3qXXsAtO5cwtbH0t7AF1TrLIsEv0XGRg-wFrpiYPWgpkIhHnamt_zIm6rIood1eP0irMX4oeuPG_LJDEVF4CKlMsGcawOw97-qCZpAeZOXYn7L1pSJJVBKfaJoEZvvuwxmTIUM_v2qqP3N00qAw0pU-yt8HZ7iPoRV67vIl8TRs8J_lWCqLtQ4dd4mDQ6O7TRZNa1kxtsdbCGFrkmUHsSkqFN8i_itCYP9WGhNskBvjFkikZDO4AAdcxf9oJkJjiXt8MpglQ2bpAtCDFgSul6Y-WbhvlqQNFEv_bMJtK5MMAqNB0A7iVycXL2z8kXOZTQAHTAguMszX0WEqugdNyoH7e5eZa0fyUUSWfUUvNy1AHveNg8y6DOoxJKXTMyE3bR7inKtu2zcdanaBLT9vfOgkcMwa-7mZAOq6xCgJuHKWOyVtX-PXUZgyBYFkNXWmSTR9E02xsBz2aFlt9aWYAEET3rlWuSYW3JwZ_eIzFKYeX_CK2KmtAMQxD6YNdKDvblD8Ec5dj0OOBIey3keZvW8U3x9nHK0oRD7c9k1eOos0eYQkol4ipuf-d-S6VwjBo6rRPDQWJFP6WQKYujCuM2cd1uJvvI7iZUD001yO2WHkZmb0920k43ahVvxtfxJBFORNkHK-JaIwG0leCc=",
  "id": "rs_0dfd50686a44e884016ab432e23b3887d098da406cb18ee1ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.26,\"right_z\":0.18,\"right_x\":0.355},\"note\":\"The pen keeps the same position in the right wrist view as the gripper rises, suggesting it is moving with the gripper rather than staying on the table; the cap likewise remains clamped in the left hand. I’ll bring the pen toward the centre while keeping ample distance from the left arm.\"}",
  "call_id": "call_9seY2yooZpF1YAHFWUPNw3Mj",
  "id": "fc_0dfd50686a44e884016ab432e3712487d0bbff2503d88561de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9seY2yooZpF1YAHFWUPNw3Mj",
  "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]: [-0.6552, 1.396, 0.5045, 0.4515, -0.6739, -0.2527, 0.0627, 0.894, 1.5639, 0.8845, 0.1635, 0.7303, 0.3714, 0.0687]\nstate[eef_state]: left_x=0.3573 left_y=-0.131 left_z=0.1306 left_yaw=0.0432 left_pitch=0.2313 left_roll=0.0379 left_gripper=0.0627 right_x=0.3534 right_y=0.2575 right_z=0.1694 right_yaw=0.0828 right_pitch=0.1829 right_roll=0.0122 right_gripper=0.0687\nstate[joint_eff]: [-0.212, -5.0803, 6.147, 1.7167, -0.1832, -0.0366, 1.033, 0.4581, -6.653, 8.7863, 1.4823, 0.4567, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21acc59fc3859287e89110c87e309c9527a56ab11ebb3099e091de3b9fa0fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3e6a7ab3a312454cafff66c9638ea0e4a178c98ba9e5103c24d7c74b1b3be9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0964a1d6dd629a0d53317520c1a8bdd6480e604b9fe87ebdc9736427829b3a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 6.634 s

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

message 106 changed as sent

message 114 changed as sent

message 120 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4557, -0.6739, -0.2527, 0.0627, 0.3084, 2.0907, 0.4454, 1.261, 0.2462, 0.1356, 0.996]\nstate[eef_state]: left_x=0.3576 left_y=-0.1312 left_z=0.1317 left_yaw=0.044 left_pitch=0.2351 left_roll=0.0346 left_gripper=0.0627 right_x=0.4091 right_y=0.0889 right_z=0.002 right_yaw=0.0175 right_pitch=0.1866 right_roll=0.0385 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -5.2034, 5.9829, 1.7558, -0.2076, -0.0317, 1.033, -1.0872, -7.159, 2.4957, 1.1648, -0.1734, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4519, -0.6739, -0.2527, 0.0627, 0.3233, 1.3418, 0.5381, 0.4393, 0.2436, 0.1265, 0.0622]\nstate[eef_state]: left_x=0.3573 left_y=-0.1311 left_z=0.1307 left_yaw=0.0433 left_pitch=0.2316 left_roll=0.0376 left_gripper=0.0627 right_x=0.3909 right_y=0.0898 right_z=0.1485 right_yaw=0.0385 right_pitch=0.2055 right_roll=0.0365 right_gripper=0.0622\nstate[joint_eff]: [-0.0342, -4.9026, 5.9556, 1.7314, -0.2076, -0.0317, 1.033, 0.3897, -5.7504, 8.9504, 1.8486, 0.3248, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4515, -0.6739, -0.2527, 0.0627, 0.894, 1.5639, 0.8845, 0.1635, 0.7303, 0.3714, 0.0687]\nstate[eef_state]: left_x=0.3573 left_y=-0.131 left_z=0.1306 left_yaw=0.0432 left_pitch=0.2313 left_roll=0.0379 left_gripper=0.0627 right_x=0.3534 right_y=0.2575 right_z=0.1694 right_yaw=0.0828 right_pitch=0.1829 right_roll=0.0122 right_gripper=0.0687\nstate[joint_eff]: [-0.212, -5.0803, 6.147, 1.7167, -0.1832, -0.0366, 1.033, 0.4581, -6.653, 8.7863, 1.4823, 0.4567, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21acc59fc3859287e89110c87e309c9527a56ab11ebb3099e091de3b9fa0fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3e6a7ab3a312454cafff66c9638ea0e4a178c98ba9e5103c24d7c74b1b3be9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0964a1d6dd629a0d53317520c1a8bdd6480e604b9fe87ebdc9736427829b3a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0dfd50686a44e884016ab432e73d7887d09367490850138f8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.295,\"left_z\":0.197},\"note\":\"The pen visibly travels with the right arm in the overhead view, confirming the pickup. I’ll bring the cap toward the centre at a higher clearance, stopping short of the pen tip so I can align the two pieces deliberately.\"}",
  "call_id": "call_SJgNr8a8liOaywBLITzd1Hv9",
  "id": "fc_0dfd50686a44e884016ab432eae1c087d0a539114bfd66d08c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SJgNr8a8liOaywBLITzd1Hv9",
  "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]: [-0.8055, 1.8965, 1.2991, -0.0162, -0.8387, -0.3771, 0.0627, 0.8253, 1.5711, 0.8845, 0.1562, 0.8215, 0.4515, 0.0687]\nstate[eef_state]: left_x=0.4401 left_y=-0.2633 left_z=0.1657 left_yaw=0.0675 left_pitch=0.1726 left_roll=0.1043 left_gripper=0.0627 right_x=0.3719 right_y=0.2174 right_z=0.1709 right_yaw=-0.1002 right_pitch=0.2067 right_roll=0.0473 right_gripper=0.0687\nstate[joint_eff]: [-2.865, -9.1145, 12.7248, 2.1807, -0.2613, 0.0464, 1.033, 5.5726, -7.6103, 6.7624, 1.5849, -0.9988, -0.9353, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be184daa1582346ea1febb997d7fa7e33716d01b809256ec0cb28f8c821e5fa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7746ac47d7ea6ce10eb0bac381317dccd8969a91b5adc7972f4e886385a694b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae3a9df23f39b628746120d9d307de33263d51c8ed00607c77cbf5cabf4492d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 7.876 s

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

message 110 changed as sent

message 120 changed as sent

message 124 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.3952, 0.5045, 0.4522, -0.6735, -0.2527, 0.0627, 0.3035, 2.1101, 0.4496, 1.2869, 0.242, 0.128, 0.0549]\nstate[eef_state]: left_x=0.3574 left_y=-0.1311 left_z=0.131 left_yaw=0.0431 left_pitch=0.2324 left_roll=0.0368 left_gripper=0.0627 right_x=0.411 right_y=0.0881 right_z=0.0012 right_yaw=0.0196 right_pitch=0.1966 right_roll=0.0359 right_gripper=0.0549\nstate[joint_eff]: [-0.1846, -4.7521, 5.9692, 1.6874, -0.2027, -0.0415, 1.0379, 0.2256, -9.4701, 2.1538, 1.6581, 0.0757, 0.0415, 1.2088]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4515, -0.6739, -0.2527, 0.0627, 0.894, 1.5639, 0.8845, 0.1635, 0.7303, 0.3714, 0.0687]\nstate[eef_state]: left_x=0.3573 left_y=-0.131 left_z=0.1306 left_yaw=0.0432 left_pitch=0.2313 left_roll=0.0379 left_gripper=0.0627 right_x=0.3534 right_y=0.2575 right_z=0.1694 right_yaw=0.0828 right_pitch=0.1829 right_roll=0.0122 right_gripper=0.0687\nstate[joint_eff]: [-0.212, -5.0803, 6.147, 1.7167, -0.1832, -0.0366, 1.033, 0.4581, -6.653, 8.7863, 1.4823, 0.4567, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8055, 1.8965, 1.2991, -0.0162, -0.8387, -0.3771, 0.0627, 0.8253, 1.5711, 0.8845, 0.1562, 0.8215, 0.4515, 0.0687]\nstate[eef_state]: left_x=0.4401 left_y=-0.2633 left_z=0.1657 left_yaw=0.0675 left_pitch=0.1726 left_roll=0.1043 left_gripper=0.0627 right_x=0.3719 right_y=0.2174 right_z=0.1709 right_yaw=-0.1002 right_pitch=0.2067 right_roll=0.0473 right_gripper=0.0687\nstate[joint_eff]: [-2.865, -9.1145, 12.7248, 2.1807, -0.2613, 0.0464, 1.033, 5.5726, -7.6103, 6.7624, 1.5849, -0.9988, -0.9353, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be184daa1582346ea1febb997d7fa7e33716d01b809256ec0cb28f8c821e5fa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7746ac47d7ea6ce10eb0bac381317dccd8969a91b5adc7972f4e886385a694b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae3a9df23f39b628746120d9d307de33263d51c8ed00607c77cbf5cabf4492d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab432ee5e5887d0bf8ff69a9f1eba02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.27,\"left_x\":0.425,\"left_y\":-0.29},\"note\":\"The two grippers are now close and the idle right arm shifted slightly during the left arm’s approach, so I’ll avoid a sideways insertion at this height. I’ll lift the cap clear and back it off a little before aligning it directly above the pen tip.\"}",
  "call_id": "call_Ox9dN6UmRkZrGFPSSvW05SOd",
  "id": "fc_0dfd50686a44e884016ab432f2ad4487d0baad0f84dd9fedb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ox9dN6UmRkZrGFPSSvW05SOd",
  "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]: [-0.8143, 1.9068, 1.5963, -0.4603, -0.868, -0.4477, 0.0676, 0.794, 1.5223, 0.8837, 0.2501, 0.8131, 0.448, 0.0734]\nstate[eef_state]: left_x=0.4376 left_y=-0.262 left_z=0.2153 left_yaw=0.1016 left_pitch=0.0942 left_roll=0.1753 left_gripper=0.0676 right_x=0.3813 right_y=0.21 right_z=0.2055 right_yaw=-0.1515 right_pitch=0.2882 right_roll=0.164 right_gripper=0.0734\nstate[joint_eff]: [-5.3949, -12.3556, 13.8735, 1.8291, -0.6178, 0.0611, 1.033, 2.2222, -2.4, 7.2274, 0.4371, 0.3004, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1031382a9d8d74f67392df70e86ff8a023baeba6f21d0ddb437f4c7e2fbf8918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f499b7054346bb95cf45f5140d338e23ba3165ca32bc7bbac88387b9dae71ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1add480c9ec56f19836da04ebde126d77eb688d52cb1e5e7b7ab08a12ff046",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 4.241 s

