adhoc - adhoc_f2382469.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: 249.8 s
total steps: 358

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 cap is left of centre and the pen is right of centre, well separated. I’m bringing one open gripper above each object and turning the jaws roughly across their long axes before descending.

move_to

left_x0.3950left_y-0.1800left_z0.1500left_yaw-0.6000right_x0.4000right_y0.2000right_z0.1500right_yaw0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3771, -0.0212, -0.0132, 0.999] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.6359, -1.5111, 10.5504, 1.79, -0.022, -0.0708, -0.0366, -0.6632, -1.2103, 9.7846, 1.7998, -0.0708, -0.022, -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":{"left_x":0.395,"left_y":-0.18,"left_z":0.15,"left_yaw":-0.6,"right_x":0.4,"right_y":0.2,"right_z":0.15,"right_yaw":0.65},"note":"The cap is left of centre and the pen is right of centre, well separated. I’m bringing one open gripper above each object and turning the jaws roughly across their long axes before descending."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteFrom the wrist cameras, the pen is near the right jaw column, while the cap sits to the left of the left jaw column. I’m making small sideways and forward corrections so both objects will lie between the fingertips rather than beside them.

move_to

left_x0.4100left_y-0.1400left_z0.1400right_x0.4140right_y0.1700right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3481, 1.4616, 0.8177, -0.0269, 0.1616, 0.099, 0.9998, 0.3504, 1.5108, 0.8673, -0.0025, -0.226, -0.1474, 0.999] state[eef_state]: left_x=0.3814 left_y=-0.1648 left_z=0.1235 left_yaw=-0.5429 left_pitch=-0.0902 left_roll=-0.0254 left_gripper=0.9998 right_x=0.3888 right_y=0.1881 right_z=0.1308 right_yaw=0.6137 right_pitch=-0.0686 right_roll=0.0157 right_gripper=0.999 state[joint_eff]: [-0.6769, -6.4205, 9.8393, 1.9658, 0.2076, 0.2027, -0.0171, 0.2803, -6.7077, 8.9231, 1.9951, -0.1636, -0.0415, -0.022] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.14,"left_z":0.14,"right_x":0.414,"right_y":0.17,"right_z":0.15},"note":"From the wrist cameras, the pen is near the right jaw column, while the cap sits to the left of the left jaw column. I’m making small sideways and forward corrections so both objects will lie between the fingertips rather than beside them."})

tool

executing move_to over 3 steps (0.3s)

step 20

assistant

agent noteThe pen now lines up with the right jaws; the cap is still slightly left of the left jaws. I’m shifting the left gripper a few centimetres left and lowering both open grippers to tabletop grasp height.

move_to

left_x0.4040left_y-0.0950left_z0.0250right_x0.4050right_y0.1700right_z0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2535, 1.5089, 0.8886, -0.0887, 0.2119, 0.1345, 0.9998, 0.2855, 1.5448, 0.9432, -0.0757, -0.2745, -0.189, 0.999] state[eef_state]: left_x=0.4004 left_y=-0.1384 left_z=0.124 left_yaw=-0.5106 left_pitch=-0.1198 left_roll=-0.0375 left_gripper=0.9998 right_x=0.4041 right_y=0.1723 right_z=0.1364 right_yaw=0.6122 right_pitch=-0.0893 right_roll=0.0199 right_gripper=0.999 state[joint_eff]: [-0.4991, -6.4068, 9.5658, 1.7216, 0.3248, 0.2564, -0.0122, -0.3761, -6.2154, 9.2923, 1.7265, -0.2173, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.404,"left_y":-0.095,"left_z":0.025,"right_x":0.405,"right_y":0.17,"right_z":0.02},"note":"The pen now lines up with the right jaws; the cap is still slightly left of the left jaws. I’m shifting the left gripper a few centimetres left and lowering both open grippers to tabletop grasp height."})

tool

executing move_to over 8 steps (0.8s)

step 28

assistant

agent noteNeither arm descended as commanded, so the rotated low poses appear difficult for the controller to reach. I’m straightening both wrists and backing off slightly before trying a simpler descent.

move_to

left_x0.3900left_y-0.0900left_z0.0700left_yaw0.0000right_x0.3900right_y0.1700right_z0.0700right_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]: [-0.2359, 1.5223, 0.9089, -0.1173, 0.2256, 0.1524, 0.9998, 0.2676, 1.5478, 0.968, -0.1009, -0.2897, -0.1989, 0.999] state[eef_state]: left_x=0.4025 left_y=-0.1337 left_z=0.1222 left_yaw=-0.515 left_pitch=-0.1381 left_roll=-0.0383 left_gripper=0.9998 right_x=0.408 right_y=0.1679 right_z=0.1414 right_yaw=0.6123 right_pitch=-0.0892 right_roll=0.0221 right_gripper=0.999 state[joint_eff]: [-0.2667, -7.1453, 9.6615, 1.6825, 0.2418, 0.1783, -0.0122, -0.3487, -6.694, 8.9504, 1.6679, -0.1636, -0.0611, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.09,"left_z":0.07,"left_yaw":0,"right_x":0.39,"right_y":0.17,"right_z":0.07,"right_yaw":0},"note":"Neither arm descended as commanded, so the rotated low poses appear difficult for the controller to reach. I’m straightening both wrists and backing off slightly before trying a simpler descent."})

tool

executing move_to over 5 steps (0.5s)

step 33

assistant

agent noteBoth grippers lowered, but their actual sideways positions missed the objects: the cap is left of the left jaws and the pen is right of the right jaws. I’m correcting just the sideways alignment before going any lower.

move_to

left_y-0.0850right_y0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3386, 1.5257, 0.7151, 0.0414, 0.0265, -0.0547, 0.9997, 0.5255, 1.6424, 0.8021, 0.075, -0.0708, 0.017, 0.999] state[eef_state]: left_x=0.3748 left_y=-0.1331 left_z=0.0681 left_yaw=-0.3361 left_pitch=-0.1996 left_roll=-0.0627 left_gripper=0.9997 right_x=0.3594 right_y=0.227 right_z=0.0624 right_yaw=0.571 right_pitch=-0.2063 right_roll=0.0612 right_gripper=0.999 state[joint_eff]: [1.4017, -6.2701, 7.8017, 2.1758, -0.3492, -0.0904, -0.0171, -2.1402, -9.7299, 6.7077, 2.0391, 0.6227, 0.1538, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.085,"right_y":0.18},"note":"Both grippers lowered, but their actual sideways positions missed the objects: the cap is left of the left jaws and the pen is right of the right jaws. I’m correcting just the sideways alignment before going any lower."})

tool

executing move_to over 5 steps (0.5s)

step 38

assistant

agent noteThe left camera now shows the cap close to the jaw column but just ahead of the fingertips; the right camera shows the pen several centimetres to the right. I’m advancing the left gripper and shifting the right gripper rightward to center each grasp.

move_to

left_x0.4020left_y-0.0800right_x0.3700right_y0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1764, 1.5135, 0.672, 0.0257, 0.0959, 0.0097, 0.9997, 0.4671, 1.6314, 0.7609, 0.0776, -0.0502, 0.0113, 0.9989] state[eef_state]: left_x=0.3732 left_y=-0.0801 left_z=0.0539 left_yaw=-0.2699 left_pitch=-0.2419 left_roll=-0.069 left_gripper=0.9997 right_x=0.363 right_y=0.197 right_z=0.0514 right_yaw=0.4981 right_pitch=-0.2341 right_roll=0.0433 right_gripper=0.9989 state[joint_eff]: [0.2803, -8.6085, 6.3795, 1.4579, 0.2173, 0.1832, -0.0122, 0.2667, -8.9641, 6.612, 1.4774, -0.1245, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.402,"left_y":-0.08,"right_x":0.37,"right_y":0.155},"note":"The left camera now shows the cap close to the jaw column but just ahead of the fingertips; the right camera shows the pen several centimetres to the right. I’m advancing the left gripper and shifting the right gripper rightward to center each grasp."})

tool

executing move_to over 4 steps (0.4s)

step 42

assistant

agent noteThe cap is now just ahead of and nearly centred on the left fingertips, so I’m lowering the left jaws onto it. The right arm did not make its sideways correction at low height; I’m raising and straightening it so it can reposition over the pen.

move_to

left_z0.0080right_z0.1300right_y0.1600right_yaw0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1623, 1.618, 0.7334, 0.0162, 0.1081, 0.0235, 0.9997, 0.4679, 1.6314, 0.7609, 0.0731, -0.0647, 0.0021, 0.9989] state[eef_state]: left_x=0.3852 left_y=-0.0788 left_z=0.0368 left_yaw=-0.2756 left_pitch=-0.2928 left_roll=-0.0745 left_gripper=0.9997 right_x=0.3609 right_y=0.1992 right_z=0.0507 right_yaw=0.5165 right_pitch=-0.238 right_roll=0.0475 right_gripper=0.9989 state[joint_eff]: [0.335, -7.159, 8.9641, 1.4921, 0.0024, -0.0708, -0.0122, 0.0205, -8.9368, 6.3932, 1.5263, -0.1197, -0.1392, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.008,"right_z":0.13,"right_y":0.16,"right_yaw":0.1},"note":"The cap is now just ahead of and nearly centred on the left fingertips, so I’m lowering the left jaws onto it. The right arm did not make its sideways correction at low height; I’m raising and straightening it so it can reposition over the pen."})

tool

executing move_to over 6 steps (0.6s)

step 48

assistant

agent noteThe left fingertips have reached table height next to the cap. I’m closing on it while bringing the raised right gripper back over the pen for another alignment check.

move_to

left_gripper0.0000right_x0.3950right_y0.1600right_z0.1400right_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]: [-0.1619, 1.7008, 0.6868, 0.1101, 0.1055, 0.0242, 0.9997, 0.5213, 1.4857, 0.894, -0.1825, 0.1204, 0.1921, 0.9989] state[eef_state]: left_x=0.3792 left_y=-0.0772 left_z=0.0045 left_yaw=-0.2745 left_pitch=-0.3283 left_roll=-0.076 left_gripper=0.9997 right_x=0.3643 right_y=0.1889 right_z=0.1167 right_yaw=0.3064 right_pitch=-0.2101 right_roll=0.0539 right_gripper=0.9989 state[joint_eff]: [-0.1162, -6.7214, 5.1077, 1.6532, 0.0659, -0.0611, -0.0122, -0.335, -6.5709, 7.1043, 1.326, 0.315, 0.2418, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_x":0.395,"right_y":0.16,"right_z":0.14,"right_yaw":0.0},"note":"The left fingertips have reached table height next to the cap. I’m closing on it while bringing the raised right gripper back over the pen for another alignment check."})

tool

executing move_to over 10 steps (1.0s)

step 58

assistant

agent noteThe left gripper closed almost completely, so it missed and nudged the cap; the cap remains visible on the table ahead of those jaws. I’m reopening and lifting left while making a small rightward-and-forward correction to the pen gripper.

move_to

left_gripper1.0000left_z0.0750left_x0.4000right_x0.4060right_y0.1350right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1619, 1.7031, 0.6849, 0.0971, 0.104, 0.0238, 0.0078, 0.522, 1.5501, 1.0256, -0.3454, 0.2817, 0.3607, 0.9989] state[eef_state]: left_x=0.3758 left_y=-0.0763 left_z=0.0011 left_yaw=-0.2736 left_pitch=-0.3455 left_roll=-0.077 left_gripper=0.0078 right_x=0.3792 right_y=0.1656 right_z=0.1221 right_yaw=0.0702 right_pitch=-0.2664 right_roll=0.028 right_gripper=0.9989 state[joint_eff]: [-0.0205, -7.2957, 5.3538, 1.5018, 0.1099, -0.0171, 0.5592, -1.2513, -6.065, 9.853, 1.6777, 0.3639, 0.2857, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.075,"left_x":0.4,"right_x":0.406,"right_y":0.135,"right_z":0.12},"note":"The left gripper closed almost completely, so it missed and nudged the cap; the cap remains visible on the table ahead of those jaws. I’m reopening and lifting left while making a small rightward-and-forward correction to the pen gripper."})

tool

executing move_to over 10 steps (1.0s)

step 68

assistant

agent noteThe displaced cap now lies crosswise just ahead of the left fingertips. The pen runs just to the right of the right jaw column; I’m advancing the left grip into the cap and shifting the right grip slightly farther right before lowering.

move_to

left_x0.4180left_y-0.0800right_x0.4050right_y0.1170

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1566, 1.6436, 0.8906, -0.2268, 0.1043, 0.0235, 0.9947, 0.4114, 1.5833, 1.0283, -0.3599, 0.194, 0.2562, 0.9989] state[eef_state]: left_x=0.3888 left_y=-0.0764 left_z=0.0476 left_yaw=-0.271 left_pitch=-0.4038 left_roll=-0.0847 left_gripper=0.9947 right_x=0.3894 right_y=0.1367 right_z=0.1051 right_yaw=0.087 right_pitch=-0.3325 right_roll=0.0048 right_gripper=0.9989 state[joint_eff]: [0.4991, -10.2496, 8.9368, 1.3602, 0.0806, 0.1343, 0.1245, -1.347, -6.653, 8.2256, 1.8388, 0.1734, 0.188, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.418,"left_y":-0.08,"right_x":0.405,"right_y":0.117},"note":"The displaced cap now lies crosswise just ahead of the left fingertips. The pen runs just to the right of the right jaw column; I’m advancing the left grip into the cap and shifting the right grip slightly farther right before lowering."})

tool

executing move_to over 3 steps (0.3s)

step 71

assistant

agent noteThe cap reaches the left fingertip area, and the pen now passes through the right jaw column near its tip. I’m lowering both open grippers to make contact at their current aligned positions.

move_to

left_z0.0040right_z0.0090

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1555, 1.7386, 0.9638, -0.2588, 0.1047, 0.0235, 0.9963, 0.3546, 1.6024, 1.0283, -0.3744, 0.152, 0.2039, 0.9989] state[eef_state]: left_x=0.3997 left_y=-0.0777 left_z=0.0328 left_yaw=-0.2731 left_pitch=-0.4572 left_roll=-0.0919 left_gripper=0.9963 right_x=0.3919 right_y=0.1204 right_z=0.0945 right_yaw=0.093 right_pitch=-0.3741 right_roll=-0.0052 right_gripper=0.9989 state[joint_eff]: [-0.0479, -8.6769, 9.2103, 1.3407, 0.0464, -0.022, 0.149, -0.6222, -6.9812, 8.3214, 1.8242, 0.0269, 0.2027, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.004,"right_z":0.009},"note":"The cap reaches the left fingertip area, and the pen now passes through the right jaw column near its tip. I’m lowering both open grippers to make contact at their current aligned positions."})

tool

executing move_to over 6 steps (0.6s)

step 77

assistant

agent noteThe right gripper has reached tabletop height around the pen, so I’m closing it. The left arm stopped about 2 cm above its requested height; I’m straightening and slightly retracting that wrist to free its descent onto the cap.

move_to

right_gripper0.0000left_x0.3800left_y-0.0650left_z0.0050left_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]: [-0.1555, 1.7569, 0.9733, -0.263, 0.1047, 0.0235, 0.9964, 0.3511, 1.7573, 0.8459, -0.0978, 0.1379, 0.1944, 0.9989] state[eef_state]: left_x=0.4005 left_y=-0.0778 left_z=0.0284 left_yaw=-0.2739 left_pitch=-0.4701 left_roll=-0.0936 left_gripper=0.9964 right_x=0.3799 right_y=0.1171 right_z=0.0073 right_yaw=0.1012 right_pitch=-0.4357 right_roll=-0.0155 right_gripper=0.9989 state[joint_eff]: [0.0068, -8.6222, 8.8957, 1.3651, 0.0415, -0.0366, 0.0024, 0.2393, -7.4735, 5.3949, 1.4139, 0.1538, 0.0659, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0,"left_x":0.38,"left_y":-0.065,"left_z":0.005,"left_yaw":0},"note":"The right gripper has reached tabletop height around the pen, so I’m closing it. The left arm stopped about 2 cm above its requested height; I’m straightening and slightly retracting that wrist to free its descent onto the cap."})

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteBoth closures read essentially empty, and the pen was pushed toward the back-right; the cap remains on the left table. I’m reopening and lifting both grippers, advancing the left one over the cap and following the pen’s new position with the right one.

move_to

left_x0.4180left_y-0.0650left_z0.0750right_x0.4240right_y0.1080right_z0.1200right_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]: [-0.2005, 1.7466, 0.8455, -0.1452, -0.0372, -0.2111, 0.9965, 0.3511, 1.7737, 0.836, -0.075, 0.1333, 0.1925, 0.0085] state[eef_state]: left_x=0.383 left_y=-0.0675 left_z=0.0038 left_yaw=-0.0425 left_pitch=-0.4775 left_roll=-0.0881 left_gripper=0.9965 right_x=0.379 right_y=0.1177 right_z=0.0008 right_yaw=0.1062 right_pitch=-0.44 right_roll=-0.0134 right_gripper=0.0085 state[joint_eff]: [-0.6085, -9.1556, 4.2051, 1.0134, -0.0415, -0.1636, -0.0073, -0.3487, -9.0872, 6.3385, 1.033, 0.0757, -0.0171, 0.6081] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.418,"left_y":-0.065,"left_z":0.075,"right_x":0.424,"right_y":0.108,"right_z":0.12,"right_gripper":1},"note":"Both closures read essentially empty, and the pen was pushed toward the back-right; the cap remains on the left table. I’m reopening and lifting both grippers, advancing the left one over the cap and following the pen’s new position with the right one."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteWith the hands raised, the left camera shows the cap just beyond the fingertips, while the pen sits farther forward and to the right in the right camera. I’m moving each open hand toward its object while keeping the right hand above the tabletop.

move_to

left_x0.4310left_y-0.0730right_x0.4530right_y0.0710right_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1768, 1.7454, 1.1015, -0.4442, -0.0448, -0.2157, 0.9965, 0.3012, 1.7351, 1.2289, -0.585, 0.0845, 0.1081, 0.9947] state[eef_state]: left_x=0.4078 left_y=-0.0612 left_z=0.0546 left_yaw=-0.005 left_pitch=-0.518 left_roll=-0.0753 left_gripper=0.9965 right_x=0.4045 right_y=0.1138 right_z=0.0879 right_yaw=0.1445 right_pitch=-0.5261 right_roll=-0.0323 right_gripper=0.9947 state[joint_eff]: [0.212, -9.7573, 9.0325, 1.1306, 0.1343, 0.232, -0.0122, -1.9214, -10.2769, 10.0034, 1.7509, 0.1343, 0.3394, -0.0659] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.431,"left_y":-0.073,"right_x":0.453,"right_y":0.071,"right_z":0.12},"note":"With the hands raised, the left camera shows the cap just beyond the fingertips, while the pen sits farther forward and to the right in the right camera. I’m moving each open hand toward its object while keeping the right hand above the tabletop."})

tool

executing move_to over 4 steps (0.4s)

step 101

assistant

agent noteThe cap is still a little ahead of the left jaw tips, and the pen remains ahead of the right gripper. Both wrists are tilting strongly down as they reach, so I’m raising them and asking for a forward tool pitch before making the next low approach.

move_to

left_x0.4430left_z0.1300left_pitch0.2500right_x0.4650right_y0.0450right_z0.1700right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1932, 1.8305, 1.1633, -0.487, -0.0471, -0.2306, 0.9965, 0.186, 1.8442, 1.4197, -0.7883, 0.0212, -0.0269, 0.9958] state[eef_state]: left_x=0.4116 left_y=-0.0684 left_z=0.0374 left_yaw=-0.0025 left_pitch=-0.583 left_roll=-0.0666 left_gripper=0.9965 right_x=0.4183 right_y=0.0785 right_z=0.089 right_yaw=0.1732 right_pitch=-0.6543 right_roll=-0.0419 right_gripper=0.9958 state[joint_eff]: [-0.6496, -9.1829, 9.3607, 1.2625, -0.1636, 0.0269, -0.0122, -1.3333, -9.6615, 10.6872, 1.8828, 0.0073, 0.5641, 0.1001] 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":0.443,"left_z":0.13,"left_pitch":0.25,"right_x":0.465,"right_y":0.045,"right_z":0.17,"right_pitch":0.3},"note":"The cap is still a little ahead of the left jaw tips, and the pen remains ahead of the right gripper. Both wrists are tilting strongly down as they reach, so I’m raising them and asking for a forward tool pitch before making the next low approach."})

tool

executing move_to over 32 steps (3.2s)

step 133

assistant

agent noteAfter the raised forward approach, the cap has passed below the left wrist camera’s near edge, consistent with being under its fingertips; the pen now meets the right jaw column near the image bottom. I’m lowering both open grippers to grasp height without changing their horizontal alignment.

move_to

left_z0.0160right_z0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.231, 1.6108, 0.6331, 0.5667, -0.1841, -0.1505, 0.9965, 0.0666, 1.5738, 0.7246, 0.4561, -0.1173, -0.102, 0.9959] state[eef_state]: left_x=0.4374 left_y=-0.066 left_z=0.109 left_yaw=0.0033 left_pitch=0.1657 left_roll=-0.0681 left_gripper=0.9965 right_x=0.4521 right_y=0.0545 right_z=0.1379 right_yaw=0.2157 right_pitch=0.1679 right_roll=-0.0492 right_gripper=0.9959 state[joint_eff]: [-0.759, -7.4735, 5.9145, 2.1465, -0.1245, 0.1734, -0.0122, -1.4291, -6.3248, 7.1863, 2.5128, 0.1294, 0.232, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.016,"right_z":0.015},"note":"After the raised forward approach, the cap has passed below the left wrist camera’s near edge, consistent with being under its fingertips; the pen now meets the right jaw column near the image bottom. I’m lowering both open grippers to grasp height without changing their horizontal alignment."})

tool

executing move_to over 8 steps (0.8s)

step 141

assistant

agent noteAt table height the cap appears just to the right of the left jaw opening, and the pen crosses the right view diagonally ahead of its jaw opening. I’m lifting before a sideways correction on the cap and a forward correction along the pen, so the open fingers do not sweep either object.

move_to

left_z0.0750left_y-0.1100right_z0.0850right_x0.4770right_y0.0390

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2317, 1.9903, 0.5484, 0.968, -0.1841, -0.1486, 0.9965, 0.0658, 2.0232, 0.5907, 0.9619, -0.1276, -0.1024, 0.996] state[eef_state]: left_x=0.4322 left_y=-0.0651 left_z=0.0068 left_yaw=-0.0004 left_pitch=0.1045 left_roll=-0.0517 left_gripper=0.9965 right_x=0.4447 right_y=0.0554 right_z=0.004 right_yaw=0.2224 right_pitch=0.092 right_roll=-0.0334 right_gripper=0.996 state[joint_eff]: [-0.1436, -8.0889, 3.3299, 2.1856, -0.0708, -0.0611, -0.0122, -0.2803, -8.2256, 3.6444, 2.21, 0.0171, -0.022, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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_z":0.075,"left_y":-0.11,"right_z":0.085,"right_x":0.477,"right_y":0.039},"note":"At table height the cap appears just to the right of the left jaw opening, and the pen crosses the right view diagonally ahead of its jaw opening. I’m lifting before a sideways correction on the cap and a forward correction along the pen, so the open fingers do not sweep either object."})

tool

executing move_to over 6 steps (0.6s)

step 147

assistant

agent noteThe right wrist now shows the pen running almost exactly through the jaw column at the near edge. I’m lowering only the right hand for a centered pen grasp; the cap is currently obscured from the left wrist view.

move_to

right_z0.0090

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3679, 1.7634, 0.6228, 0.6525, -0.2905, -0.2104, 0.9965, 0.028, 1.8305, 0.7425, 0.5911, -0.1894, -0.1413, 0.9959] state[eef_state]: left_x=0.4289 left_y=-0.1073 left_z=0.0614 left_yaw=-0.0141 left_pitch=0.1038 left_roll=-0.0557 left_gripper=0.9965 right_x=0.4678 right_y=0.05 right_z=0.0621 right_yaw=0.2573 right_pitch=0.0712 right_roll=-0.0347 right_gripper=0.9959 state[joint_eff]: [-0.5128, -9.0462, 7.8974, 1.6972, -0.2076, -0.0659, -0.0122, -1.7299, -11.0154, 8.294, 2.0879, 0.2125, 0.1392, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.009},"note":"The right wrist now shows the pen running almost exactly through the jaw column at the near edge. I’m lowering only the right hand for a centered pen grasp; the cap is currently obscured from the left wrist view."})

tool

executing move_to over 4 steps (0.4s)

step 151

assistant

agent noteThe pen now lies between the right fingertips at table height. I’m closing the right jaws and will check the 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]: [-0.3729, 1.7622, 0.6235, 0.6216, -0.2996, -0.2192, 0.9965, 0.0284, 2.0056, 0.704, 0.7502, -0.1928, -0.1547, 0.996] state[eef_state]: left_x=0.4255 left_y=-0.1066 left_z=0.0559 left_yaw=-0.0076 left_pitch=0.078 left_roll=-0.0491 left_gripper=0.9965 right_x=0.4605 right_y=0.0505 right_z=0.0038 right_yaw=0.2671 right_pitch=0.0184 right_roll=-0.032 right_gripper=0.996 state[joint_eff]: [0.0342, -7.1863, 5.0393, 2.083, 0.0171, 0.0073, -0.0122, -0.3487, -7.1179, 4.3282, 1.8681, -0.0659, 0.1148, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen now lies between the right fingertips at table height. I’m closing the right jaws and will check the settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 161

assistant

agent noteThe right gripper settled slightly open, which may indicate it caught the pen, but the wrist image alone cannot confirm that. I’m lifting it to see whether the pen moves with the jaws, while advancing the left hand toward the cap seen ahead in the overhead view.

move_to

right_z0.1200left_x0.4700left_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]: [-0.3737, 1.7622, 0.6235, 0.6163, -0.3004, -0.2199, 0.9965, 0.0284, 2.0209, 0.7029, 0.7795, -0.2028, -0.1616, 0.0481] state[eef_state]: left_x=0.4249 left_y=-0.1066 left_z=0.0548 left_yaw=-0.0074 left_pitch=0.0731 left_roll=-0.0475 left_gripper=0.9965 right_x=0.4618 right_y=0.0523 right_z=0.003 right_yaw=0.2792 right_pitch=0.0321 right_roll=-0.0361 right_gripper=0.0481 state[joint_eff]: [-0.1299, -7.5145, 5.0667, 1.7998, -0.1099, -0.0073, -0.0122, -0.1983, -10.1812, 4.3282, 1.4579, -0.0024, 0.0415, 1.1062] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.12,"left_x":0.47,"left_z":0.13},"note":"The right gripper settled slightly open, which may indicate it caught the pen, but the wrist image alone cannot confirm that. I’m lifting it to see whether the pen moves with the jaws, while advancing the left hand toward the cap seen ahead in the overhead view."})

tool

executing move_to over 8 steps (0.8s)

step 169

assistant

agent noteThe pen still appears in the right wrist view after the lift, so I cannot yet count that as a secure pickup; I’m moving the right hand aside to reveal its tabletop position. Meanwhile the left hand is over the cap’s apparent location and will descend for a grasp.

move_to

left_z0.0130right_x0.3600right_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]: [-0.3286, 1.7264, 0.8795, 0.2867, -0.2775, -0.2165, 0.9965, 0.0284, 1.6867, 0.8051, 0.2867, -0.2199, -0.181, 0.0528] state[eef_state]: left_x=0.4631 left_y=-0.103 left_z=0.1017 left_yaw=0.016 left_pitch=0.0337 left_roll=-0.0424 left_gripper=0.9965 right_x=0.4522 right_y=0.055 right_z=0.0876 right_yaw=0.3039 right_pitch=-0.0202 right_roll=-0.029 right_gripper=0.0528 state[joint_eff]: [0.3214, -11.3299, 9.0051, 1.8193, 0.022, 0.1441, -0.0122, -0.0205, -10.1128, 9.5658, 2.083, 0.0708, 0.1832, 1.0281] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.013,"right_x":0.36,"right_z":0.16},"note":"The pen still appears in the right wrist view after the lift, so I cannot yet count that as a secure pickup; I’m moving the right hand aside to reveal its tabletop position. Meanwhile the left hand is over the cap’s apparent location and will descend for a grasp."})

tool

executing move_to over 8 steps (0.8s)

step 177

assistant

agent noteThe pen followed the right hand when it moved aside, and its jaw opening remains about half a centimetre: the pen is held. I’m closing the left gripper at table height on the cap while keeping the pen safely raised.

move_to

left_gripper0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3275, 1.9858, 0.7765, 0.6003, -0.2802, -0.2195, 0.9965, 0.0349, 1.2018, 0.6926, -0.0521, -0.2146, -0.1879, 0.0528] state[eef_state]: left_x=0.4582 left_y=-0.1003 left_z=0.0086 left_yaw=0.0208 left_pitch=-0.0118 left_roll=-0.0271 left_gripper=0.9965 right_x=0.3719 right_y=0.0542 right_z=0.1622 right_yaw=0.3095 right_pitch=0.0112 right_roll=-0.0468 right_gripper=0.0528 state[joint_eff]: [-0.4171, -8.9368, 4.1778, 1.956, -0.0611, -0.0073, -0.0122, 0.1846, -4.9026, 6.5846, 1.8144, -0.0562, 0.0855, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_z":0.18},"note":"The pen followed the right hand when it moved aside, and its jaw opening remains about half a centimetre: the pen is held. I’m closing the left gripper at table height on the cap while keeping the pen safely raised."})

tool

executing move_to over 10 steps (1.0s)

step 187

assistant

agent noteThe left jaws closed essentially empty, so the cap was not beneath them. I’m withdrawing that hand to expose the cap in the overhead camera, and parking the pen upright and clear in the right hand while I re-locate the cap.

move_to

left_x0.2950left_y0.0000left_z0.1900left_gripper1.0000right_x0.3100right_y0.0400right_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3275, 1.9984, 0.7692, 0.6147, -0.2825, -0.2264, 0.0083, 0.0345, 1.1973, 0.7204, -0.128, -0.2142, -0.1917, 0.0585] state[eef_state]: left_x=0.4564 left_y=-0.0993 left_z=0.0035 left_yaw=0.0264 left_pitch=-0.0164 left_roll=-0.0297 left_gripper=0.0083 right_x=0.367 right_y=0.0538 right_z=0.1608 right_yaw=0.3109 right_pitch=-0.0308 right_roll=-0.0384 right_gripper=0.0585 state[joint_eff]: [-0.253, -10.0171, 5.4906, 1.5263, -0.0806, 0.0757, 0.5592, -0.1436, -5.3812, 9.8803, 1.6337, -0.1197, -0.0171, 1.0281] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_gripper":1,"right_x":0.31,"right_y":0.04,"right_z":0.21},"note":"The left jaws closed essentially empty, so the cap was not beneath them. I’m withdrawing that hand to expose the cap in the overhead camera, and parking the pen upright and clear in the right hand while I re-locate the cap."})

tool

executing move_to over 13 steps (1.3s)

step 200

assistant

agent noteWith the left hand out of the way, the cap is clearly visible as the short dark piece near pixel (65, 109); earlier attempts were too far left and forward. I’m returning above its actual overhead position, about 7 cm back and 7 cm right of the last tabletop attempt.

move_to

left_x0.4000left_y-0.1700left_z0.1450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.057, 0.8444, 0.6102, -0.3248, -0.0895, -0.1005, 0.996, -0.0269, 0.9482, 0.7517, -0.4446, -0.2543, -0.2226, 0.0585] state[eef_state]: left_x=0.3062 left_y=0.0019 left_z=0.1805 left_yaw=0.0677 left_pitch=0.0135 left_roll=-0.0407 left_gripper=0.996 right_x=0.3125 right_y=0.0396 right_z=0.1935 right_yaw=0.2999 right_pitch=-0.0589 right_roll=-0.0307 right_gripper=0.0585 state[joint_eff]: [0.3214, -1.8256, 10.2769, 1.7802, 0.1294, 0.3101, 0.0317, -0.9368, -3.5077, 9.935, 1.5409, -0.2027, -0.1734, 1.0281] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.145},"note":"With the left hand out of the way, the cap is clearly visible as the short dark piece near pixel (65, 109); earlier attempts were too far left and forward. I’m returning above its actual overhead position, about 7 cm back and 7 cm right of the last tabletop attempt."})

tool

executing move_to over 16 steps (1.6s)

step 216

assistant

agent noteThe cap is now unmistakable in the left wrist camera, just left of the jaw column with its near edge close to the fingertips. I’m shifting the hand left by about 3 cm and advancing 2 cm to center its short body within the jaws.

move_to

left_x0.4140left_y-0.1290left_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]: [-0.6193, 1.5505, 0.8928, -0.0837, -0.5362, -0.437, 0.9969, -0.0303, 0.9512, 0.7513, -0.4641, -0.2634, -0.2253, 0.0627] state[eef_state]: left_x=0.3875 left_y=-0.161 left_z=0.1239 left_yaw=0.0538 left_pitch=-0.0491 left_roll=-0.0026 left_gripper=0.9969 right_x=0.3097 right_y=0.0402 right_z=0.189 right_yaw=0.306 right_pitch=-0.0787 right_roll=-0.0201 right_gripper=0.0627 state[joint_eff]: [-0.4444, -7.6376, 9.2786, 1.8144, -0.2906, -0.0415, 0.0757, 0.1573, -2.4274, 7.1316, 1.8486, -0.0317, -0.0171, 1.033] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.414,"left_y":-0.129,"left_z":0.13},"note":"The cap is now unmistakable in the left wrist camera, just left of the jaw column with its near edge close to the fingertips. I’m shifting the hand left by about 3 cm and advancing 2 cm to center its short body within the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 219

assistant

agent noteThe cap’s short body now reaches the bottom of the wrist view but sits slightly left of the jaws. I’m making one final small leftward and forward adjustment before descending, keeping the hand above the cap.

move_to

left_x0.4210left_y-0.1070left_z0.1250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5014, 1.5681, 0.9031, -0.0692, -0.477, -0.3897, 0.9971, -0.0311, 0.9512, 0.7494, -0.4648, -0.2642, -0.2253, 0.0627] state[eef_state]: left_x=0.407 left_y=-0.1265 left_z=0.1201 left_yaw=0.1002 left_pitch=-0.0671 left_roll=-0.0006 left_gripper=0.9971 right_x=0.3094 right_y=0.0401 right_z=0.188 right_yaw=0.306 right_pitch=-0.0811 right_roll=-0.0188 right_gripper=0.0627 state[joint_eff]: [-0.8547, -7.5692, 7.7744, 1.7607, 0.0464, 0.1636, 0.0073, -0.0615, -2.1128, 7.0906, 1.6093, -0.1197, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.421,"left_y":-0.107,"left_z":0.125},"note":"The cap’s short body now reaches the bottom of the wrist view but sits slightly left of the jaws. I’m making one final small leftward and forward adjustment before descending, keeping the hand above the cap."})

tool

executing move_to over 2 steps (0.2s)

step 221

assistant

agent noteThe short combined correction barely changed the left hand’s actual sideways position; the cap is still left of the jaw column. I’m commanding the sideways correction by itself so the readback can confirm it took effect.

move_to

left_y-0.1020

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4831, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2638, -0.2256, 0.0627] state[eef_state]: left_x=0.4082 left_y=-0.1256 left_z=0.1178 left_yaw=0.0697 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1878 right_yaw=0.3059 right_pitch=-0.0815 right_roll=-0.0192 right_gripper=0.0627 state[joint_eff]: [-0.2256, -7.7197, 7.6239, 1.7363, -0.188, 0.1734, -0.0122, -0.1846, -2.3316, 7.1726, 1.6386, -0.1001, -0.0708, 1.033] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.102},"note":"The short combined correction barely changed the left hand’s actual sideways position; the cap is still left of the jaw column. I’m commanding the sideways correction by itself so the readback can confirm it took effect."})

tool

executing move_to over 3 steps (0.3s)

step 224

assistant

agent noteThe left hand has stopped tracking the sideways request at this low, extended pose. I’m raising and tipping the wrist forward to free the arm, then I can realign above the cap without scraping it.

move_to

left_z0.2050left_y-0.1050left_x0.4050left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4828, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2642, -0.2253, 0.0627] state[eef_state]: left_x=0.4083 left_y=-0.1255 left_z=0.1178 left_yaw=0.0701 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.0401 right_z=0.1878 right_yaw=0.306 right_pitch=-0.0814 right_roll=-0.0187 right_gripper=0.0627 state[joint_eff]: [-0.1299, -7.7607, 7.8427, 1.7118, -0.1685, 0.1538, -0.0122, -0.1983, -2.2632, 6.9675, 1.5995, -0.1734, -0.0562, 1.0281] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.205,"left_y":-0.105,"left_x":0.405,"left_pitch":0.2},"note":"The left hand has stopped tracking the sideways request at this low, extended pose. I’m raising and tipping the wrist forward to free the arm, then I can realign above the cap without scraping it."})

tool

executing move_to over 10 steps (1.0s)

step 234

assistant

agent noteWith the wrist raised, the cap falls below the wrist camera’s near edge and remains near the left hand in the overhead view. I’m descending at the newly reached sideways position, using the more reachable forward-pitched pose.

move_to

left_x0.4050left_y-0.1050left_z0.0080left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4713, 1.3708, 0.8307, 0.0544, -0.4961, -0.2535, 0.9971, -0.0315, 0.955, 0.7486, -0.4648, -0.2642, -0.2253, 0.0628] state[eef_state]: left_x=0.4034 left_y=-0.1072 left_z=0.1911 left_yaw=0.0771 left_pitch=0.1472 left_roll=-0.0088 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1865 right_yaw=0.3057 right_pitch=-0.0854 right_roll=-0.0173 right_gripper=0.0628 state[joint_eff]: [0.2393, -7.1863, 6.1333, 2.0684, -0.2369, 0.1832, -0.0073, -0.3214, -2.1675, 7.0496, 1.6044, -0.1001, -0.0513, 1.033] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.105,"left_z":0.008,"left_pitch":0.2},"note":"With the wrist raised, the cap falls below the wrist camera’s near edge and remains near the left hand in the overhead view. I’m descending at the newly reached sideways position, using the more reachable forward-pitched pose."})

tool

executing move_to over 12 steps (1.2s)

step 246

assistant

agent noteAt table height, the cap is visible crosswise at the bottom of the left wrist image, directly across the jaw column. I’m closing the left jaws on it and will check their settled opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4717, 2.0209, 0.4908, 1.0328, -0.5014, -0.244, 0.9971, -0.0315, 0.9569, 0.7475, -0.4652, -0.2642, -0.2253, 0.0636] state[eef_state]: left_x=0.3989 left_y=-0.1041 left_z=0.0002 left_yaw=0.075 left_pitch=0.1387 left_roll=0.0082 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1854 right_yaw=0.3058 right_pitch=-0.0886 right_roll=-0.0162 right_gripper=0.0636 state[joint_eff]: [-0.1026, -7.0906, 3.3983, 1.1502, -0.1538, 0.1734, -0.0073, -0.335, -2.4137, 7.2137, 1.5995, -0.1148, -0.0611, 1.0281] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"At table height, the cap is visible crosswise at the bottom of the left wrist image, directly across the jaw column. I’m closing the left jaws on it and will check their settled opening."})

tool

executing move_to over 10 steps (1.0s)

step 256

assistant

agent noteThe left jaws stopped about 4.4 cm apart, consistent with gripping the cap across its length rather than closing empty. I’m lifting and drawing the left hand back slightly to confirm the cap leaves the tabletop with it.

move_to

left_z0.1400left_x0.3450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4717, 2.0354, 0.4908, 1.0782, -0.5087, -0.2447, 0.4635, -0.0311, 0.9569, 0.7475, -0.4648, -0.2646, -0.2253, 0.0636] state[eef_state]: left_x=0.4017 left_y=-0.1043 left_z=0.004 left_yaw=0.0839 left_pitch=0.1668 left_roll=-0.006 left_gripper=0.4635 right_x=0.3095 right_y=0.0402 right_z=0.1855 right_yaw=0.3065 right_pitch=-0.0882 right_roll=-0.0161 right_gripper=0.0636 state[joint_eff]: [-0.2393, -8.9094, 3.0291, 1.4237, -0.0904, -0.0464, -0.0073, -0.1846, -2.2906, 6.9812, 1.5946, -0.1294, -0.0708, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.14,"left_x":0.345},"note":"The left jaws stopped about 4.4 cm apart, consistent with gripping the cap across its length rather than closing empty. I’m lifting and drawing the left hand back slightly to confirm the cap leaves the tabletop with it."})

tool

executing move_to over 9 steps (0.9s)

step 265

assistant

agent noteBoth objects rose with their grippers: the pen extends forward from the right hand, and the cap sits crosswise in the left. I’m carrying them toward the shared centre, rotating the cap to align its long axis with the pen while keeping the two grippers separated.

move_to

left_x0.4350left_y-0.2650left_z0.2300left_yaw-1.2500right_x0.3150right_y0.2450right_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]: [-0.5838, 1.2743, 0.4667, 0.3492, -0.5922, -0.2989, 0.4637, -0.0315, 0.9623, 0.7452, -0.4644, -0.2657, -0.2253, 0.0636] state[eef_state]: left_x=0.3484 left_y=-0.1077 left_z=0.1332 left_yaw=0.0715 left_pitch=0.1943 left_roll=-0.0304 left_gripper=0.4637 right_x=0.3096 right_y=0.0403 right_z=0.1831 right_yaw=0.3073 right_pitch=-0.0948 right_roll=-0.013 right_gripper=0.0636 state[joint_eff]: [-0.2256, -4.3145, 9.265, 1.6337, -0.149, -0.1294, 0.0122, -0.212, -2.4, 7.1453, 1.6239, -0.1294, -0.0708, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_y":-0.265,"left_z":0.23,"left_yaw":-1.25,"right_x":0.315,"right_y":0.245,"right_z":0.19},"note":"Both objects rose with their grippers: the pen extends forward from the right hand, and the cap sits crosswise in the left. I’m carrying them toward the shared centre, rotating the cap to align its long axis with the pen while keeping the two grippers separated."})

tool

executing move_to over 18 steps (1.8s)

step 283

assistant

agent noteThe held cap is still left and above the pen tip in the overhead view; their grippers remain separated. I’m bringing the cap hand roughly 9 cm toward the pen and slightly back/down to align the cap with the exposed pen end.

move_to

left_x0.4000left_y-0.3530left_z0.1900left_yaw-1.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2874, 1.8286, 1.409, -0.1684, 0.7837, 0.3817, 0.4638, 0.8127, 1.3609, 0.9863, -0.3897, 0.3653, 0.2817, 0.0636] state[eef_state]: left_x=0.4433 left_y=-0.2573 left_z=0.2141 left_yaw=-1.1356 left_pitch=0.166 left_roll=-0.0563 left_gripper=0.4638 right_x=0.3077 right_y=0.2385 right_z=0.1739 right_yaw=0.3449 right_pitch=-0.1445 right_roll=-0.0381 right_gripper=0.0636 state[joint_eff]: [0.253, -10.2769, 8.7863, 1.4921, 0.4908, 0.2076, -0.0024, 0.294, -5.1761, 9.4701, 1.6288, 0.3101, 0.2369, 1.0281] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.353,"left_z":0.19,"left_yaw":-1.25},"note":"The held cap is still left and above the pen tip in the overhead view; their grippers remain separated. I’m bringing the cap hand roughly 9 cm toward the pen and slightly back/down to align the cap with the exposed pen end."})

tool

executing move_to over 9 steps (0.9s)

step 292

assistant

agent noteThe cap currently points past the pen tip rather than toward it. I’m raising the cap clear and starting a turn so its free end will face back toward the pen before any insertion attempt.

move_to

left_z0.2450left_yaw0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5068, 1.8576, 1.3674, -0.0658, 0.6926, 0.3046, 0.4638, 0.8177, 1.3777, 0.989, -0.3893, 0.3622, 0.2802, 0.0636] state[eef_state]: left_x=0.3966 left_y=-0.3451 left_z=0.1942 left_yaw=-1.2454 left_pitch=0.1511 left_roll=-0.0696 left_gripper=0.4638 right_x=0.3074 right_y=0.2416 right_z=0.1688 right_yaw=0.3522 right_pitch=-0.1578 right_roll=-0.0436 right_gripper=0.0636 state[joint_eff]: [-0.335, -7.9521, 6.9128, 1.8974, 0.1538, 0.0024, -0.0122, -0.6222, -7.0496, 6.612, 1.5214, 0.1099, -0.0073, 1.0232] 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":0.245,"left_yaw":0.3},"note":"The cap currently points past the pen tip rather than toward it. I’m raising the cap clear and starting a turn so its free end will face back toward the pen before any insertion attempt."})

tool

executing move_to over 10 steps (1.0s)

step 302

assistant

agent noteThe arms came uncomfortably close during the turn, and both bases show a sharp effort spike, though both objects remain held. I’m separating the hands before any further rotation or capping attempt.

move_to

left_x0.3600left_y-0.1900left_z0.2700right_x0.3000right_y0.0800right_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]: [-0.8867, 2.0758, 1.8759, -0.6258, -0.9272, -0.7403, 0.4638, 0.6914, 1.3293, 0.9813, -0.4332, 0.487, 0.4343, 0.0656] state[eef_state]: left_x=0.4404 left_y=-0.3108 left_z=0.2239 left_yaw=0.2228 left_pitch=0.1135 left_roll=-0.0256 left_gripper=0.4638 right_x=0.3342 right_y=0.174 right_z=0.1821 right_yaw=0.0443 right_pitch=-0.113 right_roll=-0.0008 right_gripper=0.0656 state[joint_eff]: [-10.9197, -6.9128, 9.4017, 1.2479, -0.398, 0.0073, -0.0073, 12.3556, -0.7043, 7.5829, 1.6923, -0.7546, -1.4042, 0.9304] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.19,"left_z":0.27,"right_x":0.3,"right_y":0.08,"right_z":0.19},"note":"The arms came uncomfortably close during the turn, and both bases show a sharp effort spike, though both objects remain held. I’m separating the hands before any further rotation or capping attempt."})

tool

executing move_to over 11 steps (1.1s)

step 313

assistant

agent noteThe hands are safely separated again. The cap’s visible closed end points forward, so its open end should face back toward the pen; I’m repositioning both hands near the centre without rotating, keeping the cap above the pen until their ends are aligned.

move_to

left_x0.4120left_y-0.2930left_z0.2200right_x0.3050right_y0.2820right_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]: [-0.844, 1.544, 1.3586, -0.6163, -0.8967, -0.7044, 0.4638, 0.4194, 1.0023, 0.7979, -0.5133, 0.3012, 0.255, 0.0656] state[eef_state]: left_x=0.3652 left_y=-0.1976 left_z=0.2603 left_yaw=0.2285 left_pitch=0.1052 left_roll=-0.0251 left_gripper=0.4638 right_x=0.3029 right_y=0.0816 right_z=0.1866 right_yaw=0.021 right_pitch=-0.1206 right_roll=0.0004 right_gripper=0.0656 state[joint_eff]: [0.2803, -8.4581, 7.2547, 1.3455, -0.359, 0.105, -0.0073, -0.253, -3.3846, 7.0359, 1.6874, 0.0708, -0.1587, 0.9548] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.412,"left_y":-0.293,"left_z":0.22,"right_x":0.305,"right_y":0.282,"right_z":0.19},"note":"The hands are safely separated again. The cap’s visible closed end points forward, so its open end should face back toward the pen; I’m repositioning both hands near the centre without rotating, keeping the cap above the pen until their ends are aligned."})

tool

executing move_to over 17 steps (1.7s)

step 330

assistant

agent noteThe two grippers again tracked less than requested as they neared one another; the right pen hand is lower than intended but still holds the pen. In the overhead view the cap’s open end is left and above the pen tip, so I’m moving only the cap hand a few centimetres right, back, and down.

move_to

left_x0.3960left_y-0.2970left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8249, 1.9049, 1.6806, -0.6296, -0.9188, -0.7963, 0.4638, 0.9955, 1.6012, 1.2106, -0.8127, 0.667, 0.7307, 0.0689] state[eef_state]: left_x=0.4283 left_y=-0.2514 left_z=0.2319 left_yaw=0.307 left_pitch=0.0947 left_roll=-0.0532 left_gripper=0.4638 right_x=0.2804 right_y=0.2381 right_z=0.1433 right_yaw=0.001 right_pitch=-0.2782 right_roll=-0.2011 right_gripper=0.0689 state[joint_eff]: [-4.9026, -7.3641, 7.8017, 1.1844, -0.3443, 0.1832, -0.0073, 0.5402, -8.0342, 10.6325, 1.6972, 0.9548, -0.0562, 0.6813] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.396,"left_y":-0.297,"left_z":0.2},"note":"The two grippers again tracked less than requested as they neared one another; the right pen hand is lower than intended but still holds the pen. In the overhead view the cap’s open end is left and above the pen tip, so I’m moving only the cap hand a few centimetres right, back, and down."})

tool

executing move_to over 5 steps (0.5s)

step 335

assistant

agent noteThe cap opening and pen tip look close in the overhead image, but the right hand has sagged to about 12 cm while the cap is near 22 cm. I’m raising only the pen hand toward the cap’s height before attempting any insertion.

move_to

right_z0.2050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8932, 1.9701, 1.7012, -0.6552, -0.9951, -0.9241, 0.4638, 1.0111, 1.6264, 1.1881, -0.8783, 0.6308, 0.7406, 0.0716] state[eef_state]: left_x=0.416 left_y=-0.2749 left_z=0.2154 left_yaw=0.3468 left_pitch=0.1194 left_roll=-0.0804 left_gripper=0.4638 right_x=0.2633 right_y=0.2308 right_z=0.1202 right_yaw=-0.0035 right_pitch=-0.367 right_roll=-0.2756 right_gripper=0.0716 state[joint_eff]: [-5.1624, -8.5402, 7.6376, 0.8083, -0.3101, -0.2418, -0.0171, -1.3744, -9.2923, 8.1162, 1.7265, 0.6618, -0.1099, 0.6618] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.205},"note":"The cap opening and pen tip look close in the overhead image, but the right hand has sagged to about 12 cm while the cap is near 22 cm. I’m raising only the pen hand toward the cap’s height before attempting any insertion."})

tool

executing move_to over 6 steps (0.6s)

step 341

assistant

agent noteRaising the pen caused it to retreat instead of approaching the cap, with a large elbow-effort increase; the arms appear to be obstructing each other. I’m separating them rather than forcing the insertion, keeping both objects gripped.

move_to

left_x0.3300left_y-0.1000left_z0.2400right_x0.3000right_y0.0800right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9092, 1.961, 1.7329, -0.7017, -1.008, -0.9672, 0.4638, 1.0153, 1.6482, 1.3865, -1.2778, 0.5453, 0.7219, 0.0741] state[eef_state]: left_x=0.41 left_y=-0.2776 left_z=0.2276 left_yaw=0.3609 left_pitch=0.1255 left_roll=-0.1108 left_gripper=0.4638 right_x=0.2327 right_y=0.2079 right_z=0.149 right_yaw=-0.0512 right_pitch=-0.5566 right_roll=-0.4533 right_gripper=0.0741 state[joint_eff]: [-3.5897, -6.9128, 5.0667, 1.1844, -0.315, -0.0708, -0.0122, -0.3761, -9.3197, 14.7897, 1.4774, 0.9939, 0.1148, 0.6374] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.1,"left_z":0.24,"right_x":0.3,"right_y":0.08,"right_z":0.18},"note":"Raising the pen caused it to retreat instead of approaching the cap, with a large elbow-effort increase; the arms appear to be obstructing each other. I’m separating them rather than forcing the insertion, keeping both objects gripped."})

tool

executing move_to over 16 steps (1.6s)

step 357

assistant

agent noteI picked up both the pen and cap, but could not safely align and insert them: the arms interfered with each other whenever their tips approached. I separated the arms and stopped with both objects still held.

give_up

hindsightOn this rig, a settled gripper opening of about 0.05–0.08 can indicate a held pen, and about 0.46 indicated the cap caught across its length; both objects followed their grippers when lifted. Long held objects can remain visible in their own wrist cameras, contrary to the general camera guidance. Near the table centre the gripper bodies can interfere even when grasp-point positions appear 10–20 cm apart; a sharp effort increase and the uncommanded retreat/tilt of the other arm are warning signs. Confirm clearance of the full gripper bodies and protruding objects before attempting two-arm insertion.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7208, 1.2232, 0.9981, -0.4725, -0.8879, -0.7525, 0.4638, 0.5953, 1.438, 1.2808, -1.1244, 0.487, 0.4091, 0.0761] state[eef_state]: left_x=0.3344 left_y=-0.1066 left_z=0.2476 left_yaw=0.3834 left_pitch=0.1461 left_roll=-0.1646 left_gripper=0.4638 right_x=0.2934 right_y=0.1032 right_z=0.1779 right_yaw=-0.1416 right_pitch=-0.5043 right_roll=-0.3512 right_gripper=0.0761 state[joint_eff]: [0.5265, -3.5624, 6.2838, 1.3846, -0.3492, 0.1392, -0.0122, 2.8103, -4.9846, 5.8188, 0.8132, 0.0513, -0.0317, 0.4615] approver: 3 step(s) modified (delta_clamped ×3). 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

give_up({"reason":"I picked up both the pen and cap, but could not safely align and insert them: the arms interfered with each other whenever their tips approached. I separated the arms and stopped with both objects still held.","hindsight":"On this rig, a settled gripper opening of about 0.05–0.08 can indicate a held pen, and about 0.46 indicated the cap caught across its length; both objects followed their grippers when lifted. Long held objects can remain visible in their own wrist cameras, contrary to the general camera guidance. Near the table centre the gripper bodies can interfere even when grasp-point positions appear 10–20 cm apart; a sharp effort increase and the uncommanded retreat/tilt of the other arm are warning signs. Confirm clearance of the full gripper bodies and protruding objects before attempting two-arm insertion."})

tool

give_up: I picked up both the pen and cap, but could not safely align and insert them: the arms interfered with each other whenever their tips approached. I separated the arms and stopped with both objects still held.

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 · 10.35 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3771, -0.0212, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -1.5111, 10.5504, 1.79, -0.022, -0.0708, -0.0366, -0.6632, -1.2103, 9.7846, 1.7998, -0.0708, -0.022, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5bdaa073034848db3ec1717447aa725b09ad2b062e563a32c3b3fe13fe6333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f88a3b63745f62b148b3061074496bf65df98fa0b2f2187e7f8d6bdf5a0b23d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740ad82068442c3df4f2f56b12433b538bd90e813d9a670a37785d57aba628b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 7.808 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtC9ylJ0s-4uHsuqD7rhR8-QWBzMPD9Q1WIqoSat26nLuzmZTyVwHyiHRgBZXAqpBtD5T4CvAeCTcvUMFuype1TlX4jmQ1JQF-QvhWezsKLcrFeLT9F19ESucS4EhQCighWTXQG1yCB9F5yO6ewUdxp5WqcUHRxYRRj1Xdas8S9EkeA9KhdEd7gX_zix5gq_bRe6Fy4p6HVRK-ZJL7NFr_WaW8tt9ECN3GTPDummP6aJGHb7ptl8Lfq9JcKKVC08XvE7EU7qsfFt8BXCOCU6jIg8275Yh-ZmKnVN64SPHLIXzHRuXb_7VR39Jf4J3iTxzP5JiZuZVgYTPzAyNWQZxtbQlclCOGVllfrLehCmU3I5uW5AP57bF7EEj1uPnDxYgeWOaiDQdctCbyyHapZ28fLtV22ViWjvq5vP0VLxk5EeO26H3V6-FlmHp05IptWQbb6kiUezchO8PiF88dwPGE-TmSAEqWhjH9g9PS697CrIUhj08-4aIwK8RgBwNAvhA56Lv7RMnEG6on23xM5zTzypDUvAFj8yPIdK0dVAgEhDyEoqElMyiJBdKp0UFQMkj8YVFMxl-2LxmBC2nCmIr3I9FucUJgfEvY0E0t0SelQNfjqMA5rGJP0vk6wR9KzVtckX35FxC9Fd_EK7Qp8xlPbWf5bbLByJRZI24a1spEpWOHeRYfY5J_Y8kmjQhwqZ6wU2pta50NR7WRXAlSU8FTEWw4H3sJqDghXYVJJqIEfbP4u4bl280G-GHwnsLbJARKpcQ1OiuiJG-1S7rvN3pf6J9_VkikIeiMEG5DHgzdKqtfZ_s6WeVeCvbKaBl6JuZp-RF0QR5QiY6919pfGyassULRt-m6oZ6HZJuLD-gmtjx99fDiRsrSuzy05NvHCKNfZj0ZPEhJ8AWrnj61wEJU5f7HVLeBuDPZs7NkQeuEPNDHlQjxTBc8FVLlyzW0uQV38XXeGIlDvMtO3xyX7XGFffmG1ErBJbNjwyqs6Jc8z8mQTJIJyu-c3ZCOfpYIsABCHuY1pLK9p77DhD6je8_8yChuU-TmRlZCbFTnQqBWYwtmAF4pDiAyfaqR_CSptCy_iAIqAQPXWIO36dAtohGk9KQc4Naq1zNVPpdiaVzszPNNnO9mcoP72vhaJ8AGjHUdORNBKOeuqsXnu0xYU2eOlJ65T0E63rBbX7kcHkp6X9H1EdbGqCN6krEha57pOuip1xpvuWHeoZoxEUU2558qxyXvZ0xK1jdxxWaz5Mn0YgNJjrljYsJ5sKjF3IAfTtWmZwmYeR9dp-fbXInux2em71C4M_CoPKMVKvwxruft1PX9bT08DjB_SzahKnqx21d7XxchEQUWhQeeYxXSxCcIf0ZkmNyc46v4mA9Z6B5DmEbpRik2pJjPhMlzQJ3kaMczxcQRxzdN7czBlVhJl7vMjPgTxzYzdUxmHEu2WOljp7B3LumGDD5Mtf5jTlFWI8MovLjWxnL8HFVSQldldOjuAL0nOgclSp9peCdWqxSesUhExde3rrTfjyDl_8mgR8iKH65hKPmFTlSd1lXXlt45i1C_9io2rhX4CtidqkorJGZ2-fpXz86CMSzyKSYmU4qYo0TQ5J6GvMv46whKg-6jbbX5cjWPAoQ-Yf7hcX-Iy3Bpni_G_O3RaKpGOedoU-80X78xXWK57NDr2lZIvtNBLQJfUfWsIWTvnCb33oazAirLYYkqe9AbTpGsLfdU7-_hAOhTFKfK5VJeSvqsbhI5vonvF-juXuabpcOjWGqkJVUWBJ-LiHZ0gi3BRfpHcAIYj-P1ayTC1g5KZ8EM3iWn6ntEWV7hLojA4G7UAnjshDlwWkKIGVjPcZteLI_FszwWpMtVEanh72zVVOaOh_5B-FeYWIrxbWzbg5Zs0eg8yFXdj0cNvi-vowHNujh3wbpNDb7jl7krdtqSxQ0F8T3kVpkmMfKYXRl51RNxwJcv2LsxalXbWF-d2FENAR7znob91gGWDhrDpCSTmvWJyexM-7mZwKi_R2Q-J7fQSbe15L1I8UNHCJ3Gsejao7uJXNPBLEskTDMLKDmKZ_1dwjOAZdGBnTv788cBKO8wcF6M0tRCtprECQorcc9IrUgTKEpXwCNSJNwQkdoo2bjnaL5GBYRcdpkOKhgkacgFDZxItv3cfpNWFpkrZEkvqmrMtHrzcOt7tXdFYlVMz1gL2Rjjfy9Mbtpsf391ju3-vrhTi6nv4DhpGEMwy0LBVGRKNxGYRug2nrGiLSyH04sUaDGiHa0WUs2S0uBw4c-4nG79GBzzlpy255iw63IvGysdO86-Nc8fOoYAG2KPjDUD5BK_wHjaVzBlRyAM1knyDWGUwoD492ILq0H5bK_vj_r6P7SFM_hOEbossAoyltn5wTOJP6ti1NOdAl0SVbOaXrV5pOGPGZpOycxrd_Z5GE7NLTEiLR_EHM8OJelz9h7uKWJjUPG36bAaSKwcFDzNldHZXNs8av547cSO74WdddU1U5_I9yN5jT9WikNYNcb_0iB1wlvI-PL2etazQiXnI_Zcp3xoO1_U4s_A-ndtUvRzyv7wfhaVzz_ZMtGpbt4JmIsKdvN3HsyXjVwQqdHjdWe7-CFqOI-i6kg-m43phT054TlBrxN8VDVM8o_fIpkwYvitXSrzRolZG_yZmZ3TCp_lkMaoqnXYv9VXxM-hYkYyMXnDe_ZZpA_Bp8CWW4zulyMck4fSBsPdqO0BiWzacUBnW9hpwUVH67yxX_WmiAie9isG0oEt6sVWJ3gtYNqDWShYDFr7UOVDUgCqOKCdQw8dwPWKTUfiK3eJas8OTU0uzsciVnAypLeeMvIYBRJy3ujF4oYbQvUkFG0B-a6Z5CvjTXpzcU3HRvUybFzRXZ3-nf1DAxq2FAuEkvcuOS68L2MW1qJ2D9kFpiPaG3FIdTMrUhO-zBom0gELQPExjj1Qx6WMobail4XoJZmmsK706Y7ektA0NyXEOWrqv5TbRsTJvna7lcwwmdJRfx4xegHD1sJhLsvUfg86lf8Oeegnhpc6Tko7ihZFGfONEXC5jovrioyWXQyl5afDhcGiNEAEQWgkpHpNXg8KLbbjwdjxsgZ4l61V0iXGTNFl0Ut1eOEROlo3EyzojTfP_cUbnJf8a7fc5tyH5ysD72vWo-LdXBcSXJgW0OwTGVR3Vm67mDtkbo53iM7Lzoo2Gv5Vkzb3yNkK2wj2wSec3MyA_hmqVvVBFvP55rV_o9iqm_k6IGVQvgsGfbrZUUQ6i9ld8t3-RjNBedIoHHaHBSGnU1am3OxseNJiNQxp9uzIR-sQOWICVo1c08tFBBSVk_bLG4pMp6CCzu8sMfFRYANOOTYZghK_tdjPh1XKxxt6OZ-zrettn3tV5m_R45Wd3NmqHwLy6L3veq3B0TGEKIdbqV_MW7_dqlCp5DWzdCOgjsuta63sQ3fHq9Yaen2YuZFSj6qlXtHUo6266Frr0j7yokLsGgKMEvl5JjlvLEamYU0CXOgxWkV-PY=",
  "id": "rs_0764ae4912640664016ab42f69071087d09d1f43f65f8213ea",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC9yrr1IrgK0TIRXepWP5lagz_djcFpFLK3YEudCT0xAJZKwaGa4A-6km2MxUul2ah22S8jgXwfHqkxVWphmtZsWAvnMB4M_7X_6IkKreBFEoUcQqy7oNgXXbL9Fu6-sEs4OMqhrioZHA1s9Pe4Ip254nnxCxmbNbIa9Letgzch3BIKWfJsCgkdi_nVsA6TyvqfZwPjobF24e7eJwLgReg-CBDFvQ5XU6zNkggY0fA3SqETmw0Vq_Wb7Jv3owl5spYbKzRWgIl4h0Ke6gIGvft33kobdOvMSnbhsFtbPFUEJrZNRP27ClI5d4xF9Xt-ARLNlHa3B1WeGuZ-Z1b0KCxj660upy2Dw63K87X-7T8zKxWfRMdDE9yqfkcybAyjhmydt3vg2txpAMVqq6WJpcuQMl9rdM0icXLmF1GaWKz9KlbF2NvwoWrcKmPPiaS2S2zZ3hdKghLWs3BexB2ow-ReD_9h1b3QQdY_cHCdl25DxuNNoNPb2XbeVZgbVsvC2dLU3MiQRF5vn_OFBKtAdmHLtbWiDHSD0DZ1Fta9zv8-vBlNpyx42WltnMPVz53zDBD7Y_r0hBPcemZUl_dMMQuy2Vi4IzZDK7amC4DOjezEYW_PIcEJaXaioaPYXNCTbX9pdYyX1DY7fAmH0OlQajSo0Fizkmj6s3tvnC-OhOYUVT3VYkyJieoKLYopTS6OKxWSCERH6f4aPwnwW2kagwcpLOgQ0LtgBiFy50b_L4SNbJYMv07f5CXB7EnacrPyyk5DnyP1HETrQPdcr5ioANrVAphYLNj_eKLdsaN-ghZkUXEaUvf3SpeYNRenUNr5Wi_OYmKWOj8X5MVFby7dYjRwX5g2d8L5ODgsGlzXDNlNAktV0YYuRrJ5nkmKq9GleC_BywVq1HElwUZzjR5b2evDqKcLXgFaadn4cZISozuW3wAhtL3TDbX2FPBEehuMTKon3hFNlZWtCLraBVqJv7fLWbxA92oluqZIawu123uWyH2HXHCBTLCHaTnTYE92j8MZEpG8MfbidKDb98KdzwF11W9RY4IT0lT0aaXMwnlp5hIeBHT9_9X7Thm_lRojX-hu7Icp2W_apo-Jofk3GVYbehuvhctULLTCtV2_ZmZ4DMZfFSU6o-DWUjST0Z590IsWmk2dxYtXxAJASwevGgfqR3hsKTva6gDP0f8SqJITelzJ5qXft40kosMD2m8pGYV1FQ0aH9EOg2n6-b9YP8wWwI0RtU8n1ZnFtELD_Gl0vVWnfP56blbNIVl0nJyJLvPFjLJmNP3linLVoTjeapgUx4rDuoA3A0iBxkz2XzV8Wn65lt4l9GgH7VDNcZrOIhywK5BZalvvZCGUXfaSCU-s46yWA2FblDBFToEg8vsTz4HyCCbk4aj6l0CDS-xXMdeRFXi5WTJMpSIrL9-9tc2RjxY2UKXkYU7xMpz_s9g0ns7aZXIXzumU3IdEUVD_PziMgEbVIZIYG8daMEWtaQ28lPg8B_P1wYT8yaxxUGNrOP-3XCMBQH5oQNyncA81xViu2Zg7RVCOS2kvqDaZdXHu55wWBTDISbM6QBLxQriPeVzRl21i5S9gtCjwXCbc2znEI8VAbRdNP9K4VYKDWFXrFgGIFLT6wsvg68di9a6v_fPuXZn7BSzJyHIjTYk3HbVj3G3E32kP-UmEgVmU-l5NNlbHQ_n-sSsHx9IMmns0IYqovc98v8QiWRLtcAUmKnx4WYgMkgBsQeQ2DEXcj5CLSfPqVnzN9-O2VS96RTV56fSnBdc3acOqJ2iLOgz67J_RQAjnkFGnTUe6k0fi8pxVynVwOEDXFYJeUIpXwfRDOkIuXKfttOS-urlBVus6324eFpgIpYBk0ycJIdfCIcyY5Eqn_cDEsy3jihNyQ60TNKA-kpeGwwHMvTo9sjjhVTIcLQC-9pbdf9KbnJe1MT3tohyMK6AtJUskr6FdN6vZ-PWVIX2VI9HA-rS8DmG4D793NYWB-Chbnk_Y34htmK7LZSI-D_Sm-AQa6uXgzrZln-51tDDvoi5nafsx9n0E1TY5jxvuG2XWG-Viu8vafMiWhtpxjLV_1pdHTj-9TbMkX5mMXyziIsNid8IzOXf3IXIgQQoh0GiXwkqOSTrqg4jG5WDH8OkGwSmNOAX61qPY6IcSJUpKMgtt-Lw4fpoM6E8ERLjKLwUU8Jq_DNtGhZT5Lc96DcUIfs0wqCUO6NPFfRWB889qB_aLAHtjuLkopw9CKWMKBtUnlzZB0NFMshFFTYoSKbhQIeRtj4hRQBeICTViKjxYswiD3exEiiLRSIlApy8xy1qr9_0mrgMzMBdoZmQz87vj8P-iFDW04h0AgJZjJ4tqVm1xPWW7OfIHUaMcto6syEDe3ELV5d9mpIdolUwqwWq7V2jPD0d-orIUwQuGLQasMiwmm7ULDs__GjBfH43AiCL36g6lXDYu7FbmSZzOjknNYtEFTDVE2U3A3lbJGgvQTqt746tKv7Y7NEANScAbNZYjNl9KVyovc2SUjwVrCO_BDaVFn7J311TUgrnHVM3ITeWKuwLbY8mRkjU0vlCAhJc4o1ldxJ6aitzfrqxeaklBwtKwiJiWPMSqfO4Xj1UpNHsVbN0CJ9cqVxZV5JpVtG2PXvzTyZHhnSQObOVGkPW6WG6eRPBCBr3_zea0icX9e0q_cKZPMkWI-IWFFQq_rIzbJ8915ERS8Pp6YhG-SILbAZvod66pmUpLMOnTNfL98hoAzu5fARiLqwfjc8xOQtOqAEGPzUWOl0g1IqDNyCeKsczB4B7e6l4WWi164a8YpzRvHEY42lhjLxIPYlfIi7SYew4pAKBQpYJ2El29vwRCCxryJR_PphfmpB89V2ZLcC4KNRXGO-cOFuEsJIHjaE0XfGOLN-5H6rR-YaLn9P-yRMLcDLyyLSi6t00mkHG-TG91ZP2DNE02mSMpRclhWogphzGNGhd-BfWLgfA==",
  "id": "rs_0764ae4912640664016ab42f6d73ac87d0ac53cc3deed611be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.18,\"left_z\":0.15,\"left_yaw\":-0.6,\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.15,\"right_yaw\":0.65},\"note\":\"The cap is left of centre and the pen is right of centre, well separated. I’m bringing one open gripper above each object and turning the jaws roughly across their long axes before descending.\"}",
  "call_id": "call_Nh9oJfARASbQ2aOwX0c8lxEr",
  "id": "fc_0764ae4912640664016ab42f712fa887d0883836f2a96f76ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nh9oJfARASbQ2aOwX0c8lxEr",
  "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]: [-0.3481, 1.4616, 0.8177, -0.0269, 0.1616, 0.099, 0.9998, 0.3504, 1.5108, 0.8673, -0.0025, -0.226, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1648 left_z=0.1235 left_yaw=-0.5429 left_pitch=-0.0902 left_roll=-0.0254 left_gripper=0.9998 right_x=0.3888 right_y=0.1881 right_z=0.1308 right_yaw=0.6137 right_pitch=-0.0686 right_roll=0.0157 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.4205, 9.8393, 1.9658, 0.2076, 0.2027, -0.0171, 0.2803, -6.7077, 8.9231, 1.9951, -0.1636, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a15e7c5f2513f341bc10021a8a433f2c519700d3fd41d0833e6a41e040b1546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ec7d4621028b1c13abde387d8122d7ac3c155f0597c604675eb5583eca7c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d491951ca825e389766889ca29831005aaa605fc494403895e651a2aa5420c2d",
      "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 · 5.68 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, 0.7925, 0.6018, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3771, -0.0212, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -1.5111, 10.5504, 1.79, -0.022, -0.0708, -0.0366, -0.6632, -1.2103, 9.7846, 1.7998, -0.0708, -0.022, -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]: [-0.3481, 1.4616, 0.8177, -0.0269, 0.1616, 0.099, 0.9998, 0.3504, 1.5108, 0.8673, -0.0025, -0.226, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1648 left_z=0.1235 left_yaw=-0.5429 left_pitch=-0.0902 left_roll=-0.0254 left_gripper=0.9998 right_x=0.3888 right_y=0.1881 right_z=0.1308 right_yaw=0.6137 right_pitch=-0.0686 right_roll=0.0157 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.4205, 9.8393, 1.9658, 0.2076, 0.2027, -0.0171, 0.2803, -6.7077, 8.9231, 1.9951, -0.1636, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a15e7c5f2513f341bc10021a8a433f2c519700d3fd41d0833e6a41e040b1546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ec7d4621028b1c13abde387d8122d7ac3c155f0597c604675eb5583eca7c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d491951ca825e389766889ca29831005aaa605fc494403895e651a2aa5420c2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0764ae4912640664016ab42f751d0487d08bc7baa6d8ce9116",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC97f3_Wi8f6rSjWGgLJXUCD2AG-jAGowdBzj0hXfNCZ90vm4_i90YQkDL5JG16gC8RQ4QaFrspCVpzpmwi5wiyy17Bihpl31pLPLcMyBQgBGektIjQFLkAueenKFVmzaz6R-XW_1ei1aapye8CvvJAEf1duuNTiUuOePcotgpFyZMOp1lGA327Laix7BTl178EH53fzzI8wK9WLESWjTIWIXbQWBGWfMxaPb4wEcgGLQCaiGI0KB5kupPZk63zWKd7YA5egmUALUZqMpDVW96Af-5gslH-1gKIRFUQedn3bgOjmqy0xXSumKIePHhbhjVpaPBzMJ6rvnLiMkq8iPt1ar8e8IbP96lagf8iWxoe0B44z6DjpdXRDJu9F6fbYZUYONT318eVMPHfzRRRrrBIL9U6lVQiT6zdp0TZkpjSUBAFmpqDZ13hjmfi3Tt-wKkTLfwT8M2FmM8si3xDDTXYPDAXvpIkG5d-HP4GgBYqTOHjXXuu8u_vCpvDwy0OvN1bTl_XoGQOr8bDIF2utIYrmArYArZH2fW90lepneU-tLbIuwZT2EJeTzG2MYOjTRZVixQHa5O3rJDPqNs8b97erdCu1e6r_qlJooA9eFsj872M3weHJLb1tXi3ZaMUQvHj50zpuLccrN2jEzIyRLZ0kRDA62zOXudTLmj64nebIAjah_NNO1tCJ-YH9-dbdW8pmLLBMxI1d_dZX2p1-EtJ3ZiT8MWjnQGO_3cR8CkdWRoY52cCfN4YvNsG8uUbKp0vK54A-0B0ifDuncQrbwqMqQNxE9jl3sJvSWBnolG4efRWMTDZdyOpJYQRkINpn7bRSctRAe-d0OXPYYGYe6HhteHaFK_DemjvH4fjUZu2OxlGulSs824ZLfLTwWN-NmUL7WUB2pTnToWT0pKbw-N5nBzQtHUY1Gf-z2nFHlg4Z-sU9IWnAT_fKcIOVXIq4L6tnqANVwBHlA0aF0Ak0m-RVMD_OvJnx3hPYBR1Mz2jXlqkiGpfww3wo-d9xoVe36DSvyWqiVA5z-jjHV6CKwBgCJ5c39mipOVkwwmji_hgexMRDcr3iNBx1WDc8GSPj5sfFvkgFkcPkWaDZpZHVRs0cEiFCb_nPWkl5JiByJYZsbxCvelVgQbKnY9XLMOipr4l8dSKNXmfx8rba1aWyVp4jBPSg3R4r5YjYYCKkvqYdpBXBuIvmytiTpTeTAc2bB0bVBcyp4RCk_6X2lHby3Ln2-DIirm8KdcUSTNFUYD0F-xURqPmJiWnYLQ8uljU3VIYlp5DRIDGTexIOvnRBB7PcQVuD_iIzQq33fQnt1s7O-I5L0bJiCVbPscXxEdMvCb01TasCr1HxEOiA_y1sR7gOwBRaU2NnTvJiPFdFELUIbDXt9Ido-hpZrgTtM8y0fWTf1_NMoyuyvxtdPfqcQTmkziRm-6g-s9U2wKPBjwb9By_rGaPJST7AutqmmZkqOsQc0FlVRkOJBznTLsGVLK2bEJWanlGZg9sr4h0654ofskYGUgo6Yko6eHwempqHzpY8BSZtC1cO0WChNU2R2QxrNg==",
  "id": "rs_0764ae4912640664016ab42f7a160c87d0bf69c0a0e8750804",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.14,\"left_z\":0.14,\"right_x\":0.414,\"right_y\":0.17,\"right_z\":0.15},\"note\":\"From the wrist cameras, the pen is near the right jaw column, while the cap sits to the left of the left jaw column. I’m making small sideways and forward corrections so both objects will lie between the fingertips rather than beside them.\"}",
  "call_id": "call_MOmtbQtPHWWIZAs6y40aiQto",
  "id": "fc_0764ae4912640664016ab42f7ad18087d097cc293c923a4cbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MOmtbQtPHWWIZAs6y40aiQto",
  "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]: [-0.2535, 1.5089, 0.8886, -0.0887, 0.2119, 0.1345, 0.9998, 0.2855, 1.5448, 0.9432, -0.0757, -0.2745, -0.189, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.1384 left_z=0.124 left_yaw=-0.5106 left_pitch=-0.1198 left_roll=-0.0375 left_gripper=0.9998 right_x=0.4041 right_y=0.1723 right_z=0.1364 right_yaw=0.6122 right_pitch=-0.0893 right_roll=0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -6.4068, 9.5658, 1.7216, 0.3248, 0.2564, -0.0122, -0.3761, -6.2154, 9.2923, 1.7265, -0.2173, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b138d3d90b33d17099cf78772313b26275ce530f0938e8a02bd03a56644345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd953d0f72f8760387b9aaa97e465af6277bc40df739d837c77b76e3ed6002e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cbb84b813592b4e6e218e275bc6281a4b7395cf9c7bdeeb4a9fe428a2d54cf",
      "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 · 6.316 s

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

message 7 changed as sent

message 12 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]: [-0.3481, 1.4616, 0.8177, -0.0269, 0.1616, 0.099, 0.9998, 0.3504, 1.5108, 0.8673, -0.0025, -0.226, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1648 left_z=0.1235 left_yaw=-0.5429 left_pitch=-0.0902 left_roll=-0.0254 left_gripper=0.9998 right_x=0.3888 right_y=0.1881 right_z=0.1308 right_yaw=0.6137 right_pitch=-0.0686 right_roll=0.0157 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.4205, 9.8393, 1.9658, 0.2076, 0.2027, -0.0171, 0.2803, -6.7077, 8.9231, 1.9951, -0.1636, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2535, 1.5089, 0.8886, -0.0887, 0.2119, 0.1345, 0.9998, 0.2855, 1.5448, 0.9432, -0.0757, -0.2745, -0.189, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.1384 left_z=0.124 left_yaw=-0.5106 left_pitch=-0.1198 left_roll=-0.0375 left_gripper=0.9998 right_x=0.4041 right_y=0.1723 right_z=0.1364 right_yaw=0.6122 right_pitch=-0.0893 right_roll=0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -6.4068, 9.5658, 1.7216, 0.3248, 0.2564, -0.0122, -0.3761, -6.2154, 9.2923, 1.7265, -0.2173, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b138d3d90b33d17099cf78772313b26275ce530f0938e8a02bd03a56644345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd953d0f72f8760387b9aaa97e465af6277bc40df739d837c77b76e3ed6002e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cbb84b813592b4e6e218e275bc6281a4b7395cf9c7bdeeb4a9fe428a2d54cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Bmn-6ZhNcVtfOLy3s3DKHjBUy8t8iF_dX2rIImLLU3THkc-Sp7RDLDmSxa5Wb5HmM2TBZ9NFCzG7tt2HUrJeGaLpS8Y8GhwEEqSmqYPBveRq0az2Y8QbPliETGe-MdYpwl7vtSZUZ8VdTd9r4h9n1-D28VUxZ2n7A2EsGxK6kEU2P670v1FB0l-FH9_WxSLXQDb5vi97-EqqCuCV1yx-niA-eVdLhk1OD-6OyClarVaUoUQx76i1CB37MyD9nRdboMybnBRXdrZ7XOHOAtlv1BFpdqEN18KVi7yOYewudqKzHE4ujvNszB6h9b6GKpIrJCotJXc__QE-AL9obheq56dRaqG0yaCGWMkBTkcLf5LyYRgsW9ZFyUexgY0UCqau5y7DZvr4aBtog0fPwqOmahAmehUyJ6rcWWMbIfesz0bUEczYrTHh5XMQdVzv7ZzB1qUpDlEtH_c99ow6dwF5JF6PGWGiQTvLq0exsN0ELmBL4Af-ERUq9kX1fpCqT9psjCuwjhOsvGSBuRsB_AFsVjDQeLzys5ojKVBlne0WpeOolYlmNG0EFQgQyGPUy8ACfm3mMZzStN8l9wLdofBMFx-NR3QolCEi8UnRETKXZl3Yk6fqyY0tEdk-bxnjBvKUz0VZHHCb1m6gnVtJJzWQrLwzmOsf8TdyPZ_V_ekl1-bLfI6tne5LPAT1YGJFB3ltyCCocUlC5dweJMI8RwGOunIzkRL6xAPjYlbmbAxTeN5kkHTCT4M4StvWRLscchssLutfh91_T0tbVbYwNZZ46gZ4kO2KAMXQrVdbXP7P-oqTtDlxm45QYFXM8UvLREO9PxrTzKlJXzYT-759qZFtDfg-NmBNkbDV5R0e-mj-2qlAA9ALKUwXozbX5bPSg98QBPCVKHTz8fDkDCBJu1FjAYWgff-9GgKjNaTHSMt_chRBzm2Vy-fIgZoDJSNKIhbGf3N1wC0-eXVps95TUQwbKZnWpGxzisOp_zI8gfI9pTQ9cZ16lbwgt7b572vid9NnR-3KiaiC7xGZqpxhS4BWvnZLA5g_YMV8bM6Ylm5P_4LkzyXF1_vekFKggl-x2f8pGNKGJDxZz-2xY-2Q16RCEk2t6IKJbWVPtaR88cRnEzCKfcIO8CGkA7C9U4NnoFkVRsYna60J9Dz-ADSlyb7Z1L0It9Rtjb5LG6esxl0vG-pvkc5icUnWs2bVzz7NeVemcpaPdDOxq4oNgADmNMguv7g13WLzQe-qxv2AOAxmkLvXaGuAN2GlVCbldYLUMytsfw2SCY-Gl785UCFj3eoyZUSHLvWvzVeyCdjLKIWT1FOCU-xtmIa_8szJBdZpRBA_xm0SMAnJJbcY4AONZDR_djRy5pWi5-i6zMFKdpraAWYGuGE8bwc6rXCGKmzx6H0aCY-RS1Hdx1ZcoQR7nFNk6J8g_GSCMqVc99pA62dqf2AGka8IeBw2rgIUXI_NC0GEzlIvqXFOOxuLOPXikR_sj-hSEsKvANfKAHGFKG66Ddq5q6uLxJShR1ByR9gdnibj7CkNmwu1w_Zk-i3WQV9N3pWn82rq47wl9KlhCEG1nqopv2C1EQMpUwwyB3NKiKZdr4sQNO7s_9nRyor9-SCWMBQ8J9jxfWG9jZ5tgglU2cQHknBQSUdAVZwp-FqtpxKz5NlDorcpgNUZUtgptoQFdL_Ti0tAyMUGqc1rmoMbQUM1i1c8UluL_uYRtJCDcg324sXC58eNWv0exphg4Dw0fi5TyfniytYmrfV58OLfZyCQWe103Nxn-Y1uTZyXAdx7pinqtR8unVMzim5n9mf_uFZWBa_9-blk4fYgQ8IX-Gxq_gRD5-ieQEQWU5KvnZ_Z0hnK765P-9xkTJTge4Y8GM0jQ073PhLS7NT_nriSEskRVRQVZOLBVi5RAnKQi5P4GLWm7Y_KztGOK1dTBl6mh7E7nWL3tTEfhar3-mX3KPVPWdZCDa0LFEcvHxWoRBIYID4U0W3WNdhyaF-yi2r7l2-LNW8umgMJP5nMwG4He-6TPpGTt1ihOgrRgmkJQWJtvXbH-EjB9sXQdVakWWs0IXsQPOpiuwa95-4ScK26Gn5FsTEfS6FZq-_jvkbVykSaTtKUoCr6_FHlsM_Wo_6Mn8vFPbAsTrtpJDmxp9ZwbXttAcIX0a5c2-lMsY-k3WVGEmicZIfIGblSCi_yVv45O920x1wgvFa5U2Kbu5Vp4wxTKpm_GxCh4b0Isrolmojh4qBQXJ29K0ufRkgqjl3PNUDjI7GAO_9GDiXOUC900fVwkKI1qq0a42JSBXCmq36paFS9veN_at6MhQUCYdZgwL2nXzlmeFljXRTHUvO0N-tB6BlX1PJjujWM3nbJWsHxVJcbAyQG5hE8lqRtUn4A8WTns5GysTnL0HqeNcUBdo64Ssia5bMPf_hmAWw7ZY8g_MEE7jdEyGTFnpKkCOJm2lw0jhsmwb7s0po2tpDWgfJz5IoBLX3itefTknTdj7__JwzCpKag4G8VU4NF6EX0Uet_yIX6eFnkWjlsQMSIsEIYa_uL58jZ3OgtF2RNUQrj_UQX1-WtHNDp3EqCIKaUsIFFYMCUd7K22OlZEmThFywxcwNZ_84bOAJ63zANz_FHLsJP-9rn1m1wlJcowdXaVHu7TzExdMvW7B6wHY5wWPrm8vqF3wVniZxhviNvaZsyJEryEeopTg5oat5cmbo22wjLhBtPpgo4L6TU4VwiwAQ-7AO-VR41JU2xqs2weHIYui1vsjYPtZhD_7IlpHio0X0IwYnTkhDyn6pp58YNbBv4B8E8HpWNP1fCwEv6FsTaCS2DDMiAmaz7QJF0qSl-WMpkuBX9w9RuVg4jVbxgpcdoiP3W1TqknyfvaGiWecDau0NhMZucG5IGEZMbsAHi2H4pqXxR8tEd6U1wAhpNMyjvFeRhrwXQg9Ag27yXdi7dz",
  "id": "rs_0764ae4912640664016ab42f7cde4887d0aa5b0e2cdb79806c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.404,\"left_y\":-0.095,\"left_z\":0.025,\"right_x\":0.405,\"right_y\":0.17,\"right_z\":0.02},\"note\":\"The pen now lines up with the right jaws; the cap is still slightly left of the left jaws. I’m shifting the left gripper a few centimetres left and lowering both open grippers to tabletop grasp height.\"}",
  "call_id": "call_CILCHe8C0YQKU9ja7q0wZMXC",
  "id": "fc_0764ae4912640664016ab42f80af8487d0be65caf3094ba38f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CILCHe8C0YQKU9ja7q0wZMXC",
  "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]: [-0.2359, 1.5223, 0.9089, -0.1173, 0.2256, 0.1524, 0.9998, 0.2676, 1.5478, 0.968, -0.1009, -0.2897, -0.1989, 0.999]\nstate[eef_state]: left_x=0.4025 left_y=-0.1337 left_z=0.1222 left_yaw=-0.515 left_pitch=-0.1381 left_roll=-0.0383 left_gripper=0.9998 right_x=0.408 right_y=0.1679 right_z=0.1414 right_yaw=0.6123 right_pitch=-0.0892 right_roll=0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.1453, 9.6615, 1.6825, 0.2418, 0.1783, -0.0122, -0.3487, -6.694, 8.9504, 1.6679, -0.1636, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4052fa642e8343ed81c12e049516e325a054f2fd00d38fa0ed7e8c1ea9b6b77e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f5e14b29bdf25acf01c1e961712246f9e059ac71cae413a6084b57838f43e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51467989c68c5cec107bede4734383012613926e4fe50741c8c6aee6a46da6e",
      "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 · 4.174 s

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

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3798, -0.0227, -0.0113, 0.9998, -0.0185, 0.791, 0.6094, -0.3771, -0.0212, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0019 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6359, -1.5111, 10.5504, 1.79, -0.022, -0.0708, -0.0366, -0.6632, -1.2103, 9.7846, 1.7998, -0.0708, -0.022, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2535, 1.5089, 0.8886, -0.0887, 0.2119, 0.1345, 0.9998, 0.2855, 1.5448, 0.9432, -0.0757, -0.2745, -0.189, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.1384 left_z=0.124 left_yaw=-0.5106 left_pitch=-0.1198 left_roll=-0.0375 left_gripper=0.9998 right_x=0.4041 right_y=0.1723 right_z=0.1364 right_yaw=0.6122 right_pitch=-0.0893 right_roll=0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -6.4068, 9.5658, 1.7216, 0.3248, 0.2564, -0.0122, -0.3761, -6.2154, 9.2923, 1.7265, -0.2173, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2359, 1.5223, 0.9089, -0.1173, 0.2256, 0.1524, 0.9998, 0.2676, 1.5478, 0.968, -0.1009, -0.2897, -0.1989, 0.999]\nstate[eef_state]: left_x=0.4025 left_y=-0.1337 left_z=0.1222 left_yaw=-0.515 left_pitch=-0.1381 left_roll=-0.0383 left_gripper=0.9998 right_x=0.408 right_y=0.1679 right_z=0.1414 right_yaw=0.6123 right_pitch=-0.0892 right_roll=0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.1453, 9.6615, 1.6825, 0.2418, 0.1783, -0.0122, -0.3487, -6.694, 8.9504, 1.6679, -0.1636, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4052fa642e8343ed81c12e049516e325a054f2fd00d38fa0ed7e8c1ea9b6b77e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f5e14b29bdf25acf01c1e961712246f9e059ac71cae413a6084b57838f43e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51467989c68c5cec107bede4734383012613926e4fe50741c8c6aee6a46da6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-IkXq5PutOmhiCkIutOzMkcHBGYVES4LcfmscKJS0udyN0_5RbsaCIVtnPD_ttlHbB7RQg2X88GfpVneSY8kiNLVkVALZeKTlkqH0OYzDTSgBCes80STEK4YbwGf3niOASPvps6ctbdgN81aaoqk7A1uoVRRBJC6uPzYqy3ZggcMyre0I1JNJ2Z5WIYvuhnH_PsVr2PRXjav7SGV0qPvQLOgF411_373fiE0sfBkdznB-UdYPwNQkV9SNI9SazzMDw4Ii_hbsVcDcMd7lEKVLWSLAhqDUALXO36D1qCK_WaC_TOJuHgBCY70Hnx1bq0bBR7HP0oLAug4r39dsR-2sDF2wkoORGoy3atDTuld9c1VcTVSGYfB6kWiNq-PcHt6zkRXjPheF23bqcYuQJCWs_L0PPdii8yvqSp8M51uqNkM2q6VbwjvynprxOE5cDd0sd_-XKL_6VcGJE6alupdJ24dB1zYIR7aZ3NNAR4dAGE5mlNRecYqol-KIIKfrxnb7pRcIpD9OK7lSiAVV7CIK-acq_4YcU867JnLyiqHysyAWOdajHt6UR-TOWczlgrAFVHFYYhqwfDGRqHrCGLilMs_HwBFr03HrFbfvMPWPlrGGhzxFtfMWUdeCitoMf-10d1TSiwvLSlWUZY-tB4CXr90QdFoQICUIDWY86B7COYUb-pQ78IhO-msF4bqbfJpYfYiFTRsw_4fupZX2dhUDSlelCCzKQ3jLRG2mGU9wLqXsSwdjV_vLOJXnms27E5FMgTW96Xm4hIpFD3IpXv4VpLCyXKp7eMC7RAhPlwkVuqqqwHmNIY8Ju-gb2X5dMqR145QHrncPC60jP6CJhvq0j1301jLL-p5sGRVKto7b-hIlnp7r3L2s-rGHvnEejLIHBg0zJnKZ2LeU1lpPkoHqzbzyFTbYp5sCpmRXf35v41iztmNCZlxnR4NKSTsJYzPOzLqx_M7AXCqe_5EFx1Z43WWgoNrSIHet0pEJ99IcR_jugICt1ya8DJUTppzqaCjAzni0IyqztJO6ZBk4fCSmkNh4eROIMxarXD66UpV5J9SbHpdPW0HJOziUfA3yoYealtLIPSgB1DIgqZDWWuNmAqGJuzOQEOdGuP4y8MY5BgUChrwbulAttPa94tEvTGaytkcBw6a2ByoU1jnArFISveb6K_bjSojUa56w7Ha0tNA0HvFPbBaNuq_SRKaMSk0fzzn-AZj6qqloZrtQ5vc8DQpu_7gG-X48axaYhD3p0LVUn4gp9r0Z32lu7kAZU35S-cuoU7hLRlw6yK82oC5xkkCzrURxO_ziaKvmWkMGDTQQzEVnZufTEQkndO8oZv_fMSnW1-g0IMB99XaMoCATCDu7fXc9PQMMZ72dxK3sRXZ0Vq8DhLbZN_cZHQ5pe6-7-z2jxMj3VoTgf3uj-dLuUz1xuWZLP6VhIo9xN6_RGRcca7h7JvvlNcf6p_3alxsXjS0iVjSLh6TRRIlx7dLafqOi8N0h07qDE47zYWywFiAFXy-EgBtySUtI8HCriWOLgqVtU92fwXIpThivMRRWPAJ8CDQ47bFlO5J6t3wicqSqQrzIK0BAPy8y9TeedPCY36tBFx1Zho8CRHIqrl-fAAOlJX3YsWvnAnV8BIN-YrlGp8riVm4F64LnKCnbbAQSQadpqbnC99dmqFWZU817B9uarvl6BcjVGxpPd5qfj9OUrkd0UtAk2U352Ut7vWMyjNLOxN6UuQt1ym_5aT2Bc-nzzKfbYQEwsfENBCWNbocYC-LmzLOMFaFJ3YXSo8NynuHqzl86n4dFstU9cWwxMVVmErISUHcwVsxwsGZb0cLiOqNtirzwjmlTtpA3siQyC9MwYxkCXLbyEDj9GZr_BMK3CDT0dCY1ecOJrgJz5n2u6XqMt6TJAMW-nGDgcwPAVhniUdcGE22FZ0DXjCz37EDqfJDXZuv4TU-ht-WeAZVWmhunGc7Zf82PUxPg9pmrmbCOiViB8E-W4BNdKIAnmxlwpQuDHez83s_-cz8jhz3qPDdPNxpaRVACiDqkJJLrTbSVEjto-1WyyyEoj5gzKYnXbL---1Gl9pjx4b-_akJtmB3uKQCVlsMGKpSmmo6CD-rIyX2qDN1f7R0JsG1l2REgPjYTBHT0hzQGVDMOSDWT93RLRXczAC6wXJTqX5fb30Ekd-kCnjQ7Kj9hnmW_EFiFjJYlwzWEKiheZRX7DJRRKVlR1OU7g9G0sG-V8TmvStjsROQEn53UD37JeXyM0QnVdSdefudrUk1w2i6plbBMjdrZplhNHGGyvjAaPDikCZk4qYFf1ic0Y6iSRaWg6BdlMqQFUEGOC826ICqyjfPM-SpVLqbph22SHyavRxBCFSqhKTVaFf7mE043zsgYrFkdQHv--RAR3XwtLz1QFvXqfDAIWPO1dT2GvmVhxzvZwHcMA7KvdlrBP85lXODp6RGdw-TV1Tg-DS0aF-UF55iTrewnTGUabbAUSUAKEWA0Qp-e7YxrxCzMyyp90ZMfh4hnnTfSgkW6-46QXFrusM-3BbScACoPvXR-OBfVGjR5QryBr6Y-cIDeIOIrEdluP64AQ0BywcFmAxwyLoTxTtaDGpqAy3QtPlFw2oLYXKsaJ",
  "id": "rs_0764ae4912640664016ab42f8382f087d0b8b05fe052f35711",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.09,\"left_z\":0.07,\"left_yaw\":0,\"right_x\":0.39,\"right_y\":0.17,\"right_z\":0.07,\"right_yaw\":0},\"note\":\"Neither arm descended as commanded, so the rotated low poses appear difficult for the controller to reach. I’m straightening both wrists and backing off slightly before trying a simpler descent.\"}",
  "call_id": "call_eYLC7Z8bpTYfyfKw2xgFsHul",
  "id": "fc_0764ae4912640664016ab42f88311887d0a098f28dee7b60ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eYLC7Z8bpTYfyfKw2xgFsHul",
  "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]: [-0.3386, 1.5257, 0.7151, 0.0414, 0.0265, -0.0547, 0.9997, 0.5255, 1.6424, 0.8021, 0.075, -0.0708, 0.017, 0.999]\nstate[eef_state]: left_x=0.3748 left_y=-0.1331 left_z=0.0681 left_yaw=-0.3361 left_pitch=-0.1996 left_roll=-0.0627 left_gripper=0.9997 right_x=0.3594 right_y=0.227 right_z=0.0624 right_yaw=0.571 right_pitch=-0.2063 right_roll=0.0612 right_gripper=0.999\nstate[joint_eff]: [1.4017, -6.2701, 7.8017, 2.1758, -0.3492, -0.0904, -0.0171, -2.1402, -9.7299, 6.7077, 2.0391, 0.6227, 0.1538, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c97033228eca83c4ead6bcd7fc168b94b42170d7513b2ca3538a3f164d9c012",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69817eb1c1f9cfec880e40188693c7cfe7704e7034ea06a70c3c8f9eb1d0d0e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75c85e7f8cb1b16486dfb32f65e1bbb8452cbf4521460da8a7f0f03bf410075",
      "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 · 4.19 s

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

message 7 changed as sent

message 16 changed as sent

message 20 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]: [-0.3481, 1.4616, 0.8177, -0.0269, 0.1616, 0.099, 0.9998, 0.3504, 1.5108, 0.8673, -0.0025, -0.226, -0.1474, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1648 left_z=0.1235 left_yaw=-0.5429 left_pitch=-0.0902 left_roll=-0.0254 left_gripper=0.9998 right_x=0.3888 right_y=0.1881 right_z=0.1308 right_yaw=0.6137 right_pitch=-0.0686 right_roll=0.0157 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.4205, 9.8393, 1.9658, 0.2076, 0.2027, -0.0171, 0.2803, -6.7077, 8.9231, 1.9951, -0.1636, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2359, 1.5223, 0.9089, -0.1173, 0.2256, 0.1524, 0.9998, 0.2676, 1.5478, 0.968, -0.1009, -0.2897, -0.1989, 0.999]\nstate[eef_state]: left_x=0.4025 left_y=-0.1337 left_z=0.1222 left_yaw=-0.515 left_pitch=-0.1381 left_roll=-0.0383 left_gripper=0.9998 right_x=0.408 right_y=0.1679 right_z=0.1414 right_yaw=0.6123 right_pitch=-0.0892 right_roll=0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.1453, 9.6615, 1.6825, 0.2418, 0.1783, -0.0122, -0.3487, -6.694, 8.9504, 1.6679, -0.1636, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3386, 1.5257, 0.7151, 0.0414, 0.0265, -0.0547, 0.9997, 0.5255, 1.6424, 0.8021, 0.075, -0.0708, 0.017, 0.999]\nstate[eef_state]: left_x=0.3748 left_y=-0.1331 left_z=0.0681 left_yaw=-0.3361 left_pitch=-0.1996 left_roll=-0.0627 left_gripper=0.9997 right_x=0.3594 right_y=0.227 right_z=0.0624 right_yaw=0.571 right_pitch=-0.2063 right_roll=0.0612 right_gripper=0.999\nstate[joint_eff]: [1.4017, -6.2701, 7.8017, 2.1758, -0.3492, -0.0904, -0.0171, -2.1402, -9.7299, 6.7077, 2.0391, 0.6227, 0.1538, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c97033228eca83c4ead6bcd7fc168b94b42170d7513b2ca3538a3f164d9c012",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69817eb1c1f9cfec880e40188693c7cfe7704e7034ea06a70c3c8f9eb1d0d0e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75c85e7f8cb1b16486dfb32f65e1bbb8452cbf4521460da8a7f0f03bf410075",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-N-Jx7IcdhrOThgn5yy658eKuNcskFbr2hYvqCTblX9_rnDHHa0efymC7BCw9b3qLK1XIfFlqidGopn1vBMK1ElcWY0PzSt4FbHYKxHqS5olEgzqEUiO_F_4c_XKtI6Ibjnroh-sWiSCPl2icnhKucgTFbBTQq4p5n4RpyCpW4qZIw4QLK5q6mki2Q1tkvo-97KZ2cXrmYFRkN2aGMUrIw0boIvrm3Of1HqncI6viRItIhMYPktpdGGRsUrfie7hG3z8vuGVxYL2TscCwhcBQZIbPJQY-l0vDX-ZF7hEoovxuk8LtIjXkEuAj8m1yWO4E2LEcMx28YQ34tBClr0YJoWxim2zqlTeogyELaag9oYEPD3V2mL8eJtwHNr9jmRFYNhgmjovx0W7bCMj7kUZC25QCa5qc8lV-sx2ez9HZ5MISYbTrN8bbj-6IE2SYIjIbDOk67U14R2IwCY8tXADIK4hO2NqQMYtX_4SSJxVHL36Bb5cFBhq86bD68tICTLHyBpktEBIbzcF1ur6Crq9Z2DcP_syuWUpPQWFr9n_gnuxcbR4va-DKq86qrC8fKqMxEq5pstkQrHpQ0BoyAXgUvD0JcWZRej5p5utZS9lDsUwI9Ip7b4BQlZbeZ2roUWW3kXmEk45f76pu2pJrC3X_PurgkiTv2duVcff5D9j-SVBOMfCqPUsHT1TeokkEX74MHelxcobsJLUM2OfixcsEuaLoe5OZO70b9S_VVggHn83Bi7gjsx6MV1dECdXkrdWL4BgZFpvLefscVjIrnOf6jwh3yPVYvzLTvAJoPk6rm9MnVAfXpEZKSpUUBgrM1OqdV8TT_t9BWHrPG8YPAa54EPjMplHI29PXd9venQhAIHUqlZfLvhk4O2IpsNA-MHr1dlnZxTC1yMRN_Yzw1GM7WqSsXB8vj2PMcoIJck4OASFIMTuikCbHeS5zINnDB6UBf4Uc1eogC4lNPGjGvv01xSBI15zHKUKSQjQuFAmi2RblMYJsw6X8buFCoZBZ9Gt2ZOEJdw0dyL4vO6mTktU-qhqiXi1n-WoFoSdtvCu2YlxfAh0U5nXqTkHXGXm95I6aCmqX5dFE5CSW4MAB2VLa1K2EfjnBcKRqIGvdJkAtWU4fWVu36exzc_LrtYoiQ1t0dRq1CZDqkoM1qwofERX5wQTI_qAISD9xLItA23jWfl8AAtHZ4c0_B5ZHGCp_0Kr2GTcQStWbo1F-ri2ZWfYpP2B1nJGLq4ZkfWP0ecyNpIYd8DOEvgCxTdjvZJJFL1v-D17zBVo8cu1qPl5iwZpggfuev1eFLdIsgMve6IuZTrdyJGQE1Q_RWcq1TVrfmOqepdQGsnc9Kz7xqUH02rtjLp85jDsuatgJ6egol3KNmen400L_kHbfAwvKThOu9EzcAcMeeoUsbQjs-ifw5ywh0JFwN3o4HIxXVQoAaRNvnSAIoTc3rfL76tV8wNIhKBvoPddHCecpFhEehKTdJvweh7krTv224bdQPaNExuts8Gp4EK9cfT64bP26bXBDPjtU0OfQVYQ-fNz0E5qaLl0R6PSXwX3XX9eqhHLgoRNVtcRn3tWo04t2NWZ3LQlNS8nUVo5KpJuoNO1KgYxQ_4gy3xTZ93hCwrAK5wOREPntG8vYVrR_9v8_lPOhXoHmGAZhtRUHW6pN5Q3cdCzKcUkh09y_qSJuTFV-pTxehrqJrQIWLXm_D9oLOeIxOu7LITsAiyKzAl9yqrz95qXulmpXIjxZWXcPBFGNMY8fgxi2TknMBY7NTz0AzMjSDWRH0S3MAjxy9pr5CMXrGKsrAWYQf0rfIml-dPictyOiCYLu0zz_4MqI2TvUHkvXs69_Qaq1wi1tF7dktYMscAUPOgrzHShfQeS-U1fdDqUSdINjSF0Cl4XFplUwtF3d9oQKMfjlUoz3C2tzOxjSKvW2mK72d4y5g1zTTwOfNiYZhCg4_U86xC6fEKVRYvEwBahj1QbaBMR2kIKVkie4jU8XCnTzK5SXmiMKwki1S4VaZkRtwN-u64QxrAWG7zkyQ0N_VDRaKFaI8lAhAjkf30TVylmr45k6NOuqYUqZyMJs4wNFqJHJheOGFzDP99R-A91sx1slK6QqLNAgsIJQiLfeMM_isDC3oQKmZ8VLYuZ5-A4EeEBpfDbXXms4ikUA8uLHaH0Qr6ZbuUbo-I2blVdZdprPSbO-VZHzgChbhHjHjFTaMqrlLhTMS-2qTPot1nket3mxc3xTIjExC6xI03iI3w4oCC9pfdot7b3n6yr_Tk08ifiqtI60m5R1jR4lEUKuteHbY9eES29UcuO90Oaqx7fRwMivmpvKWuFKNuoq5o4kwj45xmB_hiBwzXNGSVvNir-FjXI6YA_sWiTbenGNmMPZiWw==",
  "id": "rs_0764ae4912640664016ab42f8a369c87d0b3f778a26e35fee1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.085,\"right_y\":0.18},\"note\":\"Both grippers lowered, but their actual sideways positions missed the objects: the cap is left of the left jaws and the pen is right of the right jaws. I’m correcting just the sideways alignment before going any lower.\"}",
  "call_id": "call_gyn5d6PSVZfIcmrNAtRqPRTS",
  "id": "fc_0764ae4912640664016ab42f8c478487d0a7ef9e9a3c96fcdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gyn5d6PSVZfIcmrNAtRqPRTS",
  "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]: [-0.1764, 1.5135, 0.672, 0.0257, 0.0959, 0.0097, 0.9997, 0.4671, 1.6314, 0.7609, 0.0776, -0.0502, 0.0113, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=-0.0801 left_z=0.0539 left_yaw=-0.2699 left_pitch=-0.2419 left_roll=-0.069 left_gripper=0.9997 right_x=0.363 right_y=0.197 right_z=0.0514 right_yaw=0.4981 right_pitch=-0.2341 right_roll=0.0433 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -8.6085, 6.3795, 1.4579, 0.2173, 0.1832, -0.0122, 0.2667, -8.9641, 6.612, 1.4774, -0.1245, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1e858f5c9c5fc1866135b32305c251cdf62269ac42e1c422a9d9362ba20a54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98507ebbc7992468b5d504643d662afa1769b6dedb20fd207408869338b6d65d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ccc5d3bb1cbdedc77b11760f437497b7b9a5f1b8a47b70cc007537b5b50a13",
      "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 · 4.952 s