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

message 114 changed as sent

message 124 changed as sent

message 128 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4519, -0.6739, -0.2527, 0.0627, 0.3233, 1.3418, 0.5381, 0.4393, 0.2436, 0.1265, 0.0622]\nstate[eef_state]: left_x=0.3573 left_y=-0.1311 left_z=0.1307 left_yaw=0.0433 left_pitch=0.2316 left_roll=0.0376 left_gripper=0.0627 right_x=0.3909 right_y=0.0898 right_z=0.1485 right_yaw=0.0385 right_pitch=0.2055 right_roll=0.0365 right_gripper=0.0622\nstate[joint_eff]: [-0.0342, -4.9026, 5.9556, 1.7314, -0.2076, -0.0317, 1.033, 0.3897, -5.7504, 8.9504, 1.8486, 0.3248, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8055, 1.8965, 1.2991, -0.0162, -0.8387, -0.3771, 0.0627, 0.8253, 1.5711, 0.8845, 0.1562, 0.8215, 0.4515, 0.0687]\nstate[eef_state]: left_x=0.4401 left_y=-0.2633 left_z=0.1657 left_yaw=0.0675 left_pitch=0.1726 left_roll=0.1043 left_gripper=0.0627 right_x=0.3719 right_y=0.2174 right_z=0.1709 right_yaw=-0.1002 right_pitch=0.2067 right_roll=0.0473 right_gripper=0.0687\nstate[joint_eff]: [-2.865, -9.1145, 12.7248, 2.1807, -0.2613, 0.0464, 1.033, 5.5726, -7.6103, 6.7624, 1.5849, -0.9988, -0.9353, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 1.9068, 1.5963, -0.4603, -0.868, -0.4477, 0.0676, 0.794, 1.5223, 0.8837, 0.2501, 0.8131, 0.448, 0.0734]\nstate[eef_state]: left_x=0.4376 left_y=-0.262 left_z=0.2153 left_yaw=0.1016 left_pitch=0.0942 left_roll=0.1753 left_gripper=0.0676 right_x=0.3813 right_y=0.21 right_z=0.2055 right_yaw=-0.1515 right_pitch=0.2882 right_roll=0.164 right_gripper=0.0734\nstate[joint_eff]: [-5.3949, -12.3556, 13.8735, 1.8291, -0.6178, 0.0611, 1.033, 2.2222, -2.4, 7.2274, 0.4371, 0.3004, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1031382a9d8d74f67392df70e86ff8a023baeba6f21d0ddb437f4c7e2fbf8918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f499b7054346bb95cf45f5140d338e23ba3165ca32bc7bbac88387b9dae71ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1add480c9ec56f19836da04ebde126d77eb688d52cb1e5e7b7ab08a12ff046",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab432f5799c87d0a51824f877b20985",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDL8eK48F-BMi6sO1wWK0hqP_S1SCIWb3QUMTA_P1J8CHVT9jQfge44gX3aftrjd66oZ4K2scp5E4GAQiN8LVH9tCt_xPIBcWKWv4urzYiOBX3yuaYU05Wz9PWI8sL_ONCg-UG0lF9xYCdoI2ZA7RU_vbMPVWwanWrMwN3aCEAwsYEHINEF9eXy4xyci1HnKP--0BnHETvTdi80Bs4urzYbK7bczOy_5bQ1uiNCKV4WkQHjOqjIu9hsZx_tJ2JsS-Wr2_9Mxt8beu_bmao_0Baih-N_EAYmPSouEmKI_GnBPSRPz1NBfx7R0oQbyqCI_vtATwr0IWkM0WgcYlhUAQW6yRl8yuTcmfbzxRMa6I7CyQBqiDJr8RHM0Xtr3Oc1swz92GmzzIL-AGupX4zh7mjHYCmDEAsMIkZ03s_xWtzwdLyX087SUwXylByIc2U5auZSCxFxpmlghFpdO0M53Do7qbOoVpo1jmsBKSsrvhm55xJnNra_p1JM2yf8WS3ieIx6ClbrPvGTZdvbhjYV4Wk_ZmY-Mq_edPcgZvf3gw0FYtB6GllUSyAmqUuHmq3H5eMSI2lM4pCzPpGcBH9tggtLau_-b89-j7iwfyg2EiZ3jPn6CmIAwOA6Jq4VGyN-SEjMpfAp73k4pl6TTTNRUK0Ren-rDikfEtIgUvFvelLFq8ySp6tBmPl6hCRYFw2X15J1sFiu8AzsSdY_gZUk012nKmjwQIoDH15N3GcHTzC0Dor1j8SUqZezeW_wvW4E3kyU7cfLdhvRqDbKyvVsPLoAYCI2HUflDqYKFXWKInk6Vv37aW_ShNCJ_O8B90gALGnlKsBX5E_Go6tfB3l27lblan6GcAoX8kYJCjQ0nGrpcAVxmgPByIUaRlNUmevkhQIIah6k9NIfOghw9EIIswOIgIJkzvFN3esuG8-4q0nr1Lhb5kd1zfBzJaLp4G6PTdO1HKJFSqHCwNCn8xu0D4LRtes1YeNbAg5PtEJPHy0hEb95r-HvGYoFKeZckdXvi6_P91QfEEeb_YcMWgr5LEXsizmQZT-6b62xgi-0-Fl8nwYcUlc58H53grvK0UsVYbKU21KxrPcq58wIvtZ8BFBDser7xVkPs9VzjfoAZ5A7rh-Gzv2bcyQymDtw_33Bzbj6Gy3xPy6uBZ7zEDremp9_dm2HRZ5qHJUKU8BpVRvOmBhjHS0fpGNVhjVuWnzZFA3XcJrV9kHk0Zg_Lfw9LGE_hw-2WF81zqVZkOhYWqBHELnNS1v3PCJxaJbn-2L-ZladA",
  "id": "rs_0dfd50686a44e884016ab432fa7a5487d08d33fe99a7dcf1d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.155,\"right_z\":0.19},\"note\":\"The close approach caused both arms to deflect, so they need more separation before attempting the fit. I’ll pull the pen hand back and rightward, leaving its tip accessible in front while the cap hand stays raised.\"}",
  "call_id": "call_7oscgEranCWjmqPFr8IDXkNP",
  "id": "fc_0dfd50686a44e884016ab432fab62c87d0bfdc7d61a1afba9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7oscgEranCWjmqPFr8IDXkNP",
  "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]: [-0.8169, 1.9144, 1.5917, -0.4793, -0.8711, -0.4522, 0.0676, 0.7914, 1.2739, 0.6048, 0.2436, 0.8047, 0.4496, 0.0759]\nstate[eef_state]: left_x=0.4353 left_y=-0.261 left_z=0.2078 left_yaw=0.1012 left_pitch=0.0774 left_roll=0.1975 left_gripper=0.0676 right_x=0.3324 right_y=0.1604 right_z=0.1803 right_yaw=-0.1394 right_pitch=0.2635 right_roll=0.1365 right_gripper=0.0759\nstate[joint_eff]: [0.0889, -11.1385, 7.2137, 1.5018, -0.2955, -0.0269, 1.0281, -0.5538, -5.135, 7.4872, 1.9023, 0.1441, -0.0659, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b23ce31d1d7e2257398e6a54f1011a2be9caf272eaed60df1685156d043a783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756ea8ba5fa1ee07f1a55f0847a2f0ad72e1c20013195a435b1e9f5528fa2ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648852945778096fa08d30104a99622c6a5b60c46c0c4bbde1db6ac573d8c649",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 7.626 s

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

message 120 changed as sent

message 128 changed as sent

message 133 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6552, 1.396, 0.5045, 0.4515, -0.6739, -0.2527, 0.0627, 0.894, 1.5639, 0.8845, 0.1635, 0.7303, 0.3714, 0.0687]\nstate[eef_state]: left_x=0.3573 left_y=-0.131 left_z=0.1306 left_yaw=0.0432 left_pitch=0.2313 left_roll=0.0379 left_gripper=0.0627 right_x=0.3534 right_y=0.2575 right_z=0.1694 right_yaw=0.0828 right_pitch=0.1829 right_roll=0.0122 right_gripper=0.0687\nstate[joint_eff]: [-0.212, -5.0803, 6.147, 1.7167, -0.1832, -0.0366, 1.033, 0.4581, -6.653, 8.7863, 1.4823, 0.4567, 0.2076, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 1.9068, 1.5963, -0.4603, -0.868, -0.4477, 0.0676, 0.794, 1.5223, 0.8837, 0.2501, 0.8131, 0.448, 0.0734]\nstate[eef_state]: left_x=0.4376 left_y=-0.262 left_z=0.2153 left_yaw=0.1016 left_pitch=0.0942 left_roll=0.1753 left_gripper=0.0676 right_x=0.3813 right_y=0.21 right_z=0.2055 right_yaw=-0.1515 right_pitch=0.2882 right_roll=0.164 right_gripper=0.0734\nstate[joint_eff]: [-5.3949, -12.3556, 13.8735, 1.8291, -0.6178, 0.0611, 1.033, 2.2222, -2.4, 7.2274, 0.4371, 0.3004, 0.0024, 1.0232]\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 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]: [-0.8169, 1.9144, 1.5917, -0.4793, -0.8711, -0.4522, 0.0676, 0.7914, 1.2739, 0.6048, 0.2436, 0.8047, 0.4496, 0.0759]\nstate[eef_state]: left_x=0.4353 left_y=-0.261 left_z=0.2078 left_yaw=0.1012 left_pitch=0.0774 left_roll=0.1975 left_gripper=0.0676 right_x=0.3324 right_y=0.1604 right_z=0.1803 right_yaw=-0.1394 right_pitch=0.2635 right_roll=0.1365 right_gripper=0.0759\nstate[joint_eff]: [0.0889, -11.1385, 7.2137, 1.5018, -0.2955, -0.0269, 1.0281, -0.5538, -5.135, 7.4872, 1.9023, 0.1441, -0.0659, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b23ce31d1d7e2257398e6a54f1011a2be9caf272eaed60df1685156d043a783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756ea8ba5fa1ee07f1a55f0847a2f0ad72e1c20013195a435b1e9f5528fa2ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648852945778096fa08d30104a99622c6a5b60c46c0c4bbde1db6ac573d8c649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDMAQQpmKvo5CIcGDwV292-HUSoQp5pJAQegLuTKE_HI5s25iKWnPa28cgaIwfu6m1YNkuRY1-R1gns0LM4sbaNpzPIQfMrJi6FqlFbtrYwsokR0mJC0teyR9b7FzDp-PQ4OPNQAH_9A5C9swpNr2wto1_1IC4Wgzq6QbgybpZnioh5KEcdAD0SVGohv8PFAIfLtwXmoRzvoRhp0SUpPKhjcXNAPsyjIszCrYwpEnOcmHZ033_G6scLQGuD2wKzJinjP-828D3CPrT1mx8SY5aQNLh8ohR7xVA2qZhU_h0xdSGAT9tCk5KQcsmLl0V2cM6avL_5nkDRaguQ3M6FFD3SFF8KD0MkqokImV5MoigueZQar8g88C0AQlVTZ3Ms78hapoHlgQHVY5b2FzPgEJS1KIxr3gFtcz28muL-n6wkitqKRSVzag9f_qtpl0QDJ1DgSYwnjNH9GUj2odAZ_VTWZZlGB87hXx5sP8R67_sYK0wSKVZIY3WcRuUoWTizLGysisjmqJdeWeKtmL5QlY2QEvzqzpSDRaO-thlNxNG79lBTe5d_TQQAhn85e0Uq6XjIvXepPLi02EZW8h5Gn-77jqRn9aokcmboXciDtFEBoeL-Pwlhg5VG4nA4BEcT9fpCNNTczNUSJ8WXSfLSM0R-B7yejlJIKLw79C2UBRpSTWQ-qnz8-_lE8uQP7m6uTUTMSflIAGk7i1AjIVPKJzYhYO5XySCSZeJobuvotprWK29AuCzWKMw1JAhSHuTjDRUyjjhy23arm8eGvX43LjbfpuFqzhG0jEXqZKqYZS_elvOxE95m1ZdOtbEIrnxkk81R7olmoTok3VA9nmC1diDMdvEfX-AMI6YlSKO-O-9MU2HJIZD8vmgtaLJS907gYYYSAqezQ78LU6kLafeFV6ttmYdXEg09KfoAx9GtCfd5d5CRW_KNy1c6vIsXMLLOWI5j9_xGNKCsL2rqrB8jZ8O80Vq9_Ozv1HnjqBRQJbMaUj64yVcY-jpRobr2yqek_3Jcd7x0R4mmR6nrR3zBpMMr--Y2zRYjRtVISDYxeVKIq9ezGGIaFDCI8PvgQgKbNq0JwKdK9DNQG0EfNwR-K2eG9t9YXiFxvSqTc89G7OSq6Nfvf59KH4-Tn88EAd4KKCfvV2cx6MU0gmfIZ_qn-27Cb6DBodALnM6V0eOJk1y9L0w4HtptaT-yxzh0f4WHv4ePXrfabFGAfU4pUb00nbiVQuhES6jUwP-JqxdXD4tfQYAf640T1-K3rG0F1p1lCb5-CQvEqoBad0H3ek9V1TeP-uW6BKDp8EWOkdAdwewKVZngOPEPW1uSJ_pnXrqsD6fxdFI9vLwLUJqHadmc7GTgDXVpL37fK3YGaYa3F3_3V0W72o2_ymT3lVwxjtYlpzc1U2ACvDzOLK-5L9GlwA1GjqxgH3FcFSh1WHZ0jheIYqB8zvsJtdifvObNjH6K8gVDSOlpmkkj5rX-kB-lxkeifydHyE4egPYHLFNEUb5eavFqclWW8_BeT1DGiYDlo9jFyMITy01v7LoYvFXhI1a2LIHAvBuyek5b1L7GWQplZPDP6YhIbg7f2jNqThOINBQ1BJJ_-uJjICmuD3b4eUTet1jpL2u8fzvQitmePikmIAv4VuFa8ssavMAnwvVsTr5Cx7KNzHzF-l7xVAg6kvlUbst-2IdOoc67GWLWrYe2Sw-oCii3yq2bii5dEIkF08GKersj1cf6Tev2f1RtEW7Jy2To6Yjdgjde4g6FEQWk8f0Etsvqb0fwGjNt-j7mnKuHgSuQb0RyOCdR5Gfi3GDL_VVSW62hGncjV0pu7FqUvuJk92RleMCaA-PLS3W1DVEgja7_LlqIUdGofPaO7zj5Xcie5AARFweF_KsfBNZ0IVSffxzCMV9KXy30d_0FJZ8jOh_XLnlcjnZwdWQf9nRb0rYfQKOin-3R4dQqyv_fWFQNxwxlVaCZZHZ2t0vYPQdYGfIb41o8AK1YEuTuFzbZTW2nvCoXEVPlGpWOB8suAsyRze2jnJ8EcSMuC-wtzjpWUwO0vy5BHS89c9RZq7Qo6lw==",
  "id": "rs_0dfd50686a44e884016ab432fe39a087d09c88b351dab8f8a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.438,\"left_y\":-0.377,\"left_z\":0.235},\"note\":\"The hands are separated again. In the overhead view the cap hand is substantially left of the pen’s exposed tip, so I’ll move the raised cap toward the right-hand side of the table while staying within the left arm’s lateral limit.\"}",
  "call_id": "call_5Bc5gnKcovCOGLzUgwNln9G5",
  "id": "fc_0dfd50686a44e884016ab43300025c87d0bbc05758264bdf51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Bc5gnKcovCOGLzUgwNln9G5",
  "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]: [-0.9535, 2.4443, 2.5713, -1.0203, -0.9428, -0.643, 0.0676, 0.7872, 1.2762, 0.5831, 0.2123, 0.8089, 0.4675, 0.0762]\nstate[eef_state]: left_x=0.4476 left_y=-0.3774 left_z=0.2368 left_yaw=0.1053 left_pitch=0.0898 left_roll=0.1346 left_gripper=0.0676 right_x=0.3284 right_y=0.1536 right_z=0.1656 right_yaw=-0.1456 right_pitch=0.2308 right_roll=0.1072 right_gripper=0.0762\nstate[joint_eff]: [-1.1145, -13.0256, 6.2154, 0.5446, -0.652, 0.0708, 1.0281, 0.1299, -4.3282, 8.5538, 2.083, 0.1001, -0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982514b206cdcbb76cbfd37b1d8c05f60bf8645c99269c4f17bd56ea64dab3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e4f358c74f73ae2de9c64c4184af4f2d74e4fe8f027fc0f9235efc1671ce9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404fdf414ffc8caacd49be3ee495790dc543ffcfab545b741d8d1fb98bf33d33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 6.509 s

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

message 124 changed as sent

message 133 changed as sent

message 137 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8055, 1.8965, 1.2991, -0.0162, -0.8387, -0.3771, 0.0627, 0.8253, 1.5711, 0.8845, 0.1562, 0.8215, 0.4515, 0.0687]\nstate[eef_state]: left_x=0.4401 left_y=-0.2633 left_z=0.1657 left_yaw=0.0675 left_pitch=0.1726 left_roll=0.1043 left_gripper=0.0627 right_x=0.3719 right_y=0.2174 right_z=0.1709 right_yaw=-0.1002 right_pitch=0.2067 right_roll=0.0473 right_gripper=0.0687\nstate[joint_eff]: [-2.865, -9.1145, 12.7248, 2.1807, -0.2613, 0.0464, 1.033, 5.5726, -7.6103, 6.7624, 1.5849, -0.9988, -0.9353, 1.0232]",
      "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]: [-0.8169, 1.9144, 1.5917, -0.4793, -0.8711, -0.4522, 0.0676, 0.7914, 1.2739, 0.6048, 0.2436, 0.8047, 0.4496, 0.0759]\nstate[eef_state]: left_x=0.4353 left_y=-0.261 left_z=0.2078 left_yaw=0.1012 left_pitch=0.0774 left_roll=0.1975 left_gripper=0.0676 right_x=0.3324 right_y=0.1604 right_z=0.1803 right_yaw=-0.1394 right_pitch=0.2635 right_roll=0.1365 right_gripper=0.0759\nstate[joint_eff]: [0.0889, -11.1385, 7.2137, 1.5018, -0.2955, -0.0269, 1.0281, -0.5538, -5.135, 7.4872, 1.9023, 0.1441, -0.0659, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9535, 2.4443, 2.5713, -1.0203, -0.9428, -0.643, 0.0676, 0.7872, 1.2762, 0.5831, 0.2123, 0.8089, 0.4675, 0.0762]\nstate[eef_state]: left_x=0.4476 left_y=-0.3774 left_z=0.2368 left_yaw=0.1053 left_pitch=0.0898 left_roll=0.1346 left_gripper=0.0676 right_x=0.3284 right_y=0.1536 right_z=0.1656 right_yaw=-0.1456 right_pitch=0.2308 right_roll=0.1072 right_gripper=0.0762\nstate[joint_eff]: [-1.1145, -13.0256, 6.2154, 0.5446, -0.652, 0.0708, 1.0281, 0.1299, -4.3282, 8.5538, 2.083, 0.1001, -0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982514b206cdcbb76cbfd37b1d8c05f60bf8645c99269c4f17bd56ea64dab3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e4f358c74f73ae2de9c64c4184af4f2d74e4fe8f027fc0f9235efc1671ce9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404fdf414ffc8caacd49be3ee495790dc543ffcfab545b741d8d1fb98bf33d33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_0dfd50686a44e884016ab433035ea087d09165805cbf6a5291",
  "summary": [],
  "type": "reasoning"
}