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

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2535, 1.5089, 0.8886, -0.0887, 0.2119, 0.1345, 0.9998, 0.2855, 1.5448, 0.9432, -0.0757, -0.2745, -0.189, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.1384 left_z=0.124 left_yaw=-0.5106 left_pitch=-0.1198 left_roll=-0.0375 left_gripper=0.9998 right_x=0.4041 right_y=0.1723 right_z=0.1364 right_yaw=0.6122 right_pitch=-0.0893 right_roll=0.0199 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -6.4068, 9.5658, 1.7216, 0.3248, 0.2564, -0.0122, -0.3761, -6.2154, 9.2923, 1.7265, -0.2173, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3386, 1.5257, 0.7151, 0.0414, 0.0265, -0.0547, 0.9997, 0.5255, 1.6424, 0.8021, 0.075, -0.0708, 0.017, 0.999]\nstate[eef_state]: left_x=0.3748 left_y=-0.1331 left_z=0.0681 left_yaw=-0.3361 left_pitch=-0.1996 left_roll=-0.0627 left_gripper=0.9997 right_x=0.3594 right_y=0.227 right_z=0.0624 right_yaw=0.571 right_pitch=-0.2063 right_roll=0.0612 right_gripper=0.999\nstate[joint_eff]: [1.4017, -6.2701, 7.8017, 2.1758, -0.3492, -0.0904, -0.0171, -2.1402, -9.7299, 6.7077, 2.0391, 0.6227, 0.1538, -0.0171]\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 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1764, 1.5135, 0.672, 0.0257, 0.0959, 0.0097, 0.9997, 0.4671, 1.6314, 0.7609, 0.0776, -0.0502, 0.0113, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=-0.0801 left_z=0.0539 left_yaw=-0.2699 left_pitch=-0.2419 left_roll=-0.069 left_gripper=0.9997 right_x=0.363 right_y=0.197 right_z=0.0514 right_yaw=0.4981 right_pitch=-0.2341 right_roll=0.0433 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -8.6085, 6.3795, 1.4579, 0.2173, 0.1832, -0.0122, 0.2667, -8.9641, 6.612, 1.4774, -0.1245, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1e858f5c9c5fc1866135b32305c251cdf62269ac42e1c422a9d9362ba20a54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98507ebbc7992468b5d504643d662afa1769b6dedb20fd207408869338b6d65d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ccc5d3bb1cbdedc77b11760f437497b7b9a5f1b8a47b70cc007537b5b50a13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-RUCzvfCp66y-N4_nvJPriQXLomDwQdznxf2ktMv5eSnNcueT9zXawK4CsmZPjXEyU79dVa8r4mMbFeHevSDCI65ZK11yExUWqSugh7gQGBIcxE8oHGHYGTRNu-WUNHM6XGY-oqgMPKMKQlvy1F2_WSh5nPOXiPupH635sNRj94TN-9N0ErmfR4b2sCiPeEMhG4ONPcoPl3ytHe6XyqBDcU9Uw8oO_8QBPf3ARimKfXPBtYU23-mXIC1lU-aj9w_UQCBWuVwQkQDpqBerBS2UG4Dj5Icnax79AqAq4NX3ESxzOmymdcyXwE7R8dt1_nD0mXGzil0kGlML2ctTVmr3y4GiDXm74Vwx57H4MZPGdjpaZcWWytPj39dQZuxqfzelaC6wSd3I2v1U8rf7U02tD6fVTGoHd4slmuvD9-FyTGOF_n1V7H2qdqLHv6Q8XrYqqG1NRJyaxO48fGYmg8KwO3_WJdl3zGUU1K8trJSWc7u_kQwpk2TGNs2rI9jGLIfaGFonWtO2L7ZmpN8JT2q2wvJBsX3_e4qPDG-kUoFIe1dS5Ph2MVwZwKbbQM2F2YT5HiYKkVtBhKP5w76k2DOl20fIuMmudYAdpheZqukn6fzRDL8Hi7TSjgrOZ3M5AW_K3VzPyZiaQTj7KINuKu9eIXJkiEX2EwbqlvnM4pKaDseomfkIqlAaG0ptB8w316Nk-1gzHvVKKHuDHK7FO1TGoACh3_gqR9t2JLzNFwd_1RQZF3xnMLrLtYjbB4jzvXjG5d3kZKkcenr4mpPBSCBUD0IUOVsSE7-MaWPo7f0ksTambSindL1JEWxT2hN6ZwZb0fYHUVFDlsK9TqFAVWAr-wpM8ZZnI8FDUnINGTbgeljCEHo4RCLaFKhHJsIMK1jyh2TTQg_8az95_DuKL5QIMrJbGwpMEY6RHKvLiUPJCL6T6csfdkjvgbWNY6uNHwvCyWbZhYEVFElAXob7OGbbBqfW9T10YDPpAZEjt7suXLuhFxX0kqp3o6wdLO3Aw33sL9bvcseGXEs0O2uHUGH7kfdvw_2rbGsIS6vZCt-4cs1SKys75ItwxqUqGIvFlelMBKIs3LIAYgP05c5CIx5275tSbOi4EJL9O15AFow8GZHtQQgDXfaqrAk-nmY0DiikLPlSCTu068b9tWmayOMqwprtF21-8u4BZwQTIfBvI-IG0gxTktMDpImozd0e7VkdlH01FygA3UhyT8EHRj75bQ6efnFjfYTV1hSLnYxrPJsX29ae6iJYLfo1TXzOk4-ivbkWD3bAmzytklvD9nmc9928_rYXOdYJ3WB1JDozOu2NNNICd-eHG2BC8Vfjs-T1EZMmI_OO3wazqXe4hREftunOmANuGf4LiLqE5Mr8oFoLfqLKsPYRIkxgS8h08w2tdkLa-A-oc8uqE6_W7BMca6tduMgBwb6IVn_iVT7tesD6wf9hRhA33JEW3kABx2y_uFcEHhURNngDs7zb9MJ0qepyaHdP2uphoFbOJixQq1SSPl16UXrcEVOxRSTrlwH_DLil_28GH_R0ljJea1fECtOyHgH-09fLzjsCbjhjfeoBOPhmjy-qKM7cCtATGyGOIbGVnVhfXN5UgkAw2L1p9w2GXK4FKsTi5PZGh4afZwNkc_qMJUZvgt74Jc4QlGsLjuaW504iGxjOvds5xWpnK_c4FmmVl0E6HWwRyCgqYvao3pElVQqXXunj7aPjb9t5j9G9Wo7NqGIlRAa2hTZP_YfeIIAEpZYa2Q7GBMcc3IKehWtDAtW_qxQTM4I6QQu1JnZGH3H5OeE3DtVRi2xaO0H1GjoH6ilefhsZhTwu1a9Pk2kTxlbu0rtfaX_EdcuDcWix6WCuFUwBq8FZEwFEdAc9IYPmq3m7ns7KmWH9a9beL49jEqPJYTVWi9QdJexlmMl-agMWTTyIIRz4SYYyQnYh-kZT-0SlwrZ-YR_ETEhqzuqH6i6d1A0B6eQjSY9gTK3e9bjHvO_ZhjHEZB5iPl9vD0bv0NmlDnuJ_T0H1LIbAPWyifUN-1rMBrsd_Tr7sugWmG8k_LyWHwUOeG-_qsh724LKHqXIXWc2XXbGlHRYzSJr-5BUv4x8E-v9YniX0Y15mPHWdathuHW3Me-WqD1_sXpZmvCRuhop9dlBEkpuC-ozPm15sFp984VX8VdYaFKRfk2TQawAg7BnxLebBkveM7s1fmeEKQItJf7vhTNJ6monBEGRJSHz4ajQkeUQcGbkJLnIu2yjSQuj7Pi1K1b88qahcF4SY455xaZ3CmCoQnuvyczGDBG_3N3k6lfDA",
  "id": "rs_0764ae4912640664016ab42f8ea65487d0b5eb49537eec5c90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_y\":-0.08,\"right_x\":0.37,\"right_y\":0.155},\"note\":\"The left camera now shows the cap close to the jaw column but just ahead of the fingertips; the right camera shows the pen several centimetres to the right. I’m advancing the left gripper and shifting the right gripper rightward to center each grasp.\"}",
  "call_id": "call_KuhdtmJbvs8aq3UrbNH3x29v",
  "id": "fc_0764ae4912640664016ab42f91373487d0989de0d1de409790",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KuhdtmJbvs8aq3UrbNH3x29v",
  "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]: [-0.1623, 1.618, 0.7334, 0.0162, 0.1081, 0.0235, 0.9997, 0.4679, 1.6314, 0.7609, 0.0731, -0.0647, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.3852 left_y=-0.0788 left_z=0.0368 left_yaw=-0.2756 left_pitch=-0.2928 left_roll=-0.0745 left_gripper=0.9997 right_x=0.3609 right_y=0.1992 right_z=0.0507 right_yaw=0.5165 right_pitch=-0.238 right_roll=0.0475 right_gripper=0.9989\nstate[joint_eff]: [0.335, -7.159, 8.9641, 1.4921, 0.0024, -0.0708, -0.0122, 0.0205, -8.9368, 6.3932, 1.5263, -0.1197, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244812bbf46edc41f96fee805823da630db8f5c3496e233367263957117d9a44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c4fc323859d142907c756debd1fc7ec14236adf312de5be511a129a46b1100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b876593c4794cb4886c09f68811d6c00c0135b29c33970f685d3ca526348f2",
      "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 · 3.247 s

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

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2359, 1.5223, 0.9089, -0.1173, 0.2256, 0.1524, 0.9998, 0.2676, 1.5478, 0.968, -0.1009, -0.2897, -0.1989, 0.999]\nstate[eef_state]: left_x=0.4025 left_y=-0.1337 left_z=0.1222 left_yaw=-0.515 left_pitch=-0.1381 left_roll=-0.0383 left_gripper=0.9998 right_x=0.408 right_y=0.1679 right_z=0.1414 right_yaw=0.6123 right_pitch=-0.0892 right_roll=0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -7.1453, 9.6615, 1.6825, 0.2418, 0.1783, -0.0122, -0.3487, -6.694, 8.9504, 1.6679, -0.1636, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1764, 1.5135, 0.672, 0.0257, 0.0959, 0.0097, 0.9997, 0.4671, 1.6314, 0.7609, 0.0776, -0.0502, 0.0113, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=-0.0801 left_z=0.0539 left_yaw=-0.2699 left_pitch=-0.2419 left_roll=-0.069 left_gripper=0.9997 right_x=0.363 right_y=0.197 right_z=0.0514 right_yaw=0.4981 right_pitch=-0.2341 right_roll=0.0433 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -8.6085, 6.3795, 1.4579, 0.2173, 0.1832, -0.0122, 0.2667, -8.9641, 6.612, 1.4774, -0.1245, -0.0855, -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 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]: [-0.1623, 1.618, 0.7334, 0.0162, 0.1081, 0.0235, 0.9997, 0.4679, 1.6314, 0.7609, 0.0731, -0.0647, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.3852 left_y=-0.0788 left_z=0.0368 left_yaw=-0.2756 left_pitch=-0.2928 left_roll=-0.0745 left_gripper=0.9997 right_x=0.3609 right_y=0.1992 right_z=0.0507 right_yaw=0.5165 right_pitch=-0.238 right_roll=0.0475 right_gripper=0.9989\nstate[joint_eff]: [0.335, -7.159, 8.9641, 1.4921, 0.0024, -0.0708, -0.0122, 0.0205, -8.9368, 6.3932, 1.5263, -0.1197, -0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244812bbf46edc41f96fee805823da630db8f5c3496e233367263957117d9a44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c4fc323859d142907c756debd1fc7ec14236adf312de5be511a129a46b1100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b876593c4794cb4886c09f68811d6c00c0135b29c33970f685d3ca526348f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Xz6MmEJVkr-T1Eax82hnObacotwSxQ6ZqJGblWR80PtWBo_wMZz9F2AzsfNzgwhji98La3HKv_f_rlD9iiDa06rgZf4KCCW9ScJlAFtyO60OrshMWGqK6JlBq6Iorargr6cqnrY8yC_Ev1M2mfRmrj1AGs4t3ufr8mh3n-3LSe1Q8ycV1w0fOCnao9Ad4E4tyG02rLZnwV_e2jnidphCvQK-B6aporEM73Tq0T0v4C2A8I2sQSytoYgb1LlG0o4CgKknoSOG1aMmGH0oF-GceJLgaDf2IWUyIXKIOt72jR3q9CZ2AyJBNw4xWEkHADcDEqOeIlhh0lVmrZuxxPscUxK1Hbu4D_Pe2xDNdr_3ksbY9YQhHEeEkifvHdKZGc3nU_UiYjpT4Rnzqj3TBX66mIum9R-pfllbcOTXj2XyR5dSpBv8kIhlV_tF5ZeszqdAc1L3RX3YxO8BM7i8qmOIhN4AueinCL9znJBo9FpAXBQ6Og5OXRODFBHyXROS5VsRb_2061s8hu86YbvO-2EXeDipsDxLCnZ3TqfR13VVSxViPGT-WbDDwv3njCLTSCiX8MLoZRbRbFGQI857uribvEHpZtFddkssokMWeQPKZYRcuBYZZ4eTEGjK8BJOFze-rLSkS0tiokOVcwnsQz0oyyHC09SjyHvaMuu2v6-GVdZQgqT9nu_MOs_6piqJVqzOxVFUg5TQrJN4Hjk_oj1rF5Wj7TV0me5FxaPfLkYJrz7Hu4oodsYExqcP82sJTNuiCZ3rOwlsPIaDZHZVxuMyO6pW-wN0uquLBd3Yi0Kd4uQLJi2RG5rzJefYXhRINTQZEX43Ms1doiagxjQQc_zLNCQ_MBgUHXVfabPJeOUpILAmh3KTH9RVGq3HuW4xrHU0kKTxqLrSyPhGW5vAMAZqAxFCaelk_OITbsNZQIDxibIp7Hd8V9R3wmVlsFbguCsOIRIHbCpJwxm9Gf9cGSAmPAXxjxCfbZEFvTFrJe_Ib5EglA4S43o4S33c_lQQAnp3Q_2nbO9SA9Rf7CtOIAMbj1ph2e3TmDe785vHG9M-4mUmm1DoBKgxxGBz3z45a_GDa4zwhZl8ysyFAb5ZyIdhf_0yXOBD56jSRXlqovgt7MlEAeOUgTcfb7Fi5Ljzq4Zk7RodZ-fIgq_nFQFp47m3-l8EYMpOYLu6Vzrx-YVAYKQt0FYB9hkUIYd8sE8mlVn_W-hF360r4FialP5Mh8RZMHLGzvVzUQWiBwpyAq1zh3jU30BSsi9yhcVPfc1umtNCc6-FiutviocJuoFXngLIoPMvfNxWZKr-5f4QHfb0AsdL92A7G_Xm-1iLH0P7edlqOGhRoPPefKudtP3MtYbc8gbunJP7CgrAYnuM12mnqPw1FoLhKyh9fdLzlqSFJ8JiqeHJZQFCRjTe2MsMN446IxcTtUBfeM0_ITBLBLuw776AqPWJ8i6zvfGP9Lz50WsfGTj9OW4_f-bnD9Z3Sr-mCsM34aLQSGp-9D0N0o39WB-o0qGeCqeiKDsWPiZ16i144avI4dONvg-4kMMv5QnW-m5GWiVvwL1ZX7OFnejCKHRg_iC-Ei7kRZluuCuDDBCS4fbH6UmmBIfmxijitt5np0vsN9E8EEma0ZUArcnLdY5uRGhWZ5I08IAaZjrMs8wqxb5TDeWqN0joIwqiQInMM2NF7BZ7UFG-W03EniBCnGJouqQTni3oQbD57jmz-A8HcUB6jzDjQ2C9Y7YwMDZ7XhjsqoJz4Gqe6LGObchY1k4FCawAqzF6LgxE11nOcCBjd5XEiBCgjOGQGYfsb2jpvjWGb9HOGITsgPYXfT-nXuwcnofbchMPmLRsVi3fpUsZ5BgVVOmSZ0xq94S2bApYoklAecEKyJVIi5-HdxY6PP7Z3c4OfzXEnlbM0S4mjSEVsJ1HrYY_4xvnIp11y-sykutqYMNcenHFymvGmrT4mXVHb2OTRU7gYDTyEMc6rl6QlI6NOinTfQqRRznGoDjlkahOxNoT94X1nxqeo5Cga4P1z-iUFx9fe8ikp6oFprG5KelelNRknhxltBMtfPNHrLAYehkdbu-jT-m7U61RqL8xKvRpvDlqp0Yr4iiPZvTcpWwNf8AX1FhelQDVxX9qC-964drAQPDePxQQGPMtfxgQi1rZeyT3MFrsZTUzULRCB6nTKgrJWbUHUQ0iihL19EGD0oS8G5GwcCrkS3qXMKBo27J5_oiq7CqS4Z9bre3TPmKzskU0yn3ZM0Gec7fgye2V5RlsALnbg5jZOgIcSdzBxeWrOXP3IzyNN0y_35QFnZgZUS4JX2bLUdf_OzFLcyAsGHEgvm8uau58_N3T9h0EoHW0Y1CTy58ScUNPD7avYMtkrUWeIMpiSolbLxfZM-qMeWp7aDlA3WghF0zQROXo-OQ9ndL4adkMd0hXhHAkS4BRaCNV14UGP_Kdb0rn_FccgyAlshUwDnx8H6_I9BOVYTOHOlGgBSvEC4_yNq1A-2aa8Qf1LyPLiC0G1jzuDHwPXF1vzXruRbNDQQHOq-U5ID1lmOTSy-DE7JDddSEU3zNaJw0QAV1FCfbYtEx8GTY-WeqbpoOk8kdZlivlQumULFHn6KlX9-b2Y-YbqDRK43q_UaNUKKSjWx76AdrN2BNgv6sTg3BcEFYAzAPk7cdFiSEn4TthCED9by65htjTSU_hepcjSowIvP2Zkk9IJmrpMN5HJYiacelmgzMwZVqGN8_0TZSI6YkDrMOsSriRG",
  "id": "rs_0764ae4912640664016ab42f9376fc87d0a12086fc76197cb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.008,\"right_z\":0.13,\"right_y\":0.16,\"right_yaw\":0.1},\"note\":\"The cap is now just ahead of and nearly centred on the left fingertips, so I’m lowering the left jaws onto it. The right arm did not make its sideways correction at low height; I’m raising and straightening it so it can reposition over the pen.\"}",
  "call_id": "call_SlmjjZERrOjYNDJPjhUIXuv9",
  "id": "fc_0764ae4912640664016ab42f963d8887d0bfafd13c8ab71d7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SlmjjZERrOjYNDJPjhUIXuv9",
  "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]: [-0.1619, 1.7008, 0.6868, 0.1101, 0.1055, 0.0242, 0.9997, 0.5213, 1.4857, 0.894, -0.1825, 0.1204, 0.1921, 0.9989]\nstate[eef_state]: left_x=0.3792 left_y=-0.0772 left_z=0.0045 left_yaw=-0.2745 left_pitch=-0.3283 left_roll=-0.076 left_gripper=0.9997 right_x=0.3643 right_y=0.1889 right_z=0.1167 right_yaw=0.3064 right_pitch=-0.2101 right_roll=0.0539 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -6.7214, 5.1077, 1.6532, 0.0659, -0.0611, -0.0122, -0.335, -6.5709, 7.1043, 1.326, 0.315, 0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3434712b8de3a9f42f076dcc9e3f13cd3593d2844d2bedd05f42922e4831919a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717a99a77df223f1528c51fa561cf707aac31db8d967ddd0e7b7352a236e5b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181bde4e5f944c44f08d5606968f36e7dd5f172c5b9276bd4e5decbe73d1b233",
      "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 · 4.719 s

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

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3386, 1.5257, 0.7151, 0.0414, 0.0265, -0.0547, 0.9997, 0.5255, 1.6424, 0.8021, 0.075, -0.0708, 0.017, 0.999]\nstate[eef_state]: left_x=0.3748 left_y=-0.1331 left_z=0.0681 left_yaw=-0.3361 left_pitch=-0.1996 left_roll=-0.0627 left_gripper=0.9997 right_x=0.3594 right_y=0.227 right_z=0.0624 right_yaw=0.571 right_pitch=-0.2063 right_roll=0.0612 right_gripper=0.999\nstate[joint_eff]: [1.4017, -6.2701, 7.8017, 2.1758, -0.3492, -0.0904, -0.0171, -2.1402, -9.7299, 6.7077, 2.0391, 0.6227, 0.1538, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1623, 1.618, 0.7334, 0.0162, 0.1081, 0.0235, 0.9997, 0.4679, 1.6314, 0.7609, 0.0731, -0.0647, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.3852 left_y=-0.0788 left_z=0.0368 left_yaw=-0.2756 left_pitch=-0.2928 left_roll=-0.0745 left_gripper=0.9997 right_x=0.3609 right_y=0.1992 right_z=0.0507 right_yaw=0.5165 right_pitch=-0.238 right_roll=0.0475 right_gripper=0.9989\nstate[joint_eff]: [0.335, -7.159, 8.9641, 1.4921, 0.0024, -0.0708, -0.0122, 0.0205, -8.9368, 6.3932, 1.5263, -0.1197, -0.1392, -0.0122]",
      "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]: [-0.1619, 1.7008, 0.6868, 0.1101, 0.1055, 0.0242, 0.9997, 0.5213, 1.4857, 0.894, -0.1825, 0.1204, 0.1921, 0.9989]\nstate[eef_state]: left_x=0.3792 left_y=-0.0772 left_z=0.0045 left_yaw=-0.2745 left_pitch=-0.3283 left_roll=-0.076 left_gripper=0.9997 right_x=0.3643 right_y=0.1889 right_z=0.1167 right_yaw=0.3064 right_pitch=-0.2101 right_roll=0.0539 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -6.7214, 5.1077, 1.6532, 0.0659, -0.0611, -0.0122, -0.335, -6.5709, 7.1043, 1.326, 0.315, 0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3434712b8de3a9f42f076dcc9e3f13cd3593d2844d2bedd05f42922e4831919a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717a99a77df223f1528c51fa561cf707aac31db8d967ddd0e7b7352a236e5b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181bde4e5f944c44f08d5606968f36e7dd5f172c5b9276bd4e5decbe73d1b233",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-byyX4k4kGnRSPyIjoQs_TCAOmU9bfA2I9GVWFklDpkL34xiQvCeC8xZU7nJreT5YnxyanUcHAVt0irD6CaqCFakroymxXI5ymvTU7OE56OsYVNnOd5McgwdhxTVblPGF4zDFUZM-stEm0gSFtjBN2Xgh2x99rIvVY_fTDZ-HiEEJrZJMKCHTPmWan8L_dBbjsfTYde5GZePucTKCqC-VxPz1GdcPCA4H3GuIi4V-O3xkWM1uFQp3PeTyPLDTmovtc_BOkPvFuDWRRPYDKCVen-yXg1VoFPP_uDGwEPFgzzOPzNyirAIhlYlLkP9CKuB50836YcYy6RVn02m6s2jBRmeHap6_a6bmSFXUOyh5w2l-GFjKNoD2dhDhlRk8AtRDvTva32mXa-UPQuwkvgCkB8N0Uue1vVACipZwKsiaJxrvGFaup51HxA6z-EJNv9-IQaCMktF7zvzOqgEzspUR_nHtZh2kkhByUncmD8-C0ALEXS1tNxGlIhQhwdG1E0bxRmJtUZJPXVcp3tsjG3eMVbGquLa1JL67NS_ve2zbX-5ENvL29Sf227EdbMMi2HKIXMK4tfzVyAhmi6KnIM8Z3v5a8WeNv8ElppQU21wFbkp9QAvVyNJ2I01pb5tApMuczbO9PjNa3e8ewrI55LIiFPXs3OXd8YLOqGlXxkVyJ7W42H7jb-TpfrL70hQSEBI-fr7q6cdfJbA4RXEKGGIe4-Jzx6ciVzvKWrrujH3fsqqtKnRbYF_OhtIX_PZBFTkrFRlL3Qc15VtNP9MfrgbpFIJyLYiScd2LEhPqyb_iAbuDH4Q40J-nqr1aAbPBdGIXXPgqKx47TAnYp_a26aAs9aTPuQDeLWDO3AbhFGhmaJMF5ylfiqG-zIHJm9kAc1pAaqLC5Zr-D0dHN9iQTfwCqQ2zPNDy7ag-0BAfEQAucBB8nhhw3IxUjuWGBaWL8EZv643rPGCUshl-XM3GcRbFlcDKijFxNkeCv8davQOLHAaCoxPBEn51ES_2nkF8nT-AILx60Td7O9exD3KgzUwIeZ_ifk7P_QhOWLinSvYOGUs6iGJtmLbjvqZJl-7nETZ7_j9VfuUo9pqzBtli6jZSC1a4ffjuRCz2C_Et4gqlugoHtJMNcJIfUpRudVv3mtrURJDh8ILD3IPPBDMcIP6glI8drjZo2Fzk96H9bKgpdrIez-kshb8Pa6Kyrd61E54-28lKRhPgcdmLdNp4I_e_XLcOQWmo-tNoELgNMyyTCtCS58uHP4WLKLcXc3mxI6lApdCAzAOxKw2grGZ97OqifzO0p38-rrgal8ci0u87aMJjDDkR4sBP_7YhOLENAsLaAGBtAmAhN-TDO2x4IF3viAV9kAfIw1uMwcKeZeLpw7TcVEyGnqJgTMWOqvMkIkqTYhMBkdi0VYYM8CrmmoDOJfCmapwSlTlxIY1NsQB9bzXPGSLdZnKVNgJO7u5TjGm6ScHkmf0Rw9VMTuUtftg6tk66tjvQa6Iycs9Zheu5Vrb02K_ro8S3KjdaHhDEjzS3Yii-M2jMi5fyWy5yuoPAt0BIFSifFhEBvjLwrjplOcwkENH303LGakjaIrhB8elf_mf0IdyrZwB8wHJE8cCS6lvZvAdy5yZzW_087Mt8_z4_8DRbrNyWG_8Gn5KWpcZ3ekkck_oH6BHtOjyiXl-vXOU9F6vCZ21ZUQCPXlnQ9HY8=",
  "id": "rs_0764ae4912640664016ab42f98b2b487d0918370a38f2262c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.395,\"right_y\":0.16,\"right_z\":0.14,\"right_yaw\":0.0},\"note\":\"The left fingertips have reached table height next to the cap. I’m closing on it while bringing the raised right gripper back over the pen for another alignment check.\"}",
  "call_id": "call_expEtU5bxOilrcWeyvonq5SU",
  "id": "fc_0764ae4912640664016ab42f9a36b087d0b9e3a643fe373b63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_expEtU5bxOilrcWeyvonq5SU",
  "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]: [-0.1619, 1.7031, 0.6849, 0.0971, 0.104, 0.0238, 0.0078, 0.522, 1.5501, 1.0256, -0.3454, 0.2817, 0.3607, 0.9989]\nstate[eef_state]: left_x=0.3758 left_y=-0.0763 left_z=0.0011 left_yaw=-0.2736 left_pitch=-0.3455 left_roll=-0.077 left_gripper=0.0078 right_x=0.3792 right_y=0.1656 right_z=0.1221 right_yaw=0.0702 right_pitch=-0.2664 right_roll=0.028 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -7.2957, 5.3538, 1.5018, 0.1099, -0.0171, 0.5592, -1.2513, -6.065, 9.853, 1.6777, 0.3639, 0.2857, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e29b81d37b04d4c7bf4ddb0d9a38ff37a91e6bbfdaee0098e62ea4f6c57eb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe92e9dc1f33bbe5bcf835c8eee81612a2175a7bc4bdab2fadc2dea4fc35983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7624e181a656bcc21daf7f8877c2b7a7debbafd95a8eb228a0895158bbccb3ef",
      "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 · 4.575 s