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  "content": [],
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  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_x\":0.446,\"left_y\":-0.377},\"note\":\"From above, the cap and pen tip are now almost on the same left–right line, but the cap is held noticeably higher. I’ll lower the cap toward pen height without advancing it, then inspect the remaining front-to-back offset.\"}",
  "call_id": "call_rRU353K5DlT4EHcNQxwMhzk8",
  "id": "fc_0dfd50686a44e884016ab433085e2487d0a405885db827bae5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rRU353K5DlT4EHcNQxwMhzk8",
  "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]: [-0.9459, 2.336, 2.2166, -0.7959, -0.9268, -0.6506, 0.0676, 0.7876, 1.3014, 0.5453, 0.1062, 0.778, 0.4603, 0.0763]\nstate[eef_state]: left_x=0.4455 left_y=-0.3699 left_z=0.1933 left_yaw=0.1061 left_pitch=0.0685 left_roll=0.1409 left_gripper=0.0676 right_x=0.3148 right_y=0.1455 right_z=0.1237 right_yaw=-0.0937 right_pitch=0.1137 right_roll=-0.0243 right_gripper=0.0763\nstate[joint_eff]: [-0.7726, -12.5744, 4.7521, 1.16, -0.6569, 0.0024, 1.0281, -0.1436, -6.147, 9.4838, 2.9963, 0.6129, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9077fd83ba4a029844733ad7b42962457242bd2973d04d0dc28ea23048b0648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab92c5718da57b8b4ab4929e09e3421f8eea18ecb3441b4decac5feb94dd22f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4216c0e4e543ac9d127bb06f4837368a0b8acde140ddab0ef919f6c55627ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 6.441 s

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

message 128 changed as sent

message 137 changed as sent

message 142 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8143, 1.9068, 1.5963, -0.4603, -0.868, -0.4477, 0.0676, 0.794, 1.5223, 0.8837, 0.2501, 0.8131, 0.448, 0.0734]\nstate[eef_state]: left_x=0.4376 left_y=-0.262 left_z=0.2153 left_yaw=0.1016 left_pitch=0.0942 left_roll=0.1753 left_gripper=0.0676 right_x=0.3813 right_y=0.21 right_z=0.2055 right_yaw=-0.1515 right_pitch=0.2882 right_roll=0.164 right_gripper=0.0734\nstate[joint_eff]: [-5.3949, -12.3556, 13.8735, 1.8291, -0.6178, 0.0611, 1.033, 2.2222, -2.4, 7.2274, 0.4371, 0.3004, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9535, 2.4443, 2.5713, -1.0203, -0.9428, -0.643, 0.0676, 0.7872, 1.2762, 0.5831, 0.2123, 0.8089, 0.4675, 0.0762]\nstate[eef_state]: left_x=0.4476 left_y=-0.3774 left_z=0.2368 left_yaw=0.1053 left_pitch=0.0898 left_roll=0.1346 left_gripper=0.0676 right_x=0.3284 right_y=0.1536 right_z=0.1656 right_yaw=-0.1456 right_pitch=0.2308 right_roll=0.1072 right_gripper=0.0762\nstate[joint_eff]: [-1.1145, -13.0256, 6.2154, 0.5446, -0.652, 0.0708, 1.0281, 0.1299, -4.3282, 8.5538, 2.083, 0.1001, -0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9459, 2.336, 2.2166, -0.7959, -0.9268, -0.6506, 0.0676, 0.7876, 1.3014, 0.5453, 0.1062, 0.778, 0.4603, 0.0763]\nstate[eef_state]: left_x=0.4455 left_y=-0.3699 left_z=0.1933 left_yaw=0.1061 left_pitch=0.0685 left_roll=0.1409 left_gripper=0.0676 right_x=0.3148 right_y=0.1455 right_z=0.1237 right_yaw=-0.0937 right_pitch=0.1137 right_roll=-0.0243 right_gripper=0.0763\nstate[joint_eff]: [-0.7726, -12.5744, 4.7521, 1.16, -0.6569, 0.0024, 1.0281, -0.1436, -6.147, 9.4838, 2.9963, 0.6129, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9077fd83ba4a029844733ad7b42962457242bd2973d04d0dc28ea23048b0648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab92c5718da57b8b4ab4929e09e3421f8eea18ecb3441b4decac5feb94dd22f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4216c0e4e543ac9d127bb06f4837368a0b8acde140ddab0ef919f6c55627ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab4330af67c87d0aa268b88082a185d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_z\":0.155,\"left_y\":-0.378,\"right_x\":0.315,\"right_y\":0.145,\"right_z\":0.16},\"note\":\"The pen hand sagged while the cap hand lowered, so their heights are not yet matched. I’ll hold the pen hand at a steady carry height and bring the cap a few centimetres back and down toward the exposed pen tip.\"}",
  "call_id": "call_OQLnyXopG2ahUlY8oHOzwaia",
  "id": "fc_0dfd50686a44e884016ab4330f40c887d09597e6ed0fe87772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OQLnyXopG2ahUlY8oHOzwaia",
  "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]: [-0.947, 2.3287, 2.1605, -0.7223, -0.926, -0.6659, 0.0676, 0.7811, 1.2758, 0.569, -0.0788, 0.7547, 0.4587, 0.0791]\nstate[eef_state]: left_x=0.4469 left_y=-0.3732 left_z=0.185 left_yaw=0.1143 left_pitch=0.0812 left_roll=0.1055 left_gripper=0.0676 right_x=0.3022 right_y=0.1342 right_z=0.1107 right_yaw=-0.0758 right_pitch=0.0142 right_roll=-0.1196 right_gripper=0.0791\nstate[joint_eff]: [-1.2239, -14.1333, 4.9983, 0.8767, -0.5006, -0.105, 1.0281, -0.0068, -8.0752, 12.6427, 2.4591, 0.569, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb90ff8471b395d4f515b7f7dd9be8cafc3a9d2c285de62a6c82ab01840ce3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69fd049108e6b9fecb2fe04764e31d4ae3c29c4477f6a354bcf5e236b433c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c013f4d5b8b1b6180903a9823d9f5c1b466ae5a533c0ed1f7fff752a7aefb536",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 4.443 s

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

message 133 changed as sent

message 142 changed as sent

message 146 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]: [-0.8169, 1.9144, 1.5917, -0.4793, -0.8711, -0.4522, 0.0676, 0.7914, 1.2739, 0.6048, 0.2436, 0.8047, 0.4496, 0.0759]\nstate[eef_state]: left_x=0.4353 left_y=-0.261 left_z=0.2078 left_yaw=0.1012 left_pitch=0.0774 left_roll=0.1975 left_gripper=0.0676 right_x=0.3324 right_y=0.1604 right_z=0.1803 right_yaw=-0.1394 right_pitch=0.2635 right_roll=0.1365 right_gripper=0.0759\nstate[joint_eff]: [0.0889, -11.1385, 7.2137, 1.5018, -0.2955, -0.0269, 1.0281, -0.5538, -5.135, 7.4872, 1.9023, 0.1441, -0.0659, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9459, 2.336, 2.2166, -0.7959, -0.9268, -0.6506, 0.0676, 0.7876, 1.3014, 0.5453, 0.1062, 0.778, 0.4603, 0.0763]\nstate[eef_state]: left_x=0.4455 left_y=-0.3699 left_z=0.1933 left_yaw=0.1061 left_pitch=0.0685 left_roll=0.1409 left_gripper=0.0676 right_x=0.3148 right_y=0.1455 right_z=0.1237 right_yaw=-0.0937 right_pitch=0.1137 right_roll=-0.0243 right_gripper=0.0763\nstate[joint_eff]: [-0.7726, -12.5744, 4.7521, 1.16, -0.6569, 0.0024, 1.0281, -0.1436, -6.147, 9.4838, 2.9963, 0.6129, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.947, 2.3287, 2.1605, -0.7223, -0.926, -0.6659, 0.0676, 0.7811, 1.2758, 0.569, -0.0788, 0.7547, 0.4587, 0.0791]\nstate[eef_state]: left_x=0.4469 left_y=-0.3732 left_z=0.185 left_yaw=0.1143 left_pitch=0.0812 left_roll=0.1055 left_gripper=0.0676 right_x=0.3022 right_y=0.1342 right_z=0.1107 right_yaw=-0.0758 right_pitch=0.0142 right_roll=-0.1196 right_gripper=0.0791\nstate[joint_eff]: [-1.2239, -14.1333, 4.9983, 0.8767, -0.5006, -0.105, 1.0281, -0.0068, -8.0752, 12.6427, 2.4591, 0.569, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb90ff8471b395d4f515b7f7dd9be8cafc3a9d2c285de62a6c82ab01840ce3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69fd049108e6b9fecb2fe04764e31d4ae3c29c4477f6a354bcf5e236b433c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c013f4d5b8b1b6180903a9823d9f5c1b466ae5a533c0ed1f7fff752a7aefb536",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDMWQaGI0v4MWRoFI6MnGj6J5kuFsyid8q7APd9ag8N4TsnapvOx7kJ9td9aca_wU-5h2XVdvdjoKeUUpe2M1-W581KIuYRJea6BztHOe2enUBMWzIKeaGAEwhBlZr6NpxfQXL5CUGFtNBsct9hPCHWBKceamPJt8TVwqgAh5bFPd5rdBcfu7yGcIIqaIHZIjKOUiSmKlTbArPfOGy-fgMpDSfjS5DazejM6uvzE9PI8WML_3hMC6l5uySr8VTeWWQuuVKDTNlOdTD0VsxIWZAdLN8_T6tEYZkwBGvEBc8qI3Qjk4Sd0IAtNbsgV3rBFommnfF1zj7-SkJJ4x0J4tqJH_9FcrV52MrMyV4zFkO2t698FK1fg0waMk0e3JxEueC-eLrggas52-3X1vGKoC_QNVSHiT7ik-qtcA4vpazt9--JHrK1y94ovogMoJXhuJYPNBfLAePly-JD5gL4GScceGd6NH_MU9IU2OZV0RlNdaHjeuZjynONejuQJLExCCnZc7yvEzivxdON4jXfZTc722C7NfW0XjxIjUZ3eOfMND5dXVUXCznvl0b0Om-QZ9LRUztaQol1mRNCuYPbHbDQ9Uc-FYwBAbRFtqSJch_ChNgIAMNIVbgHauEZeN02IGmRqQflU5j-5EEn0-4nKvNUxrO_BA8NHZYSsP33910_bdqb9gm2XWKgTeU_3i6Er6vdGSQjgsHd05k3tb38grvLGke8rPSr-ewifMq00SQKSGgbzyiEtIMoe17rZ91sbVyI3FiG6g33r5BYW8hpM0L2_LMwtPdgn7qXNJ6Pe0kxHHjxvk71bZrUZTDO9BWKtjUKQzftDzYAtSuchJcCHdim3rNtW0SEz7RuP0xAUGZJrszfOkpWOAN5KMi01Xh4g85a6-uffICPp2-AWtS2MhnsuThvAE8i82UW5tiArYdQdsgKOu8ihVcLSqVsuZ0enOrYNBLUZ2TDQhfC6dEEEwQzUt0qat_8wZY-n6zf-jTTFwp-4kE4ImCCsx-6WYWmz1cW5o4o5k1VkC7T1PhaBopNitRLUyK2ZTPaXwK3CmfqYGaSKAQmabviU4LXG5L92SeQjb0jgvaI8P3n0h13XwxAALiiicFRh7Ss7YVHHy6Sd2uCXyREUI2OgB2dOhQ40DPGjWxCStXqIXraYT3QPBAxyf8ORNGURacLhnoU90STt7LYlmq5sQBw3UZHPmFU7YYMKJCV4B3jDwHdzR07FRNpCinvyMEwZlosk50AoFUv54N91sXHlZWR732lkmy09G69qQN6mt5XMXlQQ-ZJaPetzeX2e-c_ZcAS3XKogSA5-w91STK18bsdy3_tfTruNV5wizHi7CGYXLkKcUbiSmQBQuZxipcEqx28YQEiQzDDhLgLM5gaw1PI1NwqELwfPdqh-q2efD8qiTSergmqUJjhzsO8AiI01zF15JIubSJ1rmWwWH4vSrQ6y_heHd6_oyUlQmbJCtMgv5amm4k4zFIOlLWN9DwZhwMOzND4Ecn_xbTiZD-ENuYBCxs65zFvPehj93hzMBjzKtgmSv6nnSIXWyRDQ0UW_TdP5QevC3HVXqKoqjO3nnjHD39qFE0mS3qUHCa-TPIVG5ZNn6B6m20rGhdFUhSxR5OyOME_rSdXJSywNO4LlYZji2pGZqyQjvJ40Lg4mwsvmu7f_pVMSxQEyf8CZjdWr3Zd0FheYW8EAYXeMavP2U6u0DrX6bh8GBLUNWI1Uj-lyIELPgjxnImSKsnEHRkIxKmG0gWj1ADudBpcRrkLWIjQb0WXtHvksCCpxuA9PqqzD2R0AZ0yulhFMiyg-aaoQa2HAly2pZV99VVmJ_HCESVS2CMGp3inTZB3GbtFIms7tBCMyuPM3WoAVq3j0VfPQGUUOKS5z97eIiXmxKFZAEAviEE1q8qvf694WB2kF8gp7cwplDOhhcyDH7-qVZb_L8c1i5yYkzT3BRpivXrSTURKuWNoCx2qDDHvRsQLiDzd0RvFBoK01mAAbFFExGAOYGg8EHpxLgq_WShaHevNmbdNMnkHSA6-b6ReFmndFJLnCyquCmRF64UTYEF5vrp7WPl4fHhlMyL7iUygREkp8fj8V8Ss0sv3HvZAaPzF64wRR2a-SD40I22jwIILY2xvs08l2XNmsgyqfTybsZTib0-3-oTZlO_5zWe_WKoqfD6spVNXNWxWQaiV2f4sfVoa8Pyga-XWqA7lrAnCQeO3rQOj5fJeXnLz2On7FjrPlLIvNFgSYeU9fhampTPt-uQ_M1RoQ2uzl2aWODlffA6G1-EzJSXJfzFm4B1YqtKnTacqrVXpRO3eeZABhU208XaiZGz0A7FYUONFQRsxBWMl7KdGMeP0YhCn3Pv6hnGi-JaNU7heMljNK2kgec0pYCzTR9YOkPgvx7JBwcd8tOnB8VgbBHdtyGc5MPeOK2f5Suxb5cq7mDOjc-EqoZfVNaMBQFJTptYkcKN4t2tJRlmsMywHX5mXkI1Rxr5L3nsOrvrt5B9SCaf82Z6STT4toGsdU8XvkVIQTNjVLuhRKH7iQyfmN9D1upFhDg9oyU75SMA8tCZ5GsoOBV4MmirOw24nxECwxUfNqm09ksCZ2S9OxwBRlABqTRcv2sw0uIQX0Z2XZx_IRKtIP6_6SI87DhkR8dPrNLgmMlupS9m_XBgpQFK9CQuNhuffeAhj5L8lyM28aGaoszNVXDQXPttx24q3IREJL22YOxLdoZurUpRMnMgrTI97GRvSZCIw5J0aQd32n22luZWkNXXZ-Vg==",
  "id": "rs_0dfd50686a44e884016ab43312bc3487d0a548568c5c016bbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.30,\"left_z\":0.24},\"note\":\"Both arms stopped tracking the close approach and the pen hand was pushed down, indicating interference between the tools. I’ll separate them by withdrawing the cap hand before resetting the pen’s height and lateral alignment.\"}",
  "call_id": "call_OKwXtelzHQWihyCL87YlsccZ",
  "id": "fc_0dfd50686a44e884016ab433156e0887d095f303277a8beec6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OKwXtelzHQWihyCL87YlsccZ",
  "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]: [-0.9497, 2.3245, 2.1418, -0.733, -0.9279, -0.6731, 0.0676, 0.7811, 1.2747, 0.5636, -0.1165, 0.7471, 0.4599, 0.0822]\nstate[eef_state]: left_x=0.4436 left_y=-0.3708 left_z=0.1796 left_yaw=0.115 left_pitch=0.0708 left_roll=0.1219 left_gripper=0.0676 right_x=0.2971 right_y=0.1306 right_z=0.1032 right_yaw=-0.0712 right_pitch=-0.0175 right_roll=-0.1467 right_gripper=0.0822\nstate[joint_eff]: [-1.306, -14.0376, 6.4205, 0.9548, -0.4957, -0.0562, 1.0281, 0.0615, -4.0821, 6.8444, 1.7411, 0.3394, -0.0317, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf41414d26075123daa77ac0a9ffd1741075f36453f46fdecd4d3c52510e6494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979b4bbce06e20a59472bb4f3327a786d19be79343368fe94968d7b7f34d20e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb327d4ea3a892f5880e240e7041b5fda33f300ca92fba213bf08d6cc86836d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.784 s