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

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1764, 1.5135, 0.672, 0.0257, 0.0959, 0.0097, 0.9997, 0.4671, 1.6314, 0.7609, 0.0776, -0.0502, 0.0113, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=-0.0801 left_z=0.0539 left_yaw=-0.2699 left_pitch=-0.2419 left_roll=-0.069 left_gripper=0.9997 right_x=0.363 right_y=0.197 right_z=0.0514 right_yaw=0.4981 right_pitch=-0.2341 right_roll=0.0433 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -8.6085, 6.3795, 1.4579, 0.2173, 0.1832, -0.0122, 0.2667, -8.9641, 6.612, 1.4774, -0.1245, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1619, 1.7008, 0.6868, 0.1101, 0.1055, 0.0242, 0.9997, 0.5213, 1.4857, 0.894, -0.1825, 0.1204, 0.1921, 0.9989]\nstate[eef_state]: left_x=0.3792 left_y=-0.0772 left_z=0.0045 left_yaw=-0.2745 left_pitch=-0.3283 left_roll=-0.076 left_gripper=0.9997 right_x=0.3643 right_y=0.1889 right_z=0.1167 right_yaw=0.3064 right_pitch=-0.2101 right_roll=0.0539 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -6.7214, 5.1077, 1.6532, 0.0659, -0.0611, -0.0122, -0.335, -6.5709, 7.1043, 1.326, 0.315, 0.2418, -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 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]: [-0.1619, 1.7031, 0.6849, 0.0971, 0.104, 0.0238, 0.0078, 0.522, 1.5501, 1.0256, -0.3454, 0.2817, 0.3607, 0.9989]\nstate[eef_state]: left_x=0.3758 left_y=-0.0763 left_z=0.0011 left_yaw=-0.2736 left_pitch=-0.3455 left_roll=-0.077 left_gripper=0.0078 right_x=0.3792 right_y=0.1656 right_z=0.1221 right_yaw=0.0702 right_pitch=-0.2664 right_roll=0.028 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -7.2957, 5.3538, 1.5018, 0.1099, -0.0171, 0.5592, -1.2513, -6.065, 9.853, 1.6777, 0.3639, 0.2857, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e29b81d37b04d4c7bf4ddb0d9a38ff37a91e6bbfdaee0098e62ea4f6c57eb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe92e9dc1f33bbe5bcf835c8eee81612a2175a7bc4bdab2fadc2dea4fc35983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7624e181a656bcc21daf7f8877c2b7a7debbafd95a8eb228a0895158bbccb3ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-gzXwAU78wwTKyahrBTFenYy0YNiNj4DDniU0XftqB9104p1xxyZ65PZ2W0pTyLWFxBjp1AORfzsjkYyfZWA-JXYqeKlUdTFbfy2mphZ4C_RMIj6KIE0LODONym3sxfbOq3CEvD7iU04Di2toLMLq4Kjhk3dAJifgnrUaiu2i9zua2Z9yjPzpne2nlBWLtfDcAhU1qnaveld0YUrgoPKv82RB0ZHQlYYsaQlfyjeQN0Grr4CQa7bb4Lfz35sAbp5lcd0DS9tMwY7BNj1Gy5gLLmyCRicNQgEyWvOeYVD5cEcRqGiNYraJI_5PKvSpSh9fuQD_qNoze271caxvtHXL1m61hxqxdtTyqO4pRujuk55w68QvY79OKNWi2kdJAvGqlSQ6nWNl_BBCxIyhOxdc3JeT0L0s8TgbMx7Kx9nZ8DXgsqoQxMXhFPmAHCbXOtb9naJLWQOBlLFe5Hyfg5aG517vI5SjTMGVfAwOSwziP3KUB8GXRPBvcaQCD-dWDSQrn5IXr6SRT1plmEi3zpWt--ncvmRRW4hj_GBtABen6ApdtM-sA3sBisRhWuxspbgSOXjEYJWM7-TSg1MVQBSJrO0wYMrRqg6o08Dal4BVNgVseYqWZOmHBYRHiw_eQz9Bj4XBEULh7PuD6JaTHQwsYlhGbnyL1PaxYfl3MXPdedAcCut503BpBvitcziiRQXCEVOC6o0-U0qrzl0XVfxcTa-PJaFyBQPU_OaiF3NMNZqBYa2XY96Nk8Z1cEgdmCZEQ6buhUF9JdZriCaodJonLvqu9fOGLeAGEL21LNvPj4Wy8WrZTmaPoQi6KQVgcIOCQFusueFR59-5TF45SSu6PYgaxAFfWTsf0gHRXznZ4pV7XOQieIxQPn2oZUvTBlfX0d9iVlK0V9Te5VX7SyfkhMDLvT5SAh97TCfgoMYTJJk2dnNZkK-kA_LveSX98w5I9UZauuOUMt34NTtqcdwoDezV-3IpDmEDbJMlz8AUwb-pttejHICaB-FtLj5KIH1FEwSKWIwpRNLh9DM_45n2-YFzXublvYEjgPVf0AKRRUFw1MGduZFge_lJd2s9vxYuCiTKtIA0qCifhUttjMg530HCaBJF6DJg3BVQT5-ZbpBFLSDnAHKFT2oUOOAL91bSLoCfTdffgUZeTwqzNomMt3dVuUKqeO6tG_VCIROP3t5oDHglTVb5-wU6TBhv-FkBfHhBf9M3xlM9sX3edLIFNEDVmJgOqrJ9QvGEano_24y1vUT031uET-iQQu0JzeyA8KETFwN7oRvadUZHVBxE_-bMH4wrYAkBysz_Ue5Uz3gwZb_0e2dkSp2f9_WFsRDqz6ZuuT3wx24k21NqKFCUkF9Di-DtSUnzLhy6be7sMYJj5FEspKXYGQff_9J7-Q0L_R8u5Mde7pXL_5hZ0VkCwOXsYHZR8jyCr2VApnxPB8qZ2wY5Ft-zIgjVCPMMBAlLX9XnmQQrAy6AQ_FAGIZPh7lkL-ThX_2ugJENgDf4RlheAB5zLLL1RlG9XMfNNMsQqbc_6jQEZDzCmkk8eCYfXnNsXvxpPJeJSO3lVuu2_cYcVPjcaZLICMeyQgIL1d2AeEuUMmi8QM1YsF1Ah77zWaDjg9u0qp6CYqh_N8Sqz-rCHKgSVTxbbTq3eyDRWebu6vpxApSQJOuuUWEnUiPhM-Fitr-0x1HC7G3RN0YArtp9PxTfXL-OOAu58QNO56gxYsKrkQPrjbAhErgtjFE5nzz2YA9j5KNa-x4ITK8SKl_2vV6JAQFK4iOtCUvN21VLsFXITohGVR4att3eLjVZ_J78e9hq89WhSmtbHefedFLTEHQRxuB_EQ3qkl6HvHvADunpJMILOVOmxhVSua54_v2_RCc_RhmKcRQ-PV8R-W2XBZRYfrRZlqCQPZ8pruVNQhlY2woftCCiP7pZyv4PF5_V0cPM0SjktpY_sVGUd3HhKwNK3qsibxmPq9LHJzC0GGK4XkHBe8xo97Q8l9joaU55u-kusqVmYTYj9IfWYJ-GgUs_7DfCrUPWJi5H3daPSaebPQiE6PhunSJFINZLDjoHQEijrMcAkzUSDqPmXvgT6Z0kebGLx4joEpp_tO7nJfL_oT3UFOGMldA-RlsCQYB7iv9-1tRoFG4xQ7ZQGFpSVQsPBJRpUks-3sYcPyjAIDCQTUL9FSR9-clnuc6nSyIuIGH06vEZJaz-5GeWXioRDEdpYRTTzH36DKtempGOUqyqcnJQraEQx-LVnAQguNvQAE5anGCAcuS7iO3ptxP9zcB3_daPfN4eaqNw-ad8eGO9-VaZ2RH4jYdwQ4OIo3byYPNyZcIWEd897zbjPMpCPcrb07YTqJlFwSMj_1YRbH4ZiOaE8DW3pDNbOy4KElWFcHwBcNXXjb1F7MT2Kqh4=",
  "id": "rs_0764ae4912640664016ab42f9d041087d08c12bdb8e834e053",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.075,\"left_x\":0.4,\"right_x\":0.406,\"right_y\":0.135,\"right_z\":0.12},\"note\":\"The left gripper closed almost completely, so it missed and nudged the cap; the cap remains visible on the table ahead of those jaws. I’m reopening and lifting left while making a small rightward-and-forward correction to the pen gripper.\"}",
  "call_id": "call_PwDZbABvB0i8ksZVeY1jK7jE",
  "id": "fc_0764ae4912640664016ab42f9f703c87d08328eecbf0b0a4f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PwDZbABvB0i8ksZVeY1jK7jE",
  "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]: [-0.1566, 1.6436, 0.8906, -0.2268, 0.1043, 0.0235, 0.9947, 0.4114, 1.5833, 1.0283, -0.3599, 0.194, 0.2562, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.0764 left_z=0.0476 left_yaw=-0.271 left_pitch=-0.4038 left_roll=-0.0847 left_gripper=0.9947 right_x=0.3894 right_y=0.1367 right_z=0.1051 right_yaw=0.087 right_pitch=-0.3325 right_roll=0.0048 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -10.2496, 8.9368, 1.3602, 0.0806, 0.1343, 0.1245, -1.347, -6.653, 8.2256, 1.8388, 0.1734, 0.188, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dcd16516cc9be4f30ea94ab6c21dcca711e0dcffeec391cc28c82635a88170b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ffe20c85df6c8a4a8cd48a6428eac4ad2806912dc668b8dd968ca60dceda8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ab78721028da9520d4b6bf3ff77d8879b9bf018491d123d13ce693b7a5c40c",
      "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]: [-0.1623, 1.618, 0.7334, 0.0162, 0.1081, 0.0235, 0.9997, 0.4679, 1.6314, 0.7609, 0.0731, -0.0647, 0.0021, 0.9989]\nstate[eef_state]: left_x=0.3852 left_y=-0.0788 left_z=0.0368 left_yaw=-0.2756 left_pitch=-0.2928 left_roll=-0.0745 left_gripper=0.9997 right_x=0.3609 right_y=0.1992 right_z=0.0507 right_yaw=0.5165 right_pitch=-0.238 right_roll=0.0475 right_gripper=0.9989\nstate[joint_eff]: [0.335, -7.159, 8.9641, 1.4921, 0.0024, -0.0708, -0.0122, 0.0205, -8.9368, 6.3932, 1.5263, -0.1197, -0.1392, -0.0122]",
      "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]: [-0.1619, 1.7031, 0.6849, 0.0971, 0.104, 0.0238, 0.0078, 0.522, 1.5501, 1.0256, -0.3454, 0.2817, 0.3607, 0.9989]\nstate[eef_state]: left_x=0.3758 left_y=-0.0763 left_z=0.0011 left_yaw=-0.2736 left_pitch=-0.3455 left_roll=-0.077 left_gripper=0.0078 right_x=0.3792 right_y=0.1656 right_z=0.1221 right_yaw=0.0702 right_pitch=-0.2664 right_roll=0.028 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -7.2957, 5.3538, 1.5018, 0.1099, -0.0171, 0.5592, -1.2513, -6.065, 9.853, 1.6777, 0.3639, 0.2857, -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 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]: [-0.1566, 1.6436, 0.8906, -0.2268, 0.1043, 0.0235, 0.9947, 0.4114, 1.5833, 1.0283, -0.3599, 0.194, 0.2562, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.0764 left_z=0.0476 left_yaw=-0.271 left_pitch=-0.4038 left_roll=-0.0847 left_gripper=0.9947 right_x=0.3894 right_y=0.1367 right_z=0.1051 right_yaw=0.087 right_pitch=-0.3325 right_roll=0.0048 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -10.2496, 8.9368, 1.3602, 0.0806, 0.1343, 0.1245, -1.347, -6.653, 8.2256, 1.8388, 0.1734, 0.188, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dcd16516cc9be4f30ea94ab6c21dcca711e0dcffeec391cc28c82635a88170b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ffe20c85df6c8a4a8cd48a6428eac4ad2806912dc668b8dd968ca60dceda8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ab78721028da9520d4b6bf3ff77d8879b9bf018491d123d13ce693b7a5c40c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-mt8kmLF43l-35-YmLyVTyh4LA8kLrPP8iWIFQU8C3tGaTNVU6bVYayzHhBygN96waodk2miPnkhvCM1G-opOimfXrLiSR0pEu22HeFhyhN4-qJ0xxeZSPhjJ-DYdKCgkohXrtCADu8oUvLEiZE3g517GPMVvHxDVoJ13TE2eT8k0n8Pt9FHS-rrd4Qv9hBEq0TudLvqb-RhWVUkE615y_CRqhgric6g2RD_0_7t37DfuffAIP6qXRh_sY1dp_aSzqeUow8IjRpQMqLEF6XvxairtZiXo7RLyE52DiWZEFBKapvI7fupcEYn5hicOOje0CCAnoQr7VIxldD7rl8tedky8IR06O_40sbB0U-QlJH-ca4iqdPQyWM7vEkxbwotxJskV7evztgb2Zzbi31lfOGWjCW7swbcX4d6cCqZlxBJBXkUokcY9pYNaOk9F35HdPP5SXpLr_4Uvx-nYyVcTIrWGBKdl5zSCEP9oXy7cXLq7s8n1ui4nO4J3aMmUfzg76H3VUuT4E2FGsxObHPY47FqVg5rqWP3rgTDveLR68ZwhrHdYh-aHQtiMRKDAMICzkLqgVu55c8cOGWy5lPi0CS85BXlqFHU9dSaUQR2IzMm1RXWHKENauSJ_rAwYb2rhryttrj05TvMwAucswntDwl6rTD1NAzDvrYdCm3R7dQ4M6w4vrZCGX693_MvIo297U0Tw6wM3V8feoP7uIdanWocngL_ttaAnWGRMbYpPPTHZ1jK_zapEWVYz4BaChGGnYq_YjFcHy10y5aGvwBUaCVqnDZgbgMJIwO8WlIFSmpMVcJmeOLhQvOK9AIXRIvhvDS_LIpJVbe_t4MvL1VwRin38WDsoxqRdpVz-rsScYyDu2lRsSk2Oq_4m33B9phZ0Gg1SWcYvfd8Z1QaKbbnIbETa6OKvsoG_bbiEgwac1n7gv1tCRzr5pn56aYzAqFr5TP9vM3wudb9ztxZBrLORqkLKqiNuEiP-tnoUDPet9-jpSW2hv0Rvo7KZM7U_4Dc1YskXB850TfAE5E4zta8KruQZGM2VIVYYcK0BBNswS1ZXbGRzJIRibnCHs0p369p5JnyfsBukKZXB84iVsbpjgjknYHS78IZGjdiBHy_iOBwlS1nRw61Duj_eaJmB_8wxKxujVv427VXrdvq7vJ7rGWD9GQ3P9sYmRV6QcPU3aAL6sSXcthEyTua41i78nyUw-6PKjaG3asQHCl0WdrbKnBV1d2jz0CscdFQ1Gdg5N5RQyfR60jDJzS5_9J3XMbF3QK7DfxsIUvNgGL5E03z3ZB9py0n71PLQ8nYDNud-iVTp1cCMyMVymR-3kTVtyoclfl83bf4lzFdqtwPWNf5v-2KQWlLLgFOjDVu63cNWeAW8u0zQ2ZBqbb59whX50q6GyF00U3agiDqVX4ictG5cgZfI7gpzGtrCcKDcsPZ645vpYedlM9O_ijDkpPnJjTnlOQyCWdOcArFBN59KLWEYz_5qiIzUCmWmchNBosbv4gY-Ike-xjIa1sSMRdfLfCepYyhwLkXyQE_0qKZMZH6-PNAUroU2lXIgP54b-BymEd2uGyJBLr-rL0uC_WlorVnZly3DETV-EZ7w2E-xFyPpzMkHc4Z4LLdk0E_NykJJO168rQiWX5Oryq8Ze46Z6cXsvzhvVhsPygb5hcqZK4CIac5kF3pOrAnQC33FRBYKuCzbuDVmSeC2zhruiVYi_iizLag0Yee8etFa5bdtG1vQqSGvYGf4JSyh94Mmnbt3kE7ax_4x9sVehcM7jtLBv0ozam3B3Lt3Ms6md-idzhFdSSTKXJY7JXWqRUTS0Ox9i831a0WHzJZkR_JkhLwLK0w67IFgoejvXy0P7Mger5HaAN5AxJit89isYUsxS9DlOIylUytqcOTmb1TbvrzlO1EzqyoeMQv6oyRZpOVs8DcHd1tqSbYMm3W4uzYY7kK43bH6ldtyH2hRl9hBySuxDnVgI3uWdx8xrcbVRpX1Ouy1IMBOvpWr2-k6pZ6C6vqAzZiVTeN-1HklN-778GoudRplYgVTNrnc3cK7iG2nFyUoi4xYlR8YP0aTEhkZAW0dMNDgA-tjzleJOZvRSx-dfKgB4exZ9N_ZKehtjHgItbuKo1IBVka-yS1YAv9eRFkvUqUSZobUDvrgX8DyyXBa4CB4gychPTfJenDOxwsxNY9xpkbpCfIHoKxPvuD5H0mdif_HOREFpheUyJ44HKd_xSDjTpqQbkcq2LjYBQNL92tiqqXofYEWv8OAqWl-jUCcJoYUKnAgV-NkHT3C_3OB1kKUgZu9PQ9RgW7J-H4szRcE3h7ovv7SpgvKSqsin8L7fSnzcDy8oWUaWpl2ifNL8K7I2kC34NZHT9UqjtqcTXaRJ73ihAEA-qvIU49rNLOYDCWpE6ME5mmqDyzkYQgG3H0ff6Z_-z9K6tF8Rf7Tz-S7uCWj7KbUwh9iNXiWGJcjgOfovhFotWkaUCuAB2V6H6EAqx0cyN2FxhYzq31j956eU_gWSFrKhZij78ETaE4d6Txl6zS2Kug0SOB1zdFiKq3VRi1m2ECXM8m5UThGgxM-acljXjnmIA7oWFupcaykWRxQqxMNuWi4A9rWVhbAy7hl03Kra5MOKUiJKIhrYM9bro6nbw-OS3xRPdvs-HdhWlcYQZlOBos2G4J3GmAC_cZPv-OFlVxM74hO0rHr1fxYXEznj7X0FLml-V7jhq8sTG6g=",
  "id": "rs_0764ae4912640664016ab42fa2908487d0ad4b79fb91978796",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.08,\"right_x\":0.405,\"right_y\":0.117},\"note\":\"The displaced cap now lies crosswise just ahead of the left fingertips. The pen runs just to the right of the right jaw column; I’m advancing the left grip into the cap and shifting the right grip slightly farther right before lowering.\"}",
  "call_id": "call_CQ355GqNLwXN9XteABhSMDoF",
  "id": "fc_0764ae4912640664016ab42fa5588c87d085a2ac16d1ccdbae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CQ355GqNLwXN9XteABhSMDoF",
  "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]: [-0.1555, 1.7386, 0.9638, -0.2588, 0.1047, 0.0235, 0.9963, 0.3546, 1.6024, 1.0283, -0.3744, 0.152, 0.2039, 0.9989]\nstate[eef_state]: left_x=0.3997 left_y=-0.0777 left_z=0.0328 left_yaw=-0.2731 left_pitch=-0.4572 left_roll=-0.0919 left_gripper=0.9963 right_x=0.3919 right_y=0.1204 right_z=0.0945 right_yaw=0.093 right_pitch=-0.3741 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.6769, 9.2103, 1.3407, 0.0464, -0.022, 0.149, -0.6222, -6.9812, 8.3214, 1.8242, 0.0269, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a835f8e4bdb07b0eddc84510ed55bec8a62bdec90d4607e66af76c46c80710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df08a5fa1bca7e93f23302d5c24b495f682a4943aba14d78ba002d3a8b5cf8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39d17c8e2cb3666c8955182cda57c4c6753596a91b94386002f28fca6cb079",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 4.263 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]: [-0.1619, 1.7008, 0.6868, 0.1101, 0.1055, 0.0242, 0.9997, 0.5213, 1.4857, 0.894, -0.1825, 0.1204, 0.1921, 0.9989]\nstate[eef_state]: left_x=0.3792 left_y=-0.0772 left_z=0.0045 left_yaw=-0.2745 left_pitch=-0.3283 left_roll=-0.076 left_gripper=0.9997 right_x=0.3643 right_y=0.1889 right_z=0.1167 right_yaw=0.3064 right_pitch=-0.2101 right_roll=0.0539 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -6.7214, 5.1077, 1.6532, 0.0659, -0.0611, -0.0122, -0.335, -6.5709, 7.1043, 1.326, 0.315, 0.2418, -0.0122]\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]: [-0.1566, 1.6436, 0.8906, -0.2268, 0.1043, 0.0235, 0.9947, 0.4114, 1.5833, 1.0283, -0.3599, 0.194, 0.2562, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.0764 left_z=0.0476 left_yaw=-0.271 left_pitch=-0.4038 left_roll=-0.0847 left_gripper=0.9947 right_x=0.3894 right_y=0.1367 right_z=0.1051 right_yaw=0.087 right_pitch=-0.3325 right_roll=0.0048 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -10.2496, 8.9368, 1.3602, 0.0806, 0.1343, 0.1245, -1.347, -6.653, 8.2256, 1.8388, 0.1734, 0.188, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1555, 1.7386, 0.9638, -0.2588, 0.1047, 0.0235, 0.9963, 0.3546, 1.6024, 1.0283, -0.3744, 0.152, 0.2039, 0.9989]\nstate[eef_state]: left_x=0.3997 left_y=-0.0777 left_z=0.0328 left_yaw=-0.2731 left_pitch=-0.4572 left_roll=-0.0919 left_gripper=0.9963 right_x=0.3919 right_y=0.1204 right_z=0.0945 right_yaw=0.093 right_pitch=-0.3741 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.6769, 9.2103, 1.3407, 0.0464, -0.022, 0.149, -0.6222, -6.9812, 8.3214, 1.8242, 0.0269, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a835f8e4bdb07b0eddc84510ed55bec8a62bdec90d4607e66af76c46c80710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df08a5fa1bca7e93f23302d5c24b495f682a4943aba14d78ba002d3a8b5cf8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39d17c8e2cb3666c8955182cda57c4c6753596a91b94386002f28fca6cb079",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-osGELwOed63XYefpBHO37BTQoYgjNTcXXWbnOG__TTdpvYlWnai2Yca36xN2-QPLulZ1Gub6JzhRl4DGW4Ugjs3B34JbhIEZ4xaliXyFgcdPf403PG6SNVQxw2lTR4xPS32Kadf-UcFP2NODiKDPXZwK9UQuCHS7_hayGgCtfc0SWiksYxW5wYLwEBKAtMDoo5HqSOwUgHHVFBqome2ul9WfQw6iIIPruiJTvxygx3nPozApDpbkflchHLIyAD84EeoPYjJU1UjAF6nANoDspMdHPwY_8loM7wBA_3tadpm3iVXsYqmsi13bvc1pQ9Hc8mAt_osrw8FZuKY238eXnafuVtQPkDVl7P83wJvf_QOLET2VTW0anInn9fUubvmpqAeY-XbixSDg3w7gZTt__9OfvFJNey1QfkX-s1V41M-0c_cmx7PysNTB6vl83hDgI-aiyHKNEXjjK6cDIKi6mqeLAu75zUleITFocK5JOiKIR1VZFUlQNqj_wlkVFbXDFhT8CHNIZdeL9KSVD2X-ariK6oBNHY8cIgv8OVnKGRyzNgsNZnWm5eFZm8cgCRrj_KmIkvBtzeIEemr-KHYiFU-fc9rYeZlDsC_uA6vIijwyAKVA9w5r-XUqWdILe1cbdNwrCbbJEzSqNwJNjGCyltHbIdughv5hk4GJLezijcHpy4DjD9dzVw4PKeL8-IaA9jUYuFt-VCsCJOZ5e68byI-_zjlk4WQpoLpXvz9uSPvXIpkdxmHD7aunrop_UGxyMrvfbvGBDSCgQaXXzyJXFclfhUn9hQ8KIJSi7QVQ1dXMULvsLZ4qEe5AShvR8JGn6I7zjvR2NwWby1JTXIrExkLGn0pkBUMiG_uXOkk8y4_l2togHwbLQKoOmY8NBuimHi7SoG8u6_ZpUHqSixLY_IGT3y-hALb8rEbUXq3e3G7lMmSLyiOzl67gWsDlvY1qb59ca7MPaDDLM6RdQ2viJhY3W7Am0HoExGW-ryprFJh9x_UABIsx58nZtqHNPTkrQt6IqnRUvLZkqz2OQ0JgMNjkJzZpiCeHoFNt0MNYcbGHvVrX_Ef4MY_XUZMkuDK1Z3yp8NhSzZJ3E_jsRtWS1-_61CTHlkAcCcX6UfU5ak9LCmTd3IfDQoadMWjmiT_V3nA9jcSM0Kv3iwRZ3wimrZfZw-IJBowi_qu3wRiaZkaRKJfgejwSn702gASxoUO2Et2ykWouYbeuOYHLPhT2BAfrNv14ggDAV1svX_ZRmmB0u-cXX1M5nh3nr2YAs9HJ0RJmljlvpKnBR5RaWAjVJ-KZvAkoKhOtx3fueLDFudhLsuDm68Zg8SPIsejrXGC0-gMFm5YhyIzVSDk_2IhuQk4ZSRY0XAXShPtTf3BwHRz2l2wu38TlXN5fWX0i9zEZxxd1kpBmArkkO5dAuJGUpyKkabggxUZGRh8Jp_9m1YxM=",
  "id": "rs_0764ae4912640664016ab42fa7831887d08272affc97732ee6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.004,\"right_z\":0.009},\"note\":\"The cap reaches the left fingertip area, and the pen now passes through the right jaw column near its tip. I’m lowering both open grippers to make contact at their current aligned positions.\"}",
  "call_id": "call_LsuvD2Q0RMy0LLFQYUtKNsLX",
  "id": "fc_0764ae4912640664016ab42fa8326487d0a81b6faaea2fb31d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LsuvD2Q0RMy0LLFQYUtKNsLX",
  "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]: [-0.1555, 1.7569, 0.9733, -0.263, 0.1047, 0.0235, 0.9964, 0.3511, 1.7573, 0.8459, -0.0978, 0.1379, 0.1944, 0.9989]\nstate[eef_state]: left_x=0.4005 left_y=-0.0778 left_z=0.0284 left_yaw=-0.2739 left_pitch=-0.4701 left_roll=-0.0936 left_gripper=0.9964 right_x=0.3799 right_y=0.1171 right_z=0.0073 right_yaw=0.1012 right_pitch=-0.4357 right_roll=-0.0155 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -8.6222, 8.8957, 1.3651, 0.0415, -0.0366, 0.0024, 0.2393, -7.4735, 5.3949, 1.4139, 0.1538, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3731a8a46786e97aee45b069cead24a0645c2d8d6e5223f6c11ca92c7d686e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed04a44882197cb813fc228b5e4fb6c68f22d725b2989e1ef27cb4ddcd09b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0d8637c9796930c1099dcfe24bca8e363bbe23c8d13d99ac647da040ef314e",
      "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 · 6.744 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]: [-0.1619, 1.7031, 0.6849, 0.0971, 0.104, 0.0238, 0.0078, 0.522, 1.5501, 1.0256, -0.3454, 0.2817, 0.3607, 0.9989]\nstate[eef_state]: left_x=0.3758 left_y=-0.0763 left_z=0.0011 left_yaw=-0.2736 left_pitch=-0.3455 left_roll=-0.077 left_gripper=0.0078 right_x=0.3792 right_y=0.1656 right_z=0.1221 right_yaw=0.0702 right_pitch=-0.2664 right_roll=0.028 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -7.2957, 5.3538, 1.5018, 0.1099, -0.0171, 0.5592, -1.2513, -6.065, 9.853, 1.6777, 0.3639, 0.2857, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1555, 1.7386, 0.9638, -0.2588, 0.1047, 0.0235, 0.9963, 0.3546, 1.6024, 1.0283, -0.3744, 0.152, 0.2039, 0.9989]\nstate[eef_state]: left_x=0.3997 left_y=-0.0777 left_z=0.0328 left_yaw=-0.2731 left_pitch=-0.4572 left_roll=-0.0919 left_gripper=0.9963 right_x=0.3919 right_y=0.1204 right_z=0.0945 right_yaw=0.093 right_pitch=-0.3741 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.6769, 9.2103, 1.3407, 0.0464, -0.022, 0.149, -0.6222, -6.9812, 8.3214, 1.8242, 0.0269, 0.2027, -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 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]: [-0.1555, 1.7569, 0.9733, -0.263, 0.1047, 0.0235, 0.9964, 0.3511, 1.7573, 0.8459, -0.0978, 0.1379, 0.1944, 0.9989]\nstate[eef_state]: left_x=0.4005 left_y=-0.0778 left_z=0.0284 left_yaw=-0.2739 left_pitch=-0.4701 left_roll=-0.0936 left_gripper=0.9964 right_x=0.3799 right_y=0.1171 right_z=0.0073 right_yaw=0.1012 right_pitch=-0.4357 right_roll=-0.0155 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -8.6222, 8.8957, 1.3651, 0.0415, -0.0366, 0.0024, 0.2393, -7.4735, 5.3949, 1.4139, 0.1538, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3731a8a46786e97aee45b069cead24a0645c2d8d6e5223f6c11ca92c7d686e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed04a44882197cb813fc228b5e4fb6c68f22d725b2989e1ef27cb4ddcd09b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0d8637c9796930c1099dcfe24bca8e363bbe23c8d13d99ac647da040ef314e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-twjcxmsZON0aDaHrHixnwHz3uXZQqxbU-zoeONp75mheKHLfzGez0oyWz98OLBbtir8hyGvwwBD5uvU_qgkjfU9B6Z0KIWV87FbIDNB7f5uYTndFWz5xT6s3VGwzzC1W2-x2f6zJfzC6fMLMHB3GOtsjINT1KIM36SxWl8eLGAUgBRrdF18ZnO73iXXRjeBfnd80PUEOpexochRR1Sneor0hf4Qb4WwVPtaONnCNBU2CmWvc-incvfPJisIpI-uc5cM-rGkedVPdjRfDutBJgGfnZh6OPBs1x7utsrQsQlQotnkZXrf3VCQg4sOkAzgqqKldNfYdtUhxC75b5SsYWpmxrVk3f5N4HjjQROFcOSGbShBbuJ1J3L04tzsfaeXf8Ey0PR4TNM0nS5-BpcpZ_yy6bgfYNA5z_6cQYQ83Xc6kJJQGfM9-ycfxHEOemn0KNRumqrxoJ7HE-047-9dAZZ6zHEbONaNy_Y-HrNgh-me8UplUVpB8ExH9BfkzUQbT0hYGTAp08Qn4PGS3u2WKV8g1ndXgyRBEB5mbn3XPko9HjwOR-cogrXdIaeka6GWejRud3SqoQfh-BOj76Yr9kOb_wK6n5xbBYC_aU0_llBsUQiD_X_4WQdPC0C1SBF5Ut26DgjJCfhprGWYz64Hw9NzViYjyl9-Q8id3OQQ6JpcfkANEpJQY2XiBL6z3IsndLTKvZiRCZaUYs_PMqBjLmdz5jFgU8UMnrKZYyx3Nzpt1ZdLUe8xaJ5-yVxmh99Of3zM9YEZiZ4dcLxrUhvAraaCYtQ_Fugz8BjRdjouwjjyMFHOCd6QKtMFKc5T6RDI34zIRX3_ALHK4vZKJIOb-8pqmuRUsMB2tZZaHd8nQ71gO73_hpNqlHxlj2lcrbsn42LIryBYRm9C6ealhJbSX2F5Rndp11nKRtmK9_QwJF8m6C63UrGPa2nWxrKaFCb6j7ZZdWUMKWNN_090WGTWQEe7uVvgADhdwjZjronBjE6nncFaFj-kCoMOpWl9s4Dyl4UfWiPVQDTSmDzZq7qFvx9-KCmxJfpBXbd8Uefy7aDOkyc9qs3LN-_BBcznJWmmEZx4-GWjjSEvPJs2Z0Ci5lcnoZOjYVRysRSecGKzqIR9jjzlzuNOFUmV69pPVr1dqagb1RUX4WdMFf9a9On-WxHs4YQyOejful7bqLejekJJ_nguRvpayj6zogX4mHF4gDpb4dnClyMDHaUkvM0864Rw8Lc8qJMg4sVEOXlTMQ1rV-tNBLCS-LIZwQFKPUaUhTG3N0GtCGm-zs1Zo9KkBsGlXNIIgEny6rv0bja1ez6Izi8INZhCNaO2davLalQWSBphQcyooUZQ3jsygYnIVo79RewQdBhSEKqY9xk_N4z7BcFFxhuGr402QYaSMPO8WvE79-pl32QEHQ5Llgxa5X-TG2JrgJgy0eI4fTyGAH2nprWHYrc7IEFtdRv3Ek5yGKXbMLnkMm7Z1O0_Ygn7mD9zUpzOMBwyC_yjSa0p8iXzYeIO8-nT0P75SiswCOxjhRDSDQjemt8RofjYznlp0ecy2Z7IvOsOYPXOAm9pUQj44ZWV02AOA4N3yYD_JuKJsRbOEqbnHHELnXjdDn8-UPCt3tZbRyanknkIryDbU7_ZCoap7R6xd4VotegXLvt2FWsmVk32I1MJCiMBP7zIKOPGJroY1PVERg7JUpjsjhHFEjdxBlxzBzib_uPrOrhjeJaJxXKdXOVg9n3O4C7k2TgqGTfWRYTTzrGucUOo0eZjVKIDCGdVtNEv3Rt5JPjRJSOaiLqjVwka_HsS6Mf5xje0b8vXZFjIu01uIxqKG9iJHQfhjqn4XR4F7yOLaCwd0Rb_rtdVPIrnxRo-HTj_t7PvHNwf9zn24D9fC1cqtA-T2eYtgUJsVXlZ2Q4IlrHu8wTKw-SdapslgF9VWuyqXldA3u_Xj8xTo8lWcCb15d5vGduKm7WghvVS86IWFKhqNI4bLNo6-m6veArc2AK5UFXyGht8DdJlzm3XHGuiiudhd1rnXJtNkXFd1TwRc9x8k9tWi1gPx9TS1b2ZS8ltjyDiahHi1tYgPfmqsLlmiGdDLmMqvt_XUtwyKmmwMdeQcfVpezubnBMiMwQmZwYdlj0XDnxdzYB7rSo0hOn7VC7CtX5SrKJqLSsKYEy6IU65NOu9XQ6kpDDk-nHWgSzuCcIA==",
  "id": "rs_0764ae4912640664016ab42faac66487d0932b76be8d95eb1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.38,\"left_y\":-0.065,\"left_z\":0.005,\"left_yaw\":0},\"note\":\"The right gripper has reached tabletop height around the pen, so I’m closing it. The left arm stopped about 2 cm above its requested height; I’m straightening and slightly retracting that wrist to free its descent onto the cap.\"}",
  "call_id": "call_QrzOntwqEiAgy7DtLhK0ROmD",
  "id": "fc_0764ae4912640664016ab42facba3087d09bb201d14f1d0fcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrzOntwqEiAgy7DtLhK0ROmD",
  "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]: [-0.2005, 1.7466, 0.8455, -0.1452, -0.0372, -0.2111, 0.9965, 0.3511, 1.7737, 0.836, -0.075, 0.1333, 0.1925, 0.0085]\nstate[eef_state]: left_x=0.383 left_y=-0.0675 left_z=0.0038 left_yaw=-0.0425 left_pitch=-0.4775 left_roll=-0.0881 left_gripper=0.9965 right_x=0.379 right_y=0.1177 right_z=0.0008 right_yaw=0.1062 right_pitch=-0.44 right_roll=-0.0134 right_gripper=0.0085\nstate[joint_eff]: [-0.6085, -9.1556, 4.2051, 1.0134, -0.0415, -0.1636, -0.0073, -0.3487, -9.0872, 6.3385, 1.033, 0.0757, -0.0171, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b4a94e87798aa6738296a2220336b5d9319df76ad0929ac0526470defec7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6532c57419f7c166d8c3acb73899b6a29f6568c53397ce066d742bb1af38d8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fffb96bdb0df1d47d7129a19efac489ed480ff06799df29780c8f6806034313",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 4.072 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1566, 1.6436, 0.8906, -0.2268, 0.1043, 0.0235, 0.9947, 0.4114, 1.5833, 1.0283, -0.3599, 0.194, 0.2562, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.0764 left_z=0.0476 left_yaw=-0.271 left_pitch=-0.4038 left_roll=-0.0847 left_gripper=0.9947 right_x=0.3894 right_y=0.1367 right_z=0.1051 right_yaw=0.087 right_pitch=-0.3325 right_roll=0.0048 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -10.2496, 8.9368, 1.3602, 0.0806, 0.1343, 0.1245, -1.347, -6.653, 8.2256, 1.8388, 0.1734, 0.188, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1555, 1.7569, 0.9733, -0.263, 0.1047, 0.0235, 0.9964, 0.3511, 1.7573, 0.8459, -0.0978, 0.1379, 0.1944, 0.9989]\nstate[eef_state]: left_x=0.4005 left_y=-0.0778 left_z=0.0284 left_yaw=-0.2739 left_pitch=-0.4701 left_roll=-0.0936 left_gripper=0.9964 right_x=0.3799 right_y=0.1171 right_z=0.0073 right_yaw=0.1012 right_pitch=-0.4357 right_roll=-0.0155 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -8.6222, 8.8957, 1.3651, 0.0415, -0.0366, 0.0024, 0.2393, -7.4735, 5.3949, 1.4139, 0.1538, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2005, 1.7466, 0.8455, -0.1452, -0.0372, -0.2111, 0.9965, 0.3511, 1.7737, 0.836, -0.075, 0.1333, 0.1925, 0.0085]\nstate[eef_state]: left_x=0.383 left_y=-0.0675 left_z=0.0038 left_yaw=-0.0425 left_pitch=-0.4775 left_roll=-0.0881 left_gripper=0.9965 right_x=0.379 right_y=0.1177 right_z=0.0008 right_yaw=0.1062 right_pitch=-0.44 right_roll=-0.0134 right_gripper=0.0085\nstate[joint_eff]: [-0.6085, -9.1556, 4.2051, 1.0134, -0.0415, -0.1636, -0.0073, -0.3487, -9.0872, 6.3385, 1.033, 0.0757, -0.0171, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b4a94e87798aa6738296a2220336b5d9319df76ad0929ac0526470defec7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6532c57419f7c166d8c3acb73899b6a29f6568c53397ce066d742bb1af38d8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fffb96bdb0df1d47d7129a19efac489ed480ff06799df29780c8f6806034313",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-1vfUoF4ihVwUtw8ZncHe-WzyDtgUkC1akfPAdbg_DXbHinzzra3P33ayDeM0L63jMxNgcQOE15W16TrNOXj3v94gaQoQ_W8DegUnzh6idUaN7pNODghSy7P1R7igF-FEPwpeQMHdxoiEUDSifdlLBFnka-YIgR4M_7qX61Xhro0r8a7NlccOiZKOOK0XULWpo_oIZuIPCPQan3NSNl2xcyE6fRBlCBgrDuGs3H7CNEg9AxIbFQ7i3XgjOsOTaJCO10mBYtSnoE0wXBugwS2FP1fzJsG7Q-RqUHnYNDfnK2P1RmeJILs-4fSYKSoOZbmQ1yvZkj9lvrGcu_BAHkiGCYyZbbEucGzj4CBHlTf-CtmoLh_GT-l_V2FtzWMCl06iBWbWxFsFILn7-K8YrcT-lIGZI2lqFpkvg8GTyG0ggCE0Ych2sa6G9yzCUwQvGaib8KHVi0EMRVYNxlZ9JYcFyhTx6Sk_KJ8g_R33nqxV8t36uh4RR4WCmibz12rnKIlCMQaY_wlSZVA6EhcYL9JNuZfskEaJeBj1wYoO1TrHf1uqaNxUB58pKvgkFl2K_A4iHal8BE36sJ_4s0dQfWnLJqQq1Nn2AwfW4FivLmCtIniDprRrh3VRB1qMIGbQLx6DJUPbgVaLnFW_7H2v6Q8WHz0HVBxOcQT3v0U9dW35DG8GgTYJxSEj8vfNL72QdDMIhv_tILhZO0qHPOfXazwh2q9W8pm9znehxDvyiMCIor6QUfik1HPr5GicKLSWmLDK_a5abm7ifuAHA1U_AUZgy1q3gC0wLfx0ovX1v6aE973oS0y3o_scj0Wrga9TMWVdC4LipwjKZYkAb9uzeopC-z2uFZf5U1HODCbmVJXOfk2AEOh2IheO8kKQrIdibm0mCkC19DVjOoSFZod3wt5YnfoHYq1kU44Xg21Og5UQmEh9Twzkz6yNBjLWrd7rdcXPxtw8pZaHbqHy9FQEm7JTph9l584MlI34wleJKOxpL4TSs5SJCn65yWi0NTLpAjfGmTXE1iKaqlFHhq2J2z-d5Rnn3shiFjeDZno2o3PzKNmq00pI_nIC8h9RvK0q5PGzvYuR6wxjQxCjBrkDlqQd6GMzgYgeLRKRKLqdYEDJwZnkyysH0m_yO0a1_M7JedQJMw-qK_IMOi4Qg5OFOLhHbEkMsabs95mHNJHp6a-llnN1ApUL5aN8i5tFvPKV91wwvV47QjfkCxWzSergUNhP94NMP2Tp8CZWvJRCXVV_qulu-qbAcbS_EQX7WCjclHPMSsObgo-r8rxFNS3Z_gg9ykjd8RFO9nD2ForFzs39HPZ3KoTAKurVzSSnJmU-auWBs40c8YHpd51Pk2d-ZxKuuK3FZahHk5hFzASHvTKDSD-MPYpKv_yN_Ta8Dj5BoslOCgCKRbsdDU0M9n6Rle_ZoxaLtXsiZdknxCq1CPzbxCh7zvgBqpNeH0eCIKUYcH7F4-QaniFqWH-IPQbzbW25AoRkV-NNmyX7_v87r1nSnwVfCY6hMsuo6Oomy32s24F1En3-DSWOt_vF1IwXOWIPO3oCBORKeAWMAx1eyq0_J34l1D6V49-CDBmutVc4Oy-QESmCfe-9YUtTjJbrllKM0V2eSgUQ4CmAvHfXg11n-jqUqm9c8hMaOBioNDjmnWOVtE0sKPOPaVHaFw5o9sdJ3Om2ZLunBtqWcd9_ZZMR7Tf9Z7z9K1cEp8yyRlWEOiIQUdaLpqI56_sHRZM3GgULvbSITpvuA5_82hWBYHSx67zIWEdjxp1guQSfNeobQLr4DWbb5v9riDjiVZCZFoHpDhKHc3xIFlyMgFcKU7S6m7REqdMnwyljLcEv-_jCm630J32K0YwyXxqtpGqaumzOqKj6bcaj8slolzf2V9S7miPPVLTwQlv8KiEB94unbvd1MJomrQc9YDj2wAIaS_ln8ipUSB2fhnT6q8CaIcr-ZTJxJwRppD81hZLHPqRyyzgviCttZK6WNS_O1uDhXzF3P5I8CiOwxJmsAeWJW8ECxPnVMDvZ5bF4OrZuD0u5Tmu6mKQShEUAuecJIqgs0CuMrclnkRfeAOK9oDn3Wnkvng0DCe5-OMaUoDw14ohyB67220n_udQK4VKaVRkTy0CJAJknIWID2UJ9aKQTkW22gu2ByQPy21lFVA92l8NJyP16tcZ-Kzp-DcHFpX9-OgHvjqM6pTQ2ZG1K57XR3rsv-47Kj0Lc-P0LoLimBJmDAe5J8XOOQNUXdaqoK2l3FX6iTssp9IFjDGOw1_st9nHvfgJazh8ikxMQF3ac7StpuS5cO5yv5Zd_fXLhs2Q_LpONFJlXFH0zm0Uk22XJaT2pZK7ZjZzCFEL4pY9EEHON-Ei66i0QFIQpw91fpLEDnAFTJJkyEgCx8Xc6EGPQCJnzH9FhavE0ANVHgIVPFjuxIV-o2Z65sthShRSybzPmBh_RGmxYsCBSabRXBcQW41NfjXsk46zX1leU3tpd7IwGK4f_JANgCMriu5hB5blXNjlwf96pDE8eNVwlvKi_A1UUcL42ReeOROq-cLg4zlPY4ET34LWJ9fDM5hIAy-wCMQAjITmXoPcap7j6q4W8wmuLvknOdgd-omVlM-FaRLaKALXJ3_4kau4dcS6bjDdhg_lef999RFkTNW_cPJssDlY9_k8FiEFeHfpYruY3A3LsQNq6eEMQzwVWbluZLcJas-Fe7LlvcpHItfAlBsCn6GwbMsO9wiTCnFv8-plKHBPfFLrnHaO0bSrvp4CibyzDB4WHiHdEqxDWnpKsCwPAgg1eN1PSx0ttMvy4YUXtYJGmuKmTTgrn0fvT09k6fJFz20lMU_fBQ4O5VcM8wqsDFJ2r9AtSC-cd_9dNvKUN_PznWWbi9jTcIZs6oH5MoHPos0MEaMzuOuHa7gL3_WBc9mrF4GDwHwEMVEgC0ENtN9r7KnKSY5FPvcY5jRKlCRHqfwHnPevIsCpmeoXMW8YP2fpMoSZtV5YLcpYYzNDRyD2FeK5r9Twj9VJqM4tyYU_g9_DU27exnMaYi2Iud4Ap4C8QDOZ84sEyhtvx_RpxGoCUEwqiAPz2zQXndzyApooNpRvwDq0b-EMMgVfvsODF50bB35k-5s7MnA3SCR9gZ11k0ERrKOr71A-00LuI4IzB-fLoS0A0J2oqZ4LE_0jy0S5R1l13ocsrPh1xV4lAcutMscWHzgJTikfREIpUzkyoNWqPkzmKCCJsNmgILvTwXFtkimCC8AgBIGfNBym9RxK49u1xc0-Voo47i4Tk6eY1-K2xzq0dFJF_ly0gCrec9j9SCGy9vh8ZqlpIRYUQ90h02rep2",
  "id": "rs_0764ae4912640664016ab42fafbd2087d0bdb7e1ed7a79f439",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.065,\"left_z\":0.075,\"right_x\":0.424,\"right_y\":0.108,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"Both closures read essentially empty, and the pen was pushed toward the back-right; the cap remains on the left table. I’m reopening and lifting both grippers, advancing the left one over the cap and following the pen’s new position with the right one.\"}",
  "call_id": "call_SNThbN49KF9g8pnErZULUr6L",
  "id": "fc_0764ae4912640664016ab42fb436e487d0998af85f0664d7fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SNThbN49KF9g8pnErZULUr6L",
  "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]: [-0.1768, 1.7454, 1.1015, -0.4442, -0.0448, -0.2157, 0.9965, 0.3012, 1.7351, 1.2289, -0.585, 0.0845, 0.1081, 0.9947]\nstate[eef_state]: left_x=0.4078 left_y=-0.0612 left_z=0.0546 left_yaw=-0.005 left_pitch=-0.518 left_roll=-0.0753 left_gripper=0.9965 right_x=0.4045 right_y=0.1138 right_z=0.0879 right_yaw=0.1445 right_pitch=-0.5261 right_roll=-0.0323 right_gripper=0.9947\nstate[joint_eff]: [0.212, -9.7573, 9.0325, 1.1306, 0.1343, 0.232, -0.0122, -1.9214, -10.2769, 10.0034, 1.7509, 0.1343, 0.3394, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a93afa8003fffe0a6435b32e9ec469fbb5b44fa216faee947fa909af132b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6b925f6fc8e819ecc58362c0cde7e3c2714b2f7b6dfdb8a9bd3b9022f86b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9759f95d0d126f1c468e720477ee2c19a951d00ddb999a32db9660121cf8db",
      "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 · 5.511 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1555, 1.7386, 0.9638, -0.2588, 0.1047, 0.0235, 0.9963, 0.3546, 1.6024, 1.0283, -0.3744, 0.152, 0.2039, 0.9989]\nstate[eef_state]: left_x=0.3997 left_y=-0.0777 left_z=0.0328 left_yaw=-0.2731 left_pitch=-0.4572 left_roll=-0.0919 left_gripper=0.9963 right_x=0.3919 right_y=0.1204 right_z=0.0945 right_yaw=0.093 right_pitch=-0.3741 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -8.6769, 9.2103, 1.3407, 0.0464, -0.022, 0.149, -0.6222, -6.9812, 8.3214, 1.8242, 0.0269, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2005, 1.7466, 0.8455, -0.1452, -0.0372, -0.2111, 0.9965, 0.3511, 1.7737, 0.836, -0.075, 0.1333, 0.1925, 0.0085]\nstate[eef_state]: left_x=0.383 left_y=-0.0675 left_z=0.0038 left_yaw=-0.0425 left_pitch=-0.4775 left_roll=-0.0881 left_gripper=0.9965 right_x=0.379 right_y=0.1177 right_z=0.0008 right_yaw=0.1062 right_pitch=-0.44 right_roll=-0.0134 right_gripper=0.0085\nstate[joint_eff]: [-0.6085, -9.1556, 4.2051, 1.0134, -0.0415, -0.1636, -0.0073, -0.3487, -9.0872, 6.3385, 1.033, 0.0757, -0.0171, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1768, 1.7454, 1.1015, -0.4442, -0.0448, -0.2157, 0.9965, 0.3012, 1.7351, 1.2289, -0.585, 0.0845, 0.1081, 0.9947]\nstate[eef_state]: left_x=0.4078 left_y=-0.0612 left_z=0.0546 left_yaw=-0.005 left_pitch=-0.518 left_roll=-0.0753 left_gripper=0.9965 right_x=0.4045 right_y=0.1138 right_z=0.0879 right_yaw=0.1445 right_pitch=-0.5261 right_roll=-0.0323 right_gripper=0.9947\nstate[joint_eff]: [0.212, -9.7573, 9.0325, 1.1306, 0.1343, 0.232, -0.0122, -1.9214, -10.2769, 10.0034, 1.7509, 0.1343, 0.3394, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a93afa8003fffe0a6435b32e9ec469fbb5b44fa216faee947fa909af132b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6b925f6fc8e819ecc58362c0cde7e3c2714b2f7b6dfdb8a9bd3b9022f86b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9759f95d0d126f1c468e720477ee2c19a951d00ddb999a32db9660121cf8db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-6Twr7741YYZvDyVXTUixN11zX0hXcOpv-n14CqL0yD5FS62WZeEh5mN4445GK1BA9D06z4KQVzYW9MJUfWKCxMgjYhwbW_oRlg2CWRPspGBMY48NOLeoAd77uRB3IYBmnzJPlTb13uw6sAcBiPnzjKov5Sv7LGeUszJM6OG6sJlvOe6XL4an-wemqTtl9APkGlPAq6BzWVmQkSwqMrCMRarep_0Yo44dsoKJFppqyePaGlLLYrlQq15FYjGg__Zt0zmevKkqotw8qdwr7R86bVV0qJUc94fsuoRRdXDRqxVhJeqRpCXysluay7p36M9LJFuu-_Xro-fsf_P2Ow_Wt5qR5lU0D628VBTJ2ZFQOXeeXFay27UxN6K8MICwp0F1EqK2nPyaO7gOEJwbiSwYygSNgl40VaygflcrTGu2ngCbvlVklhyYS_l6lfThHB86HWp8AyASrTHzVo0Hb3X29mbaBe_V4RdXMg9ePfDcgrk3hCpkTzDoZuXcEPsPfDcbQoErRp7GUUZVcKrxG2k7WScJDmK1p9ljJiq555-b5qJyRtUpbED8sfNf9rroR47rP-pTri7CccqcupLuHcs6aVPGWwkYX7mc1L37wwZ6vvz4JSZQydy_ogIwhu5X9erbAO-Ureu7EejlvlX1YEj9WfHx0DdbCtIOFgMqmncvle1kG0GNlUylfM-_KkGHN5ZLE7MTW29WiNHOgxo6KTr_TjgIyn7AdWjqhWySz7rbmG2SZhJk9U7ZwbsmKfbPzHcakp56dJbh4sRgMrPy3Q7Ggmt2Cfel6ErLW__7XbFH7ed2Cd211aJA25K0Hd0XbbtdxqSdP8AnQklbkJ2DghUn7lu1bWwXPO8fGh8HCROQFCJ2m7NQeaEXXPOT95mPNDZEwhVSA3dDF-Bdg-RAxy5VsKQuf8_LfXBne24oqw5mmTQaocVAeJnK_0hQxZ60Q9kIuzx2v4sJjOCRNxLSX9FDBbQ6GDTXYwihV7rT3DbykyVT4pt5jhm-KfcdnngR1Pmuxytx1B6dOCixy5uuCkTLZrwnM29ZtfwVhQYGGw_erfAdb2_Jp-GSfWH45Mj836InsEjWJZaP0pl3LiAh0_5J_fVylNmQxFVzTtxMbKZSH56MwgaGd7eK4NUvQJPf2nymL5J7okdMthBqJF5sRhgCVYER06I9U8gHsDsm93HW4ocM_9sFYm9wUDo8rO7uy9x0vfNW8jCUpz98LgacY4gLMNC3ruOMuLTwRegX6XMoYQOmzxrzoP-Tri704CSy5GSISuyIQJtFHbtCbkasNNjR9zfZ8wwp6iKgEdpcfUp8Eb-CmTywO7zmSkyCnUmQsr1mCJYfokSaCd1xUuA6_PykzP5MLqu_OhJO9YiXus8wnI9kvhh-ypjfDncvZzVIwbQo7K-fSq_3CLQih0m2RmuyQPA5OWJALwNUUETdiJxLuEHuQsQuncLdj29aPjggQXlnB8_SPCBuALgn6BHHaoX3dsD2VMcz9DDjv4TuEY_pU8hpv6Njl23Mc0o0kEJ05gxm7dq66RTy75Or8cck1thiCdu1t4BDgs2H1ICDnn4vanhy0So2g_wGgTKhk3lQ8q-B4vivdnKxtzSuhF5qcLMdBIgkoRY95CJGlrxPJ2kmJy_14-7OEIdvXwWPsR1ostX_Q87TDWk69A5bUV5WiRAawtMiUDqhMW5wcarBX6bNenTtKlLd27gC7d3ovAzQgilsGCxkxY9kVAEdfeXJaNMst3HgxZ1vadWn7K8POrttemhkc6KzJdEsOQ0yfvSpIE4xcgKOAUFDsCW4CBtNQceab8XebNn7upjEpIkdFUfyzfIHh_0PAkxG-OfWcNhNQ5N5YEOWQMgMZ-kNw1g2ua1zNPPAqvD-EtWQWxRg5foUi8uOS0mEvP1pPuqluZ1uNJI4ZxTwbnPswM43f91m023Lm_RezyYni766iE3uBTOug2mQRyDDX5N_hMD8_nSh4pTk3pgqz_f-V_YaFjab2lfvCiwc8NnRn75cpzML-IoLRXE4NLyWMx6GtY5FhcHQJjVdTs8S3r-cGlMx1oCxBI8hOAjTO878f2GothKhC_Rjz84lvoYgujJ1evj7d08hSTSAFSpScqmdzutro2BT50gV5A_ORXmjj634AbNGwPYXDnXWCpETXU1dbGKJci6COk3uJbPMMJGHiH4v4skMkUIMNkwAvyN7uddT9sj7qFCUf8pJM3lFNYSInsI_shEw0nLaH_qNjUOGBi5Svt0-qc7WV5Q==",
  "id": "rs_0764ae4912640664016ab42fb7547087d0aca96aedf1068782",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.431,\"left_y\":-0.073,\"right_x\":0.453,\"right_y\":0.071,\"right_z\":0.12},\"note\":\"With the hands raised, the left camera shows the cap just beyond the fingertips, while the pen sits farther forward and to the right in the right camera. I’m moving each open hand toward its object while keeping the right hand above the tabletop.\"}",
  "call_id": "call_psbpGmaxaZSD4BV3rxbQdfJ0",
  "id": "fc_0764ae4912640664016ab42fb986a087d08ca946d90942e7d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_psbpGmaxaZSD4BV3rxbQdfJ0",
  "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]: [-0.1932, 1.8305, 1.1633, -0.487, -0.0471, -0.2306, 0.9965, 0.186, 1.8442, 1.4197, -0.7883, 0.0212, -0.0269, 0.9958]\nstate[eef_state]: left_x=0.4116 left_y=-0.0684 left_z=0.0374 left_yaw=-0.0025 left_pitch=-0.583 left_roll=-0.0666 left_gripper=0.9965 right_x=0.4183 right_y=0.0785 right_z=0.089 right_yaw=0.1732 right_pitch=-0.6543 right_roll=-0.0419 right_gripper=0.9958\nstate[joint_eff]: [-0.6496, -9.1829, 9.3607, 1.2625, -0.1636, 0.0269, -0.0122, -1.3333, -9.6615, 10.6872, 1.8828, 0.0073, 0.5641, 0.1001]\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,$blob:7f4daa02c9f7e6c628d0ce31884bd2687b4403e6bce97a433d28ff2796d7c97f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2252fa3f3036ce7fd31ca87774d2518b30cfe0781849792eb22ef34969a72e78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068ebd09559207ff6332bad07585cd183c01732c120f7e09024ceb860e4f2486",
      "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 · 4.163 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1555, 1.7569, 0.9733, -0.263, 0.1047, 0.0235, 0.9964, 0.3511, 1.7573, 0.8459, -0.0978, 0.1379, 0.1944, 0.9989]\nstate[eef_state]: left_x=0.4005 left_y=-0.0778 left_z=0.0284 left_yaw=-0.2739 left_pitch=-0.4701 left_roll=-0.0936 left_gripper=0.9964 right_x=0.3799 right_y=0.1171 right_z=0.0073 right_yaw=0.1012 right_pitch=-0.4357 right_roll=-0.0155 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -8.6222, 8.8957, 1.3651, 0.0415, -0.0366, 0.0024, 0.2393, -7.4735, 5.3949, 1.4139, 0.1538, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1768, 1.7454, 1.1015, -0.4442, -0.0448, -0.2157, 0.9965, 0.3012, 1.7351, 1.2289, -0.585, 0.0845, 0.1081, 0.9947]\nstate[eef_state]: left_x=0.4078 left_y=-0.0612 left_z=0.0546 left_yaw=-0.005 left_pitch=-0.518 left_roll=-0.0753 left_gripper=0.9965 right_x=0.4045 right_y=0.1138 right_z=0.0879 right_yaw=0.1445 right_pitch=-0.5261 right_roll=-0.0323 right_gripper=0.9947\nstate[joint_eff]: [0.212, -9.7573, 9.0325, 1.1306, 0.1343, 0.232, -0.0122, -1.9214, -10.2769, 10.0034, 1.7509, 0.1343, 0.3394, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1932, 1.8305, 1.1633, -0.487, -0.0471, -0.2306, 0.9965, 0.186, 1.8442, 1.4197, -0.7883, 0.0212, -0.0269, 0.9958]\nstate[eef_state]: left_x=0.4116 left_y=-0.0684 left_z=0.0374 left_yaw=-0.0025 left_pitch=-0.583 left_roll=-0.0666 left_gripper=0.9965 right_x=0.4183 right_y=0.0785 right_z=0.089 right_yaw=0.1732 right_pitch=-0.6543 right_roll=-0.0419 right_gripper=0.9958\nstate[joint_eff]: [-0.6496, -9.1829, 9.3607, 1.2625, -0.1636, 0.0269, -0.0122, -1.3333, -9.6615, 10.6872, 1.8828, 0.0073, 0.5641, 0.1001]\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,$blob:7f4daa02c9f7e6c628d0ce31884bd2687b4403e6bce97a433d28ff2796d7c97f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2252fa3f3036ce7fd31ca87774d2518b30cfe0781849792eb22ef34969a72e78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068ebd09559207ff6332bad07585cd183c01732c120f7e09024ceb860e4f2486",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_AQqtXKnjtcF17cXl_MTPNS2SE7LaFCV90aj9T6kxj-qPZAT-fGZ3HUYCUOr_nP-lwgl2Essh-r0xzQLBH0sDcA8jsf56YRHpwF2kJUhzMCIqI25xRupGZoZ3TESRgqTYvFY-hYJ_M6OczTF657pS6HZgHOHbCc87GI5wrBU_mVTAMWkZLyKyzs4J6Kslh3H9ycVaxnYXxK4BOb6JdRXIVC2T7nAh5WCviV2Vcy7MQAn-MBXhdM88Rx32xCfe5TL2V5L4ltYdO3Y0MN-L7Bapmc33FAwquONuK6XXdNXOSZfOzykVR3WFFwfak5F365HA_Ol3-4hUWbt1iDlVjahoeC-SayC9fVN7WUV2nL3BEDdkk-PZZ0c0SXOlIiSjEGZWahDIH4ZdEMi4M6PoIQRDpLjhXfvQGHnzFejaw4TTNufq98Y56D-6FQT-4HiolzTlZXvZ6VMoq-QiQcn-K_yOq8ZqY4wj_c8jjczxGbu68n1RUSKazHxFhSqPLQFTCnrk7XvoB-oBThTnJH0IZizfK17CAQXu05hN1x9-rC77zRdHKzwX9SJdY9VRnJBh_-bqCyEeS9wGcBgR_Cz6XC67vJAaM8Zi8GmAPVi8UpmmJFjvRKZUewjoOrEN9Xx3CymgnARKqM9VPJCTTI5lG3xGphTgCjYIFAQjJJ23jkcn3792-7jAmiMTge0BU4UYhbg9Yd6xKDmDZrdB7TKG7dKWRlYXSNgjhm1AqZz2p_iFuy_V78TL_-NK4ZZiF_XyDBZPigC7hsH0TkZwug0wLKmDRTD8AwBYfsqeHXPT7p1Mf4zxMDI_Ty86aXPPZw4lu69g2MBI5pmJ2HcdbTVA3IEX97lt7NskZHP1Uysej4ZfWJAXF1bKi31JRwA2dsDMtSj6N8bFPzbm71P6dO61ypllxg3hww61R-ECFzZKlak2ndpeyJbrcVoIC7-5tuA3SqAr3410KgKeeRtw1iz0gpct6ZZg0AbCVkIoFOu3XLe8vAtS4vGPBESlf--8VRX_K0kk_FKlr6JOo87zAYFFg94EdKB_VqoG3oe0hsjkNMumySiDP1HbfOMnQxa9o7MGqs_VxHX1K6_iSOd8GUG1ThgIwZn3grtgyUlQVV1AwgBmY6zApQwEjNlSDgCnMRy1XZ-hlTYDAjW4Mxbm6sIB1ei7zOr1nZklS8fIu9u7tOVHbKC5rPgjgaDpP4P1aL0PcKUpyxaFJJddOu-l8M530rGXiJyJnYEsDcI2UDrqMlfEfedqbyIrBW1dSu7679uFvtiBq6Ri7e7p6nWMqfBWz9IESUyqnHnN7hC8KrvWqJq7Eq4swNiLQe-okZARaXemR5k6ferTSO_hD6iVx40_5gW96ZZMzwjA8v-ozPLPfkRGoYVWYeHeRJJTtUuwPKZxjbXDusw4aw6N5vnjXf-2_qGXZql5Xd79LT2aMNxxChnINfwJc6thAGVhULnHF7PpSZF83UU400i7_C-uXF8fNjA_VS7ziGRJQimQUSQTOwdZGRL6No6vnhRyc8nVuH2jR3DL5X45fHX8IuFjc3Bmk7_-BL3y0KwPVIfd-fphl4b6p4_7b7VV7F2QcHpcrqfvThirETKi9hf4RE4MFaNlhf3zFxt2eGLb-skMN6e1FzW1GEvrEhW6FbBiiO7raKa1lR6XS9DyOPWf-3TzjsdtOBHEe3MfXamH-6fRCUbdoETCuboDFYNN2xCjCpWvGUX-M6bGk-29vSlW9MtNmju0ZcCbLv_zmpRDnPonF-HjD818s86rn3LfECBotd2-e40SwXSJVQQn54TI33P3zoRFakspYg_VztpvEvcF4zSfEfnDXNdrSRRThc0sK3wwzCmA17GIK-WsBHxDRXh7Q0VsEgrwRzG08Iqt5og8J3XyNm-jMmrH2_xTBP0VffZJpojGUXDj-ae2ltasCd6SkTz2Pw9Rp3niGALF2wS3GMi-ZwUN-ESzEi8GRyrFG0Hx950rwexc2h5i9JfMQqYj6n-Oew4i4MPD0BPotIeIkH1zL_9K3mFI-OtMJcWJBg5UBWTpy0yuPOmooPT9z3u50GTSws8zC0pLOD9g0t9cGYQzfYalxRkeO5_tO_3O_e6ZAS2s3UO9zLoO7icP2P-7QXaNb9p83KBhT50bnK0Uy7gLSfQC6Q5z10J_0L6EzRyA-QAA5-RjcbGNnpilLO-nxNuu1DzCc5ZhB5FFrjVWx1Egim9cfnqrv_YGCKcmx1GFI_mamXFANXKpyJCDLsTD0U8MfEVWL4Fsg2Y4OtrzmrDZ8Z531SHv2MMZNMVBQ7uk53lariNwUjTEchzshLL2UnXxZp_GZqwI7_VI-vYZ9wTARm-VYIwp7LVfU4ltrG89ScOfTTZxv8SIp0juGkYmyR_Ns1bgiXsFH-epHwUJorxcltIlpUdRmq84YsnPN9xTfGTD8VatvIKb-OEeLxyj12SAOUFcHtAHRuc7ZtQ4wm-EtI897UUL2HzV3RKd9LBO4AeNNUE4te_S4ivQ7R7pYiUFLo9KYLPJBVEltO28NDcr9jBcWsFhWoeQ4MEJGuqqW3_S3Ny0ZPt47BlTSpc1_UbL--eahXbAOwtjstnsiOF3k4XwCMBRJbD_5hzcUPHqOr3E7EjDS-GuKpbYc5lW52ugKZR1zPgVcaFdRoroFdVNG1ptgDRom20fVAkCKah_QuLEpDwUpCwo8OY9S0uHZnG_dpvXqbYWOs7b77QmsQ947WowmnARnru3U5Eh9U8a6UzUCcWn53g4ZubNF5BgajUihQ4moyANjU9z5mb2ElFeVRhdnWjYV2METled6txw5ZDy-rxh-8vNV0LuB08wi7EfDnggyT7vGYGQUqRcaLBw2AKgfY4S1hRJWhU8kWp0A_bQ2fkf6WEOEvxtiz2R4vFwNBQ6AvVYNw5y798A28CAgFDfabgwq5KkxahBIHuBfyfQpb7yRf0Z70hXiposOvryxwzqG_RS_AABV00nmLrIc4RoeURdLdWw_c0PeS1cO3QnFhzt7c9NAVLjqvCPiTYEpAIqjdIkEMXVMtP3R-mDPOrefgBIRFd-sKJvODF-1jAdMOnpN",
  "id": "rs_0764ae4912640664016ab42fbbb5e887d08b236a1867c82b71",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.443,\"left_z\":0.13,\"left_pitch\":0.25,\"right_x\":0.465,\"right_y\":0.045,\"right_z\":0.17,\"right_pitch\":0.3},\"note\":\"The cap is still a little ahead of the left jaw tips, and the pen remains ahead of the right gripper. Both wrists are tilting strongly down as they reach, so I’m raising them and asking for a forward tool pitch before making the next low approach.\"}",
  "call_id": "call_L3oslmOnSZVW70RufQYtMUrP",
  "id": "fc_0764ae4912640664016ab42fbf601487d0aec5167f2479660b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L3oslmOnSZVW70RufQYtMUrP",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.231, 1.6108, 0.6331, 0.5667, -0.1841, -0.1505, 0.9965, 0.0666, 1.5738, 0.7246, 0.4561, -0.1173, -0.102, 0.9959]\nstate[eef_state]: left_x=0.4374 left_y=-0.066 left_z=0.109 left_yaw=0.0033 left_pitch=0.1657 left_roll=-0.0681 left_gripper=0.9965 right_x=0.4521 right_y=0.0545 right_z=0.1379 right_yaw=0.2157 right_pitch=0.1679 right_roll=-0.0492 right_gripper=0.9959\nstate[joint_eff]: [-0.759, -7.4735, 5.9145, 2.1465, -0.1245, 0.1734, -0.0122, -1.4291, -6.3248, 7.1863, 2.5128, 0.1294, 0.232, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4544bee3b026307ab9b9b5ea83a5edcfad1fb51f17ee7c99239e67bbf38599",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9195116dae17fc78990fa7c4e24cb1b47f7e4d7a838b7450641dab3abcbf2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ef5de808de00ef216036bea5e0ab093bad16bc30f0224abc139cf57d7e34cb",
      "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 · 5.796 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2005, 1.7466, 0.8455, -0.1452, -0.0372, -0.2111, 0.9965, 0.3511, 1.7737, 0.836, -0.075, 0.1333, 0.1925, 0.0085]\nstate[eef_state]: left_x=0.383 left_y=-0.0675 left_z=0.0038 left_yaw=-0.0425 left_pitch=-0.4775 left_roll=-0.0881 left_gripper=0.9965 right_x=0.379 right_y=0.1177 right_z=0.0008 right_yaw=0.1062 right_pitch=-0.44 right_roll=-0.0134 right_gripper=0.0085\nstate[joint_eff]: [-0.6085, -9.1556, 4.2051, 1.0134, -0.0415, -0.1636, -0.0073, -0.3487, -9.0872, 6.3385, 1.033, 0.0757, -0.0171, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1932, 1.8305, 1.1633, -0.487, -0.0471, -0.2306, 0.9965, 0.186, 1.8442, 1.4197, -0.7883, 0.0212, -0.0269, 0.9958]\nstate[eef_state]: left_x=0.4116 left_y=-0.0684 left_z=0.0374 left_yaw=-0.0025 left_pitch=-0.583 left_roll=-0.0666 left_gripper=0.9965 right_x=0.4183 right_y=0.0785 right_z=0.089 right_yaw=0.1732 right_pitch=-0.6543 right_roll=-0.0419 right_gripper=0.9958\nstate[joint_eff]: [-0.6496, -9.1829, 9.3607, 1.2625, -0.1636, 0.0269, -0.0122, -1.3333, -9.6615, 10.6872, 1.8828, 0.0073, 0.5641, 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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.231, 1.6108, 0.6331, 0.5667, -0.1841, -0.1505, 0.9965, 0.0666, 1.5738, 0.7246, 0.4561, -0.1173, -0.102, 0.9959]\nstate[eef_state]: left_x=0.4374 left_y=-0.066 left_z=0.109 left_yaw=0.0033 left_pitch=0.1657 left_roll=-0.0681 left_gripper=0.9965 right_x=0.4521 right_y=0.0545 right_z=0.1379 right_yaw=0.2157 right_pitch=0.1679 right_roll=-0.0492 right_gripper=0.9959\nstate[joint_eff]: [-0.759, -7.4735, 5.9145, 2.1465, -0.1245, 0.1734, -0.0122, -1.4291, -6.3248, 7.1863, 2.5128, 0.1294, 0.232, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4544bee3b026307ab9b9b5ea83a5edcfad1fb51f17ee7c99239e67bbf38599",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9195116dae17fc78990fa7c4e24cb1b47f7e4d7a838b7450641dab3abcbf2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ef5de808de00ef216036bea5e0ab093bad16bc30f0224abc139cf57d7e34cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_H8Qbs0Uf_sIvJ2CZFMGjEmLFo5wGxCdCUpJMra4Y1RuEcvnOczLO979HklgxfxYF7bqWe6i6D_bsv5tiRuxXlbfKt_pU02Q_WyjV0mUvgv4AcScFiB5yRvm1mYMqpfW79Bs5B04EcV7SdIRKMKqwnsr89wGdV-xBTDL9JISZuii2VUXdZSxTWRjcIY14J1qfDYHy-OVh7jZbSmTp1PRAiTnFmzyM5EQnOTczDzEBE1ud46uFiWalTMRvDKl7vT5-VpOuH4Z_aR0F79oFvh6pFnGITdIci97rmoUI9f26uhb0WkX3iPWGmX-3Et3-dOmGFt480g4Q9RexmIJ8QNot9-6HcCamkZ5PSMQUUoygsanPM6_Bbpr1spEGTTd4VRcif6vbwOetaiIKGRoAYZYqK4nE3fWehsp5B05Era4mmY-wT-TjBQMJRySh7J3Rcs8K06tnTjpL6ffulO1XbUyv2CId0lEwuelfOnBF_7RJWjKe63SzhtMXaGeAkxOZpLTVbAwollW6PQLbAvZNPO9VOTHQoDLPvu17j_xHN1H-cjlO4YoEcI6SuzctmjSJDTo2wfzswGgEzlHlLV6RTFVnf-ZsvoZ78er_WaCo9ZqZX55-tKYrAIy7NUBt80j0TYklA_Q9F3iaq2dp9_ZOSofSspHHYcbtIrKk5AJrXI1w6HdVzg-vj1qIJ8clJf_-yTQxY58h51Ohog_9tbqUg9bNY_C63wJoqJChF_SJIM4FnE0hCoX7y0qfJw0_BFyno3ZsBeyBQqiS-wQNNs5oMP7qo8xvLipsKDuQnHLcrlipEXTm8X2iEAYGi4SOzjwy2HVI4lRXCyAmjSahk48UK9oJ9c6mEEOawD0MZomTDgDj5cAKw5JphooxGSuhN104W_JFKcTAlSiH8-aRHEWTXt_xSnCgyncxiRbw9hqWFs__DlUmGTS_rXwuf-S7R4Get-4VFpZ7VGBmBDzvT6-ToQz_6HHHRbyoUC85TNL3NxJcJC2Mw_sNlzX8A5diHxxwGuVZYzWeG__mRjsPOuDhpibKUEDnEffb0uevJmLNacCMGOF1YTak_Xb9jmwkZJGjuu-sOobvuZecgOb5fi8wu4k_jOeDhUYXiyApI7V4YotDhcLVRA8q89HUUUVrUnX9KbsvYxExt97grCAXCxVxN5C9u9NNvO_28XBkBS8z2HA-JV8nmDR0zh4l7phuKLpdjbzhTSEB5HasJWIvLmyFzNSoc2lHJLrsOViiZb9zyb5lxsa9mj3zsv6TIWZ7sGxWBkHWqlJC2XCVz3plrKf_cbbg_rSvw8VUx0YJMJu_r_yCGrBfouJgIypnOJTdkm0en2yMZ1u6IiKs9wAL3Eotf-NH5x1WHV0W8QyY_88p8TC8BMmCECJOaPzY3MAw67KhowH1I5CToD0ZUprBqnOaCCsv67QVoeLTzLL9AtkXkTsjHt5OAbcQkqBOsk7ipLLQmQ1DW40txZE-Q8teL5eVRN1ea6ZJIR8tijj4-ZBCd_YPCDUPhJDpJ8kQ4Qd9XkDoNLMfB39lmB4dRtdFu-O5NTaAtlcHHkSGnZkJVSBz6T2kr_OIe1ywrhiQVQ8HnCEhxnwWvhOoYSyVA52DBkUrHm1LZZvH-mcEwOtCx98FMtTvEokpy12hrZybMApwtPKnCDBnY3I5iqOTwWUYRjRWut0EDUPMIhCjvcBPXbnLrjc-6f9U4u660wqVQVyXirEzTjcxHnmLM3Jaav_ilQgAmmrrtmFTIJIQdfu0at9-qjsAiS2uzFEzWGpDTYLBUujX0vECver0Au8prcK-SaGY446KI9CFGWD0ViYixho2JyyA0ZkYjicsUaTkVdXij5d1Fazj-pPj3OB9e7I2JAb3UmJDlLmjk68m9E_GdX71TD7EbNYuBG99GS5pIssinlICAPbEgWkOLfV9vI-vnZEHVrq55ZtA8jkVtCejsdi88IBYIdtX7Y9WL1SDs2OnY2Q18ex4w4vxnr3HJyJJKCnhHKo-Q_gTB8HG4JVDgz8_NnFEDBUY=",
  "id": "rs_0764ae4912640664016ab42fc4a61c87d0af6a10384fd995a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.016,\"right_z\":0.015},\"note\":\"After the raised forward approach, the cap has passed below the left wrist camera’s near edge, consistent with being under its fingertips; the pen now meets the right jaw column near the image bottom. I’m lowering both open grippers to grasp height without changing their horizontal alignment.\"}",
  "call_id": "call_3tCeIgq6tea44ZICplDDBpWf",
  "id": "fc_0764ae4912640664016ab42fc6826087d0a0a1f882fabdf912",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3tCeIgq6tea44ZICplDDBpWf",
  "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]: [-0.2317, 1.9903, 0.5484, 0.968, -0.1841, -0.1486, 0.9965, 0.0658, 2.0232, 0.5907, 0.9619, -0.1276, -0.1024, 0.996]\nstate[eef_state]: left_x=0.4322 left_y=-0.0651 left_z=0.0068 left_yaw=-0.0004 left_pitch=0.1045 left_roll=-0.0517 left_gripper=0.9965 right_x=0.4447 right_y=0.0554 right_z=0.004 right_yaw=0.2224 right_pitch=0.092 right_roll=-0.0334 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -8.0889, 3.3299, 2.1856, -0.0708, -0.0611, -0.0122, -0.2803, -8.2256, 3.6444, 2.21, 0.0171, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf043710c12cfce99c2f30765af414ffa0362a8b507dc4dd310d8454a87f172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a603be90b555b04fc035f90ae10053da95510d333956e83acf54a2eb56fb6827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d77b5352c0fa613d81f428197235dd1cfa34c4347afeb93a6e564d3a38beb3",
      "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 · 4.044 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1768, 1.7454, 1.1015, -0.4442, -0.0448, -0.2157, 0.9965, 0.3012, 1.7351, 1.2289, -0.585, 0.0845, 0.1081, 0.9947]\nstate[eef_state]: left_x=0.4078 left_y=-0.0612 left_z=0.0546 left_yaw=-0.005 left_pitch=-0.518 left_roll=-0.0753 left_gripper=0.9965 right_x=0.4045 right_y=0.1138 right_z=0.0879 right_yaw=0.1445 right_pitch=-0.5261 right_roll=-0.0323 right_gripper=0.9947\nstate[joint_eff]: [0.212, -9.7573, 9.0325, 1.1306, 0.1343, 0.232, -0.0122, -1.9214, -10.2769, 10.0034, 1.7509, 0.1343, 0.3394, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.231, 1.6108, 0.6331, 0.5667, -0.1841, -0.1505, 0.9965, 0.0666, 1.5738, 0.7246, 0.4561, -0.1173, -0.102, 0.9959]\nstate[eef_state]: left_x=0.4374 left_y=-0.066 left_z=0.109 left_yaw=0.0033 left_pitch=0.1657 left_roll=-0.0681 left_gripper=0.9965 right_x=0.4521 right_y=0.0545 right_z=0.1379 right_yaw=0.2157 right_pitch=0.1679 right_roll=-0.0492 right_gripper=0.9959\nstate[joint_eff]: [-0.759, -7.4735, 5.9145, 2.1465, -0.1245, 0.1734, -0.0122, -1.4291, -6.3248, 7.1863, 2.5128, 0.1294, 0.232, -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 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2317, 1.9903, 0.5484, 0.968, -0.1841, -0.1486, 0.9965, 0.0658, 2.0232, 0.5907, 0.9619, -0.1276, -0.1024, 0.996]\nstate[eef_state]: left_x=0.4322 left_y=-0.0651 left_z=0.0068 left_yaw=-0.0004 left_pitch=0.1045 left_roll=-0.0517 left_gripper=0.9965 right_x=0.4447 right_y=0.0554 right_z=0.004 right_yaw=0.2224 right_pitch=0.092 right_roll=-0.0334 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -8.0889, 3.3299, 2.1856, -0.0708, -0.0611, -0.0122, -0.2803, -8.2256, 3.6444, 2.21, 0.0171, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf043710c12cfce99c2f30765af414ffa0362a8b507dc4dd310d8454a87f172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a603be90b555b04fc035f90ae10053da95510d333956e83acf54a2eb56fb6827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d77b5352c0fa613d81f428197235dd1cfa34c4347afeb93a6e564d3a38beb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_OcAIA8j_tMq-yVGcdBJ36E9cL9mCpPjeenX8cm2ArTC0_hto65kZ4P2IgLbJXT-J8RQSn_RWCQaiYcfBbwLiIWNm0pLHPbB7d2DXN1YCIjEBThDuDvmGmbwp9xBnpY3On_0vqbpnfed7_TwflmGFzFTcabu0faeANqwKxwGo7Ykplox4niSpc-d2tuZURBPwjHFp55f3JHoXXGYQBrrnThnlVSHJ5rB097Pa_APJdgeDunUBxv3kNcSLGv0YO4TVpDA8gEZ50-sy7zo8Bi-EL6gwfKL_4EENFIfOLyilYl3czNUtUo2qujQQvBf0Y_ZSY94tdl8UCjrg16fIFIT7iJseAXZMGxeoB19G-VSzW-CxG6_vtXkkzRAjwuZwquH-RCaWltN4511HLa_ls21_PizzHo8AQXMOLk-R-8bujcrXDcKCOGUqpshxS4DLjhMLSvMsrZ7-RBxIFF-pfIcBMP1Lc9pmmPxkSd_XLFDl6FRxOXSmzFua3tLiU7qCEkFDWiYRMY7U8lC9y6Yj5YK0sM1apSm-K7u9Sa_qDrAiQGXMrGglsS4TtftAnsl0UUGVAwY2rGqcFehcGq6_haAoWjtHIztl3gAJqZ79f4TMsDESQeiX7lNotEmom296jDl5Ccw6I3d1NceE1Km1TAwnJFGNM4_dq7IsRa1ynUwpptHuOD_jWJ6r5Wv_2PdlGamzsM8KTRt5Om6cSz6w1pul4uD0Mfbfh4UmN5X__J3mWZUQ5m5P7uRnFYpIqxcRtFPBZvW788QS95XcTAjVI4-XjXqf7SBnZ72XTJFC453IYkf7oT5mctN1LAakHPNcY4d8Waybghhj5eVgCyBw9JshHn7l-KVA7jrGDD1tuJzWSrd2mMeRXsQggFpCG59npL7EpBli6IqYZ4vh6XIysosYDt9snthyUxWYyrFaJ58G3x0bG80QORUtPut0V7eBlth8Kh8kMjWiQtNrZtkU0WKwY-0HGVO21Znf65WfYPTKcVzZfj-02o_RgD1-7S-V67pAb-TXeDeNgUdl2wZgSLn67Y4WukFtclymQObIm_STozq5a2KphlROw5O7klLrI3Z4jdz2DsK5G8Vug38gX2FdGNeOP0V2LulEBPvrJ6aKPIoVwQw5XUocpD__8JdBNTTnOM6caAUIjglePLHhpt1l1HcBK3oG8sKTbS_kMBY31bgpazCVit1nX5cSeDYzafDNv8U4-gIavuVfQ-PiVhCS5aOWTyPBN9r3K5Q74sapwfAJ3UFLoy8M_7WSaRnv21JDINchhEKgujG1WQCrdOrH0P4g_2JmDJpbhtnFKb9Lhs41aJn7WHCoIYhnj3CJegZHeAHbJQrUGCVhVi2jI8-TjPGzmWCqe37crwD6bZC50Zn6o6Bk8tP7JTM2SWsAskZrceBt7iQAZLevRnYUCFZqkIZuGhpSh4j4SFVkr5CptaFKBAV2nkYkROvRXgTekS6Huqeje-Eid8i-JW8O5uo2KBUCB-TzIBqZSO2nRkgfN0clrg4B0vJKAbPJLahbP-KdWkI8ciVGpgUCeczQTO5ApH5xfkSdPaylz8sDq_X_7z-3sEpMHawRhb8exrZFhOW0ioQWVjJ5kP2rEy5qSSvHQpnQfYzX6fjVXXRYQvVbYiYUI2sFLKvjjq7Pi7fcaIl4UfDDPKNPmgzmAfgmakk80FpEQlA70BIT5oDHScu2Ozr8s7Uhb_XUdPgLL5j1VceNjhkxPtOtR7ZDsHiSL8YJdD0V86jSwZolNQCLXma33tp8Y21BO5TD8o8LYaYGDoR1K9t_SQy95pWjxfBeqtRN3nHmdr4h0fo3WDBdziwNS7UvDQah9Jco7PRGVuQUHOc0jiWfm4y67YzJMH9ABc68u_dyOqEaLAYX2RCYwstVem8I-cosF4eSiPLSmM9ul1YcbMoz-gqylidhCWEIXUA2oyetrIi5RYWeaxkSsW2xwk0Apyqrpm_6DUoCb4xjiCpfsmZCHY9o6sDXnNh7SjhTO3PgnkTEYTG-kQPkz6kgBu-oIlIR6xn-QKzZv49T_TLebAtYoy7Yg0YL5_ls2fg2Gtd2VFzGGr43Nimo0OHCNMBi-VlD47UAjZzXwNaREqRucpKkeYHCdbXnbYi7X74dJC5dg677v790sp1ls-fkw2P2Ib3o-hU-kwZQKO1vc3WdLyA3RV4pEbkNJkKNRKT-3PCPfFMlvTPv0WHG6mD-lAfGWcaLE-xffhVFEOz55-PjbB8o93v1Z5ee09iTmPAE-dFK1kb4L0kr8hb844SM-RK9g1orJD-xlAkDov8-7WKibt58CVrKnKAM2HKrSEbLl3FFupfkRsqx6hqeml3EN1gXxBFOhnfne7N6kNjDmx2T36CfFoYdMVXoNwwcpsJTPf4yNJXwBaE-N7OBGY_IiqfV-WCljEzZx6j3zvl0hMi0kP_NmGpwxGbC8BENd-m8qTuwyhYKXXCTc2Sdi9obJ90xMGxh3ZKPOmwdp3Kvb0cit5lHn3Dfl-LnTzphTqUFAvEQD3nss2TcRLypK4aj7YgK5xDVwHcfMiA0DHFVuRdDKqQ-wK1TLNXwzylET1QZti5r9Pa-ZsK1e0seS9ZPnLOLjh7bklAH1pGVr2OuCulItsrSXwQsINf0tuaTQ4veuWFuciUsVmL5e4X5hWo6hxOXhA9aBKbUnwd5CtPT6M5-MI_FM80yHYOJ0qKpEowVDfKZwErALe9S8vAwLeyFcMDRj3NKnbvO8hgin9ueC50G9SDKgJuvbEiyUXvajwzzkDU6k2I9Mrfi5V1GQ4gRm06WSoFX93i-3pbRNA_Jr6x6NPHcwQT7Woh_f6p7rNkPpHaeqbx72wBynm6nehxm5w3wwbbr7VV8lIN1qcwP1IaDcZ3TOn8382h-S6MC0smmRwUrPlNruAhChL-b4LdDn625TKK_K8Kkb9bM3-agm6Fiq7CYAyHEjXvgktRL0zVMXBEMgHxqlxr09fuePoNta8QnlNerSSuDTfCTn-WIeSt7iflMzfYkJKLl8SOYpUHaZLXiy5mzQGmRXB0lrHKsASymIgE4DcpMrSHWyN3UYgxYRNFRHpob64bRMHgxCHTWOC8IBhuJCNnKIPCo-AJB8l7qk83TNXNDeQBsiPwj4VLxDc_pEjHjbb0zdFoBT-Pw-dUJRzxvgdQSdJMX1iivd6Ax-htovBU8vkb1uPFaDoR91khHi_L7gNAWyYbGK-BihzrUovh6uMELlmZxek6prtZuVcIQaDrgwahnwp2a67hWDzSOcieUKCDNUbJMCuDZnAEMwFFhEN7TXOHn0wa0vZ3F-yScQiWYzvI3T4D0hPwVLdMJ7i3FKCyKTW6rSYx1QiQ==",
  "id": "rs_0764ae4912640664016ab42fc9576087d08e38ac1da996f097",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"left_y\":-0.11,\"right_z\":0.085,\"right_x\":0.477,\"right_y\":0.039},\"note\":\"At table height the cap appears just to the right of the left jaw opening, and the pen crosses the right view diagonally ahead of its jaw opening. I’m lifting before a sideways correction on the cap and a forward correction along the pen, so the open fingers do not sweep either object.\"}",
  "call_id": "call_xoE1EkIC8NGeC9YPcmQYq7dJ",
  "id": "fc_0764ae4912640664016ab42fcd0b0087d08fd50d9da1c30f2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xoE1EkIC8NGeC9YPcmQYq7dJ",
  "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]: [-0.3679, 1.7634, 0.6228, 0.6525, -0.2905, -0.2104, 0.9965, 0.028, 1.8305, 0.7425, 0.5911, -0.1894, -0.1413, 0.9959]\nstate[eef_state]: left_x=0.4289 left_y=-0.1073 left_z=0.0614 left_yaw=-0.0141 left_pitch=0.1038 left_roll=-0.0557 left_gripper=0.9965 right_x=0.4678 right_y=0.05 right_z=0.0621 right_yaw=0.2573 right_pitch=0.0712 right_roll=-0.0347 right_gripper=0.9959\nstate[joint_eff]: [-0.5128, -9.0462, 7.8974, 1.6972, -0.2076, -0.0659, -0.0122, -1.7299, -11.0154, 8.294, 2.0879, 0.2125, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb556d17f7bfaacd804dcdcfe6efeb53c6a3aaf240a43ff95a4fb51830f6cb43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc641d885361f696c327d22db1373fcac5deea76f69cb9125cc7242a5523ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa387505066e954842f914f6097bb22ec42874f42eca74dc06dd2f7998839076",
      "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 · 2.332 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1932, 1.8305, 1.1633, -0.487, -0.0471, -0.2306, 0.9965, 0.186, 1.8442, 1.4197, -0.7883, 0.0212, -0.0269, 0.9958]\nstate[eef_state]: left_x=0.4116 left_y=-0.0684 left_z=0.0374 left_yaw=-0.0025 left_pitch=-0.583 left_roll=-0.0666 left_gripper=0.9965 right_x=0.4183 right_y=0.0785 right_z=0.089 right_yaw=0.1732 right_pitch=-0.6543 right_roll=-0.0419 right_gripper=0.9958\nstate[joint_eff]: [-0.6496, -9.1829, 9.3607, 1.2625, -0.1636, 0.0269, -0.0122, -1.3333, -9.6615, 10.6872, 1.8828, 0.0073, 0.5641, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2317, 1.9903, 0.5484, 0.968, -0.1841, -0.1486, 0.9965, 0.0658, 2.0232, 0.5907, 0.9619, -0.1276, -0.1024, 0.996]\nstate[eef_state]: left_x=0.4322 left_y=-0.0651 left_z=0.0068 left_yaw=-0.0004 left_pitch=0.1045 left_roll=-0.0517 left_gripper=0.9965 right_x=0.4447 right_y=0.0554 right_z=0.004 right_yaw=0.2224 right_pitch=0.092 right_roll=-0.0334 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -8.0889, 3.3299, 2.1856, -0.0708, -0.0611, -0.0122, -0.2803, -8.2256, 3.6444, 2.21, 0.0171, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3679, 1.7634, 0.6228, 0.6525, -0.2905, -0.2104, 0.9965, 0.028, 1.8305, 0.7425, 0.5911, -0.1894, -0.1413, 0.9959]\nstate[eef_state]: left_x=0.4289 left_y=-0.1073 left_z=0.0614 left_yaw=-0.0141 left_pitch=0.1038 left_roll=-0.0557 left_gripper=0.9965 right_x=0.4678 right_y=0.05 right_z=0.0621 right_yaw=0.2573 right_pitch=0.0712 right_roll=-0.0347 right_gripper=0.9959\nstate[joint_eff]: [-0.5128, -9.0462, 7.8974, 1.6972, -0.2076, -0.0659, -0.0122, -1.7299, -11.0154, 8.294, 2.0879, 0.2125, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb556d17f7bfaacd804dcdcfe6efeb53c6a3aaf240a43ff95a4fb51830f6cb43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc641d885361f696c327d22db1373fcac5deea76f69cb9125cc7242a5523ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa387505066e954842f914f6097bb22ec42874f42eca74dc06dd2f7998839076",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_SUxkEq79_bz1dpXfT5ikZpzcOwJ0Hq1K3F9kHqu1lqgu3Ett4eTFwnMNCi-cnNS7eE5M23W6NHekQPjYzx2QnMZVn8SZyG2QMgAD9x1XCbnP-PfbA-VwRGRKITzC0LvLYjUIotZMzZOk_0ROQdcXKl1s2UPqqmxYV9ptTyxdAWKp6wXEUeXaQQALgH2ZZvkppvD9wwN2jY92geT8ocbv7d-kP_O-Jfctq21S85O65q0CpUBOS7aiUlygvPbwxcAFMV3FzBLqt8c1zus8-JubFVpKUK7X3kQUxLjbSzCoJlPdDtIh1SQYhSvqSAlNoAQ9ki5wJ7gPuO2PweZ-LcWvcuCsYVwNQtBwDvOzdaPSVKaCVr9PUvJpF8h3MAA5zOwEzmpExTDH22wTE4MULuIpwtzNeomUMEj-RVw8_e5p_2tRj9T_0LRx7XJ0j3Z7J1osawEG--Vzf5LHgCWJN2CvmTRj_WRQ9SNiZTOryd41T4IAblxYRFiNL_oECFjuMQ7lNFUh05P_uNXV04X9traDBIxr1RbM2FuGZimozeCQFwpf3aYTUn-UaV7BqcmayOv9Kdd8FysQRSEVW1IUG4j6S3ehiyvk8uNnzSikfBU7TiNtE7VYcT5hJy2CVeHjiDseWikzUMA6yZ3zkaH7un0h9_vRdD5ZOznT5Av3Eu9nw1-PX23P5bBoFCrFFPSmqZBYwzyhhbYbr2RN9w5gRfwqqVVdPDFxAGXpUu-1LscnsSpilJLnQOsgGqwZK8tqCpLFOYJtm6UWPoB8yZZES_0T5Mxn7DL8tT6zqd7-CgBbZgMPEgeltb_3Ybf5kju1qFW7O1OVT1IAzWzcfcqYTMZB8LVehs0EcVyORXdEojzpyg4qpbg3JLmKlezUtCQKsrPt2kylxWjf93i5zgG-p8QBE1v6GPOx3rvgtUQcbR85HTcWTpi0PTVMbHOw5ou6jV2u2Ubq9P3KUH_H4YtnMgWsoO71Vydi4MS64VwFMao0qOUJgrNxvnk7lFVR1FzezJh48ZnzcjNJ16-7lKQO7BCsXICkWGDl9pq9e9L0Bwd7gOXUVsUejGW79l0PY80vyM4BMhh44FTVQkkgsjh7kwKtCuCG8TyIRXCBmpEz5ViqINHc_nT3JKBSapGl15BO2WzZD5HZkOyRQi6KSYrq3P5m4zqBp8e_0b-dGlf_jXEmR-4rrQoR2R_eYTldTZn9GGLZAjr10eQELKicMEoFeme4sCZKBg4IwKszRC4orwnfLRoPlQWj_zuyEA1czATYvxBKaSLZRnXA6I-66SmZL4zk7jCYy8TtEeclAUevIJEQ7cz-hrw84CCoHPgbiOVVbjzVCwqCLJUO3ounXnw5Oc5SVSyh7MHQJ12E9xttRnWgMGkndshuft54t9KgzVsEuy2RXgKHtqOwEd4HjyN3T5X3VUdke8bYn0AkQrulC8b4tHADPDz_WKTB3CM7ExBkHne91nTDM0Kcw0ChloFS6rWhrqT5AGMl9BvEVorrPL3VzRUkPMCGGvXHzKMrb0dPavEPBQSmT0xpiUt8LYMs15BT5OIT6T1YbsdaAQgrdExSRsvBbnuMpeZ6tUIwLd7BbfeudAzyFm7fl2XC_oc16H43gWUeSDjhHqhXHj2QOd-m4vOja6P3-B7HlAroJnZNC8lXJzA1nxJ_4kwNBBxtddlDiGoQOW-SfSt2qGT21KIOjVEwZMM-nB8L3BN_aPrjwzfz0tk8drwBEHmWi0zzf9iuxmiawzziF3JzCVR2RK-zPn_ajy138_QPibJ_GasNs9WxurBqkzh6anDH0Kw_D5bcqk2AsjMTb8OWZ9k17RPILpGCOJ5GkySmfMmK9HbEVkTY4uW8pvruXMOCTBl6LW5E2GwhaIcwMdXNmkJK-Qq4gAlr2k6vQwLQ-Z4L-rsCNiNgq4SiexEDgQxwrRQkwUE95U6SRmK_WLTWWNdbkPqov1R2aiWTiFRTyuoD11glmhLHdRjCk3JoboPWDA3jyKmYrqGTpcDniQh0OVzMCKNGrABZKmEPOew52vdoR5BZqzopmy9cup2sjmcsYsEhrRmPKPvNrDKFe8MqxyWCUeQqS6REcMamQavEoVb4IV_dyj9iwS8KHpCVQpqSER7uKfIVntKgtv0pFe5NBWATrBvmr0XM_Y2CWOoUgdn0_DQLSwbXYDs3tZkvP5FjcBiKngJXnp_8c3wCe6bAdUP5qIHdAb2AUPpaSYmL68Z8kYB2CiBwFylWLD_KPACCFqbdF0In6NnVe3HX952VSeVW9yiC6hwQmOChfxkAEUTAjue0EI0RIrM9lV9DjjxisHElRB0kzK3ZC_n2MiUiB4tpkvf9mm1W56cPPP7ORcbj_FNWcJb5Q",
  "id": "rs_0764ae4912640664016ab42fcfebfc87d0b7f8c007cb4835b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.009},\"note\":\"The right wrist now shows the pen running almost exactly through the jaw column at the near edge. I’m lowering only the right hand for a centered pen grasp; the cap is currently obscured from the left wrist view.\"}",
  "call_id": "call_edzDbK3QpcZjvclWz7nqyCtO",
  "id": "fc_0764ae4912640664016ab42fd1db4487d0b6476bb9805bd25b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_edzDbK3QpcZjvclWz7nqyCtO",
  "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]: [-0.3729, 1.7622, 0.6235, 0.6216, -0.2996, -0.2192, 0.9965, 0.0284, 2.0056, 0.704, 0.7502, -0.1928, -0.1547, 0.996]\nstate[eef_state]: left_x=0.4255 left_y=-0.1066 left_z=0.0559 left_yaw=-0.0076 left_pitch=0.078 left_roll=-0.0491 left_gripper=0.9965 right_x=0.4605 right_y=0.0505 right_z=0.0038 right_yaw=0.2671 right_pitch=0.0184 right_roll=-0.032 right_gripper=0.996\nstate[joint_eff]: [0.0342, -7.1863, 5.0393, 2.083, 0.0171, 0.0073, -0.0122, -0.3487, -7.1179, 4.3282, 1.8681, -0.0659, 0.1148, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837c24a37820010234874054c7f68f40c79de5d47250c0fb54132800c5257e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab959fb9920de2b4e3f49d279edc5b659c0f3de4f2d78c4705bfb6ce3b14da8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b325bd0809a4132008a9a8ebef39d71f4e88325700e0e4c6a9a76386e02e9630",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 4.611 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.231, 1.6108, 0.6331, 0.5667, -0.1841, -0.1505, 0.9965, 0.0666, 1.5738, 0.7246, 0.4561, -0.1173, -0.102, 0.9959]\nstate[eef_state]: left_x=0.4374 left_y=-0.066 left_z=0.109 left_yaw=0.0033 left_pitch=0.1657 left_roll=-0.0681 left_gripper=0.9965 right_x=0.4521 right_y=0.0545 right_z=0.1379 right_yaw=0.2157 right_pitch=0.1679 right_roll=-0.0492 right_gripper=0.9959\nstate[joint_eff]: [-0.759, -7.4735, 5.9145, 2.1465, -0.1245, 0.1734, -0.0122, -1.4291, -6.3248, 7.1863, 2.5128, 0.1294, 0.232, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3679, 1.7634, 0.6228, 0.6525, -0.2905, -0.2104, 0.9965, 0.028, 1.8305, 0.7425, 0.5911, -0.1894, -0.1413, 0.9959]\nstate[eef_state]: left_x=0.4289 left_y=-0.1073 left_z=0.0614 left_yaw=-0.0141 left_pitch=0.1038 left_roll=-0.0557 left_gripper=0.9965 right_x=0.4678 right_y=0.05 right_z=0.0621 right_yaw=0.2573 right_pitch=0.0712 right_roll=-0.0347 right_gripper=0.9959\nstate[joint_eff]: [-0.5128, -9.0462, 7.8974, 1.6972, -0.2076, -0.0659, -0.0122, -1.7299, -11.0154, 8.294, 2.0879, 0.2125, 0.1392, -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 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.7622, 0.6235, 0.6216, -0.2996, -0.2192, 0.9965, 0.0284, 2.0056, 0.704, 0.7502, -0.1928, -0.1547, 0.996]\nstate[eef_state]: left_x=0.4255 left_y=-0.1066 left_z=0.0559 left_yaw=-0.0076 left_pitch=0.078 left_roll=-0.0491 left_gripper=0.9965 right_x=0.4605 right_y=0.0505 right_z=0.0038 right_yaw=0.2671 right_pitch=0.0184 right_roll=-0.032 right_gripper=0.996\nstate[joint_eff]: [0.0342, -7.1863, 5.0393, 2.083, 0.0171, 0.0073, -0.0122, -0.3487, -7.1179, 4.3282, 1.8681, -0.0659, 0.1148, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837c24a37820010234874054c7f68f40c79de5d47250c0fb54132800c5257e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab959fb9920de2b4e3f49d279edc5b659c0f3de4f2d78c4705bfb6ce3b14da8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b325bd0809a4132008a9a8ebef39d71f4e88325700e0e4c6a9a76386e02e9630",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_VSSqhd_1WvpicFOXwb-UB4pK9Ju9laPlS4dZVyu_2XCwAV30xN1rNH32t3Es3YxsxXWkF5D7CrcORYUTJ_TlAV5iUxaWZXI9HmtGRjgK43FPDHNEWXA-2_MwqT6tuBZkvI0kDmVunVwsdUVUqOoCKUKxBINVDDR7dLBW9FYhpj15ATDs3Vd9o5-YFDUfnoD1MuaT65-Qmjqijxp0A4rPBSYh50YKO5tnK2piT6ofPH9wuup0cJZbzvayD0ZfqAocOjFRwkWMcJs72WokwXUSDVT4qnLz_gOcoDCh134KmL4_5juGCrVTaQtJ1vgjjR7sCwFixJ6BlTrYn6z9qjFvrz7FGia95ECxiy_NmvdvcpLywYSKy9ca-tuLe0vD9FxN4rnjFuBRIEb50zZq57_qlkr1p14tUUB1wYzvP_r1f3EFyHOuqzPnhQ703JZKtPD2_3XJkvh-cbGKvBhi5hTXEk1id8LgTWHVvXUKGxIEIpoNrYyWOS-9OydstloNZUsW93IagsYRUooLGHC9KBStpzxvebhT6ML6cer-V0I21sUEnBbdMGEszzYLC8XewYbK1o477kYiVNHoY9vlwTHjPssDIBdXBgxyJ2Wh57h8xF8DDp3ETeqAujEBsp86xl7VYZjKq_WS6H3q0UUbvAwnwD3tDnSoiDSppvTeQvenPc391Cw0hwKjv2AoVCshoyrdp1SAanGaVXZV9uiCEdESFmU4h3iTQefm5peA6igVaJ_qMmS_SND3yBUZQwZODstfQLgoyCDll6JxBJibU-dw3Ezew4KJKiOiTGwsoYaCI-FCsvJ6i0kwNrMc3oghK5JSdRwAXcIulhzUKAtsUrjzqBXVOfyfI9vyqqv4Xz3TBR-cGVVXeSStxYEglixswCHsuBnAjNCLf6QzQ1xsO79S_3lHO3zbDGnja4UK6LWVU46S5fJbgUD8NFflIEBDwwfvznGhXCZyDZHTihNZCRm6FyfUP3MgNz_qA7Lg5Nhd3C924BBpsXT18I8IDMmLkwvv1uHeLIYXNWhJppSvgXiP4eiTUvp35PCt08Bn0g7vdq_yTrjhonIxhxkxfianz7ijVRwc8bpHnpSc8ipsPlvVQUqSfET_e6RYTJahv6RdXO2SaGuJAjcVz_CbvSiixN2gRRoBwyiu7TDPXJfBsiUVe-2LSytdVhc3waKBloyu_r_uD7MF4b3b1jgGLsHLk7SR8koM-cTi7u9n76ZSkSoCgTy1P7pThG5Rbg15s6GEybo7isC4CPch9lVd0JUdY4tLC",
  "id": "rs_0764ae4912640664016ab42fd46ad887d0a79989d361055b01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen now lies between the right fingertips at table height. I’m closing the right jaws and will check the settled opening before lifting.\"}",
  "call_id": "call_Xh13Fm2w0q64oUKjnMhd4Fh4",
  "id": "fc_0764ae4912640664016ab42fd4b11087d089d392e25559ac8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xh13Fm2w0q64oUKjnMhd4Fh4",
  "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]: [-0.3737, 1.7622, 0.6235, 0.6163, -0.3004, -0.2199, 0.9965, 0.0284, 2.0209, 0.7029, 0.7795, -0.2028, -0.1616, 0.0481]\nstate[eef_state]: left_x=0.4249 left_y=-0.1066 left_z=0.0548 left_yaw=-0.0074 left_pitch=0.0731 left_roll=-0.0475 left_gripper=0.9965 right_x=0.4618 right_y=0.0523 right_z=0.003 right_yaw=0.2792 right_pitch=0.0321 right_roll=-0.0361 right_gripper=0.0481\nstate[joint_eff]: [-0.1299, -7.5145, 5.0667, 1.7998, -0.1099, -0.0073, -0.0122, -0.1983, -10.1812, 4.3282, 1.4579, -0.0024, 0.0415, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67c8a4363abb702cd9beb997bd7c2f9c86976379d70ddac1d8eacabbac9f8130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f4ee4ee377299ce9479ddac0e91114cad082395db4649fdef3cbef9b94f662",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae98500c0180302cd1f58db7cafb316e6936dc054973ff389d2e584baadaa47",
      "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 · 5.518 s

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

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2317, 1.9903, 0.5484, 0.968, -0.1841, -0.1486, 0.9965, 0.0658, 2.0232, 0.5907, 0.9619, -0.1276, -0.1024, 0.996]\nstate[eef_state]: left_x=0.4322 left_y=-0.0651 left_z=0.0068 left_yaw=-0.0004 left_pitch=0.1045 left_roll=-0.0517 left_gripper=0.9965 right_x=0.4447 right_y=0.0554 right_z=0.004 right_yaw=0.2224 right_pitch=0.092 right_roll=-0.0334 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -8.0889, 3.3299, 2.1856, -0.0708, -0.0611, -0.0122, -0.2803, -8.2256, 3.6444, 2.21, 0.0171, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.7622, 0.6235, 0.6216, -0.2996, -0.2192, 0.9965, 0.0284, 2.0056, 0.704, 0.7502, -0.1928, -0.1547, 0.996]\nstate[eef_state]: left_x=0.4255 left_y=-0.1066 left_z=0.0559 left_yaw=-0.0076 left_pitch=0.078 left_roll=-0.0491 left_gripper=0.9965 right_x=0.4605 right_y=0.0505 right_z=0.0038 right_yaw=0.2671 right_pitch=0.0184 right_roll=-0.032 right_gripper=0.996\nstate[joint_eff]: [0.0342, -7.1863, 5.0393, 2.083, 0.0171, 0.0073, -0.0122, -0.3487, -7.1179, 4.3282, 1.8681, -0.0659, 0.1148, -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 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.7622, 0.6235, 0.6163, -0.3004, -0.2199, 0.9965, 0.0284, 2.0209, 0.7029, 0.7795, -0.2028, -0.1616, 0.0481]\nstate[eef_state]: left_x=0.4249 left_y=-0.1066 left_z=0.0548 left_yaw=-0.0074 left_pitch=0.0731 left_roll=-0.0475 left_gripper=0.9965 right_x=0.4618 right_y=0.0523 right_z=0.003 right_yaw=0.2792 right_pitch=0.0321 right_roll=-0.0361 right_gripper=0.0481\nstate[joint_eff]: [-0.1299, -7.5145, 5.0667, 1.7998, -0.1099, -0.0073, -0.0122, -0.1983, -10.1812, 4.3282, 1.4579, -0.0024, 0.0415, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67c8a4363abb702cd9beb997bd7c2f9c86976379d70ddac1d8eacabbac9f8130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f4ee4ee377299ce9479ddac0e91114cad082395db4649fdef3cbef9b94f662",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae98500c0180302cd1f58db7cafb316e6936dc054973ff389d2e584baadaa47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0764ae4912640664016ab42fd77a5887d090950806992b0212",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"left_x\":0.47,\"left_z\":0.13},\"note\":\"The right gripper settled slightly open, which may indicate it caught the pen, but the wrist image alone cannot confirm that. I’m lifting it to see whether the pen moves with the jaws, while advancing the left hand toward the cap seen ahead in the overhead view.\"}",
  "call_id": "call_euNgy2emhWViWJsHYQ2QbpKk",
  "id": "fc_0764ae4912640664016ab42fd9b96887d0b61b0ad37b77da41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euNgy2emhWViWJsHYQ2QbpKk",
  "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]: [-0.3286, 1.7264, 0.8795, 0.2867, -0.2775, -0.2165, 0.9965, 0.0284, 1.6867, 0.8051, 0.2867, -0.2199, -0.181, 0.0528]\nstate[eef_state]: left_x=0.4631 left_y=-0.103 left_z=0.1017 left_yaw=0.016 left_pitch=0.0337 left_roll=-0.0424 left_gripper=0.9965 right_x=0.4522 right_y=0.055 right_z=0.0876 right_yaw=0.3039 right_pitch=-0.0202 right_roll=-0.029 right_gripper=0.0528\nstate[joint_eff]: [0.3214, -11.3299, 9.0051, 1.8193, 0.022, 0.1441, -0.0122, -0.0205, -10.1128, 9.5658, 2.083, 0.0708, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0281b23da1766857e944aa45b137b34817a73ea3012060a9bed2f8e0970bb62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339bea8a705cb68d13f5bd6996b402a01f844f2a82d3c5b9ef7296292f2b1829",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2bb7e7a6ca0c56e82d8ce729cb69a0b92e9ba14d15a8a147a1d667824a8f34",
      "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 · 2.975 s

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

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3679, 1.7634, 0.6228, 0.6525, -0.2905, -0.2104, 0.9965, 0.028, 1.8305, 0.7425, 0.5911, -0.1894, -0.1413, 0.9959]\nstate[eef_state]: left_x=0.4289 left_y=-0.1073 left_z=0.0614 left_yaw=-0.0141 left_pitch=0.1038 left_roll=-0.0557 left_gripper=0.9965 right_x=0.4678 right_y=0.05 right_z=0.0621 right_yaw=0.2573 right_pitch=0.0712 right_roll=-0.0347 right_gripper=0.9959\nstate[joint_eff]: [-0.5128, -9.0462, 7.8974, 1.6972, -0.2076, -0.0659, -0.0122, -1.7299, -11.0154, 8.294, 2.0879, 0.2125, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.7622, 0.6235, 0.6163, -0.3004, -0.2199, 0.9965, 0.0284, 2.0209, 0.7029, 0.7795, -0.2028, -0.1616, 0.0481]\nstate[eef_state]: left_x=0.4249 left_y=-0.1066 left_z=0.0548 left_yaw=-0.0074 left_pitch=0.0731 left_roll=-0.0475 left_gripper=0.9965 right_x=0.4618 right_y=0.0523 right_z=0.003 right_yaw=0.2792 right_pitch=0.0321 right_roll=-0.0361 right_gripper=0.0481\nstate[joint_eff]: [-0.1299, -7.5145, 5.0667, 1.7998, -0.1099, -0.0073, -0.0122, -0.1983, -10.1812, 4.3282, 1.4579, -0.0024, 0.0415, 1.1062]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3286, 1.7264, 0.8795, 0.2867, -0.2775, -0.2165, 0.9965, 0.0284, 1.6867, 0.8051, 0.2867, -0.2199, -0.181, 0.0528]\nstate[eef_state]: left_x=0.4631 left_y=-0.103 left_z=0.1017 left_yaw=0.016 left_pitch=0.0337 left_roll=-0.0424 left_gripper=0.9965 right_x=0.4522 right_y=0.055 right_z=0.0876 right_yaw=0.3039 right_pitch=-0.0202 right_roll=-0.029 right_gripper=0.0528\nstate[joint_eff]: [0.3214, -11.3299, 9.0051, 1.8193, 0.022, 0.1441, -0.0122, -0.0205, -10.1128, 9.5658, 2.083, 0.0708, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0281b23da1766857e944aa45b137b34817a73ea3012060a9bed2f8e0970bb62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339bea8a705cb68d13f5bd6996b402a01f844f2a82d3c5b9ef7296292f2b1829",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2bb7e7a6ca0c56e82d8ce729cb69a0b92e9ba14d15a8a147a1d667824a8f34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_hH4_Jcuzp8TvuzYliRpaJEaD1LtziphAcngzYamGEi1BAJrZpppAEqInktFipM1aavN5wrrJpafsB8FswvD55FEzsnXH_v6Lmb7yCNA_TV5sVLb4-uLUsC_iSEWQnxZQ_63zUyuF8CLkIZim-_EoAnhdFQIuf7kREIEZSl536jg2egpp0F1RcZmf9iTy3Q-BentTxbpmMM_DGc8sFU_VCshSvtoPgeo8sb067r4aB8_3iSResnmcDyKfQwvRM0RNjhYzROUtgsJMA7kdDofvnOIg92yzfZ8elBJAN54dIH4hEuF1OlG8HvzUvgqDtDCunr_OsKQ2TnUjbccEMCGpZtQPxjRtQW6-w3Kq37dH5LvyYtu-l4oK9YvlUBo5A74OM4kzXKuUohLtFII8AH_t7CQFmtw15qNQXo8SRtkeHZHNtsiICipz38wxY3TuYAkbH1QZ_DjCIJK2mqZ_8JvUvb80J5-19cTNQH_0YC09No9tNtwBkDsGdyauTQC3QnQ9Vac2siyMp8F4pCYiPOn_nwtGM6COKg1FxCTSAGmnXthVrHmdEC7g9wniU9QhwvxUNEmb03RZBiaDeJ7toOdyTA2Dm62JKOKzEBzUUt4VrzKkD3ZSG6TGWfxyolIgi9DODmEC_D3fj1NfUsY36RkncdhIDr05I5QTvOa1lwy7GYKaBe0HxX4juBbFwNezelUEempw9E_1tiByzWj4xTAIEZQ2SAh9gTy9t__7wOwTBkqbArZLmdrwajHCsoNyU7G5RyI4_0YOC9mLXMh6zqeJvJflQ8TtkOM4pWgUnEi6G4AJFQNiLiJvIl3XkfF7Ap7Ji8c6cPSfL1tXq8yIAfGg5mI4f9-C7FlBq43alRX1TsHuIAYp-3tmoea42aW2wtPHmTnDFNuPQP3DpVvEIldx4ATbfd8uNK3ru4GHlZG07azGylyu_L_nqqB43T3zvAsW5aHZscv5pndBecMx_z1xSMXrOF0IiSIRSBuQHQZ5YbmDSrvoBbMNJ8hWl11_qf-zc_3usfwoo2V-jVhlShs8sdarVR39IaltY753YP3E_v6key7q0NRBnerhyrA-h3-nf5SHuJXugjVfH3s8_BnuG01OWLly_uPxxBrWqpypRjBvDujB9KuhLOrRDDevQlT7_MI-cEPxFC2Ue1gxdV6AoYX0ZHONZeKWsUzrgtY6NUdAR_HBfBrRwqha1eEfGDupXjA18oEw1QA9EUFRcEjExQO2x_C_luVidyvv9aRuSQhM7TxYFYodOONTaEdodALtfKiUR4VCoCI1aTEZHD16BSDU6fbJ8s26aKUczRL8OQ23HsEm4-bpYVf92Bar4F2jR4eQ2FqA1jfZve46gIIFH7dJT0mXALw9xjZI2MwNF2e8Pnp6CUtKdAb8kUw3D3NbHtRDVbi7sbDRj8W3UaDPbfdXDqU1orecKWCBupKGxqpxLbO5qW2BW4yW2UaVjCpztuVcs_wl5BfSd8JQM8YrTBQs7H6QnOTMZbQaO-xGAVFZEdVmvo42uf852l90owueyRLrmFCkwyLRAIFXw2JAFc4qjtSxAxzKMvfjjbZLFRawIN1PkeUy8L-IKMAgIeF_XZyTcDPJg18Fiw9HJVVNPxG5GbUhcuvu6dS7vW2SbNqBm7P7NFjpP-0EldEiC3-JM8VQ7zxHLMj4hvsUbhkoaS221uI-gYZaGGBAeeuJzwdd2OOaw-3QSOmNILJC7D11WNsEUtbejhAffBeVQ773OS00vrMxXc0rzv66QuhMR7BiU35D_HlQY97hF62nIGmm3tYFWsoKuY1hW7c5rBAvmlIBjNiFcy8xEDDSLUGIlAoG32gFzdNo1wbnhF8JVv259rxq13gfGHF0wPP8Tx0pyxMUxXh4MufhEdMnfkOliXh4Z5pgh4GJ-CTvIpSAHM0j_2Tzy2CDGJEKvJotSm0JPLN-LMaotW58oAUxWClrpvfV6W_Vv3TRPUvgxAyxDXijSUzdO43Aw8WvCNIWruuOoPrc0r5sGzMfEyHcSzJUMJD7qaAzagTXdy3XOEwxnvP08PMSWQI2Pz9Kfbf5UJT79TXGzbjUgVsSfSGULVqnHHmzZHt2IJQLWg7JUTR2VFTtT51mq7LGu_QopfSQ01L9mpfdC5d3GWb6jkGDmFSAX9ZTzHOV4O1tinZDh7JY1QSNwi4CIpYAQnVOH9BK_mYdXO0jrpq37os_o1QWnkDsaPqfYICYoWCsUje0lxKesPwrfwnhXQIhFQ1BcjRaNizsuFBbGXPAJ-EL_Xfvg-BZr5gP6gH-e5RxffiC5J5GNAob9pko5MqkNikq2gH1eV4NHEf41S2oCuqNRUZ5R9IISouE=",
  "id": "rs_0764ae4912640664016ab42fdea7ac87d0b0a62cb57a78bc20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.013,\"right_x\":0.36,\"right_z\":0.16},\"note\":\"The pen still appears in the right wrist view after the lift, so I cannot yet count that as a secure pickup; I’m moving the right hand aside to reveal its tabletop position. Meanwhile the left hand is over the cap’s apparent location and will descend for a grasp.\"}",
  "call_id": "call_SBsoFYtFIB8nkX97ZCuTirkc",
  "id": "fc_0764ae4912640664016ab42fe00b6487d0a6d6245bb97a1a5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SBsoFYtFIB8nkX97ZCuTirkc",
  "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]: [-0.3275, 1.9858, 0.7765, 0.6003, -0.2802, -0.2195, 0.9965, 0.0349, 1.2018, 0.6926, -0.0521, -0.2146, -0.1879, 0.0528]\nstate[eef_state]: left_x=0.4582 left_y=-0.1003 left_z=0.0086 left_yaw=0.0208 left_pitch=-0.0118 left_roll=-0.0271 left_gripper=0.9965 right_x=0.3719 right_y=0.0542 right_z=0.1622 right_yaw=0.3095 right_pitch=0.0112 right_roll=-0.0468 right_gripper=0.0528\nstate[joint_eff]: [-0.4171, -8.9368, 4.1778, 1.956, -0.0611, -0.0073, -0.0122, 0.1846, -4.9026, 6.5846, 1.8144, -0.0562, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5712146edf504bc137d80e843bf52df1daba251325b637f12c840bc8c833f282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136b5feda96244583a69b4e2ff0e88e3efd100f12996f9eabf6748644087feaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd332672cdbe2e6b898aa11fa47092904d7a4356592526e9dd6b3e7a5f8a966",
      "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 · 3.359 s

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

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.7622, 0.6235, 0.6216, -0.2996, -0.2192, 0.9965, 0.0284, 2.0056, 0.704, 0.7502, -0.1928, -0.1547, 0.996]\nstate[eef_state]: left_x=0.4255 left_y=-0.1066 left_z=0.0559 left_yaw=-0.0076 left_pitch=0.078 left_roll=-0.0491 left_gripper=0.9965 right_x=0.4605 right_y=0.0505 right_z=0.0038 right_yaw=0.2671 right_pitch=0.0184 right_roll=-0.032 right_gripper=0.996\nstate[joint_eff]: [0.0342, -7.1863, 5.0393, 2.083, 0.0171, 0.0073, -0.0122, -0.3487, -7.1179, 4.3282, 1.8681, -0.0659, 0.1148, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3286, 1.7264, 0.8795, 0.2867, -0.2775, -0.2165, 0.9965, 0.0284, 1.6867, 0.8051, 0.2867, -0.2199, -0.181, 0.0528]\nstate[eef_state]: left_x=0.4631 left_y=-0.103 left_z=0.1017 left_yaw=0.016 left_pitch=0.0337 left_roll=-0.0424 left_gripper=0.9965 right_x=0.4522 right_y=0.055 right_z=0.0876 right_yaw=0.3039 right_pitch=-0.0202 right_roll=-0.029 right_gripper=0.0528\nstate[joint_eff]: [0.3214, -11.3299, 9.0051, 1.8193, 0.022, 0.1441, -0.0122, -0.0205, -10.1128, 9.5658, 2.083, 0.0708, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9858, 0.7765, 0.6003, -0.2802, -0.2195, 0.9965, 0.0349, 1.2018, 0.6926, -0.0521, -0.2146, -0.1879, 0.0528]\nstate[eef_state]: left_x=0.4582 left_y=-0.1003 left_z=0.0086 left_yaw=0.0208 left_pitch=-0.0118 left_roll=-0.0271 left_gripper=0.9965 right_x=0.3719 right_y=0.0542 right_z=0.1622 right_yaw=0.3095 right_pitch=0.0112 right_roll=-0.0468 right_gripper=0.0528\nstate[joint_eff]: [-0.4171, -8.9368, 4.1778, 1.956, -0.0611, -0.0073, -0.0122, 0.1846, -4.9026, 6.5846, 1.8144, -0.0562, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5712146edf504bc137d80e843bf52df1daba251325b637f12c840bc8c833f282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136b5feda96244583a69b4e2ff0e88e3efd100f12996f9eabf6748644087feaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd332672cdbe2e6b898aa11fa47092904d7a4356592526e9dd6b3e7a5f8a966",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_kAQ_boc1TDVSXhFWki1lvTLh067_qHiLQuAx_FvKxxwqjRHp_7vlIWY5AXuSbhySMwkGAGVB38PXsKQjUN4p9UYPKfHN6ECLGdH9oj6K3UDMd-D5orYrA2Iz0uGiCoisFXk7vd8tyjYg0EjOhm7Mzzp_XF-Lt8ki6QPWJhgw1MY-LDlfpmHqgYWxESi5U3rb9u5O1R9Nb9y-tXfSxTBuIAbDkk6-ddH9Q8GwTqRbvwqPycjCzoKFJG12FjN-c9vn4RV1j6HdW2T3h7kNmZ97hFDCAqzdjLCNr73q9hiPUFozABeXwckti5O6Nxzh90FoK6UnYmJPE6HmP6D8NQD8SAwr2akhfaXPoS4Wq24Ll7mEk_aBbOvNNbvSMKmh9OnZAzDQl2WHbdo5-lCB9jmqKjB_gmyDclZxLDVLITX7dF5LEdL1yyG-ylkYvQkEYzUI9PVr4RsebDQUSTg1srN5t0BdD0dz5iwHG6QFbZnTnm5zTQUFLyMlzadaBR_GUG4QDGCQM5ryO9PdaFcDC4R90nEatYhna7qfJ_9tSAj-10AbKV6FndgSquIMvzCKYEOgyz3Xr1bAuYcGglNOdq2U2PiGGuU9xzlrbOrH-iWUrAWpLinhiflVtJGOHwpdmNkygJgbEqVZrBdj-G7gs8sdYekTmNRrWjp0GQZryIByO7ScKbqrgq7M3vlGwiHfOJOJDRHE6zOK6ixQdNAV5BrPLl5ZQItxvIfPa5yBwa1PzmUf4pStaZz3ES1QBSXNsLab_MCASv35wAOMUjTWBjHrmU8rUmEBvx_y2QUKmaQOsx_XyQCKX_rO0VGd5RFy1pV8w1fJJx-rN5VrRFyJzuyoy2kN6MbLLm9UJDhn5tqLBXmWgDpbrNpU7XJNbWDga2RHMlfHDdvqSKrb0tZ0meWdjpVowe0K-6oS81ZVW1jujOx9MgFCjBVBFrIPfPEHFORxa77aycRgvEBmUDtGGYroCCym-370P13b_2_fVsoAoO6_wmIRfNvj2w4ksxljk8-wPpC8gtiUhXo9BOvWuG1s_T_iDG9Gs8U2UTNfJ8P1kOOmq3VNIQ8JyhZSo2c8K2dKilm8ZFhes52GjgAiznkVPai44dLyi83qZD0ePpe9bATXAi9slHNRYJrVOrbLQdhBe3tFOyvIdqf5PTZ5qyTdZqfgegip8j1aT1njdnsd2cbEotiiWW7NHPBvMglxKaqxN1s35Iccq7qzKdtMk-_QwPjQVkQHsg1m_NyiYZ1gKNWD6QL_UOZCRZdhSHnV_yyQREn4_3zWefuY7Zkd3E1-L0XdPOdggCFLoauLwwNdmDEkVazXaSynSVYmnab8FuGILgV9UCFV_EaqmVMzUVT4HITjyDJbXuIRvO7Z7liJ7ENjRYfIW-1PKGL2Cb4OHfCu6e1qHohAiMbWQYLDZL6MC3U7YuM9CW9Rt9tkjdFVt1I-II1o091WbbKiqjUt6Y3c2WVVdMqzz3udVR9vyNCsaKmzj-3hGEr6a2VmT2JO-XQ8OL78mvV5_cIEgQHH8aKmhoJeObNgJorUUXI6GMJNK9CZEyvGrOVKPun5nXzQibqc_FRPRB7znFb9keDw-14imBTDXtDHK9qQn0pxLyGUc-nCegDWlZnMwq62U_K--ZUZUuuR3LEO87DEq4mOsVbEq6vuGDH_kosDOy5YcU3wJL1XEL2egk3EktVVddX10kgszgmjP5bn5q8IOGuE7GNGJtTc92mRcvTYbacWAP6Tpe7ZfM9BWA8uTEMV8kh7LSFlxXRLywl3sTfNtz2q1z_9qta6fJrwOMhLUcRqZx56wl0w8HFgi1TJ_8h4FWQVuptw0n5g7tvbjHb3wE88TWXG6tvLPyub9rasEWLYyRaWcvpEsji3osFeytMYt1WhwiQKZMzmZZ7Mys5lMWAoC9_Np",
  "id": "rs_0764ae4912640664016ab42fe2c67c87d09fc898749ba94c69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.18},\"note\":\"The pen followed the right hand when it moved aside, and its jaw opening remains about half a centimetre: the pen is held. I’m closing the left gripper at table height on the cap while keeping the pen safely raised.\"}",
  "call_id": "call_grBwaYV5PdeWjej1AwEZ2EbE",
  "id": "fc_0764ae4912640664016ab42fe3e47887d08617fff0a29c8970",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_grBwaYV5PdeWjej1AwEZ2EbE",
  "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]: [-0.3275, 1.9984, 0.7692, 0.6147, -0.2825, -0.2264, 0.0083, 0.0345, 1.1973, 0.7204, -0.128, -0.2142, -0.1917, 0.0585]\nstate[eef_state]: left_x=0.4564 left_y=-0.0993 left_z=0.0035 left_yaw=0.0264 left_pitch=-0.0164 left_roll=-0.0297 left_gripper=0.0083 right_x=0.367 right_y=0.0538 right_z=0.1608 right_yaw=0.3109 right_pitch=-0.0308 right_roll=-0.0384 right_gripper=0.0585\nstate[joint_eff]: [-0.253, -10.0171, 5.4906, 1.5263, -0.0806, 0.0757, 0.5592, -0.1436, -5.3812, 9.8803, 1.6337, -0.1197, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b28bf7f34d784e98b149402582d23557678426376099df1c3c306ce9ccf22e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a42d51676c478682259b608d24e92bacc49121ba1be61b9a16ad05538afc7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8572c4b7b67fd028318bfc0d2e020c7e1d9742a0b082b0ba97d766021ce185af",
      "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 · 8.433 s