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

message 137 changed as sent

message 146 changed as sent

message 150 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]: [-0.9535, 2.4443, 2.5713, -1.0203, -0.9428, -0.643, 0.0676, 0.7872, 1.2762, 0.5831, 0.2123, 0.8089, 0.4675, 0.0762]\nstate[eef_state]: left_x=0.4476 left_y=-0.3774 left_z=0.2368 left_yaw=0.1053 left_pitch=0.0898 left_roll=0.1346 left_gripper=0.0676 right_x=0.3284 right_y=0.1536 right_z=0.1656 right_yaw=-0.1456 right_pitch=0.2308 right_roll=0.1072 right_gripper=0.0762\nstate[joint_eff]: [-1.1145, -13.0256, 6.2154, 0.5446, -0.652, 0.0708, 1.0281, 0.1299, -4.3282, 8.5538, 2.083, 0.1001, -0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.947, 2.3287, 2.1605, -0.7223, -0.926, -0.6659, 0.0676, 0.7811, 1.2758, 0.569, -0.0788, 0.7547, 0.4587, 0.0791]\nstate[eef_state]: left_x=0.4469 left_y=-0.3732 left_z=0.185 left_yaw=0.1143 left_pitch=0.0812 left_roll=0.1055 left_gripper=0.0676 right_x=0.3022 right_y=0.1342 right_z=0.1107 right_yaw=-0.0758 right_pitch=0.0142 right_roll=-0.1196 right_gripper=0.0791\nstate[joint_eff]: [-1.2239, -14.1333, 4.9983, 0.8767, -0.5006, -0.105, 1.0281, -0.0068, -8.0752, 12.6427, 2.4591, 0.569, -0.0513, 0.8474]\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 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9497, 2.3245, 2.1418, -0.733, -0.9279, -0.6731, 0.0676, 0.7811, 1.2747, 0.5636, -0.1165, 0.7471, 0.4599, 0.0822]\nstate[eef_state]: left_x=0.4436 left_y=-0.3708 left_z=0.1796 left_yaw=0.115 left_pitch=0.0708 left_roll=0.1219 left_gripper=0.0676 right_x=0.2971 right_y=0.1306 right_z=0.1032 right_yaw=-0.0712 right_pitch=-0.0175 right_roll=-0.1467 right_gripper=0.0822\nstate[joint_eff]: [-1.306, -14.0376, 6.4205, 0.9548, -0.4957, -0.0562, 1.0281, 0.0615, -4.0821, 6.8444, 1.7411, 0.3394, -0.0317, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf41414d26075123daa77ac0a9ffd1741075f36453f46fdecd4d3c52510e6494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979b4bbce06e20a59472bb4f3327a786d19be79343368fe94968d7b7f34d20e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb327d4ea3a892f5880e240e7041b5fda33f300ca92fba213bf08d6cc86836d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDMckQOKCtm3vaIwUcW0xyqMNGjv-aUCshE9RjJGphFxl37sdPV-ScqC5GDqzGZHa9PblFkhGOLJAlLVhg1STUIFy3Q3RZcoKFVW0SUl6lBDVzQzhUUfjxrbRqaWHnoqoQteGpatfA1S2jy4622O-amYBjP2nX9UqP6p5RlVqIombRTI5uBdHMPCpZ8xh0uiqaLtx5qJ7MhhNz5GtnnTxcIKIu4iLDfW57XnW4zwKvax3N84HOZRAFf1baGbzVh87Wi3nUppm5ErrBA2urBDnYmby2dncXTgTYapKRCw264w2JXtjNJZtEdTAsw1QjbtupTN4IEIR2cX8qpxu8W3BfoxVFX8SrysarGdwe02l5sw7pVLHkt6LFrr7zetIwXCbIxPgJhq-v3LYdHkzmKkopYuWhCeuRxSOV48HRWdLKfL9U5RbTvNjz2YDE1tpQf4kXyD6czK0gAPT7ZtjKweZhYerRnQC5lJLT-1flII3uBA3US7fUhEXKNw-uHZsfND0KXCN4rAb8nWlkgh2H_pqVyH33NwkmP0LoBbnPrALWc5UQcMv7nxdvIunDHmgSsrjN6pelT_-fXM-_xcT4-rz_oPzbw4vRFjexZW4Pill1mtrxC1vayK1RtK9mJXkluwFK-9w-RVeX99Jb4S8aX_DbtsX-eJhEGRjCEoX0R-_yvaMRqAJ6zBNGmWOoTeKRsRm9i7WEAqH_ungUshbX5j09Y2LrgGtHXsltR-dCQjQq22ONwWVuGVt7KgcK72ws77hmd8-Lzgl6BLnElSegdUZ0vqTCWryMn0fQ3mQmy8tbqWXeXxyoXrOYIgIHUGDApgklhNhESAUS3G4KmA8CpeePElOEHy15kZYHd8DTy_IXLzjI2-jKt8KeWoy9M8ksHO7vpNPtb0j7TYLGgqUuEHWA99gKcLHwFdUcENuhAEven0DdUMbgumJrqnPXCPRsruoyJy-kPt039GWH4MQfs8Jj_GIAu-C7K3V8ccARNbG5IFTHjr3IG1jI2dZ_iv4oIZ4YPVABW5DjPpz_fAZKv3B2iTw4B1FyVllKyxivibdNzDQ9To7eVpVZ6NGVIOlSUStYr9_vofP0HjDYiD_cHIgWsaBu0gLQVWxePYMdF_e4VtmztZcU1rZwYOv0TtcXpi2CHQBLlOujTnyWx8EwmXuu-Wr12bhNrKNeaKoF5S2rALzS3xIw1PldZ_Ho3XQaDIPS1FpkiMLXTsIJuK4f67_YNIGY__8t9oHO-iD-UyO00527CvyXCvNTyPufnGzWm26rjea8rILHaeQ8H17Htncyhfdh5e3qwYlWpkuD50IuBDS8BBTNvC0Smu-BhfzMAiVb7lBBvErc1R-hhzljYrOAL8z24WHb21vlZ1sCdByAbVvV9IFxEiCxIJSYMJLxCmt2ul-f0w3UUyyZZLt2QGs4z_o-TNecmBXxBlg46iOKhp4TgDsYHj2dQE4JMg9IOTX1LhFZchViMJH9flMmliPcV0EjhSHal_TlF4Dq69eBZxHiLjXxHKJjdantpaPsGAmlAXM41Xh2CNRqWKpqtiWvcxTVGFa4zO7LJeVdhPYubNqxkioSpR-w4GNquIHDYugPXGSvaFcFPXcOh5Ch9STNzixJ2NPmtxZRv9CuccJHOIjo7FSub5XwLYWxMRRH13VvB2wTtB64Fr3_Q_UaaghL0FH-JsbFEatOYrJFKrYXl7dtk91ixjtl3bnDE3U8pvPFt2gcHv5-PENumOMeZO7_lJdcyTMTikiZzWA-Bh5zprjAhXGy3PSSAu6f7aFROADkBXvv2a8dstOyfafwf1TxK1KE7bwX9mU0nPa7IhUPbiIJNXsVfn2CFHMWw44I26B7rBuECcqnCokhcOxmxwcB-GlVTsCONXE3QTHZUIPcwg2BeIckjBecZT-xdjRkUjIiigHTzzCg0L5dW_-ZOMOyw40Bx3da-ao0k-N4uMzPw3NTu-xMJK-VNtG9Vw_YPLOo8hj7CBKZJDOfIwMXo_gsMnbXvcJfjJz_e4xM67h_HsFdRn0VM2m-2nu52UEoCzyLd9VBLgW17zDbWJ2C4BeNUZkHiCcoTWPqA-UuHRkpoLTAqaT1AobQV8YTSg0I2CISjpfhwA2wvr44qQzt6tA3NjOJre25U_Tw3QBvML_UZlBCyMWcZiIEhmISgZPvmUA2kCmGCiiBblzHB3DPSU_ZuRgTeQf8GnyegxTBGmlkBqQvp26QOIpcYqpj22rzi6v7v5bc3_p-B72ucl0a4w2lLPChRt71go8a26MWftl7gBhNHn9Fnnmb9fZOHGpsSCG44v2an7rWfeIQzq3lzQo3Rl6onHUfoAJCpdhIgQ_8XD6r3hpf936oUMkmTYFiegqVo_8GcvkGb4bvvQvuSuyDSHuwUzLWGxTIID8hz-hzksgRzNJTTgZqwYbkB8AQKF22Gqjiw1gkzeDBqGYF68vrunGjhtM15Dt1nhlbzxYSyZZXb2kmtIjKgkRhVU-y8HI9R7K2Ww7n3-7s0MRHTKmkP95iBC40CTz936UXphsGs-KWGagmXlJCHhUidqi602E-8AMEj35qx1gD2YICfTYfluF--1BXSzHRA4xGhsgW06Mc4o9DS8KMfohjSBq20cbQHLSZww37p27xE8LmWhD30_hHvpYXhB3IUEIcUcRK9GGeRucve85egMoGFgNLTzLasXpcNR0vnewqXRuP_NBc5fls5BB4aWA77oPgnb1NUzn3srsLSxlTTnZXbrLJgvwAE7UZ9N3xVlgLT5_n6RT7W5IL6092tHKEoo4VHo8UQH0-IeRsWecpmp0VulLTvgHvNg6HJAYk0rObE1MCREn8MMO0AfBbho67GexUa9mxBh_tQ=",
  "id": "rs_0dfd50686a44e884016ab43318ec0087d09eea677e01320a9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.015,\"right_z\":0.19},\"note\":\"The cap hand did not withdraw, so I’ll move the pen hand out of its way first. This should relieve any tool interference and give the left arm space to retract without forcing either grasp.\"}",
  "call_id": "call_fIiqo4fDCju1nTdsGwVbDtTM",
  "id": "fc_0dfd50686a44e884016ab4331b747487d08cbf9c409cecc69a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fIiqo4fDCju1nTdsGwVbDtTM",
  "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]: [-0.9459, 2.3238, 2.1086, -0.7288, -0.9276, -0.6876, 0.0676, 0.3027, 0.7456, 0.6006, -0.4915, 0.4213, 0.1219, 0.0824]\nstate[eef_state]: left_x=0.4428 left_y=-0.3661 left_z=0.1685 left_yaw=0.1248 left_pitch=0.0579 left_roll=0.1338 left_gripper=0.0676 right_x=0.2718 right_y=0.0129 right_z=0.1778 right_yaw=-0.1208 right_pitch=-0.0197 right_roll=-0.1421 right_gripper=0.0824\nstate[joint_eff]: [-0.335, -13.3949, 9.1829, 1.1258, -0.4225, 0.1538, 1.0232, -0.294, -1.0051, 9.388, 1.5897, 0.149, -0.0024, 0.7546]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9733f7f4b6839c7e394674b8fcb5774cbb7540bfa60f83aa7767b8b407a84f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676c0131bb904e7669930d792ed0a1bb2b5ca4219038cf986950362f134bebd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c271a42945ab2cca2d9f8b49fc0137bd7c686bc461478e71d89aa06782de5b74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 4.281 s