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.7622, 0.6235, 0.6163, -0.3004, -0.2199, 0.9965, 0.0284, 2.0209, 0.7029, 0.7795, -0.2028, -0.1616, 0.0481]\nstate[eef_state]: left_x=0.4249 left_y=-0.1066 left_z=0.0548 left_yaw=-0.0074 left_pitch=0.0731 left_roll=-0.0475 left_gripper=0.9965 right_x=0.4618 right_y=0.0523 right_z=0.003 right_yaw=0.2792 right_pitch=0.0321 right_roll=-0.0361 right_gripper=0.0481\nstate[joint_eff]: [-0.1299, -7.5145, 5.0667, 1.7998, -0.1099, -0.0073, -0.0122, -0.1983, -10.1812, 4.3282, 1.4579, -0.0024, 0.0415, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9858, 0.7765, 0.6003, -0.2802, -0.2195, 0.9965, 0.0349, 1.2018, 0.6926, -0.0521, -0.2146, -0.1879, 0.0528]\nstate[eef_state]: left_x=0.4582 left_y=-0.1003 left_z=0.0086 left_yaw=0.0208 left_pitch=-0.0118 left_roll=-0.0271 left_gripper=0.9965 right_x=0.3719 right_y=0.0542 right_z=0.1622 right_yaw=0.3095 right_pitch=0.0112 right_roll=-0.0468 right_gripper=0.0528\nstate[joint_eff]: [-0.4171, -8.9368, 4.1778, 1.956, -0.0611, -0.0073, -0.0122, 0.1846, -4.9026, 6.5846, 1.8144, -0.0562, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9984, 0.7692, 0.6147, -0.2825, -0.2264, 0.0083, 0.0345, 1.1973, 0.7204, -0.128, -0.2142, -0.1917, 0.0585]\nstate[eef_state]: left_x=0.4564 left_y=-0.0993 left_z=0.0035 left_yaw=0.0264 left_pitch=-0.0164 left_roll=-0.0297 left_gripper=0.0083 right_x=0.367 right_y=0.0538 right_z=0.1608 right_yaw=0.3109 right_pitch=-0.0308 right_roll=-0.0384 right_gripper=0.0585\nstate[joint_eff]: [-0.253, -10.0171, 5.4906, 1.5263, -0.0806, 0.0757, 0.5592, -0.1436, -5.3812, 9.8803, 1.6337, -0.1197, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b28bf7f34d784e98b149402582d23557678426376099df1c3c306ce9ccf22e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a42d51676c478682259b608d24e92bacc49121ba1be61b9a16ad05538afc7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8572c4b7b67fd028318bfc0d2e020c7e1d9742a0b082b0ba97d766021ce185af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_pnqTvTS5mepVLKLeEEjzlH6-2jJljb9zDje6G_kpx7EtFD1Uz1iIPqyKKBj2IyQ-lwbpsyZ5VsUb5KN36ED8HJ9flCf2SKQcpGhHb-TRKip645Ge5F8CnPC0ZkK0MogO7woobRot6n9wuX8t1WoeC7U-P2EY504s8ZRVIrdUXYvNaop3aUFKWJmfitwf-kdrPlot9FeFCKvA3-rLH71VX04cWkjnIh47N1wygeQV71RFoV5jdYhoNi00CySDJ6exeMjopBe0f2B3lI9ISNzSLOMvmgn7uBbujHyfSpFGQx0mBVajHEqxVYZpePp8IXpYfwmAiF-7VgXlUe1f4wjhLFKP9TwZAhZOzt4UtsQqVyloNGtYV-RkQa4REwV75GuqCrmGBKoTw0KV4I_DbfIk5yCiTNr1Bksb7l2parBZCi4-gX5LjDr-VCC-qjXNinq7qoy2pl0oDRwlDZVgqyIH5diNk0ZOER0iUMWNkbwPwOewqBlhIHG1JsXs9eEmNDY-YaKT2EyQmomh1byHUY5kPM4bGfoUz09t1cPkFYC7NG_9c-QsEFwoQKGpLQPRk3NVXGz5ibqSnGxhgI9NZkzKS12BZAR174kYAsNiJaINt7EwgSUL7uIqqc7DH9gBdbPgivnXEl02-kMP4gxM0YGMiYB_DoCAJDQIY6h0gzpWH4g2hytKmbkj-SZewF3Aaxb43H_KGxOVVE3VwT7EiDoQvUdEE5FxHBys8wugIt5fELb9Ooz8ATF7EAq-pwJPt61pP80twetCHGRYCmgfypbht2o2NbrOouIkZaEuOzKd01CemM1O_7PjiOEiEi8VNrfxFVZlrt92j35Yxh4R5QHCX0ONKzgy98FWWLCefc6Exc3xElQZVRkoePcfWk6AnOoQaSsg_rM91ihhR8GTuAHDPPpDBzah8V-nQHnbrVUW7JjuXpKLAUCTnG6JmhWlD1eT32Vy4E2ORwj0ZKosAyhxD5JbiOa47j2s5azOLyc8Oo-W_Sg1O6sYa5GIuzp_DF2ZA1FdOoZZc2cAQrSspyqdT-3mxWCcQYEVb1nkTsvPX4H5lwxZCJN009SNlHoQUtc2DVRDj3EHWNBbKkLr5rSQOViD9omNNiYIpBgSVXXALNtmG5rqnKRbhDwqSZ6FkuM7s5_llOq8ccOkMm8-o8OW6FMz4hJ98r9NlVENHoAA3avZwl_iFg-S-oXSBEiebYUGRj0WTHK4xe-tnaanideMwTug0JaRinYAkFjw3rS7SNNjautK5u7mxO85R4Bl-_LnI3TFaxrjaa4z9PFQNqcZOgEDHcu92MTy58rohHNCot5-8YoZe8V_NO06gFees7TDTdmhk5216TOn-RUzHubF14XxTqYIEggmQqVV-DgXQ3yaqTNr76LHrkvBXfWIPNUqV5z666MYhc5biCi9ITzslfl40psmhyGNllOZQQkloN7k0FVCX8zgaC_AzQlVjavviAtQgfowNR4ZqKGGs_uA7uMfkbYydAGAQA0TBi95F1b-kBPqduHgYDefUrZ4aU--E66HfvgpNLeqH8Thv5_T0L-YfxmSv4Lw_4Nch-X9SCakFrBJfvf9rXIZA6rHLBfSuu6UMHxG8NYH5uQOzWc61F1NUGiU5OZQPNp5tTOk9IMKygIlZZNHPJ-tWq54QLkQWrxFQ4FeXqedS7oOPPWYEXnlsE7UhhrfXPzgOeN4n0F2Xu5Fqsmte2Q2gAPkSaGZ7U9uUODByAdOTe6ZIdYu9gjCgjiHz3Fwev92OtEngf8lx46bGGR9RK3AxL3MWGcXUy_2TMqa3m_4C8u7r-qgb1ujK8LqqVHtxbNyilmPdciU=",
  "id": "rs_0764ae4912640664016ab42fe6c3e487d0b61d833cc1715218",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.31,\"right_y\":0.04,\"right_z\":0.21},\"note\":\"The left jaws closed essentially empty, so the cap was not beneath them. I’m withdrawing that hand to expose the cap in the overhead camera, and parking the pen upright and clear in the right hand while I re-locate the cap.\"}",
  "call_id": "call_Dvt9gLFqWu67ee79jGnTyOas",
  "id": "fc_0764ae4912640664016ab42fe80f1887d0a4c10e2ffc8ba7c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dvt9gLFqWu67ee79jGnTyOas",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.057, 0.8444, 0.6102, -0.3248, -0.0895, -0.1005, 0.996, -0.0269, 0.9482, 0.7517, -0.4446, -0.2543, -0.2226, 0.0585]\nstate[eef_state]: left_x=0.3062 left_y=0.0019 left_z=0.1805 left_yaw=0.0677 left_pitch=0.0135 left_roll=-0.0407 left_gripper=0.996 right_x=0.3125 right_y=0.0396 right_z=0.1935 right_yaw=0.2999 right_pitch=-0.0589 right_roll=-0.0307 right_gripper=0.0585\nstate[joint_eff]: [0.3214, -1.8256, 10.2769, 1.7802, 0.1294, 0.3101, 0.0317, -0.9368, -3.5077, 9.935, 1.5409, -0.2027, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45a46e9d2bf22e6d8c56a3339b7b659df98e0b9ea8c0fbbf155e5bbfb1ad93d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d413df02ea74609cb786793f67c4055b621500bf10ba7206da38fceef85a6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716d168d8b2c257095d7761661ab1d8731aa82bbd415703a8c6de66d762b467b",
      "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 · 2.893 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3286, 1.7264, 0.8795, 0.2867, -0.2775, -0.2165, 0.9965, 0.0284, 1.6867, 0.8051, 0.2867, -0.2199, -0.181, 0.0528]\nstate[eef_state]: left_x=0.4631 left_y=-0.103 left_z=0.1017 left_yaw=0.016 left_pitch=0.0337 left_roll=-0.0424 left_gripper=0.9965 right_x=0.4522 right_y=0.055 right_z=0.0876 right_yaw=0.3039 right_pitch=-0.0202 right_roll=-0.029 right_gripper=0.0528\nstate[joint_eff]: [0.3214, -11.3299, 9.0051, 1.8193, 0.022, 0.1441, -0.0122, -0.0205, -10.1128, 9.5658, 2.083, 0.0708, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9984, 0.7692, 0.6147, -0.2825, -0.2264, 0.0083, 0.0345, 1.1973, 0.7204, -0.128, -0.2142, -0.1917, 0.0585]\nstate[eef_state]: left_x=0.4564 left_y=-0.0993 left_z=0.0035 left_yaw=0.0264 left_pitch=-0.0164 left_roll=-0.0297 left_gripper=0.0083 right_x=0.367 right_y=0.0538 right_z=0.1608 right_yaw=0.3109 right_pitch=-0.0308 right_roll=-0.0384 right_gripper=0.0585\nstate[joint_eff]: [-0.253, -10.0171, 5.4906, 1.5263, -0.0806, 0.0757, 0.5592, -0.1436, -5.3812, 9.8803, 1.6337, -0.1197, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.057, 0.8444, 0.6102, -0.3248, -0.0895, -0.1005, 0.996, -0.0269, 0.9482, 0.7517, -0.4446, -0.2543, -0.2226, 0.0585]\nstate[eef_state]: left_x=0.3062 left_y=0.0019 left_z=0.1805 left_yaw=0.0677 left_pitch=0.0135 left_roll=-0.0407 left_gripper=0.996 right_x=0.3125 right_y=0.0396 right_z=0.1935 right_yaw=0.2999 right_pitch=-0.0589 right_roll=-0.0307 right_gripper=0.0585\nstate[joint_eff]: [0.3214, -1.8256, 10.2769, 1.7802, 0.1294, 0.3101, 0.0317, -0.9368, -3.5077, 9.935, 1.5409, -0.2027, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45a46e9d2bf22e6d8c56a3339b7b659df98e0b9ea8c0fbbf155e5bbfb1ad93d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d413df02ea74609cb786793f67c4055b621500bf10ba7206da38fceef85a6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716d168d8b2c257095d7761661ab1d8731aa82bbd415703a8c6de66d762b467b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_ymgtFXV7GRbD8jbiZfKlbQjZQ0fF0-cjxWlT_MiMEoqYcyZFSl0kltDYIIjEXdsR3AVP1nclJQ2BEL_bLLzT8Zkp5x59mUCeGyq7dIH_MmApXG60C0NpmY-a9bTJFmSgMfCSlEjJHFh4SuiqWSoRrBpfoZ5abY38KloO0n2_foZj19u9lm_iYy0absS9RQOOZ5tKLNMD5sKeWbcn-k6e0W_nO2T6CYiC0UmwiNwE_6N3UBNtAf0y0kz13IsupMp0BP075zRkOSEGSJpJwGGx-TWNamx_9goLxCLf1dc6xGKGnmAYgpuiKyQwRKExZ164uw4rihPSB5v1Lzh-qT4xCQifceQWxU3B5ITxvsIdAhM9hhGMCr9Td0WE4Ax3f8Iojhs2hAh47M7SZnubqug5n5JDtfKE4iw_FyMUFZFKMxX6K_-V6AgrcxJOrmX2kHPaKjx4S6zUdWZtfBYY9GyxaC3_UwBkQRcMt-nqDXYIGCWPvtufl9LNiFwFpY9fikgIi1mDfoUQnc8ZXlasFGZ2V44-v1BfusRNFiunWwPQalFHw727kovavf1VtClCcfzRwMUE9f0RRE8lSEvAzhbHwInxt30HHjttBMn7gwY2aebfbFuHko3IRnH7k2STxNvcGJ3M1P1Bg0pFQ3JWqyXHzyRF5piaEQ5qlt8LLHtmagpLhhwguB7ElKSo5mr29wurAfalTKVkrb39oco3tRQJ6YD9jhYD7PZZACHG6kqJH8KS0Iagle-QLhW3yNVpITtjFfPJyl-ZNnPQy8ynCb66AQh_gKO80LKO6V-PmprsYhxozBaE0oItAMx6nNgRZe6AQxz8wUPyF-ARZprAgYqnnMZ39JKx-P0A_IZjQNZ92b0FXlp-GAUVoaee2s8B5AW6TWKM5EXYBZRqNTZnaGl5EZk7Qeb6ERJNCB_FvPwcDZcAcpuTdHZXClK3_r8_Tc40UbjoxqJ-U-6SSiczkygvZBxQorEe1DD3JxNsTP5o-nkQ5IUj3fOuWFu5ee5vl0jPNAbKAbCP6tQspSLm2WVJ8M6OxDc_OrKIOo4NYlYjkXX1k80PUmgkVWZ4NCT4dyLn34kw8Yz4_pIfxpSQn2WhY1aUFcenHnrynW5cwcBqdyHq6AaiTgCh4-Z2x3B5jwy1TDeE6FLGMt6ZbQ5dEsIsauxth4qN9ATl_-3w0nIxxzjt1cwAcXbpHjt2h7vHn3rp5-_HIno--lzMoA1DLgNgneYEtx3FxNj2Q4mM7p78JdQfGTISMgrY_I-2QvhFPuWKQjPLhyXrn352RzYRQkvAwWrqFaxxe3JM49fLK2dEkn63Wxwm44N1RUD92bmsbJf8ioxkj0-C6TOGARoJBC0GL49b6XH3OSwG6QUnV4TEb-rF5D-uPE2krk25R4TmQRVTxIbjhcPfZQI9TDutqax4ejbTEtCautlUeUukjEbHWaIyQIe2QepZeZ1p-RHFzPFTbM_oQY_shv4b7sAhbgr18O0OcgqaQ38QYpD6BnUVHZYriVv8NmrXXnaw5Ntl-h7PbhsTyVIPevon5aRoXgiq8vNv8xFFFHFWb2B_N2udv8MMI0HfrwabDJIN_yY3a8-snHfuDOiuYVhwe5p8c2PnmO0mEbdOmpnHKIb2i9CsU46U05uMG55koNGlu9WzwR7o5g-YI-iNsizHiGhfw5HA8K_IMt0yLa1NDuPNZo5ECgcFLT_ShfxeME1aVNuHbGTMEw1okj4NUJRn4Ype33sX0unqU1KEDfL8Cz5ETd6mcQLkiaY5pXO9MhD4CcL5DH67S-Ke3G_h4h_DS3fUv10AdxIk1ZGDZc_oTUOne5ftUbKRdS6UcrCpjrO7aAuLEuvbc9UMmDfUEuVokKO-pdGGMKsF4vc9FxGFfhFpARMRclrQgWsAcs3NmIOc0VOpOdZNgFALdEivIG5i7lAFrhRt4fd0knX1SBHDktSAc1558mR-BJopaLXU6oQYerWLH44CtnBd2F1pnmzUUS3Ngp09O5zXRd6IaLR75WV7EbFC7sHidvZU6InHGQVAN4MMT9A0HaQ4LIsOmRecEmFEL4wIeu68RgLuLkm0u3rk1I802vn1sW6Onu47oj44aLZuR-wO6tmj0RvJoNZEJjvQrg_tsM5GIPoc6tNXe4TemXmfK5N6qhKkBh7b_D_GSWcbL9R-VmYsRTg9n26wiiFnx_NfduHxaSIlTD6ghD8uXn-v6Y7egANH2ytfDQOkhSI_YCLdIGaSdc2Ogiil0zKe_fsaSNGZgpNOcQD_d1zfKmr0jp4uw2UQqkctvZxsnaWbLqaQjsgVoXBGpFyY2CMknRr5n270FuNncPwjQaK9aF3mw7xsHWezyKXgKfgxFCdxNNExXi3hKQippmCJJ2yoDbHYGfVQRQ_4RlLZthB9kCH-Msj8TgUH-Td_fic1rVmXOqwDtVS8BI3D2m9hpbFuLOTso2gYVZ2w1-C4QG3HUhOPNpQP7NRSPBxsV93sfCmNcl_lWnv4G73lh7I_9YQLX42OIXKoyWQg6omD3WoFAcJ-Oy_65N-g9TqBhlO-7Uu95JwBUpOZXVwvZnG7elKGBPTLM3W_ZjpjG3gvumw4pl_f0MF2RG60EPJF-ouEz2pi-_cMJI23wrUQcVc1xdV3Z-CqBzWeUVNXidwPEIL-K7MM6N_KwH58t_K50_16EWMYuDFtgrQKC-g45lnBAhYuyCuzIBSW84GG_IpZujQhdU0YighHeZ-jPvvO7TpQtQpSdm3w_B8suZtP6hCcAcSmNi6LQeMThoS86z5MTBwbcynhzTXLr8Dk6-SafjAlNQYLzF1SC958sqmvGohlqa5TkY80YS5cCHZcWlIKHGgd-P1Z4kFCFpYjj5O3lKZmYcO2P_GQYp__3n-wsDGDyiMJpIoGGl1TWbsF7qp-EfgbhjGxe_XyesWDtD3zQ0fSnpm3Vuy6BBQ4wCS00uEvZmIDJvhWD36d8DPH71PlxdCnfhqEvxRaWFO-qKaSVrtW8Vvmn02CosvEd6g3k5MJrY39XNZwqhQ5IVXml_QVq9rSwuAeSJwPmQSKTbRKHMiQhEQgg2Ne-JoZ5e2jd0ROGXOj-NFwmrnRTljVqYrwcOHz07YHovGna5yd7ANPwWuxuMdOFb7i2T4RoStEcwC6KaBdYhq4_8gGObIddovYJ_DNNAuPnVKfwnp4t59YAs9PbJEd3vY1um5mY60nbKjYqF2ZCt9jZ9nsldd3yqITmje_oTW0D9wHk7nfofJFrPrNDlnI6VvS3qnRZ6S_YkMjB3yrPV_BWoKXoU771UnT6qZlmfDmLCfGdyqPGHfhPCwy6Zv7zdxQTn1_VsiENaDL0U8Nvp-I8DSaiMzUsLRsxSfn2VtWw8P92fj_Q0jjQmmT0wViTpzHKqX5NbpU2Fpc-dCfHrSPXn9VwjDLEhENBeeQbMOH7mNr8kwwjb1UMas542_3oG6yw7DNQAsqQgAGvRAWW7ZkFVR3mOr5CmE1WLjJOh17vqgALgU87cGvY6Ock9HZuJzg7o75R5qYHDDZ3J5TJOxOK6w==",
  "id": "rs_0764ae4912640664016ab42febbd7c87d0837e6ebd4b6305a2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_ygrUZmWs6B7Q37S471OFEP64jQC-sr7ZYmrxPFQni-EIuSlxiM45HlAYhWVPuTy4sHTne48etvedHN11tpXMsiRwo_84WsSxwVsHaaRmVj037WYGlrlr6V9THFPxogNS2mXzsv7e70C4LEemZUEDRT7cAiK9bTsWEGBcZJYJtlROG9VEWjUKUkjCSmRMnTBCatCeh571pjS8P6XSTO9LIpTwitDtbFRSLDSAL5IWLs7-7zJmksoek0oVlwl7DXTyF9YeErmGnPMvDFYm1qNnxuBNotTi77wS0gireV08JzU-JL9JMnHiRkGHz9WPeuOJYqE7lpIAo6zmUqMi3wInkdi-ls-XFfhCPWWWrJvLUs-KKQJTspm4WJ-mTc7GYs59RnIlwMQ1qmssScjXQJ6B1Nr5cM3cgLLjNUCIKtkdX73by3fPF-3i_tax0gqcopBlZxGqYoYv4SdB79_djE5paUNzVoLndcVea8JWmXu4nWClKBCTE43G_8CfmzgegiN-ZbqnmtLngVBZWwKzzXB8d0zxGPPSy-rjxcqYuA_UpbKXXU-v2tfWMoU-yJDP1_21T2_Q3-jle20B78Fjhjoj_hiub02NZx7bcIQcsnnrj_fcAbq7U7-iPwb4qHW7gKVJTKUBiI51VelI4yTxmXemAm0Oa3JfSwGacyWPbBny5xFRm2CU9-u08ETmm4gXw9O_FunBuiVOF5zI7d-g4vDWSubaWMHd9LfqZ80F2uY00Ko9lb5HF8-hvD28vWDrDKSq2tA6d6TsRL8-7X2JMPBqWwxZWM1U3moc1HfIy20_PbyKG8sBrtwlQvjdgdxyLpuIy10hirihQjTXWLb9aH2whoc7U9zL9q9wXQ81sLwFwfYpF5mMIjsbPDwewDtHl16-BeGm4BvfT1QjqG6q4k8MHyP1XX0Q4jpVaAntikysupHQwQK5yPztrL_gmwlJGw4skR8EBBZPmZKaVRfCfWTHp3tIj-_mlhnaJhiyldbKWjbePw7RgM05fgyLWa0Hoq73uUWwROKH4d9j9CtI4Ez7m3Ee6UOez3ySb8n8gguMyZPyo_LZqUavGMzZiggjoS-rzy4fz2a98F1HPDmDRli4plCfbPW9Bj1x5aNjpmShr7rHgSbL71IqxZY-UlS-VEwc29cokqd-KLqaZK07UqTEZqTVfJ8pzL6GMgP68Pdru4-qJWcjB9HGuFDq9pZASzN_cJQoSzPeT0mo6uKqLEN1hBgl9-OQmQBaJStTuHyRZYgJi7-BdtBZ6JYDinBcCUM5S5ZyrvEU-UfQgA6vjPq0Z7O89adiZTNVjwGzLPRY2Ucr39TrW87a9yutwuLhTCzcgvycWb7o1VgiCIkvKqd_drXkLvjrSngkDtuErFRikixnJe_XA3WWMug_1a34y20L2KyyRqY-1DyUItZ7IFrcZAA3HvChiNm2xtDM701ZvHGeqGePyAohnX3PDRSvJtgfhhtUsBRJi8M9_VpOp150wUbCphbWGXDEUxhJhGOGiXRfhbCpxwxZ-bL-CSy6s8-CBWbXQIVi2HFpWNU3F2YhMKRQaIze6ZX8CI-ocGoGP4yYtpUu71Oy_5_Y89DLRxbn4XuVGn8qP_NgIW998P0yUu5b9rtukd9rFYfizxjp7N4wQ-ZWvtgravD1EoXDWmp6U4sm2Z8kuJ26iKafZQ_kVlV1FbLqM4Qul2FMd2jxmtbdpLtH1zAJisyDNrbHPnfxPugpzSzxpkCkaji4iW_j3F35ZDCnXTZkDCw0nEaoJBDm9cyN3FgXfrj6mWStAKDN2RPmRjKVOqLHmFaSrp1zq5fb6ovO3LwvnymRo36GMgUM8rbq9S02-gvi70Ytd8BU9zUI5RFgTZ9q09ujPwAOJWTz8O6OkE-9-6SzFn49Q17LbmPAPB7tUalspI8fwxUlsC378SWZGUCFrUX-d9JB6xfFiHyWp9a1-zesTS_5NLTc=",
  "id": "rs_0764ae4912640664016ab42ff0318487d0bb19e9b4c61048a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.145},\"note\":\"With the left hand out of the way, the cap is clearly visible as the short dark piece near pixel (65, 109); earlier attempts were too far left and forward. I’m returning above its actual overhead position, about 7 cm back and 7 cm right of the last tabletop attempt.\"}",
  "call_id": "call_YZawor4Thib02LVHK5iJI4Dz",
  "id": "fc_0764ae4912640664016ab42ff17cd887d0bfe60b9ba11efdd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YZawor4Thib02LVHK5iJI4Dz",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6193, 1.5505, 0.8928, -0.0837, -0.5362, -0.437, 0.9969, -0.0303, 0.9512, 0.7513, -0.4641, -0.2634, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.3875 left_y=-0.161 left_z=0.1239 left_yaw=0.0538 left_pitch=-0.0491 left_roll=-0.0026 left_gripper=0.9969 right_x=0.3097 right_y=0.0402 right_z=0.189 right_yaw=0.306 right_pitch=-0.0787 right_roll=-0.0201 right_gripper=0.0627\nstate[joint_eff]: [-0.4444, -7.6376, 9.2786, 1.8144, -0.2906, -0.0415, 0.0757, 0.1573, -2.4274, 7.1316, 1.8486, -0.0317, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2ae27c37d6f122b94856363f326e7666950985186be89218a65092e54dfd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2d16271de934cafa16cbeda45c5a579ca1cc6b9323ceecb18102a8e40a3b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a875d03faae1790986a240ad1456368936e1e1a53e484c27f065a954c4d881",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.358 s

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

message 88 changed as sent

message 96 changed as sent

message 101 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9858, 0.7765, 0.6003, -0.2802, -0.2195, 0.9965, 0.0349, 1.2018, 0.6926, -0.0521, -0.2146, -0.1879, 0.0528]\nstate[eef_state]: left_x=0.4582 left_y=-0.1003 left_z=0.0086 left_yaw=0.0208 left_pitch=-0.0118 left_roll=-0.0271 left_gripper=0.9965 right_x=0.3719 right_y=0.0542 right_z=0.1622 right_yaw=0.3095 right_pitch=0.0112 right_roll=-0.0468 right_gripper=0.0528\nstate[joint_eff]: [-0.4171, -8.9368, 4.1778, 1.956, -0.0611, -0.0073, -0.0122, 0.1846, -4.9026, 6.5846, 1.8144, -0.0562, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.057, 0.8444, 0.6102, -0.3248, -0.0895, -0.1005, 0.996, -0.0269, 0.9482, 0.7517, -0.4446, -0.2543, -0.2226, 0.0585]\nstate[eef_state]: left_x=0.3062 left_y=0.0019 left_z=0.1805 left_yaw=0.0677 left_pitch=0.0135 left_roll=-0.0407 left_gripper=0.996 right_x=0.3125 right_y=0.0396 right_z=0.1935 right_yaw=0.2999 right_pitch=-0.0589 right_roll=-0.0307 right_gripper=0.0585\nstate[joint_eff]: [0.3214, -1.8256, 10.2769, 1.7802, 0.1294, 0.3101, 0.0317, -0.9368, -3.5077, 9.935, 1.5409, -0.2027, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6193, 1.5505, 0.8928, -0.0837, -0.5362, -0.437, 0.9969, -0.0303, 0.9512, 0.7513, -0.4641, -0.2634, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.3875 left_y=-0.161 left_z=0.1239 left_yaw=0.0538 left_pitch=-0.0491 left_roll=-0.0026 left_gripper=0.9969 right_x=0.3097 right_y=0.0402 right_z=0.189 right_yaw=0.306 right_pitch=-0.0787 right_roll=-0.0201 right_gripper=0.0627\nstate[joint_eff]: [-0.4444, -7.6376, 9.2786, 1.8144, -0.2906, -0.0415, 0.0757, 0.1573, -2.4274, 7.1316, 1.8486, -0.0317, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2ae27c37d6f122b94856363f326e7666950985186be89218a65092e54dfd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2d16271de934cafa16cbeda45c5a579ca1cc6b9323ceecb18102a8e40a3b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a875d03faae1790986a240ad1456368936e1e1a53e484c27f065a954c4d881",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_3A9kf8bHxVLB855ZII26GeaoOKtsLzOKzmS3Ibfzj4Xwq26BkYxbVHIXKWFaJQxp02Y9xkywzLuPF2kvihDvsOoI8EthXS3XFGloFt8m2xBpczy15abkXHqdOcHKC284YCr4SqLgUc2nTgKNEidKeD5VVGJSDrs8-3xdCJQPAUtEr7A3WbrNwhrR60qTbCgDTH63uhQi7zoh4OvK6qZXHjyYtqhimWn8Z60YI5CV4d0LzPkEcThuf6wXhnnISUzBvdtrLLiT4zvU_WDTbUa7bdAjO0O6qnRoVTzTAj6DmgqQYc-I7MfdgRsJOe3Yz31kXA0_cXA_G34ko9RcHWNTBlMbdRB1_tyTGrbBpKlU699WGZBRw4fBPf-QGqkG_9db_ZvG6eoAfdbD-keBniosNH9flKAJSS3n377lv84cR9NqSmR9SqJbdCX8O7ReyVrM9ZaKvwcggy1VzwUurtpXb0Dx_hNqoT3S9UTFr27OEZOdEwYkCxsyss4Rfqs36lFm3W49KD5ZbxkZac-XXAUrXnmaTwk95ChCnT29a5c8x1DM3DLxI8NX-_PLIjnR-sRUhqQ0WvtSY-o_dT1jTlKzgEDXn1NJaKhbmdQo4VK9DGQl3KoXtZWdtYuVHPc1QhxQ6NXGEGducd-lX_XN2z5_8ZlgPbHkGs17jKekNZinJmO-1-kMQ_KRX_loCN01LCpTWOdWHTqJcMt9AUwO4161XKbz1UctCAyzNeComtaBY6IqGZs62WbSw0-6P1RUlRmMOBx1PcORLd9R8ScwVDNglASC4MS2HyDTsWXmM2mzkYncaZJUxvePONEw_dp-bP_NomMfACS2lsbez5uu1E6AU0UDOARP3wUQJL88Y46eRwyRo8FaP-ZaOPMMXeZYkG5jcVTGGg-NtHcazuseumHLtcGezJHGkFervpCD2ahr1tkQ4o8wK5A6HwMuni0DGporfDdVcWh4q4Aipyb_9WopxvikEGHv2uZ1OqFiRGkBkeaGt-pSkKTB55iALgYVIZuHZDkeNcnPdh_qU-7N0O75hkjD50bG0HptSX9hMMKKcCW-w5PdPg05znI4DImz4e7XvjBewdYAMTCFRRyt5ZGP6SIKXeXuPjwEMJU6UowdqDN2IzK21XPrH7xgIdqx-85Mh56JJR-YBvLXAeCEDXgRmktxhzpxWPAKH05FJuIWVFJU6vjyl67kQO83yQtNeiV6xzVJqZ4aPqNRAXbER7l_BtU2iqq8uherFfPY8wRxYqBPxL0E8_I4uUQTdJ0mG151O_AIwotGq8uVr-7K3YMFYGY5tQy6Q4uITxxbdOOEn-ZOrRZtEnx1EVT9Uf8W6SNtFZ649W4UgfL60Edc8lOv7ZalCu_yGbG_Hb8mOM1H-q-M0RfaI47vZpTl5KPXB8D7Tcjy7BgPhpQxE9WIFdazkkbjlmgYbmClCYxrY4GYq6ODBwb1OCmBdKXw4L4LRkHSXiZMXQ3pUD4GR2pZ2ulDLbh7LrEhtRB_Logrw8Nn6d0cqvqk6MXRqnBMLggtTK3DrI8nnfDoZp9qSqwBK_3GUlAxjJbjJ2lYyWRjHi570jMe8wHC53v9ioarIA2zq_9VuwCyd7siKh8LcmgX7nphEwIuC_92Rjrvk_sgA4U0yYsMc910mkswj_7SBa4P_tgBVDc9Z8M8IVkQSekXVoARMSctHcB3QBnQDJO4RXkTON3wfY-h2h9BbYmxvA6rZ4M1B",
  "id": "rs_0764ae4912640664016ab42ff5522087d0a02497dfb91b6056",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_y\":-0.129,\"left_z\":0.13},\"note\":\"The cap is now unmistakable in the left wrist camera, just left of the jaw column with its near edge close to the fingertips. I’m shifting the hand left by about 3 cm and advancing 2 cm to center its short body within the jaws.\"}",
  "call_id": "call_snaQhvxViprqZQXn5V8b9t8I",
  "id": "fc_0764ae4912640664016ab42ff6391887d088b84abfe6edb79c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_snaQhvxViprqZQXn5V8b9t8I",
  "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]: [-0.5014, 1.5681, 0.9031, -0.0692, -0.477, -0.3897, 0.9971, -0.0311, 0.9512, 0.7494, -0.4648, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.407 left_y=-0.1265 left_z=0.1201 left_yaw=0.1002 left_pitch=-0.0671 left_roll=-0.0006 left_gripper=0.9971 right_x=0.3094 right_y=0.0401 right_z=0.188 right_yaw=0.306 right_pitch=-0.0811 right_roll=-0.0188 right_gripper=0.0627\nstate[joint_eff]: [-0.8547, -7.5692, 7.7744, 1.7607, 0.0464, 0.1636, 0.0073, -0.0615, -2.1128, 7.0906, 1.6093, -0.1197, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bccb2485348dc31352984ba517fcfd985fc4abc6f654933ca21f758b1063d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d4236e3684cb1ebd81bb42e5002c2ae554669517eee2dea9318307a5626653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a522846d50408558703e7a9adf8c250669fd8341248c8f0dc19885fe58b92b",
      "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 · 2.268 s

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

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9984, 0.7692, 0.6147, -0.2825, -0.2264, 0.0083, 0.0345, 1.1973, 0.7204, -0.128, -0.2142, -0.1917, 0.0585]\nstate[eef_state]: left_x=0.4564 left_y=-0.0993 left_z=0.0035 left_yaw=0.0264 left_pitch=-0.0164 left_roll=-0.0297 left_gripper=0.0083 right_x=0.367 right_y=0.0538 right_z=0.1608 right_yaw=0.3109 right_pitch=-0.0308 right_roll=-0.0384 right_gripper=0.0585\nstate[joint_eff]: [-0.253, -10.0171, 5.4906, 1.5263, -0.0806, 0.0757, 0.5592, -0.1436, -5.3812, 9.8803, 1.6337, -0.1197, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6193, 1.5505, 0.8928, -0.0837, -0.5362, -0.437, 0.9969, -0.0303, 0.9512, 0.7513, -0.4641, -0.2634, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.3875 left_y=-0.161 left_z=0.1239 left_yaw=0.0538 left_pitch=-0.0491 left_roll=-0.0026 left_gripper=0.9969 right_x=0.3097 right_y=0.0402 right_z=0.189 right_yaw=0.306 right_pitch=-0.0787 right_roll=-0.0201 right_gripper=0.0627\nstate[joint_eff]: [-0.4444, -7.6376, 9.2786, 1.8144, -0.2906, -0.0415, 0.0757, 0.1573, -2.4274, 7.1316, 1.8486, -0.0317, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5014, 1.5681, 0.9031, -0.0692, -0.477, -0.3897, 0.9971, -0.0311, 0.9512, 0.7494, -0.4648, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.407 left_y=-0.1265 left_z=0.1201 left_yaw=0.1002 left_pitch=-0.0671 left_roll=-0.0006 left_gripper=0.9971 right_x=0.3094 right_y=0.0401 right_z=0.188 right_yaw=0.306 right_pitch=-0.0811 right_roll=-0.0188 right_gripper=0.0627\nstate[joint_eff]: [-0.8547, -7.5692, 7.7744, 1.7607, 0.0464, 0.1636, 0.0073, -0.0615, -2.1128, 7.0906, 1.6093, -0.1197, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bccb2485348dc31352984ba517fcfd985fc4abc6f654933ca21f758b1063d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d4236e3684cb1ebd81bb42e5002c2ae554669517eee2dea9318307a5626653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a522846d50408558703e7a9adf8c250669fd8341248c8f0dc19885fe58b92b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_6SnMegkL4MC72ACzD6HNlQLLRy3vxGj2GjWQxjp6wrP3wCXEQBflrmzyT6oNRe9rHGSQAFC-Dw_saYBzBJNeOLkDwrFzF30X7pfG--hiNCkxWa687lk-kkTjUgUfuaPNdlyJGSGJdJXgQzbDElc8d66Q5CsWd6-NQoNMQqihdmiblx0x1BWBHzh1Sf2mD71rVVKGF-AAs8YeXlYowgzOBfhV0fS3GmM4W61f416PBVuyew4vy78lj-qYJBtMAbLZwux0dsRud3qaz4v1lW8o9CY52F2gAnDaHOrQGlcjpF6BsA7nuqNDgiFwgMYQKB03T9QtitRbqA1b2OVqXwLz7whDlis4meg9XTONSUrnL3QDgkWNoTuUYM-I1ZAotkYCM4I3FKgtfiGMTHxdkgIrl9zG5RuRsNOzUXfsRJ8hdfCYGM4W8Ym3kNE2GP7LkBIlXpdVZyl-OHQynfXE6spOa3H3tZOEvpUEis7qP-gsX3MuXq3Dv3RUbnIS3uu4f7zwpQIVS65LInmjDcGKCye9_1UJV4hw3LKn3G3JsrUN8mbP0fhu4pGrSt_f2tJkjYZ3Fdv-OdTNlFOgE7KGGEM054fYSfEk5RbogXPXQl5LaHlA1KJiiSaSPjFyXJYrZTTtj68ehEoOEjPLoeh7mdqi_OFR0KHcMg2keCT-dIHgcHqwita1IwgIco1AkHZKwyOrfzVkqiTy3PlOoTGQf89DuA7A2-XULvBa-0oLznkgzeD68vJl7yUeyB9KyYdtEbbsO-K5V2js31J92B66j051k8OxRIVh2F75vq07fbdBcL2a15AQDjyV9BftiF8PTY3tV1RUZNgpkErGqmQ3JLmLFNRszth8GPsiTVKF2TfW8Ac-hzFLwCbA6ssGYpiNjMXWDBPWnAQd8yUAW4m96BXUB9Yya3X2evyfjzx5RmrlJTkIdrpkhuCt1WRvO35ZtWiSAdC7Awwi5oiKTvV4kifNnCvLt6FNOoy8VPtVsNjebq-4thIXZz95s1ovR7bWbVJy6-Q9rpyY-zIpSl8L9e1h_bm_6w9WNBPIIix3cZcn-202dm7_uxjkuSvkDRGJ9DaviVUYb29n2i5BEaRngr1mQloaTJ7t3KQw9zOA_HhKo4f9FQBIk_3-nOl0m0ptEiA4i5MEhi60zjoqLixUKDg8QuFsfIK85TnAYFAQL3nbHkHShkZUqhCdsenG-X8WNr9O-sXXD5gNxjpOr9wopgRZsmKD1_tqII7EMezUUcKqvlDFjHiR8Qtr_VPR_6y1mwCfj8ps5Vj2NOXHBxtzh3dt0PRBpLhgLTIpD7BfTMdHzId1oJqjuZCE0cPEGjOFov2Of5dP_kiHMXypJ5203NxZ6epuPrbep82ymaPOi4V42KmhOAryDW2N0O3ytVXGhII-41Mju_W1Pd__nor-bRhkehqPx0pqGG56NkXKiZd5YAFWSFoKcoWZOl2FHq1cBeLZhXET2x0OWnZojQCiFTNF15fSWnAkjPU3D3JoOvkKIzlAxb6lMSLSWqU96g8ctiwE9aAMwGqiPYacURsAUFS-leFHRIx6kFO2oZIEz2Cxl04W_Rf_UY6Bz6aNT-O6DGdMUu-9scq7mW6-tZHddKARnj6tLE15ScbcyiOBL59nokWs0elTx3csIkIYWX3b7jfy1A0zwTiRKGgrbtiYwb7LPRzaalxxLioZ8uMBUFA_qwKI=",
  "id": "rs_0764ae4912640664016ab42ff8bf0887d0bbf13614f3ee38ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.421,\"left_y\":-0.107,\"left_z\":0.125},\"note\":\"The cap’s short body now reaches the bottom of the wrist view but sits slightly left of the jaws. I’m making one final small leftward and forward adjustment before descending, keeping the hand above the cap.\"}",
  "call_id": "call_HzWn391YcWQ190lXDCsG4x5L",
  "id": "fc_0764ae4912640664016ab42ffa0e8087d09367f661d962544e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HzWn391YcWQ190lXDCsG4x5L",
  "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]: [-0.4831, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2638, -0.2256, 0.0627]\nstate[eef_state]: left_x=0.4082 left_y=-0.1256 left_z=0.1178 left_yaw=0.0697 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1878 right_yaw=0.3059 right_pitch=-0.0815 right_roll=-0.0192 right_gripper=0.0627\nstate[joint_eff]: [-0.2256, -7.7197, 7.6239, 1.7363, -0.188, 0.1734, -0.0122, -0.1846, -2.3316, 7.1726, 1.6386, -0.1001, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5da008e601d27acffb4549cc2434f758722b014daa0f9d808f9fdd93b3cad49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5182fdb5e52ea1084b1b95bc2ac25f9d4bbf702b2bc15cc7d37d453bb620cff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b26b6809266f0bda4ec4925d579a363e1b71e42b0c7d88c0a9de6396b7bd30",
      "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 · 3.888 s

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

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.057, 0.8444, 0.6102, -0.3248, -0.0895, -0.1005, 0.996, -0.0269, 0.9482, 0.7517, -0.4446, -0.2543, -0.2226, 0.0585]\nstate[eef_state]: left_x=0.3062 left_y=0.0019 left_z=0.1805 left_yaw=0.0677 left_pitch=0.0135 left_roll=-0.0407 left_gripper=0.996 right_x=0.3125 right_y=0.0396 right_z=0.1935 right_yaw=0.2999 right_pitch=-0.0589 right_roll=-0.0307 right_gripper=0.0585\nstate[joint_eff]: [0.3214, -1.8256, 10.2769, 1.7802, 0.1294, 0.3101, 0.0317, -0.9368, -3.5077, 9.935, 1.5409, -0.2027, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5014, 1.5681, 0.9031, -0.0692, -0.477, -0.3897, 0.9971, -0.0311, 0.9512, 0.7494, -0.4648, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.407 left_y=-0.1265 left_z=0.1201 left_yaw=0.1002 left_pitch=-0.0671 left_roll=-0.0006 left_gripper=0.9971 right_x=0.3094 right_y=0.0401 right_z=0.188 right_yaw=0.306 right_pitch=-0.0811 right_roll=-0.0188 right_gripper=0.0627\nstate[joint_eff]: [-0.8547, -7.5692, 7.7744, 1.7607, 0.0464, 0.1636, 0.0073, -0.0615, -2.1128, 7.0906, 1.6093, -0.1197, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4831, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2638, -0.2256, 0.0627]\nstate[eef_state]: left_x=0.4082 left_y=-0.1256 left_z=0.1178 left_yaw=0.0697 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1878 right_yaw=0.3059 right_pitch=-0.0815 right_roll=-0.0192 right_gripper=0.0627\nstate[joint_eff]: [-0.2256, -7.7197, 7.6239, 1.7363, -0.188, 0.1734, -0.0122, -0.1846, -2.3316, 7.1726, 1.6386, -0.1001, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5da008e601d27acffb4549cc2434f758722b014daa0f9d808f9fdd93b3cad49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5182fdb5e52ea1084b1b95bc2ac25f9d4bbf702b2bc15cc7d37d453bb620cff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b26b6809266f0bda4ec4925d579a363e1b71e42b0c7d88c0a9de6396b7bd30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_96kx_XUuBrmw6ej_zkRD2TKnGRB7UtnFL3cRyL0KZ1KnlFNw-DiIW8bwxMjVoQffh1oizRsWsLpxrZpWD_ITJ1EdrTpnZ4UB5v3gVRiDNl89e9nSESS_wHES8rV_-AvHud5gSxISFxO-CS_2L_VUa4rsDwsDgz7Upw6THiMVc5BVp9RAhGfNQ9PKlSvpuL4EnY_bl8G9HIXFAdRoMBtwwZ8Zh2J4cHvqziORsthQsMM78nN53-C8j2nBHIOAykH03pOSFS9WYUYvq6qvmHEwL2Qdnvg0ZRjbdhN_KuTM4itWAvNUicHooojxdkcyaT_l-hypGR5H2I5QhiGHgbXDI8UP8XsB7OYIFDtvUM-aD4M4e3vYhl-Dns8ChmNiTxqI08G6UNRXo-1QVMxRhlCUS9UwsThOajZpCA_SjOm4Dq6qCDxr6G_fzTu-mP7FeSnijfpc4oZT8oe1-SSyyKslqMJPJAZEHILHy_19NnfQJZRTEqiMcb7A_A5JP0I_AITKflKQomrkMBpmJjFyogLDetMypir-dlIzTYoH9VciY6o4UkU7RELp9_JYCS8fSYG-e74_MowD-H0P-ESOJggt-elDj4GTBz-GjsqGoAs4UMSzBYsNJhVL5nfnmgr6ynsBjmqv4o1xuEVzEZ3GNfQLLlZUqC7nO13Wh-ENBL42G4u_b57xwz7EJswXJZXWX1aUfHyYHMqF1C2QC1JnyjYQYEcQVYkpzxFWISVMkzTrbjfvZ78DipLPOfgtWpREQ_Y4t87nkPnRIe7vvAHQCuOmlTrtVDvesfAJxdIKwSX6pXAI_SglP2ONoT3nHu5Lk_9yFlLrU2HbwAduDT2EL0Chv2iKeASA9YdRM98J-e0HGwojb60cKXWGL2k0Djb1SB7LqbWetFn7GqZ71MSugebHLrdhgVORGFQdDjbISu9bTxTJfjGODGm-Gq0LdoNjY1JYV003HZcKAgkfCzmK9s_EMYFlljdRtbZMeSt189LESEv7CmhwhQzMymWg2epi0vFNQHMCr0ocSYL2JcXBEMK4WpL9EbIEwRG7umVNTsqDyX06IVsuRO92zU-oY0e4RAgp5xjcaAeds4StATowgIS8DN3nQGum4gjci_glzX5Y4YUpcNRM1V00joUPORxk1cexBmwgAfEwcUA59kp1rYbNLRXi3lESxmDBkLI_ejaVGJs5-UgjldEB4HEHMqvyx8UsAYTt5J-z026OOy7IiD7bwjNexPgVwZrpuASqKLVjvCxlrzZe2dQ_0_e2kQRXVZsZ3IeqgKsIwf3V_Y-c0pcSTVg==",
  "id": "rs_0764ae4912640664016ab42ffbf54887d09c62fe5e032588ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.102},\"note\":\"The short combined correction barely changed the left hand’s actual sideways position; the cap is still left of the jaw column. I’m commanding the sideways correction by itself so the readback can confirm it took effect.\"}",
  "call_id": "call_lfZFRVaIExIc2S3N7zqW1CKB",
  "id": "fc_0764ae4912640664016ab42ffc410087d083d9cd1ea8f531d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lfZFRVaIExIc2S3N7zqW1CKB",
  "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]: [-0.4828, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.4083 left_y=-0.1255 left_z=0.1178 left_yaw=0.0701 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.0401 right_z=0.1878 right_yaw=0.306 right_pitch=-0.0814 right_roll=-0.0187 right_gripper=0.0627\nstate[joint_eff]: [-0.1299, -7.7607, 7.8427, 1.7118, -0.1685, 0.1538, -0.0122, -0.1983, -2.2632, 6.9675, 1.5995, -0.1734, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4054541699e6404bc803004b971f718a220b3de405239087db203d3037febf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42eca7a8b4fe69896a43e99d569640072488b1eddcc5a8e7cc573c554779b53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e34cd7e264770315d08204139e8cf32c3dc6f2abecf88612bcb93149653e6d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.222 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6193, 1.5505, 0.8928, -0.0837, -0.5362, -0.437, 0.9969, -0.0303, 0.9512, 0.7513, -0.4641, -0.2634, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.3875 left_y=-0.161 left_z=0.1239 left_yaw=0.0538 left_pitch=-0.0491 left_roll=-0.0026 left_gripper=0.9969 right_x=0.3097 right_y=0.0402 right_z=0.189 right_yaw=0.306 right_pitch=-0.0787 right_roll=-0.0201 right_gripper=0.0627\nstate[joint_eff]: [-0.4444, -7.6376, 9.2786, 1.8144, -0.2906, -0.0415, 0.0757, 0.1573, -2.4274, 7.1316, 1.8486, -0.0317, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4831, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2638, -0.2256, 0.0627]\nstate[eef_state]: left_x=0.4082 left_y=-0.1256 left_z=0.1178 left_yaw=0.0697 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1878 right_yaw=0.3059 right_pitch=-0.0815 right_roll=-0.0192 right_gripper=0.0627\nstate[joint_eff]: [-0.2256, -7.7197, 7.6239, 1.7363, -0.188, 0.1734, -0.0122, -0.1846, -2.3316, 7.1726, 1.6386, -0.1001, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4828, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.4083 left_y=-0.1255 left_z=0.1178 left_yaw=0.0701 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.0401 right_z=0.1878 right_yaw=0.306 right_pitch=-0.0814 right_roll=-0.0187 right_gripper=0.0627\nstate[joint_eff]: [-0.1299, -7.7607, 7.8427, 1.7118, -0.1685, 0.1538, -0.0122, -0.1983, -2.2632, 6.9675, 1.5995, -0.1734, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4054541699e6404bc803004b971f718a220b3de405239087db203d3037febf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42eca7a8b4fe69896a43e99d569640072488b1eddcc5a8e7cc573c554779b53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e34cd7e264770315d08204139e8cf32c3dc6f2abecf88612bcb93149653e6d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDABBux7_UXBd8PQx-NA81fR4M1mD2w1hTdoxXiG0wdOWLBaxApGbnW6ZMt2bEDELh_eeiJ5ipPZq_pkis80MEI4JaKsCoplHxcIenRJQGW2cp-DOsS78X4ymKU_RaSs1ky9p9Q5xlowG-E7JK1WSxLqfU8seSMLQdLjssBSKMpWqZaid5uofHHz_FWsfkQVB_JL0IoF09axM26DB-gTTYxNrhI5ZBP58hcGZLHEjs8ZfMyWcUV_aXuDcHN7k8bVlCLoOfOlS6nNG1OMYxuQUMhun9TIdIBEyi2Hc3tjAMewUS50f30-zhUeiNGZ_PFsUu1bIsn_VG6hN3fRmK1OTdGP9Ce7Z8SB9kreIWNoiFpShKMUPevwhvG1_7MHQ3PeWsLtQeO1ixkQFCLLilwHHy8De7GZEdOVmBxbu1llTM05doRELcBcgbL8i3d_wh-3bQHxNGkRE-NRQBX7aQe7ulvgfxHxmWvjHtV65e6oMCPVdAIkiGvH-4kM8r_Y2E08Lm1nPJiBbHne2FNIjq2YrDsub6JIS3KRfLvoGlRAN-kQiwPVsMdQmfRb7MRDLmunsaBcPA8NNK9U50LVTAHeSeayMkFA3ezh0aMRVzR7VCC6iguCVaphOkI7rzxaykT2px3CpG0RFCNcq9_dI-G3d0MZZHJuCxuonS6QT3ldAxd6txT0p-mZoGbDavPGL9jtbUcW6AI8hCEZWWIaT1zYn1t59hPFe0rVSXXZmcJ6HfUb69-smmaGBekGI2vmFh4cBCfNn3Xr3N6kSDlo_vZffTuyvWNX7H893k8zWmx7qK6alRvyhLWx0jvu9EbrFX_PSwvTGjnuTc6mLNkQWL2Bvz57eM95wUBSOEC1MkyIi-AT5lXv-82S4gpQc4ooE7F94atTl8cziQ4sqx6_UWq-EOiv00LH96p4mIM6s9_tL-SvBe4mCKcHTM2i4v-NB-MErVFN7sNDhYkdCGbjFqQTYn9Mi_dGyRe8RUkacFbQ01JQG3HlYnVOAaeQYQkqOXd_PJEn16EcjuicejeTTCcQBBfHCd2dsCDC_nzA0pFub7Dlkf9cBUiEFj7HXywJlwbMytVq2njRc6jBm-pnqdhcd9DiJjGteQb0_Yr0y4Ujl_2u-hhglXqWOg9F536AQGeUZXHzyZFeKMP_23i5yqvHv4XDTtJo1Ip4T_QHTnrJZo4URriYR9vNbyXD4Jwws2gT3sG3Rc6-GRaSWnvHmzzfK_cd68PZn7R5ZnCNy5XAVtmlQBNuHXoQ8_QT8n73e0T_p6IvvNTFf0Vpcdd_-cLfg_33cZxpbl-TWL5zTnurPihiVew59g4W1g2gSrv_m2k3lKWYb06PFhbjUYGz5qUDgp0RtRlzlk9yLvTQyzHsGiqkxyn9JV8NMn6ipUAOzfaKEfRP1qkcncYimDxspfVTmUoS-vYKZW-k95ZCV5qK4GrrsG_02rgPLQF1I-0iU5BN-yx8",
  "id": "rs_0764ae4912640664016ab42fff7ce487d088f6ab952c2ebc52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.205,\"left_y\":-0.105,\"left_x\":0.405,\"left_pitch\":0.2},\"note\":\"The left hand has stopped tracking the sideways request at this low, extended pose. I’m raising and tipping the wrist forward to free the arm, then I can realign above the cap without scraping it.\"}",
  "call_id": "call_A9jhGDtH8oY7JogEkHf1ffmQ",
  "id": "fc_0764ae4912640664016ab43000799487d0bd453a14b90ce967",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A9jhGDtH8oY7JogEkHf1ffmQ",
  "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]: [-0.4713, 1.3708, 0.8307, 0.0544, -0.4961, -0.2535, 0.9971, -0.0315, 0.955, 0.7486, -0.4648, -0.2642, -0.2253, 0.0628]\nstate[eef_state]: left_x=0.4034 left_y=-0.1072 left_z=0.1911 left_yaw=0.0771 left_pitch=0.1472 left_roll=-0.0088 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1865 right_yaw=0.3057 right_pitch=-0.0854 right_roll=-0.0173 right_gripper=0.0628\nstate[joint_eff]: [0.2393, -7.1863, 6.1333, 2.0684, -0.2369, 0.1832, -0.0073, -0.3214, -2.1675, 7.0496, 1.6044, -0.1001, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:658e2503871f6f82bb9a780cd9a3d522335811b5d3fa201b7c9a3002d987fc0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc68908584325e46fab84839cb614219eb77a5a81eab33d02f70ae377581b301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f095acc0666a315b70f93a32907c5e978cecce6dcdd0a12bbb1950a18ac4f1",
      "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 · 2.133 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5014, 1.5681, 0.9031, -0.0692, -0.477, -0.3897, 0.9971, -0.0311, 0.9512, 0.7494, -0.4648, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.407 left_y=-0.1265 left_z=0.1201 left_yaw=0.1002 left_pitch=-0.0671 left_roll=-0.0006 left_gripper=0.9971 right_x=0.3094 right_y=0.0401 right_z=0.188 right_yaw=0.306 right_pitch=-0.0811 right_roll=-0.0188 right_gripper=0.0627\nstate[joint_eff]: [-0.8547, -7.5692, 7.7744, 1.7607, 0.0464, 0.1636, 0.0073, -0.0615, -2.1128, 7.0906, 1.6093, -0.1197, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4828, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.4083 left_y=-0.1255 left_z=0.1178 left_yaw=0.0701 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.0401 right_z=0.1878 right_yaw=0.306 right_pitch=-0.0814 right_roll=-0.0187 right_gripper=0.0627\nstate[joint_eff]: [-0.1299, -7.7607, 7.8427, 1.7118, -0.1685, 0.1538, -0.0122, -0.1983, -2.2632, 6.9675, 1.5995, -0.1734, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.3708, 0.8307, 0.0544, -0.4961, -0.2535, 0.9971, -0.0315, 0.955, 0.7486, -0.4648, -0.2642, -0.2253, 0.0628]\nstate[eef_state]: left_x=0.4034 left_y=-0.1072 left_z=0.1911 left_yaw=0.0771 left_pitch=0.1472 left_roll=-0.0088 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1865 right_yaw=0.3057 right_pitch=-0.0854 right_roll=-0.0173 right_gripper=0.0628\nstate[joint_eff]: [0.2393, -7.1863, 6.1333, 2.0684, -0.2369, 0.1832, -0.0073, -0.3214, -2.1675, 7.0496, 1.6044, -0.1001, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:658e2503871f6f82bb9a780cd9a3d522335811b5d3fa201b7c9a3002d987fc0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc68908584325e46fab84839cb614219eb77a5a81eab33d02f70ae377581b301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f095acc0666a315b70f93a32907c5e978cecce6dcdd0a12bbb1950a18ac4f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAFelcTYYmvkObD9unCVXdWYXc6kMdWf8_hmWCsHvZqlXGw5cynlRFrXHHLj8u2W5khiGf83jLQZoWQbd2L0bKiSxwN8eaMESZqRTGfrywvsFI7Uc4mASDEpINLNh8ZkBWnsfESg5AIM2a66XL_YYLriH2Ga2GhJwU-R_xNIbb-g-CbjYHAc7eEf2CjoB5QCxnPEp-UzeWC4LBO3R_TzaT0QJuMtW1xM_xp67d4Rj5skX11c7b-hm4O22Obp9eEBcrnUMwHyklqCvXkDtn_48B0B-boqlpIqVCryIWzNn2OvQ1OjIAg00MUETzawwyms5Ieh6IzROknJ2tAtPCGKIBymqVlFuhMZU5TdEUpdXpdboUtNpDpXkSflQ_UEFYvNIJnSFODJHv5f8yWPywjAOAdvw8RFBkCFXkq0gHOvcoMndiC7j2AfC7jy_ruXqfJzjD-XfS3CaoQjoofmO4QIfpmkvhmJqk6aJYrsII-pVYyiRqnyyvjnOdQKNr01PWE0XWo7q441j1ZRcrO4W9wmouNtet7hqiMUWu5r73zeDvK5Qsb1mQ6trq1TQ7uYoKJ_ceqePm-8enAFqU-4NdufFr8iv8e1I8KihXu_bkQFgA5nNFNzLcy0S988vcND9jZEg-n1ljvtG20hFdbxHLsGkvKbxl5rVcUaYAIMcraKssOWLQccHlF0lE7jMQV3r0kq7I8uUt8oNx8eNiw7vAyL7tgZtuyQoHXpW7Lcr9ozWtpPzVJOHJjjg4bZB0TrJe5dG0Krpk7BISol1uzc084YS40B6bKFKm9BkNHyDo8J9LLd-r8tvzfL07io_IEzUUb5bg0uq_J1a4clQOAbJwps2QG__eVOnQPvYpsGW-4x5tejC0vtc9rzCJA8-u9KZ_RKs56YiuCT1VfW6e9JCrW2hzLfq1bT7Ey8Tr-lBomCPPa9AmnnFj2dGQHs26KxzmMnaZ9ikbqe455gIgeMhlcE4wm5uJ7c7siXVm7tgAl-xMJI5b1KrOkmFHYwrJQGOArneiQVIIuQ6QkF0jcj1M-h6Q9F-NqDS3cLzwBLXryKT4v-9Dxt6j62td7mj7-vH7Y9g6WFDchRAVmc1x9SDqebvfmg6p_EZPi_pAA9YXjRtGa0PVc3mJJ3Y2AGhzRDm57-k6DqV9idAJrcSl1fScuRWrLM24c-76KgT7-uU8cSXUjET2TrVrx6Q33iTzENTA3E9qyvFJznWzg-c6Ex5iAIViQon78ZY6fe16IZ0YzVFxCvpJpd87hSj6PQUvD6iqSCC0BIjNyacZ_CoC7vhshAaRvaNgAElBLkGP6SaNaW8EbFn_fSTXx7zq0zQmv1DEp7fHaG7kC0frOZs8gWPY7aEsZ7LyC56JUIwG4MqCFQR2jHtbejImR8fSWtI49bi1qir28uftInXmOjVkoqAk3SqNqmpsnKNqvipK9JByxWyiYuBXq32T5uAGFngBgkAMNvudAg9wDFkuS2dAu-9_upW6_5NYdknPsMVV0jrOXLHhjcPaUzuH6WXZHkLM2togQGXZ6jbmTkocCGIq1071etFD7zt5nQ0rMZWRfHWCcGs9P48OTbS-0YHzWmp2YCnp6fs-KMNJWA7b1b7E8pZf1j_fNUm7r9iCbMbtAhsPHeThx7xwuPtLSIPrLKAjAS35geXjzGceKnYjA2_5SHYMc4H-paznedCK9jXGe0rcTlWfkqaNBDfYBR5cAhfO6Z53RwKRRRPjU1-WmCXNcUsPs66Ggr67VySrMtCH1EC7FbQmjOIE6-w2wJQkdcwiKCqWvMifjV0z_saMk9svbOqhw8xSq1HueIfL3qUXcxbjjWWGAAv-YUkE0d2fh2LHDTV8oAf282C8IDi6haZgekeo093do2A==",
  "id": "rs_0764ae4912640664016ab430032e6087d0acc56c977a514ad7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.105,\"left_z\":0.008,\"left_pitch\":0.2},\"note\":\"With the wrist raised, the cap falls below the wrist camera’s near edge and remains near the left hand in the overhead view. I’m descending at the newly reached sideways position, using the more reachable forward-pitched pose.\"}",
  "call_id": "call_dVOWGjlUpdXauf778eRxF68w",
  "id": "fc_0764ae4912640664016ab43004728487d0b37bdb90e8ac26e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dVOWGjlUpdXauf778eRxF68w",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0209, 0.4908, 1.0328, -0.5014, -0.244, 0.9971, -0.0315, 0.9569, 0.7475, -0.4652, -0.2642, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3989 left_y=-0.1041 left_z=0.0002 left_yaw=0.075 left_pitch=0.1387 left_roll=0.0082 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1854 right_yaw=0.3058 right_pitch=-0.0886 right_roll=-0.0162 right_gripper=0.0636\nstate[joint_eff]: [-0.1026, -7.0906, 3.3983, 1.1502, -0.1538, 0.1734, -0.0073, -0.335, -2.4137, 7.2137, 1.5995, -0.1148, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae923dc3dac6277ae7a663013d5156c1115a32a4400a2fae49e2704e1924e9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875b633a536137781d38634975453bfdd4ee17f0be43303ee21fafdf3f9df53c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdd44b50249e66247943dd425b26937e8f8ad8b0a709f4e03d1ae51b7bc2e08",
      "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 · 2.808 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4831, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2638, -0.2256, 0.0627]\nstate[eef_state]: left_x=0.4082 left_y=-0.1256 left_z=0.1178 left_yaw=0.0697 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1878 right_yaw=0.3059 right_pitch=-0.0815 right_roll=-0.0192 right_gripper=0.0627\nstate[joint_eff]: [-0.2256, -7.7197, 7.6239, 1.7363, -0.188, 0.1734, -0.0122, -0.1846, -2.3316, 7.1726, 1.6386, -0.1001, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.3708, 0.8307, 0.0544, -0.4961, -0.2535, 0.9971, -0.0315, 0.955, 0.7486, -0.4648, -0.2642, -0.2253, 0.0628]\nstate[eef_state]: left_x=0.4034 left_y=-0.1072 left_z=0.1911 left_yaw=0.0771 left_pitch=0.1472 left_roll=-0.0088 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1865 right_yaw=0.3057 right_pitch=-0.0854 right_roll=-0.0173 right_gripper=0.0628\nstate[joint_eff]: [0.2393, -7.1863, 6.1333, 2.0684, -0.2369, 0.1832, -0.0073, -0.3214, -2.1675, 7.0496, 1.6044, -0.1001, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0209, 0.4908, 1.0328, -0.5014, -0.244, 0.9971, -0.0315, 0.9569, 0.7475, -0.4652, -0.2642, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3989 left_y=-0.1041 left_z=0.0002 left_yaw=0.075 left_pitch=0.1387 left_roll=0.0082 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1854 right_yaw=0.3058 right_pitch=-0.0886 right_roll=-0.0162 right_gripper=0.0636\nstate[joint_eff]: [-0.1026, -7.0906, 3.3983, 1.1502, -0.1538, 0.1734, -0.0073, -0.335, -2.4137, 7.2137, 1.5995, -0.1148, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae923dc3dac6277ae7a663013d5156c1115a32a4400a2fae49e2704e1924e9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875b633a536137781d38634975453bfdd4ee17f0be43303ee21fafdf3f9df53c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdd44b50249e66247943dd425b26937e8f8ad8b0a709f4e03d1ae51b7bc2e08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAIBr4CELN1ljHcNNnn4rfrYecHKkz64sCbLtklFQZ2HfDxzQ3VA7ikG1KyGSW7zDRo1tgPQkJQlCYQ9R4KPTQyn1fe_SfKrUxP2ySYkrW6NRCj5zBzhXnEanwCYf3cKYZr1veCYobGl2GccWCkXgp322AEkJvgGKDRqdOMxOadvhM97d4UrSzQeCu38jVbRQXXLsouHgeCtPI_ZIuA7eL7EjvqjSkJr4sfyL4A4p8c0PMZGMHPgniI3c7lcxjsmlWbrLKZ1AkYKarHfo_sqEpPlWznSRI0zMWRFREffb48ciF2pWueBkTPXEVXNhrIfLLK82QuuPgpeuJYMgkMg_sk1I8H4BnT_Tl2vuTYbjMC9U4h_f0yLnQX9b43Psl45Os-pp6GyE8Umxs04KJjkLYZifY3Z2adkAdxeA9zdJ0MkgrVKtGSBlgtBfQYUw9AyIgs6PZmE3D5lLfM3-UhagQKy8X7cxZ570_jkFJS3m42F6-mkI2IjWxqKiQunS80WfjpJHP4k9ghRyxKRTKWAg3TrH2l-Tv33Ed1c79Yc8C8deZJhioA1oYEvFEl5A9AJBytkhsl8VuDLT_w7EWdP5_jrNAfllHLj2JADHUzsCP4k---_u29MxzjYI1AARqdAx_emHc7KdjVxMW7f-LJpHxYz0BC-um-jUpg3yF4csVMhtJMfk-MOcf3CaZunIgOydGS8pDXLnzqDOSSXD4uv-WV4Jhp4cjahe7KCGkQVRVOOLQUdn8n84cUxn15-ln6eeBuSyWGSt0jpcF6-RA6qr0azYz7X8KwXL21Wus1pNYeFo926bu2YFTnYnltO58PvTODmHYtbbmVkURhsJSPhh2SpPx37dnyNrO-Xd1uiJQHlYA8sNmAgl5TmLhbRJ1h1kU3XJ_wJdMEOIssZqpqplZvl9RUEdG6gBrhOE4886xb2zs_OsyITfipMIugigOGR14GozRhjYa8lX1F2qTtUVS0I4Fo8sYiDFJc6NacfxKD6_vU7Jh9flxms_pta7wi09a0R6g8UR3mtwu7UTEScIAtnUGB98hDeYKKwH5bcwwhdXtXdTWg5mMX4AVnb2eH2NZkZn2frmnrDdVHPVUiOouSO2tuYmzb3V5LZc77KtaAZE8rG9iJnFvqRDA70tlS4tvwMLIzz4XGCrFCbkCMD3hgl-N1kPyPpkyA3PHN_dYCP43U1jHCctHpuPfuAYIjMr2s-HIkOlUdyV4_mnz_P0y-ppw5Q3f2CGgXpBsZLgPpq7RXg47w2_5KdmfV1pCYreG61wVE4nTKCHKxTVTSluxVvzRAC4vPKJLPGw2GpYQOmEL3cEumtOu1kSInf4vIYMhNqAnRUiuMNj0iiN8rcORS_g==",
  "id": "rs_0764ae4912640664016ab430077ee087d0a7412b9366761cd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At table height, the cap is visible crosswise at the bottom of the left wrist image, directly across the jaw column. I’m closing the left jaws on it and will check their settled opening.\"}",
  "call_id": "call_cnRCP40Y9Dj8qZYZUJabjHMF",
  "id": "fc_0764ae4912640664016ab43007e34487d08dbc599a386359ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cnRCP40Y9Dj8qZYZUJabjHMF",
  "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]: [-0.4717, 2.0354, 0.4908, 1.0782, -0.5087, -0.2447, 0.4635, -0.0311, 0.9569, 0.7475, -0.4648, -0.2646, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.4017 left_y=-0.1043 left_z=0.004 left_yaw=0.0839 left_pitch=0.1668 left_roll=-0.006 left_gripper=0.4635 right_x=0.3095 right_y=0.0402 right_z=0.1855 right_yaw=0.3065 right_pitch=-0.0882 right_roll=-0.0161 right_gripper=0.0636\nstate[joint_eff]: [-0.2393, -8.9094, 3.0291, 1.4237, -0.0904, -0.0464, -0.0073, -0.1846, -2.2906, 6.9812, 1.5946, -0.1294, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16735963d205079a4ab3b6bc6ffd60f9a099d01c2bc939dc1fdc75ed43f50fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6238f35f9077fcfd08648ab98ffaddb7e7938f6148d4c35b7fa97cb0498dd50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2837cf566f0346adc76eb3b894062d216507d354a4e373bd29a7769e5a53d1",
      "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 · 12.73 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4828, 1.5681, 0.9031, -0.0704, -0.4374, -0.3569, 0.9971, -0.0311, 0.952, 0.7494, -0.4644, -0.2642, -0.2253, 0.0627]\nstate[eef_state]: left_x=0.4083 left_y=-0.1255 left_z=0.1178 left_yaw=0.0701 left_pitch=-0.0828 left_roll=0.004 left_gripper=0.9971 right_x=0.3095 right_y=0.0401 right_z=0.1878 right_yaw=0.306 right_pitch=-0.0814 right_roll=-0.0187 right_gripper=0.0627\nstate[joint_eff]: [-0.1299, -7.7607, 7.8427, 1.7118, -0.1685, 0.1538, -0.0122, -0.1983, -2.2632, 6.9675, 1.5995, -0.1734, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0209, 0.4908, 1.0328, -0.5014, -0.244, 0.9971, -0.0315, 0.9569, 0.7475, -0.4652, -0.2642, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3989 left_y=-0.1041 left_z=0.0002 left_yaw=0.075 left_pitch=0.1387 left_roll=0.0082 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1854 right_yaw=0.3058 right_pitch=-0.0886 right_roll=-0.0162 right_gripper=0.0636\nstate[joint_eff]: [-0.1026, -7.0906, 3.3983, 1.1502, -0.1538, 0.1734, -0.0073, -0.335, -2.4137, 7.2137, 1.5995, -0.1148, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0354, 0.4908, 1.0782, -0.5087, -0.2447, 0.4635, -0.0311, 0.9569, 0.7475, -0.4648, -0.2646, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.4017 left_y=-0.1043 left_z=0.004 left_yaw=0.0839 left_pitch=0.1668 left_roll=-0.006 left_gripper=0.4635 right_x=0.3095 right_y=0.0402 right_z=0.1855 right_yaw=0.3065 right_pitch=-0.0882 right_roll=-0.0161 right_gripper=0.0636\nstate[joint_eff]: [-0.2393, -8.9094, 3.0291, 1.4237, -0.0904, -0.0464, -0.0073, -0.1846, -2.2906, 6.9812, 1.5946, -0.1294, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16735963d205079a4ab3b6bc6ffd60f9a099d01c2bc939dc1fdc75ed43f50fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6238f35f9077fcfd08648ab98ffaddb7e7938f6148d4c35b7fa97cb0498dd50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2837cf566f0346adc76eb3b894062d216507d354a4e373bd29a7769e5a53d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAMUIzSY-1y1HjrAixAJujtCx2MwJL71F3VEOqkMd_itH5R-yrv6_6ZKnaZ7PVWZ5HZH8gF43ExZqDCEQYOKu9DzsWAXDUQGLaJO0efMroOldYOGpUewhmKPmPfBJnXTsjvqdNEvQ84HmaRvt_L61ro5fU-Acaie5euj3yaql1roSkTveE7YqZ6Y0aMGaA57n4wvDJKEpQO_vxiwiLofC7mkre32YjH8v3WrV_AJZn68MgKpraZqGe9ezGE38ZXTuHCm7zqIBS7Ge-d92P38cxoOXR_QQ0TU1-cevvjdIC28-8-YAABt2kZmr7bd6Homw0HM9cg8XOv8i9szglcsg8oJNrBuDr3NADrQxRikA1vz8tSfEQVBA_jZ7e_CL8Hb1cwE-Ou3yC81dz_I53yHvxfnWJik2qrYntLNxJ2yAsWgzpolQLM2_kHqiK4jC8VYZip0RZV_gzNANXRqBZsiEUSLe_7KH5Solkw-tBOcMPLlSbQB8oJvN47-RT2hsU_2GpN77pUIjObopA_QL2OgSs8-HfU_Ot46v8KLqxVdfA00-AXKEsLex2Js4DIr2Qcp4JqnBl5ZbN_blGfhTydXQ32-GurqUcNHljJqg9Lp4A717_429UsOE6_IPGqinRoBo5_bFD-ZS59wjky0cr0_j6MkLMl6CoBrOPLeC3XQvRg_aaPqFyXAhp5ScZp_IBj-p13bzj2YrnzI3LvvC5WKreqviBK1UyOjc-sRlOpljcEjA3jOEFtZ7SKrehL2nzlE6kKtjrWpfuVF2YP33ATUl6Ma4hG89yrsxWpgjlzS9ImLaKNHHWJpibOMi5Ix0tuHRC6Fegc70Gh2IpZwXWPtgpNnok9EqK69w-nGeOQdoC1fgkNJxlr683jwnc7ysiuCRLx8XZ7QTlwbU0Kx9-uNN2-2HpgkCRAfXgN5CUM8OyUz1DjSbkBRgHly5qbpkfPNtat9_iy2Kj8AofIRK_ObGMfUaNOkzDYLI-C8c1KDz7HggJQn9VD6_kAK7JjZcMIe_bC2sCUmnH9S0vRnj3fthXX3RWdtDt9FIIubIi7SvkTlWouvFOTlsrWVm3b27gmsa5oWXnT_1psQstWJcgiq-kURUZul7buoP1OzheaoSCTUircGOQ0pkOSOYPJC99OhOcJmWciLGK9zQ8jxLBV4ai6u_CxRhHpRHrrV6oqlQ13WMp9AjtEzWeoEZZcXTbduj4QoHy5jDIiSoxnU_LlzYT2HeAIm2N37BGASgzZr23hN0acLjZr2SGeFHgFw2vJ0P6TtNG8fr6Y4P3-WhS2muEvDb31KdfjewaUWaLJm7CxLPHI0Nt0dGTrEgRl8J3FvgETQ-UEztCH98QiO2a69wTJFYPh7J5Yk3Rt3gxSX_-apMdaBnJoGWpD_A2dZeHVzLPYk7_0j4ms3ie-Y2vJYTeUy8_zn6HjaEwmW3QsEpoupDEfPxfiOR_HMHjq1P3hqjAVe-cys7WshXu8OpjPB2Cl3gmbf9Gjo1OqzVy6p5YJkoWVmUot0_yG9IZSRUTFdPjd79vE5K_a4k8eRxiFZfm80WreRjtwo9bmk5tjHl3pRIFS4C5Ag4gLa-yxygEwmc_AOntDKxq1mfDMVBx0F7lVAEJbZor2e4B4ACkFYJi8pIn5mwaU7TWiaZFY8H8vHJk7",
  "id": "rs_0764ae4912640664016ab4300ae52487d0b2260f0ca9940261",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"left_x\":0.345},\"note\":\"The left jaws stopped about 4.4 cm apart, consistent with gripping the cap across its length rather than closing empty. I’m lifting and drawing the left hand back slightly to confirm the cap leaves the tabletop with it.\"}",
  "call_id": "call_mfIUdlNNIRjjolVAnUuoOjhL",
  "id": "fc_0764ae4912640664016ab4300ba7c087d09c577b2d7e2059e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mfIUdlNNIRjjolVAnUuoOjhL",
  "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]: [-0.5838, 1.2743, 0.4667, 0.3492, -0.5922, -0.2989, 0.4637, -0.0315, 0.9623, 0.7452, -0.4644, -0.2657, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3484 left_y=-0.1077 left_z=0.1332 left_yaw=0.0715 left_pitch=0.1943 left_roll=-0.0304 left_gripper=0.4637 right_x=0.3096 right_y=0.0403 right_z=0.1831 right_yaw=0.3073 right_pitch=-0.0948 right_roll=-0.013 right_gripper=0.0636\nstate[joint_eff]: [-0.2256, -4.3145, 9.265, 1.6337, -0.149, -0.1294, 0.0122, -0.212, -2.4, 7.1453, 1.6239, -0.1294, -0.0708, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b014713367bbb1aa5e380fbf7da98fb525376a44f18bf33a056a312c205a04a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8bb73028c58341465cb30ef35478c7d7b0559b4a6be80aa9524acc50f9c88f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540d9895df792a65ce1cdcd7e48e73a52eaf0eb4679b8bd9b30da6dad1f78c40",
      "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 · 7.689 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.3708, 0.8307, 0.0544, -0.4961, -0.2535, 0.9971, -0.0315, 0.955, 0.7486, -0.4648, -0.2642, -0.2253, 0.0628]\nstate[eef_state]: left_x=0.4034 left_y=-0.1072 left_z=0.1911 left_yaw=0.0771 left_pitch=0.1472 left_roll=-0.0088 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1865 right_yaw=0.3057 right_pitch=-0.0854 right_roll=-0.0173 right_gripper=0.0628\nstate[joint_eff]: [0.2393, -7.1863, 6.1333, 2.0684, -0.2369, 0.1832, -0.0073, -0.3214, -2.1675, 7.0496, 1.6044, -0.1001, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0354, 0.4908, 1.0782, -0.5087, -0.2447, 0.4635, -0.0311, 0.9569, 0.7475, -0.4648, -0.2646, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.4017 left_y=-0.1043 left_z=0.004 left_yaw=0.0839 left_pitch=0.1668 left_roll=-0.006 left_gripper=0.4635 right_x=0.3095 right_y=0.0402 right_z=0.1855 right_yaw=0.3065 right_pitch=-0.0882 right_roll=-0.0161 right_gripper=0.0636\nstate[joint_eff]: [-0.2393, -8.9094, 3.0291, 1.4237, -0.0904, -0.0464, -0.0073, -0.1846, -2.2906, 6.9812, 1.5946, -0.1294, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5838, 1.2743, 0.4667, 0.3492, -0.5922, -0.2989, 0.4637, -0.0315, 0.9623, 0.7452, -0.4644, -0.2657, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3484 left_y=-0.1077 left_z=0.1332 left_yaw=0.0715 left_pitch=0.1943 left_roll=-0.0304 left_gripper=0.4637 right_x=0.3096 right_y=0.0403 right_z=0.1831 right_yaw=0.3073 right_pitch=-0.0948 right_roll=-0.013 right_gripper=0.0636\nstate[joint_eff]: [-0.2256, -4.3145, 9.265, 1.6337, -0.149, -0.1294, 0.0122, -0.212, -2.4, 7.1453, 1.6239, -0.1294, -0.0708, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b014713367bbb1aa5e380fbf7da98fb525376a44f18bf33a056a312c205a04a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8bb73028c58341465cb30ef35478c7d7b0559b4a6be80aa9524acc50f9c88f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540d9895df792a65ce1cdcd7e48e73a52eaf0eb4679b8bd9b30da6dad1f78c40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0764ae4912640664016ab4300e6adc87d0b9b91664475275e5",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0764ae4912640664016ab43012a11887d08c56768b01ac6777",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0764ae4912640664016ab430162e3c87d0916ebe3672d026bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.265,\"left_z\":0.23,\"left_yaw\":-1.25,\"right_x\":0.315,\"right_y\":0.245,\"right_z\":0.19},\"note\":\"Both objects rose with their grippers: the pen extends forward from the right hand, and the cap sits crosswise in the left. I’m carrying them toward the shared centre, rotating the cap to align its long axis with the pen while keeping the two grippers separated.\"}",
  "call_id": "call_y1mt4EMDRxVtQlRvcMbAjLVo",
  "id": "fc_0764ae4912640664016ab43019071487d08b76bc9df7ddacf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y1mt4EMDRxVtQlRvcMbAjLVo",
  "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]: [-0.2874, 1.8286, 1.409, -0.1684, 0.7837, 0.3817, 0.4638, 0.8127, 1.3609, 0.9863, -0.3897, 0.3653, 0.2817, 0.0636]\nstate[eef_state]: left_x=0.4433 left_y=-0.2573 left_z=0.2141 left_yaw=-1.1356 left_pitch=0.166 left_roll=-0.0563 left_gripper=0.4638 right_x=0.3077 right_y=0.2385 right_z=0.1739 right_yaw=0.3449 right_pitch=-0.1445 right_roll=-0.0381 right_gripper=0.0636\nstate[joint_eff]: [0.253, -10.2769, 8.7863, 1.4921, 0.4908, 0.2076, -0.0024, 0.294, -5.1761, 9.4701, 1.6288, 0.3101, 0.2369, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab4526e5e36695be81533abcf7b6626ef3caa04e9f33632e70349117a3e5211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c956f6fc6267fc8812020926228103424cd53f79a54899b009e335748808817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23c00e6b51746e721d3545a7ae149277361c8b249c961eb710100e3b59d4777",
      "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 · 10.55 s

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

message 121 changed as sent

message 129 changed as sent

message 135 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0209, 0.4908, 1.0328, -0.5014, -0.244, 0.9971, -0.0315, 0.9569, 0.7475, -0.4652, -0.2642, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3989 left_y=-0.1041 left_z=0.0002 left_yaw=0.075 left_pitch=0.1387 left_roll=0.0082 left_gripper=0.9971 right_x=0.3095 right_y=0.04 right_z=0.1854 right_yaw=0.3058 right_pitch=-0.0886 right_roll=-0.0162 right_gripper=0.0636\nstate[joint_eff]: [-0.1026, -7.0906, 3.3983, 1.1502, -0.1538, 0.1734, -0.0073, -0.335, -2.4137, 7.2137, 1.5995, -0.1148, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5838, 1.2743, 0.4667, 0.3492, -0.5922, -0.2989, 0.4637, -0.0315, 0.9623, 0.7452, -0.4644, -0.2657, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3484 left_y=-0.1077 left_z=0.1332 left_yaw=0.0715 left_pitch=0.1943 left_roll=-0.0304 left_gripper=0.4637 right_x=0.3096 right_y=0.0403 right_z=0.1831 right_yaw=0.3073 right_pitch=-0.0948 right_roll=-0.013 right_gripper=0.0636\nstate[joint_eff]: [-0.2256, -4.3145, 9.265, 1.6337, -0.149, -0.1294, 0.0122, -0.212, -2.4, 7.1453, 1.6239, -0.1294, -0.0708, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2874, 1.8286, 1.409, -0.1684, 0.7837, 0.3817, 0.4638, 0.8127, 1.3609, 0.9863, -0.3897, 0.3653, 0.2817, 0.0636]\nstate[eef_state]: left_x=0.4433 left_y=-0.2573 left_z=0.2141 left_yaw=-1.1356 left_pitch=0.166 left_roll=-0.0563 left_gripper=0.4638 right_x=0.3077 right_y=0.2385 right_z=0.1739 right_yaw=0.3449 right_pitch=-0.1445 right_roll=-0.0381 right_gripper=0.0636\nstate[joint_eff]: [0.253, -10.2769, 8.7863, 1.4921, 0.4908, 0.2076, -0.0024, 0.294, -5.1761, 9.4701, 1.6288, 0.3101, 0.2369, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab4526e5e36695be81533abcf7b6626ef3caa04e9f33632e70349117a3e5211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c956f6fc6267fc8812020926228103424cd53f79a54899b009e335748808817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23c00e6b51746e721d3545a7ae149277361c8b249c961eb710100e3b59d4777",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAjiMnbWaMUzgqTyE9QJBUGfxb7lMGbo5LQxEreQ1ZpVkQwAxTqUTC1obSSs6bpr4fEsFESTTTIvFBLxIaivrSo-zHaVPeUMFOpC42O9A1Yz7VHDdpZNqydJrkPd9VYw1_S0agGYEjwtoPeIKaJ19PZP9AiCYBxybYW6k7oO4qtkSqAK5V9-rrxWYRlk_iSxHUBR9NcuTKVa70WIFNgtMZxBaPzNC9gMZFUplnNlpIIV-h_sbIqVjVYUtp7XyMPCofeI7YHPMebmC6cYbE8V64yl8Nn0q-2v1QcBY6-uOVksTMOfbmnXsQOu_w_s-aYaiEYmce7tLixDkqUbiNB8lIo8m1WEBQkpt9g24k7elw8TLY_kNDthav8ud8md5FGME-ZaIffFLiNSzeiA3ni9OCD4HMKC2EfpWRb6mDHVXWrJK6nRVLyhbTpR3ExQveoC8Um0Ew94Cz8xjO_mttNoXPJRKIl0gZkSwIXgSvYSoOHZI1Yc1OB3Fv57nRP82oSruB450vzH-2k0VW0YPnrc5Cz2rwasOQ_1bORE4pVxK7gHNrSeKrVWzis3fhfVcmEOkFL-VchKbxRS-gl9wGCoLSfbGihz-egV2azoOPvhm8xyRLN3fsao74Bcr95yEiJvvKxycaKdHQX00MIJYNA5sR285iwUY8L0USKfw1z7AJLqLA7d4hytlMZI0cY1_671n6N4A-wcy-x6BZ6a0sFfMTO41SjjxAEXo1uoczB-iei12dl7-nmtk7CbasOxF9fvQonuHM_7Gsjut1nLiQGlBJAWMuSVghHAn92VxKCNEuPVOKVKhbqWkXQ_QpI1Pc2GBSyH8FrIfTvMI0g12_rjCCnPBVvZApDA65D2gKpH1Npdu10tp_RpjO_Fjq3roPTb31uDPeSnV-UoINtkhBCkV6XXtZwGPT9E9txI7EElW5a7KaT3eTSBB0UQywEoAAPasbMuCFIqiBaf_Tqg9DtQ5nw8YkfCPIsjmj8bAk7vVykpbGqPwN9xRnavwNM9Cti0hQ1T22ttSReykXDICBm7gQP0LjGkRTTRSA1QENz_XS8oweDmTy0Y0bdHogP8xJkVJ2y5T9ejk5ntdbIx3ZHWTbF4IFjBdoBexltuhZ_aXb_SkEUqxwHLU2SGfVJHxEdvkJMkSOkTX2NYDt7IHCpQOhGlLwGEfhuzQWWQDYSprekNksLLRJHpubKzuTncU0EeXBPTP3PaKxw1dbw-4j8avjU4JhbxzzcP-p96cMHdAfA10wccQ4qZ--DaF9OTSo4Sp7jTPeTriIWoI7N_4ZiyrLES_pvOtIsbX893bq8WZm-EVDZqIlbXWgehqmbVwHBa1UpvA-5QHmtc9Yt50eUUnAF1MplsraZXlIEjxXnWpyykFGbiUnD5Jrwm-7MoonX-BTTD3p5qGP-ogXh2FJ7d1-rLtnp276RbGB32CGIW_cHcpsPBSeqbBDk0ewWrI9eSQMW85NX5MAzNLtAnFO82naEjWw9eHtDy1JiiqzmGxo4HMC_jepYnKmjfLy_ojgQqETYODNzwu1n7SK9bKy3PPVoxiPQEloMW5YDXFoodwT9wyHWubHGM116zO9SQ-EYHCdxGraBPWmxp0Mc2NDfDIqtjHnNYnFop8meoKyZXOvnOqYaMukCTDO-vJdW7bCKqUwCXK5yfJH1xwY1-O60ex0tnIjyEY1KbEKqik2Zd8-rhF0M_0grJ5J4M4hoZ1-DgnRNE-dV2PepakxeUzFmt1L9ns20rxwGbkf4BC-pMoNPRHjl0LcCHtTPAYy0wBoU-fQDzeGMvEsS-sT1b9qcUtxB0H9mFZdhLtfWGsUiMezuTqPhOInl1gXouJOJho2zCS10ifme_rHenpWelkqh2Efu7DurxW4o59n9RtQ-3Fg3a8IEB8RnTC36DVMQnavP1cqxUYspWaAvhOD6ZQO1esHaVtDtOl3vcDN7wJGo4XB-gkI5u_VXyR5p61AZVpdIMi9KcMl7S3VsiPdyQFGkAiu8OFdzer3OM1opzwEPa5PtdXPLL1RC0Q2SYVohALvCZfnD9UqNBqDG3jgu5nkt-Y8_RIjnDV9J8xPabmyqwvhC9rgnxM0DH5sgrq4xXOTQMFeyRUYCHf1nwpdfuGgN4WClMKjPo1LZdb6y3CYPx_lyKWZvmdjFw3asiPF7FNkI5sV-wb9V8bN0S5oDblwpf1x8OvzsHPUAH9cLUc5BQUL4no5ejLIo-IWNvZpNLU4wn89wQ8WSgcS82JOphRcIfaDorOSS0XpvBZ0qGM_C_uVXB0qsDQG4b1BcZLboBFu1Zhi49Pf0wF6iIAyvfc9ICAO8hdlMscXPEMTVVRucmFGxiLPu0tEiqPinJ0QP9Z94IdopudiMRabVNxSm1L2ONQ7RAbsZ08aZ4lgxg_Yny75qY3WPYU3wIqxFiT3zrclWvvfv5taZq6_Gz71J0LlSjqa7jp97Ks6vOYKLdgr3tpkOKxBOhZczLWWnWMUqfjAInCEf23N07G6j6fKT0-lKZ33CGNkIzj35ILOcxEdHcNUK3U1OVugzBOTF-8fjvcBH_sKtxmBxZPfhVCoYBxRJV4jH2I9tYU31YxrBYhAEg-fNBZiozKyNln0QFRSDeeAOwu_OKR409vVtvB6koPh269ChIotIUMNBdLoz_Sr15GUXAj1Wed7QvOgGpA_zGTnRG7kFk2osuLxD2v7syeZ1bU2yj70_LhswlUfnjWC6vqC5b2eR-PwsO9RByzqljefmW9l2vd_qSWlhwFkSBY5K1n9nR1chaLI273D-EHiNTM2jQtbexFACN4dzsvWDXD4Z8AMbkNWOQYVcJGpseX5a8J8qM9CgwO5H54Ar9rfQOY44ZCbd3u8FsXm_qfMrF8NKtGQ2wPvn7pntUTlVqMasUMfISgRqPczNDoqB2xt2CX3T_8KzHdoZNyuCkR0Cyf3ds_MuY7LjvcnaqA6X9lDrNG7gF8iHORxO2u-1hd82OEH2M-Dhdt24uPKBHzH9NyjTMOFOVLiNPJth-T6OKbPmUT8mye_fw1iSR2IImdfway9xyH1w8fZS_GgehG1o9GiTKVC3utpi_wsC1Xs2EFdyjJowH28NoMvgh-AhbaWPGhXMKaP_HL20yQjaeUJoDVM0w-Am0icWXugNZ5O3QiMLK0BuhXdHAWeOjEfTDAj4E6IL5iX8IEri4hpz4GeuveYkLGtng532tNkYF0QUvppFZvD-aH3HcaKADFlSX4ituGJ1DiSgNAXnm-eVzo_T4QH8Dsv5LXJUtQ8tEZ3q2kz-nPgMwMRPAktSJ4mc3JXzC0WBlF5ep_kRgJLYTBCCZpc5UJxVHP_Yne52eq0uUkIdSvRr31Lq7SDxxLzePJilXgbBaqj6WW4aOd72Z-EKQaCx5vWmJpw2t9rTZadmYomGHSDMWuWi5_5g2ABf3Xb2ClaCEWcrqmvzO2BeRS_XHlT9wWMoNo3Ge9rG8WW8Q4mGrNJBFgXMsV960Rp9Z6n8o1xm6Fx6JCyH8_GBuZuU2V8KeGF9c7jg-sBVQpkwvh7dROu9wpX_EFYrfxzem_z9xxwcZn5w4gpPMgXCYvUsWYThdECd7X5eb1ZRxvKyDXD0iMQzHA==",
  "id": "rs_0764ae4912640664016ab4301d2adc87d08d5d144e9c018f32",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAjby4mZSdmroDaXdkz_XrjSeLL9joejonK1TSEAw2ZcX3O7i0oVo6zM68snk4AVqjodThCbvHTf6fn7X5PWchWT4soGL6rSIDjxrSKy3Npvw2ZFkpmPiCLQl2kr4msNRXm73VjLzjtDff5IdTC7Tg11n-lo4NmOZr2t8b7OAn98pwgcN-2NDy2iXDQaKMKlLHDW8AKQzsWoFNZ0t0XMSq-1NQhDIBM1TQ8J0wzOnQmBrZ0MH4k__GwlzaYLc22sYyG-lch9q1vnU1s9_pYSFwfLOYyziMTn9yepinO8uKarXNofMdZu7MxnsqcaDU7bmmmPI9eiv2VCLefJc-tyNIlitYiPtI00_Q8NXw9KGPfsKZIMTDXgUyl2vLXOPC5O0nOsdvyqLEInTwkvrC0-xsSMy3D4lYfGGCKMrS-_EgU6LpKNz7kHGtNfkdgqNhU1clYlWEf77tvf3lvj_11HRnr8MI56gqwjh6NxTYv0NO1IdI_legWylfN3YOK-mr3fC6ot8T0jQECFXwSksmkAMQVodyR1W4KkwuhFqr2vSCFSrzRdCZJxqVziu9RRwDf_AZmH7Z7Lkug792Pq7bimyMBPM5XgSIG1zp4Y9AdWx5vPT0pobEYIfz2v0C_HMZXME81KKG4Ute-cRg09Tu6Z-vaSSVNItBOR9rKOKB8pv76K8-to7k8nos9Crof8OMaavXp1igYHyb6BmAOPRjuWHvMMESAExSxFq2_IKnGUt9J_Py-ESAY8iXsVBzgJlvwGxAKnmBGrN28-rDnlHVH34qcOoWX2Npca-nJRCDJDegIXEi9x19d05RaFWheumxGx9n7JRy8MgPill1f3K0qVsCNDMBGrWu4nsUkYlgEBUUug8MAHicL-NRDXVSx_B5lbsm0RNTUJ9769-ntN06chigdpE9ILRSH7TwJtYh3S0u2ol42ar0t_ugjwSpMnnsM5OU4P33qPY3RUS-93xR3Nh8q1k-GP-kCwEZWtq88NR2C_-bUeotmTqy2HREggmlD1nK3Q8djkQgfUqdF7NOqRVyeqiajrS4ADGb4kxEQGX2gRyfSOtuBLQPsUsiAmLbDm6C3AEBaEimbxKVQfDy2cTEnN_o-9LFRg-5xbM6J_V8219Crl0FF37PWPJV3GEpCkMUB7DIIT79ZAtzW7q1k8MXWg-YEqCcG1iO40Bv287uueNqq934xvQiPHygtloKsvbcJ-4ztUAeRGubhbLndJurXt9Xcx0_32Ko8_wlTR_HKkA6KjpPAxkCaFrdzPrz6QzCbhd1g-A8wHUfuCdQEtkYBcyPpoBaseNgOsDD7j6dqgWtXbm-JQ7Tk_LsTo8gGtXKNQzNiiTDdNXyC417GG-NogDRK-PtFnu4M3mGkeKC131D7uwXjPcjtV3-iYmXxvTJcM_fMRiNKtuc2_JpTLQGl-nQBFqq8g7ScB3o0tBnOkNlhQbLqFfuebwICdx4r-C_EJxHprX4XiY8_6aCkB-lY0lY9Cx91GIgCXmh2HKQDJJrrnXfWWkmSjNZZMrhv43-P6VHF6LiW8de87skJrMKeszfrVIJ10tAaKfLn2kFwu20=",
  "id": "rs_0764ae4912640664016ab430216dc487d0892e69b98be0fbd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.353,\"left_z\":0.19,\"left_yaw\":-1.25},\"note\":\"The held cap is still left and above the pen tip in the overhead view; their grippers remain separated. I’m bringing the cap hand roughly 9 cm toward the pen and slightly back/down to align the cap with the exposed pen end.\"}",
  "call_id": "call_ehwjfJz3N0Et24Pa5ObBY5gn",
  "id": "fc_0764ae4912640664016ab4302253a087d0905215fd296d6a61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ehwjfJz3N0Et24Pa5ObBY5gn",
  "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]: [-0.5068, 1.8576, 1.3674, -0.0658, 0.6926, 0.3046, 0.4638, 0.8177, 1.3777, 0.989, -0.3893, 0.3622, 0.2802, 0.0636]\nstate[eef_state]: left_x=0.3966 left_y=-0.3451 left_z=0.1942 left_yaw=-1.2454 left_pitch=0.1511 left_roll=-0.0696 left_gripper=0.4638 right_x=0.3074 right_y=0.2416 right_z=0.1688 right_yaw=0.3522 right_pitch=-0.1578 right_roll=-0.0436 right_gripper=0.0636\nstate[joint_eff]: [-0.335, -7.9521, 6.9128, 1.8974, 0.1538, 0.0024, -0.0122, -0.6222, -7.0496, 6.612, 1.5214, 0.1099, -0.0073, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992c8c816cafce533af0ef091d5fd9ea7e1f570de9fce27c4d64299d8a7291dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c063c47e09f458f7635d3399e376a86b27ea52acd5e71607793544b3e910e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5d76a05f72a776fb4b7d08d5f39e34b130591b43d9c3a54703ef69c9f2b32a",
      "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 · 5.449 s

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

message 125 changed as sent

message 135 changed as sent

message 140 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 2.0354, 0.4908, 1.0782, -0.5087, -0.2447, 0.4635, -0.0311, 0.9569, 0.7475, -0.4648, -0.2646, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.4017 left_y=-0.1043 left_z=0.004 left_yaw=0.0839 left_pitch=0.1668 left_roll=-0.006 left_gripper=0.4635 right_x=0.3095 right_y=0.0402 right_z=0.1855 right_yaw=0.3065 right_pitch=-0.0882 right_roll=-0.0161 right_gripper=0.0636\nstate[joint_eff]: [-0.2393, -8.9094, 3.0291, 1.4237, -0.0904, -0.0464, -0.0073, -0.1846, -2.2906, 6.9812, 1.5946, -0.1294, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2874, 1.8286, 1.409, -0.1684, 0.7837, 0.3817, 0.4638, 0.8127, 1.3609, 0.9863, -0.3897, 0.3653, 0.2817, 0.0636]\nstate[eef_state]: left_x=0.4433 left_y=-0.2573 left_z=0.2141 left_yaw=-1.1356 left_pitch=0.166 left_roll=-0.0563 left_gripper=0.4638 right_x=0.3077 right_y=0.2385 right_z=0.1739 right_yaw=0.3449 right_pitch=-0.1445 right_roll=-0.0381 right_gripper=0.0636\nstate[joint_eff]: [0.253, -10.2769, 8.7863, 1.4921, 0.4908, 0.2076, -0.0024, 0.294, -5.1761, 9.4701, 1.6288, 0.3101, 0.2369, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.8576, 1.3674, -0.0658, 0.6926, 0.3046, 0.4638, 0.8177, 1.3777, 0.989, -0.3893, 0.3622, 0.2802, 0.0636]\nstate[eef_state]: left_x=0.3966 left_y=-0.3451 left_z=0.1942 left_yaw=-1.2454 left_pitch=0.1511 left_roll=-0.0696 left_gripper=0.4638 right_x=0.3074 right_y=0.2416 right_z=0.1688 right_yaw=0.3522 right_pitch=-0.1578 right_roll=-0.0436 right_gripper=0.0636\nstate[joint_eff]: [-0.335, -7.9521, 6.9128, 1.8974, 0.1538, 0.0024, -0.0122, -0.6222, -7.0496, 6.612, 1.5214, 0.1099, -0.0073, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992c8c816cafce533af0ef091d5fd9ea7e1f570de9fce27c4d64299d8a7291dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c063c47e09f458f7635d3399e376a86b27ea52acd5e71607793544b3e910e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5d76a05f72a776fb4b7d08d5f39e34b130591b43d9c3a54703ef69c9f2b32a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0764ae4912640664016ab43025a3ac87d08eba4dd1f55c2911",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0764ae4912640664016ab4302988a487d087cb1269d7ae497a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAu8EJgWxUkO4o0No7u1zzO-w--LAI1Bk3tfDKAwkM0WBg9jvBbEwfVoP9A76CVxQTcPjfgTgd8Bk6DPQfqyITTI6fHHs8aduime72bMvh0jYi55t42e8a41NY55xZzb9q0HyHaYKlLE1kraaFntyPU0As5pN1YWapOHQ8a4ONWCrLq6RsIjoC_l1WbarM5EHLHpcH4LPo4CbkV-eS_2FNmIXpy1KtrYCerY3jvy6B55uzr4UjeWs9_Uar7A2frh8wjrWGhpje26hYkRxuRx_rNjvnhaNPaAzAFC4oPxegi7WTsSyREhBvQi8oSxyOEG4d5qvTuwp9OqErLG6s6HIXECRNSMCjJbu0OzEPPuRQZWxx0AkgC05VDu7psci5j8bpPiwpZgekySbnjQjx3a_3Myo8Khf5S9hhGmhVfSOk9N96DwfVxMu-j2I7btQGkns07T6_Zx1vdSpUekQIQJI2tbD5SFDc_WioJHxYDM0x9hQsrKXde_ATDTBemzouMYdwVx7oW8Y2waRwtyEDxXJ4FaogNOkivXf4iOjRFvRUDdn4n4bflNFX8kngCsM85Z85nGvCjaUUVXWwhJSFdbNgwPZp6BxiDQJf47hSeIYPtdhRrhdLaKw0FEzXnnmEwolC0nArTcO3j7sCD3SXmI4fhEAIVN0xgS0jZPu93_O7EnWxHd3ClHpM1oFnn55OEDd6jfFQ3P_FJe-OJ_SMZPk-J5M7Xk_aGA3gBZk_v-Agxb-a37FrFuMP9p08CYXztyNr_CxwLMn1a0CJNsa-j7D_BR7zaiMqW6bGXVCApZAf9euMB5EB18WzHWIqe-e_y8H77U6s91JJDtW0Yjn4YDwgt5soVW3Bd0AggoC8ZPcRQqTyIKUNsndyv1k6hEYQ4Fq6038HF7WTUMglFZvrskaptg2DQg_w-9fvB4p--jNtxLVHj3xHLohLk1E-EaVkmPa1pAC1rHZj5DoiOqEZqUhGjzM8CJwKWRHllzz_5yS6QMksNFk-XDTBEZyP1pUYaynM_7qAt9hJPHNiGn1RQeKKyl-FHhWHzEGmRKiaPsE-PKIexJq1nM-dipcYIRaMlSyrOWbhgUmpPhKxfGoyenuSwi5yXN20a_h8Y8fT1oIqlqfwJDZ2A5vqTZkQYqSXky2O_-v_rNZXpqlz8K68yFQB6E2-kNq7wIDisGLqQJHDDgAUCmCaLv2EXwzMxxAeUItMNSkvAIYF68UPG53gkB8SvUVAR4Ocmxf2CiwY7YSbsufnmZd_yoo0QJV6yd2VIJiEnQTEsjXTdi7iDV7qqqr3Ycca5k0AGdc2oUlbBgBC-fzQ3rZAAMc_t2P2wmr6BjUtd5K2rQctLbbeABjMDINuKpO_to3I-UHincL9fuFY64HT8Tj1cTKV4PJtg_A2C0wksQx6JRpg_6kbv6Ksj39clrGdjH5uHmF7dlIM6vMhIyDGzWYn69ucRUVY9Mzu-bGYCmkJpEqSJuNKyBgS44vxNTj7JQT_SoPpAL9iVgjCsp7iF6KN3Inhn-e9fj035t9xWwhm35uSpSo4JNzu5421BBA==",
  "id": "rs_0764ae4912640664016ab4302d14c887d0a75a6890370bb30d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.245,\"left_yaw\":0.3},\"note\":\"The cap currently points past the pen tip rather than toward it. I’m raising the cap clear and starting a turn so its free end will face back toward the pen before any insertion attempt.\"}",
  "call_id": "call_rLPW2Qh4ZlBzxPAqwDn4OtCL",
  "id": "fc_0764ae4912640664016ab4302db63087d09f4e7f3a7758bb7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rLPW2Qh4ZlBzxPAqwDn4OtCL",
  "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]: [-0.8867, 2.0758, 1.8759, -0.6258, -0.9272, -0.7403, 0.4638, 0.6914, 1.3293, 0.9813, -0.4332, 0.487, 0.4343, 0.0656]\nstate[eef_state]: left_x=0.4404 left_y=-0.3108 left_z=0.2239 left_yaw=0.2228 left_pitch=0.1135 left_roll=-0.0256 left_gripper=0.4638 right_x=0.3342 right_y=0.174 right_z=0.1821 right_yaw=0.0443 right_pitch=-0.113 right_roll=-0.0008 right_gripper=0.0656\nstate[joint_eff]: [-10.9197, -6.9128, 9.4017, 1.2479, -0.398, 0.0073, -0.0073, 12.3556, -0.7043, 7.5829, 1.6923, -0.7546, -1.4042, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e463023b3371b990a75472ebe4383ef711098cd656b06f11f990b2ba238940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6e913eb5626c469b1279ebe8a864910a02dc29a0f796c23ed0b80ed5ca7f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1793d1300dac59ac75051663ac61fcf59f0a973ff44cfabff7e2c6f9f6c52d8f",
      "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 · 9.251 s