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

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9459, 2.336, 2.2166, -0.7959, -0.9268, -0.6506, 0.0676, 0.7876, 1.3014, 0.5453, 0.1062, 0.778, 0.4603, 0.0763]\nstate[eef_state]: left_x=0.4455 left_y=-0.3699 left_z=0.1933 left_yaw=0.1061 left_pitch=0.0685 left_roll=0.1409 left_gripper=0.0676 right_x=0.3148 right_y=0.1455 right_z=0.1237 right_yaw=-0.0937 right_pitch=0.1137 right_roll=-0.0243 right_gripper=0.0763\nstate[joint_eff]: [-0.7726, -12.5744, 4.7521, 1.16, -0.6569, 0.0024, 1.0281, -0.1436, -6.147, 9.4838, 2.9963, 0.6129, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9497, 2.3245, 2.1418, -0.733, -0.9279, -0.6731, 0.0676, 0.7811, 1.2747, 0.5636, -0.1165, 0.7471, 0.4599, 0.0822]\nstate[eef_state]: left_x=0.4436 left_y=-0.3708 left_z=0.1796 left_yaw=0.115 left_pitch=0.0708 left_roll=0.1219 left_gripper=0.0676 right_x=0.2971 right_y=0.1306 right_z=0.1032 right_yaw=-0.0712 right_pitch=-0.0175 right_roll=-0.1467 right_gripper=0.0822\nstate[joint_eff]: [-1.306, -14.0376, 6.4205, 0.9548, -0.4957, -0.0562, 1.0281, 0.0615, -4.0821, 6.8444, 1.7411, 0.3394, -0.0317, 0.5739]\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 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9459, 2.3238, 2.1086, -0.7288, -0.9276, -0.6876, 0.0676, 0.3027, 0.7456, 0.6006, -0.4915, 0.4213, 0.1219, 0.0824]\nstate[eef_state]: left_x=0.4428 left_y=-0.3661 left_z=0.1685 left_yaw=0.1248 left_pitch=0.0579 left_roll=0.1338 left_gripper=0.0676 right_x=0.2718 right_y=0.0129 right_z=0.1778 right_yaw=-0.1208 right_pitch=-0.0197 right_roll=-0.1421 right_gripper=0.0824\nstate[joint_eff]: [-0.335, -13.3949, 9.1829, 1.1258, -0.4225, 0.1538, 1.0232, -0.294, -1.0051, 9.388, 1.5897, 0.149, -0.0024, 0.7546]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9733f7f4b6839c7e394674b8fcb5774cbb7540bfa60f83aa7767b8b407a84f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676c0131bb904e7669930d792ed0a1bb2b5ca4219038cf986950362f134bebd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c271a42945ab2cca2d9f8b49fc0137bd7c686bc461478e71d89aa06782de5b74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDMgtGrhZi2hBNJ1OkTXpszAfK0IC_7yN2YhOeDtCngSK6RJwD6ZaUmOTR-oBYUH7WKa9tGUDqz6OdWw-VrMabFziPYMgB3yLteWZeaOOU1BQmVdirrj26qpWzJ5Xu1z8MnJI1ivkfIl4nOtyAPQ9_61NeBnezx_ynFEAnpc6FKAs-t9AGhFjF9TJlMAr4GwQBiO1DWM-ZOMV7ipphhbodswshVsSrj-g3sQ11XX6pGqlO_W378-Hc3vRbp4sjno4GLk9KLjNxtDtifARdhl0TT_Pxw9OLa5ZPZIDEx1jKcdFcHE8osr5HDTmCeP-qBorvd8o-3XoeIK4p77FyHO9ZyMMsf7rOMs17AF4bked2l0_NApOKAKKScxSzpRKdiIOvq9qQ009M_RCH4yNV4l2RJioRtflLT0ojLJsHw00YTsAWt2LBOU72LQ0wA-vbUKQ1FUYwVy9ArvSCOolyzEIiifyi-wofg4bH5JCXUlP0cAp1EPYqUJMNJlKX0lZGbnSI5W4Wh3jbkBOU3M9D2mRLDupWaT0fb_mLbiolCgUY-blv3wgSUMQkQGQbTyXyKqxW1sF6N2kAbnUmX0Ha_AlEGBbQ30EaDEC2Zp1G0epNee2lXXhq56GQQRhpNTQWvQt_0Ni5JiF0onRhRvDhqJMJ3-YK233bQsCFcqIKzOek86CMyH49YtZjmPn9usfGparL942A4x_XVqsneCLLYFWFW3Q0GGIAgCDHsadN2nAJcgDP7kG9jCDUH_PungYnclmKMKzG9yjvXzW5X9zUX4HmcUKimK_S_DRXWQBMyGdYoZQNSa1KimBwgietJpH3gztJ6cv2gDKH_IOn99HpzVETkEKLhOd-Lv17IWi4SmD2-7y1PXW2wgIWeFEfMgoIyKbgMuOOnHOWPCAP5uir3zQE76cmOzLECKNiy_Xz_3RhhmXaYQlT57tdoWoFIbBt8kMQxgYWTAYnU9Z39C4VRXXvWEjf6SzA-KSgbtExqlvioGDkPedLB0Bz8JqRLQLr-Q0mJj0XYvE_AYcNkuyTuRwDY9b5uDNaso6t6LpqMyLzwDw_qXhGNCO78tC_sqVyM4226ns8M25ez4cV3xuqqBELhN6rukmN9I-trhHwIEjku3Zgyhz_AqyJZ5VSGte6ismh0-fEbqJWMK3vCYpLNapOoIq6G9EXo80oGWXH3fko2M9EY0RtW2KbTuwdqMhorhVXizr3-DHI2dLuuedf2sJMIOTr5JNKKNnKyQ-gb0myNfY6Gq0VUTruKOSwxP3o2xInXKS-TurjdmtabaPLRidhoxxjOCipK8iYCfVRklE4N1J1xdM7FVGcX0AGzEMI2z6b4Q2K0CB3s0wbwXeVuKjHSZ--NATb-1txo1RoJWQUOoAoujJr7gu7nOSnubcE5b3ZMn2utGY2Opxr31UkGg6tqxw13lbjZG_54ll8aPO8Bn9XoBGAjev52sZEdDgG-AOqmWh4ru3ZhmOMUWjeR0psnvNkPkE2ad4LBVvNkzx55FsjGPo35JaZPad0vr0VpdmIu8qG189iYGEu2UUNzAzMeSkiC5zlVmzElK5fHGoc1wMlAciLXjbiI2J4E5uNZcayBXU00uQaS6R4e4WjTwoplNSjF9cEzDT1sGx6YNApJ5B4FgjSWBdp49mxbBpw4JW4Ch_73VuzhJS2jmwz9tg1HLgpo5KwpAzPrvptcoF_G6cY941O3gI3yrCBgsI1VWNkKmadvXzMJeqau7IjcXIuIZSuOUrGXW6X7lDtZMYx1I3QCTroayvhZOlXRATSehy9Mw",
  "id": "rs_0dfd50686a44e884016ab4331e145c87d08a0bb2645802d1c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.26,\"left_z\":0.29,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"The pen hand is now clear of the cap hand, but the left arm remains in a highly folded posture and has not yet followed its retreat target. I’ll raise and straighten its tool while drawing it toward a central, less constrained pose.\"}",
  "call_id": "call_UwNjbs0soIPd3o7iL6j6TXCh",
  "id": "fc_0dfd50686a44e884016ab4331f426087d090cb2e44f939dfa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UwNjbs0soIPd3o7iL6j6TXCh",
  "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]: [-0.9901, 1.7069, 1.6821, -0.9054, -0.8474, -0.6525, 0.0676, 0.3008, 0.7509, 0.5999, -0.5159, 0.4004, 0.1013, 0.0849]\nstate[eef_state]: left_x=0.3408 left_y=-0.2716 left_z=0.2777 left_yaw=0.0157 left_pitch=0.0068 left_roll=0.1194 left_gripper=0.0676 right_x=0.2688 right_y=0.0151 right_z=0.1707 right_yaw=-0.0953 right_pitch=-0.0543 right_roll=-0.1597 right_gripper=0.0849\nstate[joint_eff]: [-0.5402, -10.1538, 6.5299, 1.3016, -0.359, 0.1392, 1.0281, 0.0342, -1.1282, 6.9538, 1.8828, 0.3248, 0.1294, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947b6d0c4b2ec463e1c7194386f81c75094a7531d3992df7a629c1de9d4c382d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ada590968f756d844a7dcb1aa61ebddfed17cca9275940b54b72c745b2f9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823e2bd95a3d31bb9e9f45b0fe3777f1b253b0497b1831511b1e06889b368f9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 3.846 s

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

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.947, 2.3287, 2.1605, -0.7223, -0.926, -0.6659, 0.0676, 0.7811, 1.2758, 0.569, -0.0788, 0.7547, 0.4587, 0.0791]\nstate[eef_state]: left_x=0.4469 left_y=-0.3732 left_z=0.185 left_yaw=0.1143 left_pitch=0.0812 left_roll=0.1055 left_gripper=0.0676 right_x=0.3022 right_y=0.1342 right_z=0.1107 right_yaw=-0.0758 right_pitch=0.0142 right_roll=-0.1196 right_gripper=0.0791\nstate[joint_eff]: [-1.2239, -14.1333, 4.9983, 0.8767, -0.5006, -0.105, 1.0281, -0.0068, -8.0752, 12.6427, 2.4591, 0.569, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9459, 2.3238, 2.1086, -0.7288, -0.9276, -0.6876, 0.0676, 0.3027, 0.7456, 0.6006, -0.4915, 0.4213, 0.1219, 0.0824]\nstate[eef_state]: left_x=0.4428 left_y=-0.3661 left_z=0.1685 left_yaw=0.1248 left_pitch=0.0579 left_roll=0.1338 left_gripper=0.0676 right_x=0.2718 right_y=0.0129 right_z=0.1778 right_yaw=-0.1208 right_pitch=-0.0197 right_roll=-0.1421 right_gripper=0.0824\nstate[joint_eff]: [-0.335, -13.3949, 9.1829, 1.1258, -0.4225, 0.1538, 1.0232, -0.294, -1.0051, 9.388, 1.5897, 0.149, -0.0024, 0.7546]\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 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9901, 1.7069, 1.6821, -0.9054, -0.8474, -0.6525, 0.0676, 0.3008, 0.7509, 0.5999, -0.5159, 0.4004, 0.1013, 0.0849]\nstate[eef_state]: left_x=0.3408 left_y=-0.2716 left_z=0.2777 left_yaw=0.0157 left_pitch=0.0068 left_roll=0.1194 left_gripper=0.0676 right_x=0.2688 right_y=0.0151 right_z=0.1707 right_yaw=-0.0953 right_pitch=-0.0543 right_roll=-0.1597 right_gripper=0.0849\nstate[joint_eff]: [-0.5402, -10.1538, 6.5299, 1.3016, -0.359, 0.1392, 1.0281, 0.0342, -1.1282, 6.9538, 1.8828, 0.3248, 0.1294, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947b6d0c4b2ec463e1c7194386f81c75094a7531d3992df7a629c1de9d4c382d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ada590968f756d844a7dcb1aa61ebddfed17cca9275940b54b72c745b2f9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823e2bd95a3d31bb9e9f45b0fe3777f1b253b0497b1831511b1e06889b368f9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDMmc713CR1XZcEnuJsLPoR4RRFzZUEpinE7hmbptx8ocSFYHhSNspdkyP07aOQz5YNqANV7B1DeVnNyi5NPgBqaF9CNnO54RS7YjI7ZjreWLrR4Mj9x7K7hg4RASH_sy8coPRtmRm7lAzp6ZRvcNq1I4QV7DnkWkLhloXqRofD_Ue5Biv8F8_xj9d8lrGuZg7VczCyMG05vxH1Tz3np3figZeIY7W7N8YHpnM6p7uLg_K9cl4R1CndVB7HAs_6iIyKgxboY-ZBs2iceuP90XWtrUEDW9_cNnXxZMSuyryDWaOX2-dxTXsX7x53Fkv-_8tSQyCgdkTKSjTrDlOGaUAYfGq3BnQddB_IkvwR8zPP1tNeoCXHKA5RaM4FiMentES1aqzBQAMI29kENuhNm3UXDQr4bTVdQsWk6baGuWFqmvJfAPLSETdvAzAXJ2TxGAHu1evAd2VGqjfnOJfN0gn5dEH-9sHdGOpshsvvgSPKmt3deSwn62Y9Yuni3y1YaRU_5JROpdiGFj0yNtykCatZO88coOb27kTfWQhqu8td_xbfsNNH75JvO89GP43s-93bpTIdRKbYNbG21MZAKxq5zDYJ-Fh_nxyv4tM5u4jNrLbxq4Qj6Fz974mzYr64k9Gox-Fehsh17BSb4StAXcKcoEAsBkj52jTlsJ5xh40tCL9IsnnJz8gDdHXnCFKw0gZtjKv8z4McUv8M2Q9QJq3SdDz_c8ghhKxR5cZ4o2tfGnketa6xgOQV7QHpeBOMsGQedp2O6mmtrYNFLjNT5vUC7OgSRVjAfgQeOCrnGOR8fdlUeQE0H0oXNtavs59MDpT5KTvGOVDzv1zoyvUMAmjqTane0M0nsMJhKfD8bXcUTUzDA4wA-en6OXngIsgYO216Nna2u9Rba4Rz8lPCD5Oi18AER71qf-D3TtK2a-AH6jf47St_mAYTHMomq3reJloJabI0067SZpbpnsFtjntu9Ut2Bo5er9skB8Foitcc0LQAnH3wnH3Er0d77N0_FJTNiqo-CNxbrN2FfSoI5ohIOfwggKxNC2lemcCy3Ha8CEpQTVJkQmiDdrtL-C0dBCAlyTsYSKs80F3eYKvFNAfjF4LQQsjdHFabSRJNKyxLfWrctq3cgGoy_mSlA3Q2FTFHhpvTZ2JwVo2k1ECH42tSdlHz1zm9x9n8WHgP3OMQsNFqI-pO7zCh3HmhAGcE1XLE1Dd3VitQOCLOqDcZdpjH8Tn7lun8IeRknvPl4AW71ldje4NLJCDLMP-FNbwgkGmxNuhxFCHFqihf9v6L0KK_y5sPzf5g1KHsrcj9xtUVLGTjQBBDWWbA0wqmUdEQt0dayFAcf_dMoxOOQGFZT7e-zOT34BM1kXn6jrRl50wdw-17OdmHrY8t7TEF0bkNGbBFtcBnr09ZevtSefPvjjae3oel_ZOSRG4NA6sivyiMh5iedM0ppJM7p_EXDDCEoPHa9jmeb5rhkjJVS37-D3gZeyvgLukXFnbN90tG0vzIWFYIZjklC3MNyI6U3v6J6Or5uXlP2C29uxyeLt3LpeATZUNyl5PjlWkCYrUPYicyG9uJJca2Hol4MyYmek3N8GpUHoX7IkEqkwwJK33d1iRE_yXaYYuDGPZwKj5o_ecx36JQzPQWNE13UPeXOS37e7zMj0zMTmQDVIh2wSo3qERXCmJMP4l4DHwe2L3G1vDbrQmEohQ8L6vdxOEj3I_supCUmdo4PTBynm4NTeAMCYm3Qdjx9taPaKPtm-yVtrLWUPNzvB50Non_shjJ1xvaHE1evd1t3ecfbyt4dL0SW0in2eQJdEY_MePHGUOu9ywjCwVNeRxyUsCtH1ilBg_nWK5mF3rzenWu7PWzhVFnWbtmWVDgPuAqTxB0GlR44fWQ5SQ0mTnCBZP-9lZ0wksEYof8ZzOKQHrPU95kIGB_aPpUw_w==",
  "id": "rs_0dfd50686a44e884016ab43323c74887d09dfbc3fc71d6b77b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.306,\"right_y\":0.26,\"right_z\":0.24,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"Both parts are still held, and the cap arm has recovered to a controllable pose. I’ll position the pen under the centre of the table at a stable height, leaving room to approach its exposed tip from in front with the cap.\"}",
  "call_id": "call_9W2pPojhVkM3Tes1FBDDB3iI",
  "id": "fc_0dfd50686a44e884016ab433250ee887d09e30d188f02f0d93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9W2pPojhVkM3Tes1FBDDB3iI",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9031, 1.6192, 1.6951, -0.9623, -0.8299, -0.6575, 0.069, 0.9844, 1.5211, 1.3083, -0.8619, 0.8455, 0.6228, 0.087]\nstate[eef_state]: left_x=0.348 left_y=-0.2251 left_z=0.3076 left_yaw=0.0951 left_pitch=0.019 left_roll=0.0707 left_gripper=0.069 right_x=0.2998 right_y=0.2188 right_z=0.218 right_yaw=-0.0236 right_pitch=-0.0843 right_roll=-0.2594 right_gripper=0.087\nstate[joint_eff]: [-6.9675, -0.0342, 5.5179, 1.8144, -0.398, 0.0073, 1.0281, 4.3556, -2.3043, 12.7658, 2.0928, 0.6081, 0.2857, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05471c6508f71b3e59f568ab1225a7da1e48f3b8526acacf4ead1c5c6677582d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc625d55d00e565899c2dfb9e6306afea9fc3fe39f99e8bb1e5ece551544a02f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c28185e5601007f2ffd6bba73c10bc57e160d0df26c1ef6c2076dcbbb5b41ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 4.359 s

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

message 150 changed as sent

message 158 changed as sent

message 162 changed as sent

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9497, 2.3245, 2.1418, -0.733, -0.9279, -0.6731, 0.0676, 0.7811, 1.2747, 0.5636, -0.1165, 0.7471, 0.4599, 0.0822]\nstate[eef_state]: left_x=0.4436 left_y=-0.3708 left_z=0.1796 left_yaw=0.115 left_pitch=0.0708 left_roll=0.1219 left_gripper=0.0676 right_x=0.2971 right_y=0.1306 right_z=0.1032 right_yaw=-0.0712 right_pitch=-0.0175 right_roll=-0.1467 right_gripper=0.0822\nstate[joint_eff]: [-1.306, -14.0376, 6.4205, 0.9548, -0.4957, -0.0562, 1.0281, 0.0615, -4.0821, 6.8444, 1.7411, 0.3394, -0.0317, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9901, 1.7069, 1.6821, -0.9054, -0.8474, -0.6525, 0.0676, 0.3008, 0.7509, 0.5999, -0.5159, 0.4004, 0.1013, 0.0849]\nstate[eef_state]: left_x=0.3408 left_y=-0.2716 left_z=0.2777 left_yaw=0.0157 left_pitch=0.0068 left_roll=0.1194 left_gripper=0.0676 right_x=0.2688 right_y=0.0151 right_z=0.1707 right_yaw=-0.0953 right_pitch=-0.0543 right_roll=-0.1597 right_gripper=0.0849\nstate[joint_eff]: [-0.5402, -10.1538, 6.5299, 1.3016, -0.359, 0.1392, 1.0281, 0.0342, -1.1282, 6.9538, 1.8828, 0.3248, 0.1294, 0.7643]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 162 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9031, 1.6192, 1.6951, -0.9623, -0.8299, -0.6575, 0.069, 0.9844, 1.5211, 1.3083, -0.8619, 0.8455, 0.6228, 0.087]\nstate[eef_state]: left_x=0.348 left_y=-0.2251 left_z=0.3076 left_yaw=0.0951 left_pitch=0.019 left_roll=0.0707 left_gripper=0.069 right_x=0.2998 right_y=0.2188 right_z=0.218 right_yaw=-0.0236 right_pitch=-0.0843 right_roll=-0.2594 right_gripper=0.087\nstate[joint_eff]: [-6.9675, -0.0342, 5.5179, 1.8144, -0.398, 0.0073, 1.0281, 4.3556, -2.3043, 12.7658, 2.0928, 0.6081, 0.2857, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05471c6508f71b3e59f568ab1225a7da1e48f3b8526acacf4ead1c5c6677582d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc625d55d00e565899c2dfb9e6306afea9fc3fe39f99e8bb1e5ece551544a02f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c28185e5601007f2ffd6bba73c10bc57e160d0df26c1ef6c2076dcbbb5b41ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0dfd50686a44e884016ab433293d8887d084fac002b3a3de81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.416,\"left_y\":-0.32,\"left_z\":0.265,\"left_pitch\":0,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.22,\"right_z\":0.24},\"note\":\"The pen tip now points forward near the table centre, while the cap is higher, farther left, and slightly behind it. I’ll bring the cap over the tip’s line at a raised clearance, keeping the pen hand braced at its present target.\"}",
  "call_id": "call_dD6tu2P2dTyPfPzmTJOwWVLF",
  "id": "fc_0dfd50686a44e884016ab4332ae5ec87d0adebcd5a1cb7b58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dD6tu2P2dTyPfPzmTJOwWVLF",
  "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]: [-0.8982, 1.9373, 1.9919, -0.8394, -0.7528, -0.5987, 0.069, 0.9794, 1.5745, 1.3239, -1.0214, 0.8185, 0.6201, 0.0902]\nstate[eef_state]: left_x=0.4068 left_y=-0.3111 left_z=0.2912 left_yaw=0.0193 left_pitch=0.0292 left_roll=0.005 left_gripper=0.069 right_x=0.2877 right_y=0.2035 right_z=0.1912 right_yaw=-0.0397 right_pitch=-0.2105 right_roll=-0.4172 right_gripper=0.0902\nstate[joint_eff]: [0.2667, -6.8991, 6.4205, 0.8962, -0.1734, 0.4908, 1.0281, 0.5538, -10.2769, 11.3846, 1.6337, 1.3895, 0.0024, 0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d0ec39ca8e2cc5acc7497a95f89bfdc33eba72d90709d474720f06649bbfdbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60a93b385b29235029b10d17cb07cf2bb8126327ad78d295c3ed01fd847e3ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bddf7ccc9b1aeeadbbb6bcc1d1f6a4fe3a4871a831a8bcaa14c8e4f160dac42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]