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

message 129 changed as sent

message 140 changed as sent

message 146 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5838, 1.2743, 0.4667, 0.3492, -0.5922, -0.2989, 0.4637, -0.0315, 0.9623, 0.7452, -0.4644, -0.2657, -0.2253, 0.0636]\nstate[eef_state]: left_x=0.3484 left_y=-0.1077 left_z=0.1332 left_yaw=0.0715 left_pitch=0.1943 left_roll=-0.0304 left_gripper=0.4637 right_x=0.3096 right_y=0.0403 right_z=0.1831 right_yaw=0.3073 right_pitch=-0.0948 right_roll=-0.013 right_gripper=0.0636\nstate[joint_eff]: [-0.2256, -4.3145, 9.265, 1.6337, -0.149, -0.1294, 0.0122, -0.212, -2.4, 7.1453, 1.6239, -0.1294, -0.0708, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.8576, 1.3674, -0.0658, 0.6926, 0.3046, 0.4638, 0.8177, 1.3777, 0.989, -0.3893, 0.3622, 0.2802, 0.0636]\nstate[eef_state]: left_x=0.3966 left_y=-0.3451 left_z=0.1942 left_yaw=-1.2454 left_pitch=0.1511 left_roll=-0.0696 left_gripper=0.4638 right_x=0.3074 right_y=0.2416 right_z=0.1688 right_yaw=0.3522 right_pitch=-0.1578 right_roll=-0.0436 right_gripper=0.0636\nstate[joint_eff]: [-0.335, -7.9521, 6.9128, 1.8974, 0.1538, 0.0024, -0.0122, -0.6222, -7.0496, 6.612, 1.5214, 0.1099, -0.0073, 1.0232]",
      "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]: [-0.8867, 2.0758, 1.8759, -0.6258, -0.9272, -0.7403, 0.4638, 0.6914, 1.3293, 0.9813, -0.4332, 0.487, 0.4343, 0.0656]\nstate[eef_state]: left_x=0.4404 left_y=-0.3108 left_z=0.2239 left_yaw=0.2228 left_pitch=0.1135 left_roll=-0.0256 left_gripper=0.4638 right_x=0.3342 right_y=0.174 right_z=0.1821 right_yaw=0.0443 right_pitch=-0.113 right_roll=-0.0008 right_gripper=0.0656\nstate[joint_eff]: [-10.9197, -6.9128, 9.4017, 1.2479, -0.398, 0.0073, -0.0073, 12.3556, -0.7043, 7.5829, 1.6923, -0.7546, -1.4042, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e463023b3371b990a75472ebe4383ef711098cd656b06f11f990b2ba238940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6e913eb5626c469b1279ebe8a864910a02dc29a0f796c23ed0b80ed5ca7f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1793d1300dac59ac75051663ac61fcf59f0a973ff44cfabff7e2c6f9f6c52d8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0764ae4912640664016ab43030d56c87d08699809d287af98e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.27,\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.19},\"note\":\"The arms came uncomfortably close during the turn, and both bases show a sharp effort spike, though both objects remain held. I’m separating the hands before any further rotation or capping attempt.\"}",
  "call_id": "call_gR0PWN381TBZGUaDtOJ6GD8L",
  "id": "fc_0764ae4912640664016ab430341c4887d0a8c4d7d87aaa6361",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gR0PWN381TBZGUaDtOJ6GD8L",
  "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]: [-0.844, 1.544, 1.3586, -0.6163, -0.8967, -0.7044, 0.4638, 0.4194, 1.0023, 0.7979, -0.5133, 0.3012, 0.255, 0.0656]\nstate[eef_state]: left_x=0.3652 left_y=-0.1976 left_z=0.2603 left_yaw=0.2285 left_pitch=0.1052 left_roll=-0.0251 left_gripper=0.4638 right_x=0.3029 right_y=0.0816 right_z=0.1866 right_yaw=0.021 right_pitch=-0.1206 right_roll=0.0004 right_gripper=0.0656\nstate[joint_eff]: [0.2803, -8.4581, 7.2547, 1.3455, -0.359, 0.105, -0.0073, -0.253, -3.3846, 7.0359, 1.6874, 0.0708, -0.1587, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b8ac25d327f9d7b8cf989aeb12b17ceeb19760f02f86e44a99045b13064fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329abe39fa5b97758d34a2feb36b705ab5c0985a7417f2cefdb9bfa2d9f6c50c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a7937f0da6d30d5d3b72ce02a90a9fd862063043e5ec490762680c083423b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.648 s

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

message 135 changed as sent

message 146 changed as sent

message 150 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2874, 1.8286, 1.409, -0.1684, 0.7837, 0.3817, 0.4638, 0.8127, 1.3609, 0.9863, -0.3897, 0.3653, 0.2817, 0.0636]\nstate[eef_state]: left_x=0.4433 left_y=-0.2573 left_z=0.2141 left_yaw=-1.1356 left_pitch=0.166 left_roll=-0.0563 left_gripper=0.4638 right_x=0.3077 right_y=0.2385 right_z=0.1739 right_yaw=0.3449 right_pitch=-0.1445 right_roll=-0.0381 right_gripper=0.0636\nstate[joint_eff]: [0.253, -10.2769, 8.7863, 1.4921, 0.4908, 0.2076, -0.0024, 0.294, -5.1761, 9.4701, 1.6288, 0.3101, 0.2369, 1.0281]",
      "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]: [-0.8867, 2.0758, 1.8759, -0.6258, -0.9272, -0.7403, 0.4638, 0.6914, 1.3293, 0.9813, -0.4332, 0.487, 0.4343, 0.0656]\nstate[eef_state]: left_x=0.4404 left_y=-0.3108 left_z=0.2239 left_yaw=0.2228 left_pitch=0.1135 left_roll=-0.0256 left_gripper=0.4638 right_x=0.3342 right_y=0.174 right_z=0.1821 right_yaw=0.0443 right_pitch=-0.113 right_roll=-0.0008 right_gripper=0.0656\nstate[joint_eff]: [-10.9197, -6.9128, 9.4017, 1.2479, -0.398, 0.0073, -0.0073, 12.3556, -0.7043, 7.5829, 1.6923, -0.7546, -1.4042, 0.9304]",
      "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]: [-0.844, 1.544, 1.3586, -0.6163, -0.8967, -0.7044, 0.4638, 0.4194, 1.0023, 0.7979, -0.5133, 0.3012, 0.255, 0.0656]\nstate[eef_state]: left_x=0.3652 left_y=-0.1976 left_z=0.2603 left_yaw=0.2285 left_pitch=0.1052 left_roll=-0.0251 left_gripper=0.4638 right_x=0.3029 right_y=0.0816 right_z=0.1866 right_yaw=0.021 right_pitch=-0.1206 right_roll=0.0004 right_gripper=0.0656\nstate[joint_eff]: [0.2803, -8.4581, 7.2547, 1.3455, -0.359, 0.105, -0.0073, -0.253, -3.3846, 7.0359, 1.6874, 0.0708, -0.1587, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b8ac25d327f9d7b8cf989aeb12b17ceeb19760f02f86e44a99045b13064fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329abe39fa5b97758d34a2feb36b705ab5c0985a7417f2cefdb9bfa2d9f6c50c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a7937f0da6d30d5d3b72ce02a90a9fd862063043e5ec490762680c083423b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDA_XZWzEhKrM8PGDgL3-cM7eH_vrFHW8XzX7cWl1g4AzIX7ZDxM6vQm-CJA7uRlc09uJu-0-M2WvjqZhcruDUknTeeKeIAUlFa7-baRo7M0qCkbdu2NDNyx8lVLh5cSMaUZhdPKoMHMTMDrXd0Z2ko2Y-eoiHXYvn5BPS-3aKBwPKZPV4xdQvApSidY6d5jZvjQ7XtWueKuriIN4VhuEp7NiTpI4i1CZNBoLXG_k70-gRHdX0hFIJgOFRVHRrW9p_lt3AxnhsC4_fla7pwA7G9E51Dc3Y2mj0mNKTs4asaERIFNCYZOPvfSgo0J0FLx_mUjz3gcXLesSO211a2Pl5dqJ8Z6DMIOv3Au89dquN40VajmmSP3sTTHZwXP4MoIL8FWISFdvS85r0ztQPRKHwac52VcsPcs7wdiqm5KvISSz3gTpsNMwEgbyh54B-epGHbhxTH0wUQOdEPjI3t7Z8qBpITWn8TWyFkdGAD92iPZOkolitfq7wn5Wul0rGtiB2HjvCbV3jOeM4kEptBeDAp458ixSmfeWoQuwQu7jKkTDN3m7dJX9OV7B71wuF-_gIWWxgKA-rf8Qc9Z8Lr1gZZs1nxN9PBuxwnzImDEd8pI6YwzKLCZVGylCgku98Aec1eGY3yhClNZmmI1-58VC2fM3O0slTKBuvgMcLCblsbjy5eo_IrLARXxXgLKQIhxUhqf9aUs-Aqkn9aeQbpiZR-jDDkfqwbNtoxDOi7XPN_D3DeOrIDqj4rSb3JgYQq8Qhq2c5HhpY6Dao-yFlI7FwnnnOoE_wSTn9UYMI7vg71ccg6nGpzncUY8IKYZzG54U0cAL4Pu3kegqm1aLMH-o_vn3x01cpR-P_sN7SxMwlIRgYSlShlwkZbZGCHwaUceEFXVwKHktByp-RjSXOFz19C5ljs4epcRHTLkVgDqZP9vYPzmRMOFen8vBnLplLcHS6M_iwl7WAB_usFvnGw8N1HRkif1uQLUrzk_z-aCx4ZUp9h8YigZjMy95SpGat8eth1qEF6ja1ytce3JWPRff3NgAFf-2z_zyJkLkzY7GrFnljPU2TI2oIllYK53AntDIaAO7BijKqkAyX9mAk6fCxb6CQwSO3g5p2NcjfFMnXU4PxNZA8vz0EtchSt0ByWsIw7Y0jEk2kv6b8LuuKT0xaoRHMTkS6ViFRRh-1CGHOvjNnW2oz8H7lQvqigt1CtR1ocU_Nvo_UcUXI30_YwnfVL5B4ldAv__YYvGZEZETfQq9_ic8YR9B7JBlqUxNHBUAbpMKy2V6QigRK-hmJPWUyzvIqA2BP2PibVOo4tqZgaOLljHK1LIehCdEPY3uknau4us_l9UtpuUqn59xk-RC6OBSjg--rhxZmgywpZcZ10l8ZHzoKEv8tnHP0scHdfunmVZxDiKwqeMN-XnE3KCXXOzvHgR2trSye9ovMGIc29cWYupmDKk02TGxEgCRS-piUyGAoMt3vGvTOHna-x9qBJlVfAhdMxWpzShALd1_pGOfSQDn2SqS22uJNsCyRvqYoH_EKZPzX-av2EpFg_nQo_l_JQlB6o2wB5nS3uLWJJzJI0T0B6G6G9aRFI9rIGZE9HGVsA1Vlwkc1ZXmpZGGICEI5cBXJVByALJVLWaVus2dMjmrvYdzo9q5k7v-Fz0qOjUvra63qVQutWvDSZapxXJ4hLxVrcABBNufFD_DHey67jVZ-49Zr0PBXX3ngwawuIfX6xGhMBHGUO_GmTldlreFP10-80ALgy5nQdMZNugapBGj4P_FEOrczVYfkuZv3ilEhRg7W7InEfT94jZXxumT2OlGk1l9GQP1HHPxQRNlz808iFspFuQvS8zm5u86jQA-uth8gRBt1jc7mn-aQ0wuqQf6SfsxMZpVI56o-hjbZLNR2bzqbh8FuPq9Zhe4I2KtLEYdLwyM8LkyySdxPalF1F-wZTaVJ2HTpN8FgzuSBVrsp6PSZKKHDkkqfZiKpb4ThV_uVVX-0MiGiQ01IlLyCqiBkCehrbQxRqOOuZeFSakFNSUJ5__EWiwsqukVO_cuKK1ptgZzzB-zi083GV5HCeM0IU-v_nlk7LpoPdgpBRvxzvlqihwix5vHvSWSzPJWqUi1fcIZjQZU6oQ8KdbBM7uHrVAELcJ1psVsqXVlPGU9XxAZhtn2WkNyDxrxo89ZlKgpxJyRHUEdq_XjRlE3RdnISkjq4sKBW4KoqpQzkctbPe4N-tQMK4esUeNtTI9SCcJy4H8YqC73kM8g7k6L6uUC7GU2bbH9oWZZQupth4LMZa5fnecIUZGEctbSxn-vKJ3elUqNxI_SKLCppoQYt2UZCiD3kr7nlh-VGGo-oPiaWmL4pdOGVhH7BcoQN4Y5OIfVWtJ-2gTvWTZj-RFAGrxyN57jJNdbsj_QUDvU5miZKB9dO_bpPU0Xd97a0BiGCQiexv43_FNEpe9BHGWztjiDYpcLOA8ukCVGxU-fehNzMQriEES47nsm7_qpZQADt-eOeQQYQ9-n9G1jeHOXwvSnyjz2jhhx8oydda8A24Y-Iwh9kyHITBVw6lAwo9g1qAUX5LCaddEc3uTM7RCx-waQ2_W5uoX2WUmHuSzn0fE4HAZUsYxNfNbhPaKmFpJaNpQDLjTFCYai-4hO677HrfygXJ7f2ajIOrXpD9EYDE4mZV4V6wahEoYke48iIiV-c0Lm8gmw4socm4ZWUscl9vCW8jJE76reGzcEJ65TGg0xzYFNgqXppxcHFTNcUG_ZuEWJEEzLGCt8Y6dzHTfNSuk-sXO-XHHp-oO8PdgcMYWeNIGRmi0_CjpIGxu3DNa7VFXc8NiNQrjDO6grlQusIZAA3OcfXRCiQRBsGmpxnNHHuDJ4p_C_exnajjAs4x3D55zv6E3p2aLK2UEja_F0u_V3ZexlH5SkTSXwGgdpb7GQph8002yxblzDmne3TbtlHvC-CsYGEbZnbhnNKCZhr9BLzpkWojgNSmiYj-EDUqyHhiZqns3Myz9SSTziszDOzH0G7yXHXK1FS54NXkDSYaWmgYwT703vB1_A6PfEg-IQYryyoMqtcllIeuUFekEGPHxIyGXE-EJlPFNL5wIu7IrD_aP5j7XmDFrfTeSg6BBY9erGN7BM2qRU9BuCVYdRuqLbsVe_s1XMZ_cqQI2-pmkYSk2tznagee31u5t-L9Mbpqk0KXSA_gtw06xJF0xMdkaFywQKgKyhhNthtB_bGxinNk1-UaC3HwyoLiUgw4IXYPHOuap_ipjyDIO4Vl59Pc4SOBUQu0blEJwyYQH5CLOfKDITsC6T7DkwK0I-dcLQ6AkrWKr1FLm4BOb38XvkMw4RogIP0aophzUVVZJY3Rlqr4M772HZjjMUEU154wdo18EAOv-7d27rr4ZXLPkkSKBbGh2l9AYDJSoIdHVi145aYcM4m8k2Z5QdlPu5F7uFZJdBNThGb37inzXp8_Qmj7IOPvG6kcxqIpZy9E8jX4voMFQ9Ug1_fU7f1NRqwHNQx4fuy59zAPlPR20-OP6jqCQC7pdHifoOgbUtiyFGX8LilvOgyMnYGMS_IgNGV_HQlxBznf044q19p0XO_MIJT9EBY7qb2oKrPsHGDqfsGiB3c9o6mEyIc3Ob2j7dXlpiMHszt4b65hUlrrsBTyYdmE4_jjpKZIJ0otZM0xItUnA0RVN9GFtaO67hPZoTNk=",
  "id": "rs_0764ae4912640664016ab4303740b887d08ace085a3490cfe0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDA_3zzt_7Jga-LBm9qVasWsGx3xHwJ4cncHETlUKmAFV4eHP4LF9HtjNoPc9w0GLFayuTiYaG2dKn2EUBUeyUU_E8ZJq1lgyNIvwUx69a2pCk2pGlVL8HamkXQNTqSIxjTl6GSshhCJ49JqPUGxQlOBXN1tupj75vnUSOvvAISAX00cwAL0vJhQHqYMCKg2aFHFF5fOxg9npgTOKIM6jUoCAzDHtD_r6wIniAQFSDP_j0F6dIrd1o4ylvYqgTvFea-FFN8bgXoxkqiKZbu24u54UMgoxieX-bWT2sVKw8PIUh696h2dMFpx6I197OeAeEFxemQLgmUrXiDH_CB3_29DH-aOG6gMxXSs-VSeZf62WGQ4369xE-wK0lomB677-Y-0NNeDeEhwvNkatsPmp9FEfEuKnTr4XxvUsWDGxtEc-9bIiIcsCktSWFOeUL4qT3pdou5on8b0csdhVu8pCeD382ivcv5wVo0SxF8fREwbqLYy9M94x0pON82O1DSqyPlvVQK3oPDfTk45RwOhjO8vZYi98cyL3F0LSlkSOgF42HB6QqB7L2hyM8VNc3bLxZHxsXO8jo1LMQF0ANxtnEt2ogmRmUT5HzrGFWEmJporeZKnrhzD5AVpO6uKOqdl4AleUkSj-jy0lPWLUMOyPolnXEZK2a1uRSJ-Bt86L4HDfjv_qH-nlETJzPLUdWkgZie6xRSxLw1kf7g_ecWn2y4A9bBpuFvrDIZPq1ZDgspndm3KCq15xxrDHxDJcXjB4rs4ptKrPHxxjEXsHauMrozMNEtcqf-5QXcEbkd7ejeCSzfVE7PCBf3MpWtxmHCUNwfZtRD0rNKcYDrW_m55hKnKai8hJzv9W9XQKK7wYQeGSh-Xq5uhW2Y2LW_Q8kBKBT5kdNUnsFM6SNE2P6mn7XQHjjgUkYKqvvdddh6A09AnizPgjkMLGhjT1jfJXM3nQHxtG-Nvwa81sTDSgbnLzkZix_ALQKYbd3Eud51zy_nG_hiMdDDwifHZxmfWE9TSDV_ulGg2SAwKdBFlmrct1PEbdRwM7sc1IbmAumauxnV3I5bcJCO7xFjrEY8587kwy0HB_yI9Lv3cRNZDwUeN-pURzJk8K2MRsEdNqzkGJ8S2ZiG6J9or6n7pSrnx4RRQUl3LsKax1zPQN9eif3RjUxay6LERJws_k37lb33pjdpG78Kvi0hNRYzpCTuFGtZ1rojs_zpxnvL_rE-PF40mmg8YAe_IrtseM_7XiveKXkWwCoQCH0b9pwRXJ0DV4b4CuThgzDKmns5N5-BndJGj6X8aXsF-btJFo1YLyJj0ABiiT1ekSrv8BZzP-j4cj-DLLIs87riP1LCc9N-mOVAj2OmWbAy0BDcEk-qqD5a7SMGRMJtnBaxdSVVbGR_v4tDl964FQn0dxv4BrcDv7DgfbmVdQQ5gESPHuBM9TMzsKcHIYdS2gqNdpdvDJ_GWwRXzNq5fEQeJ7deunD2nmFHMMv8BG1L1aOFDuAa2iWXT5wU-X9aRCsCCMVRDitvsF0Ae1uEUlceU8RsKXWHiyFwz8wvvEzAPGmXzqhY3hVT_PxHab7n5KYDBEMmeNYwQZ40VzxtcrwXHZS45DCG3t6rF9SM9EVmdRDIpRkyuqjOTmZXNsssE9r-rXlo1qKjWW_tm2Ob0wMn1z4SAAULuo1U3cbMWi5fR9iW7YZGuziHW4F6mZwIGotniPjTL1Wj5RncZGFUiAXzb6UA0EB7NQGwfeEmyesAdvK4ZvQqnd1-1gd7x5uEIxAQtCGUZ-i7W_AFqyCYjTJqVwp08W-xDX9xRNARKBv3wZkiWGmy2hVpDs0qG8Lu9bUuMXgz3g00usAGjMGmO0bLlhQZz8DMFR6n4bNOfz1nO-a5MliboIl9o7dhz-70IUSiUY7zhARQiDbEnjr3YtIKY3hDz8h_KqTEbOFdm97uLkP-Ot89Auzm1Ua8tpZ9mG2w5mqqrFOMb3ka_3dKbuLb4ZnS15aRbrvKlOQ7qYb3PfakPMmvtuppdr-l4PxSuwKTt-PUR6Oae-zzZ6jT3icI-7nwPNhCJh-77h7XWD0c2WW-HPyMIB1shYMFI__jtYzR57mYligSAyv-EvjyZlJ4n0h4SIVoF6xpLhN9FvRnEsKBknDYhcrOVq1GwFzyFak7TpQkUl2ofoqgA0bO929KJWGc5wKC-h47YdkigUpAOdIragv_8nORGENJfpOhQjC6XKPGD5UvWM_0R5pTprObXc4RFl6wpeXlQ5oEOaN-zTgAFB7X1Qx2jNzRiFNb5e_YBnZGa4zbosOkZdWQxkNtmXEQtyUXKv1ROOy1MYW93OtWA2hXty8dgZPW5h1ilI6eNeccaSQNuya8ZoYPcEQjzUR8rxnLHqGa-u_HIkPInj5p39HNv5G386NDbCjEQOY7eCL5gyV5bRB51IOj6ZyoY-EtoZTUDLfyZH69_WH-m4Z2Kt-cTm_88NIcOmrr7mofLRcLQy-K2yJpTEMBGtimwOevOHFXvk7u9vX1vliqCmt--7W_1azR4t_qib2-VQ_gBevzxyoMvQ5rXdAF0nlR0FHbvzNzMIQ6n-sPiFKN0GkkG11kO86CQ4UOl7uVo9TS27pPOiAStM-oxMOu9Ql0ePlVdJLv3p4iKNHAiaWeVMjrZx-lHtxdOL_3mT7JKhBYY8ZE_eLI8gkblRH2aO7ne1CVHYFhcM3He9dSwlQZyelpjBFiFabBuSyfE_lMQjSkTRYXh0YEDcUjVpjPd0E5KFhYzp7OYFT1eO6DEty0KfQE8T5YgGoek99_FLNBsiz-riHq7-d5jWrE93K_v",
  "id": "rs_0764ae4912640664016ab4303bb17c87d08ef51264c872c6a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.293,\"left_z\":0.22,\"right_x\":0.305,\"right_y\":0.282,\"right_z\":0.19},\"note\":\"The hands are safely separated again. The cap’s visible closed end points forward, so its open end should face back toward the pen; I’m repositioning both hands near the centre without rotating, keeping the cap above the pen until their ends are aligned.\"}",
  "call_id": "call_tZCI71ga8nKSGwMZoYsMw6Au",
  "id": "fc_0764ae4912640664016ab4303e54e087d0964359079fb4db78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tZCI71ga8nKSGwMZoYsMw6Au",
  "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]: [-0.8249, 1.9049, 1.6806, -0.6296, -0.9188, -0.7963, 0.4638, 0.9955, 1.6012, 1.2106, -0.8127, 0.667, 0.7307, 0.0689]\nstate[eef_state]: left_x=0.4283 left_y=-0.2514 left_z=0.2319 left_yaw=0.307 left_pitch=0.0947 left_roll=-0.0532 left_gripper=0.4638 right_x=0.2804 right_y=0.2381 right_z=0.1433 right_yaw=0.001 right_pitch=-0.2782 right_roll=-0.2011 right_gripper=0.0689\nstate[joint_eff]: [-4.9026, -7.3641, 7.8017, 1.1844, -0.3443, 0.1832, -0.0073, 0.5402, -8.0342, 10.6325, 1.6972, 0.9548, -0.0562, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b38c03bc888dd3d3b16ac0d33cf441cdda9b3a29bd8cef06f2e8ee4bb580cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58fbff260cd286829befafcbf4bd3029b8305aae5ab2eb507b1ffe2717bf1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f883207e6dc3f68fac4ef7cde137c965b7ef3ed44ad120acf08228c36ef7fe6c",
      "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 · 5.317 s

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

message 140 changed as sent

message 150 changed as sent

message 155 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5068, 1.8576, 1.3674, -0.0658, 0.6926, 0.3046, 0.4638, 0.8177, 1.3777, 0.989, -0.3893, 0.3622, 0.2802, 0.0636]\nstate[eef_state]: left_x=0.3966 left_y=-0.3451 left_z=0.1942 left_yaw=-1.2454 left_pitch=0.1511 left_roll=-0.0696 left_gripper=0.4638 right_x=0.3074 right_y=0.2416 right_z=0.1688 right_yaw=0.3522 right_pitch=-0.1578 right_roll=-0.0436 right_gripper=0.0636\nstate[joint_eff]: [-0.335, -7.9521, 6.9128, 1.8974, 0.1538, 0.0024, -0.0122, -0.6222, -7.0496, 6.612, 1.5214, 0.1099, -0.0073, 1.0232]",
      "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]: [-0.844, 1.544, 1.3586, -0.6163, -0.8967, -0.7044, 0.4638, 0.4194, 1.0023, 0.7979, -0.5133, 0.3012, 0.255, 0.0656]\nstate[eef_state]: left_x=0.3652 left_y=-0.1976 left_z=0.2603 left_yaw=0.2285 left_pitch=0.1052 left_roll=-0.0251 left_gripper=0.4638 right_x=0.3029 right_y=0.0816 right_z=0.1866 right_yaw=0.021 right_pitch=-0.1206 right_roll=0.0004 right_gripper=0.0656\nstate[joint_eff]: [0.2803, -8.4581, 7.2547, 1.3455, -0.359, 0.105, -0.0073, -0.253, -3.3846, 7.0359, 1.6874, 0.0708, -0.1587, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8249, 1.9049, 1.6806, -0.6296, -0.9188, -0.7963, 0.4638, 0.9955, 1.6012, 1.2106, -0.8127, 0.667, 0.7307, 0.0689]\nstate[eef_state]: left_x=0.4283 left_y=-0.2514 left_z=0.2319 left_yaw=0.307 left_pitch=0.0947 left_roll=-0.0532 left_gripper=0.4638 right_x=0.2804 right_y=0.2381 right_z=0.1433 right_yaw=0.001 right_pitch=-0.2782 right_roll=-0.2011 right_gripper=0.0689\nstate[joint_eff]: [-4.9026, -7.3641, 7.8017, 1.1844, -0.3443, 0.1832, -0.0073, 0.5402, -8.0342, 10.6325, 1.6972, 0.9548, -0.0562, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b38c03bc888dd3d3b16ac0d33cf441cdda9b3a29bd8cef06f2e8ee4bb580cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58fbff260cd286829befafcbf4bd3029b8305aae5ab2eb507b1ffe2717bf1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f883207e6dc3f68fac4ef7cde137c965b7ef3ed44ad120acf08228c36ef7fe6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDBF3XHAcpIcbI630NgEQ_pj6pQpCaFHsL6q5gHgXcfxlAJHohjnZmIp0gfT5kLAPbjZawBpxncaMw2Ae2BOFYGXvUCZwy3q4ErXDsAn0V8CLTb3vsbGbuNyfmcW4NqNZgXqkGjC8sZwE5LkcUGqy8wV2LVerhwoi5ITAzOfp0BdWlPq21Hia1edU4FGVHxhnTjgZGkbUtYMRDDTIw6iMK82KlDNTIKYdOPc-1xAhyRQtaEeisO0fOZXFjooO2eLHtKtIY3abUF-WB23bnw_Gyget38rMcGsLZyfR67emFkP8qRYYggsyRYnMqSZscON-VKcS6GQEOTNk32eD1AFhXmcWyxw63Ht_UJgZPJ9aTupbEYsVDUDwMTNO0xoEzEETrr6hGR1EoZKq_8ESlD_img0H7TkCk9-UN9hyoo5CS32sr1bbu66XGruHwxBA8daFw9tiTY7AmUGrxJq_PDxg_FtvasvZ1b54oDpNQCHAj6HKmb9IT4CCfRpBZh4eelA3OBE05pdYgCzBKcesrMLuMocWINUhF6T4Mq2np_DKZVFmdp1k_cR2dcoGya2DLsPw7U7mCzdMFX3H0RY1jLX73QZnMUHbWIsit3yffZc2DSZGSC_Wr-kQlqbkKmudQI7GkplLyfMomUjLfjDj5Y2NcNj_Mpr-uMyqqpp8RlA-0awc9ZJKg8XdsLXflfjMqO_UBIH4pdpcE6JM_cQZU86qnkztPjBNXIEhmUPRL_u58ZX3uPmHNcH_LmjrEuRYsG1Yc2fXNHH1jm5K-epwn8_Z5Hj_xtkkfu6FrUhNkOvR2DWPAiMbgASrNWruwv7NA20yMJ0iWy6jYZ6B7YCmNcIvnSK5bsJ2j1M7HxJ92QprUi_60kZfktr9xqQmPOOckJrKfnPScOaPHKS3I1Yur9Q4btTzYtcqn_Ofm5IIhOzWC7igGzcGjW7GUfbwZ2Ct5LeAhlLIlckSsO4A9cNYBiXHvP6LVsgYZ9ImLhhyFyrDv5s4KG8oyl9ISmbfrcol82zoLRxhTRS8TxYK9niqwEKosZOHI-vXAXNg0fMQoiQ3NQlITlAArii-UEeb-8LLuuXbzIoK4Hx5A2v8AKyI8mI6mXZ4t7P9SpKQrCDCN2Bged3qVMlr2gBLYycZbaOE5pCxihpEvAo9JK1GMgC4rk_v_80IF_2s-siIA-q2K_EcSi5s2iPEUI7YIS98XIAAQAY5i2VV70PYfe-ANIRWbC8Ow_CzmjXkkouvnL665PPQjo6Dit-eF9sRicAiyfTw5Wtjj5rkovg-65C0wSOI3Zl29o2_DccMRyc75PAQVOzOS40smGKBuTCPO8rn8JPzmkz4MhMuvSzK1BqZtRRaCc9q_cEirCUsuCxUy7qHCbdkD5eGxaLCrMSVnNDX6c0F8ArRkqbXbPw6lzaBWXhKjtsiUVLGQxqsNTNaCLpJtOtQz1YgLUZB-jcEwjDC310hqtdDuSg8KUs_Fp4TXYfbEaJvi5c8m3Q5zYq08eYbMvbWuaw-pmdT5s8ePwm35FlKAJk_s7V9QjUhKwfoRQ5QYt4MojLUv5DkZJPYdDjl-W1FLKPJ_-HdPGAf06Qh0B7NWi32IkKObQxmVHMYyORS2CeQFU7qlkAK9gwNEGilNxOK0nWJT_SRbm0V6t33ojJ088_15uWj4p33ai8g_1W9FJqxJZ43e-8xLoKjv9EtHWBEo99Mav5X8e4jDscHEP1QVZ0OFWEdioYUOouWWsez5NpN2EC7IcX9ldami8a2M7jGnGzcE4SyZKVx8xSbaaTh4L6edw880312JWGyvPxnxS-3Nf4vm9cuVPT-d0E5n7Lnr0WwYCe1Mtfl-ZdYUzIQrCjyaZts34EwHciAb7b50w3YHM_GFgo55GP-eH_gzhhvTEaO9iFjRnhb2S8b9l79GQplswFDipyVJuvu18y19jQc8-VSSFex4bqiZjQOexQY0LPjWAEt1Pko3UwksZ2NaiHYyaG4WBXW2xpXqyB8YtLNS-A7OH2wO4htxJdEYBhMEx1elyhTxYMSu0BvmwdtcfJXEUKy0KBw_mvnW3dWbAw328KvMAwzuTek5s9xxv7VvoFV2Q4P1bMAbeteLEGX9ooDd9A9Ky6UGloOKW8uteBgaHqFofMzo0rPctlZZVeX5UNmHSH8RTB8PEaIuAE5rfYJnz3zPV07x28X-RKOD4Oat9Mgvt8RD502qnE-dM26kmpEUrLgkhVKCkMz2W2KA5FhyIhpZlt3E_x8cuPEBnzcAh21QPltlslqNjaUUV9kSfChspRX6RZxh6VSG8odvCgCcXNrFf4m8EQ72WDRKTVQM5mGmrn7TndWbm9GssWmzQc6L_3VSsuHg7OhdqIJHR2BAzd8bXs7PA4iJY-_LlTHlhbXVjVCDI6GX-hKOalLlpPOeDcQ8_ClO4xtBiCvPpX5ZQDv0sPyrk8p62cr7Crn4e77hxR9a3b-aNl_ZV4b2lI2Yf9Z4Wpf1Y1jfSx_kbAPTZBJ9JhAd_lcsUV4BYxCpOUvu3CXfyLLYN9kGHKoY21IqcXFbp8qUfAjhAy7PUYU-3c610qgJwtY5Ohl1ANX-AV1QbicQX9jDNQv3-q2_JivyKAgZNP8ws5EDTd5dUlZa8Z7ZlxVcKZvq01Jzz2OT7fhg==",
  "id": "rs_0764ae4912640664016ab43042254487d0baf88de51d8c5536",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.396,\"left_y\":-0.297,\"left_z\":0.2},\"note\":\"The two grippers again tracked less than requested as they neared one another; the right pen hand is lower than intended but still holds the pen. In the overhead view the cap’s open end is left and above the pen tip, so I’m moving only the cap hand a few centimetres right, back, and down.\"}",
  "call_id": "call_k0FcTHy38S92LeyMqesxPeCt",
  "id": "fc_0764ae4912640664016ab43044428487d0a4a44e45ad93228a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k0FcTHy38S92LeyMqesxPeCt",
  "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]: [-0.8932, 1.9701, 1.7012, -0.6552, -0.9951, -0.9241, 0.4638, 1.0111, 1.6264, 1.1881, -0.8783, 0.6308, 0.7406, 0.0716]\nstate[eef_state]: left_x=0.416 left_y=-0.2749 left_z=0.2154 left_yaw=0.3468 left_pitch=0.1194 left_roll=-0.0804 left_gripper=0.4638 right_x=0.2633 right_y=0.2308 right_z=0.1202 right_yaw=-0.0035 right_pitch=-0.367 right_roll=-0.2756 right_gripper=0.0716\nstate[joint_eff]: [-5.1624, -8.5402, 7.6376, 0.8083, -0.3101, -0.2418, -0.0171, -1.3744, -9.2923, 8.1162, 1.7265, 0.6618, -0.1099, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035fc03e9d7b73ceb2e606faed83f1de00134206339b6b6693c38d1966066702",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480ceb76b239ac6c585913db725034bb7ee184695bbcfb019cb657572242cca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a92f8f82e9a9cdfebe62003dc1ab4c1fa7d31981cf70eacb19afddc5ceec2c2",
      "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 · 6.76 s

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

message 146 changed as sent

message 155 changed as sent

message 159 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]: [-0.8867, 2.0758, 1.8759, -0.6258, -0.9272, -0.7403, 0.4638, 0.6914, 1.3293, 0.9813, -0.4332, 0.487, 0.4343, 0.0656]\nstate[eef_state]: left_x=0.4404 left_y=-0.3108 left_z=0.2239 left_yaw=0.2228 left_pitch=0.1135 left_roll=-0.0256 left_gripper=0.4638 right_x=0.3342 right_y=0.174 right_z=0.1821 right_yaw=0.0443 right_pitch=-0.113 right_roll=-0.0008 right_gripper=0.0656\nstate[joint_eff]: [-10.9197, -6.9128, 9.4017, 1.2479, -0.398, 0.0073, -0.0073, 12.3556, -0.7043, 7.5829, 1.6923, -0.7546, -1.4042, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8249, 1.9049, 1.6806, -0.6296, -0.9188, -0.7963, 0.4638, 0.9955, 1.6012, 1.2106, -0.8127, 0.667, 0.7307, 0.0689]\nstate[eef_state]: left_x=0.4283 left_y=-0.2514 left_z=0.2319 left_yaw=0.307 left_pitch=0.0947 left_roll=-0.0532 left_gripper=0.4638 right_x=0.2804 right_y=0.2381 right_z=0.1433 right_yaw=0.001 right_pitch=-0.2782 right_roll=-0.2011 right_gripper=0.0689\nstate[joint_eff]: [-4.9026, -7.3641, 7.8017, 1.1844, -0.3443, 0.1832, -0.0073, 0.5402, -8.0342, 10.6325, 1.6972, 0.9548, -0.0562, 0.6813]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8932, 1.9701, 1.7012, -0.6552, -0.9951, -0.9241, 0.4638, 1.0111, 1.6264, 1.1881, -0.8783, 0.6308, 0.7406, 0.0716]\nstate[eef_state]: left_x=0.416 left_y=-0.2749 left_z=0.2154 left_yaw=0.3468 left_pitch=0.1194 left_roll=-0.0804 left_gripper=0.4638 right_x=0.2633 right_y=0.2308 right_z=0.1202 right_yaw=-0.0035 right_pitch=-0.367 right_roll=-0.2756 right_gripper=0.0716\nstate[joint_eff]: [-5.1624, -8.5402, 7.6376, 0.8083, -0.3101, -0.2418, -0.0171, -1.3744, -9.2923, 8.1162, 1.7265, 0.6618, -0.1099, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035fc03e9d7b73ceb2e606faed83f1de00134206339b6b6693c38d1966066702",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480ceb76b239ac6c585913db725034bb7ee184695bbcfb019cb657572242cca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a92f8f82e9a9cdfebe62003dc1ab4c1fa7d31981cf70eacb19afddc5ceec2c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDBLeje5BxyOOh3P79TEEooBdZ4vbSfmMfl_pWs024tgkP35Ms0aiRRwlozvLNUSBzL4JnJ5DuPyf2ufqk2eXVhMmFUdefCRpKvBmF-L6pbvFLSCBzvFXCYYO-IsBC-v__MrflRkSx29zJQA4MFSGtn5Mu-0NaMnuF9zDbE4OSFC9gcQO4cgC6Uew-cY9Mr-oAghB8GCMhTWDsA875-Hj1YOK7kvktzjliy1eTtVUXoOhCnHrv5VIcV5KAEDBEM4L4pfI3I2HbpGHwAr1w5OmtGzmbDzr5aHBN8gkf8ygw1uHFIDbvhG4L1QL0HCCJhnnaEZxZvpMZWdyvdz5AZPo57_XjhVXFgp7OmIyuMXYPMty7GMbWXa6_Nmoaj4Ca6UE9-DZn2KtmycERu3fHOmP9cYmppv3ao8ue64nTHZsuoW7o9exqK7SlLwY3E3vxWhCFpGg7dwJw2-uwa9EIZZbXSEOqkwMT-WxKC1Jsh-uT3YwaBlLOVRejeEJD8Fl_22JcaHNtRO5P1chC2WJx9MxN5r_ZMns2lfm4zUA2Ixv2TT66lOfr0tLjMlfQdNDFJVL88iEb-jOcR0ZfaIhe_iwuQeAa3M9FuuyLdmU1K1SZdWq9TpGQjRQqV_6aOzM6gc2meMPBME_TlyE2UYBELovnLwC2U9fmp_E2WZ96dBY49gx64cEtQaB0JKd55uO1ztp5DJCb2IcqwJ558d2y_Y5bNiNkGGd5zEm1JkCh2UfJGfudpHtQWH_8kfEolRh4FXk8LpwJGMiIAV9c5Ij1JHfERKXUuCcECyiKaiDLd3NYXVLNJ4zEqVMt9bJMo58UL3He3pwW-nfYuAIZGLybNNSUuhjvJED8uSxM-ycr8_9-1SM8wEo3YYyHsVQ5dm5Rj2R88vGHKA0Qu-ecnja9EHRvsC8sPNiF0QmZkYMa1TZ_2qKwV5wXEXN-JRa-3UK-8Gu_iQ51F9ZLDP6-yGt8sbi9zPiLj3Vihkq-sAJ9wmM0_rVMcgfprZL98Q0c1aJ2rA70_0uByaC_4EiLOdNWp6rCaKW0KnETMivUlLZd6-0OV70XovwlKo3SXNum2yA8Xfehjjgh7oAG8c9vj9HTDM8sSG1izNjLMORLAYa2l423N85gvX-mH50hSIJZqFbQX1XjTK6ZUb_l5n8AHYhw40R_WW3S3L5NfJ8t5HHuhkPxKVuCxsKgSzLXlB7HqJTPT8ufbJ9u-bw6efbB4Xh4XPmcSS1YOt9D-DMYmnNvdW7sw-zxzhI6HgJ3rz5XaZ0AzOFPPTGZk86VeZMHjgLbPrbGnJB116BPjK_737NWcc7Z5aJz58a6BlZj9DR92ikNB-Ga4o-PF0vz854i5CywgZ0kLREXBsf0XoEsF4cb4NR7RzFvpzgNh8DZo4uevrHVhRZsTuNrPoxxuTBwktK0uNnpvg4Xd6_eOUF7DYHy7S9023w6MWgKmFGMYaHciPbfup2dYG_HYEobgBnrOaf9jBOe614J83ws_FLXkK_9GTCXDcpiz_AgN8NQdHpiz_c-bGnJrh9DQbYDM3OOsVhPQQL1UZSl72DyvNCKdohkFvErl5HCwNPvEmnm4yN85j2Ue0XmC9K0gRsEoW0FY1oGyY4-6PbNUVyZtVTyLNjkx-O6X7d4B3UbF1c-Zg7BXjdR36RSTUtwEYDey9yJUtsMRe6eTsadtKtsxWzY78LoUGhHBVlibUMvgXOw49bx_4n38t3z-mYno-gVdF5CEYisRz_NNZj950seKk8owZ9H4gvHVugsgpGcxrOAT-6rQZ65BzcL7tYRr1FHBREzvGhLomkeKBWV8_vSfdsPOgiE3XsHkMJHQ8wRdn6KkgiiHSDEaq1JwoVH5B-VmdVetzA9jSUOxBfPk7kXFtoiqT3d28e2Z1kcY2B_A5tD8DAi0f5vY5jLbp2PrtAkJz10FVSkyk9tjRxfq2_DF857VFgiuf5k3xGmgCSol7sED3NM7ja0UsTg_2JIsAMD1rMuDLyYaXv5SphUca4InsyqQYhICQGjLuFmV-75w3uvjjmtKf520q7d7BZ_Mhlk6hKTYIseudvaIS7iKH0nS98eS1dLRwNdA1EsWiRmSQqJL25NAWQ5qi4-gaKcc82sRxMYse_bzwbJHiiIgKRQpxHWuNuMpYjbwqA41stDsbnYhX-6dKVmtiEgfxCOfnUY8RXzJ_VCNWJlYHWGeB8ddtJsxfqi8VdJ6R0OHn-PQvxmcJyZ8Fg7gQtye1gW6pVkgnYD3_UouCpRQXZxsxkmJuvq4Xvn88KFaUqT3MpX3xHlgEfAr7dKPHck-S-COdyH_ZMY-PpLdXG4pN_YQx6OBXj1ZvZ_LnvAau-Qk76wRrEdCnn7UY8uMGWfPDzuhwXWF1YSmbw-BLOSMDToQoRlpyRwSl0PA8V1XqrB-x5h8pL0CaOF0BsSnXDobn0zfALWj7gCulPzLYhMDZjdQszYys_s7oFDvBvOSKKxFTZ6sJqpZjdSzmRMQuZ0GvcHNRDDV7gY_ICg0ZD0bCu-CUliHncKNy0k2qW8D_C6yUMiFj0Y53wiPNEe5h7O-vGJOdAqVlBOF6WvVE1cq6OKzqYHZeRGY6f7oR-9A69ejo05agu9SBAKyg-P6UGV8BA74cx7DJIh9lqyMqF41y9YcFCuPrIVa7ZOTgeC4jDu7GFbrsc7zzk_A0-CjFuNXkBNpO2dS_Qhg8NuTqoq1GyUjPGXk-i2FH1M1K_Z_e65rXFF0-mVDHMBaZkWBcUVwg-zpWghwx5Soick4BRnYd3KXHw9mVeHqZ7DmNjbLniSEvjd_DIHj5d_bu3qIU_khqk0AHG50s0tWdK1r5zbktt9hiYMBJgaEnhoAy9os7lgTbidEKnsLWM3Apb6hcUTn_M-o2hZn1t8ntLf7hPNzLH4DAfyilbDwsU4ZrCjzGX4GiYkTOZoLm0HfeATUMUndLMDAQZwjgPdXQe__RB4cAsw==",
  "id": "rs_0764ae4912640664016ab4304739f087d0b3a5782a39cf97bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.205},\"note\":\"The cap opening and pen tip look close in the overhead image, but the right hand has sagged to about 12 cm while the cap is near 22 cm. I’m raising only the pen hand toward the cap’s height before attempting any insertion.\"}",
  "call_id": "call_EcQPaCmzvkmgQIYxHsTyvhQu",
  "id": "fc_0764ae4912640664016ab4304aaa7887d0aa4578618367d7fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EcQPaCmzvkmgQIYxHsTyvhQu",
  "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]: [-0.9092, 1.961, 1.7329, -0.7017, -1.008, -0.9672, 0.4638, 1.0153, 1.6482, 1.3865, -1.2778, 0.5453, 0.7219, 0.0741]\nstate[eef_state]: left_x=0.41 left_y=-0.2776 left_z=0.2276 left_yaw=0.3609 left_pitch=0.1255 left_roll=-0.1108 left_gripper=0.4638 right_x=0.2327 right_y=0.2079 right_z=0.149 right_yaw=-0.0512 right_pitch=-0.5566 right_roll=-0.4533 right_gripper=0.0741\nstate[joint_eff]: [-3.5897, -6.9128, 5.0667, 1.1844, -0.315, -0.0708, -0.0122, -0.3761, -9.3197, 14.7897, 1.4774, 0.9939, 0.1148, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2584b71d57705c52d6eaad0392d78c2b988ca338de432b5dea6bc2f8f2450fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e424edc0e9badbdb15172ac4a373c68be2fac29d0e906a6455d83e3111130d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5188c7738537e8de360ee5f8fe05f89ba300162b03dd231de423f345a14121",
      "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 · 5.586 s

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

message 150 changed as sent

message 159 changed as sent

message 163 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]: [-0.844, 1.544, 1.3586, -0.6163, -0.8967, -0.7044, 0.4638, 0.4194, 1.0023, 0.7979, -0.5133, 0.3012, 0.255, 0.0656]\nstate[eef_state]: left_x=0.3652 left_y=-0.1976 left_z=0.2603 left_yaw=0.2285 left_pitch=0.1052 left_roll=-0.0251 left_gripper=0.4638 right_x=0.3029 right_y=0.0816 right_z=0.1866 right_yaw=0.021 right_pitch=-0.1206 right_roll=0.0004 right_gripper=0.0656\nstate[joint_eff]: [0.2803, -8.4581, 7.2547, 1.3455, -0.359, 0.105, -0.0073, -0.253, -3.3846, 7.0359, 1.6874, 0.0708, -0.1587, 0.9548]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8932, 1.9701, 1.7012, -0.6552, -0.9951, -0.9241, 0.4638, 1.0111, 1.6264, 1.1881, -0.8783, 0.6308, 0.7406, 0.0716]\nstate[eef_state]: left_x=0.416 left_y=-0.2749 left_z=0.2154 left_yaw=0.3468 left_pitch=0.1194 left_roll=-0.0804 left_gripper=0.4638 right_x=0.2633 right_y=0.2308 right_z=0.1202 right_yaw=-0.0035 right_pitch=-0.367 right_roll=-0.2756 right_gripper=0.0716\nstate[joint_eff]: [-5.1624, -8.5402, 7.6376, 0.8083, -0.3101, -0.2418, -0.0171, -1.3744, -9.2923, 8.1162, 1.7265, 0.6618, -0.1099, 0.6618]\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 163 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9092, 1.961, 1.7329, -0.7017, -1.008, -0.9672, 0.4638, 1.0153, 1.6482, 1.3865, -1.2778, 0.5453, 0.7219, 0.0741]\nstate[eef_state]: left_x=0.41 left_y=-0.2776 left_z=0.2276 left_yaw=0.3609 left_pitch=0.1255 left_roll=-0.1108 left_gripper=0.4638 right_x=0.2327 right_y=0.2079 right_z=0.149 right_yaw=-0.0512 right_pitch=-0.5566 right_roll=-0.4533 right_gripper=0.0741\nstate[joint_eff]: [-3.5897, -6.9128, 5.0667, 1.1844, -0.315, -0.0708, -0.0122, -0.3761, -9.3197, 14.7897, 1.4774, 0.9939, 0.1148, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2584b71d57705c52d6eaad0392d78c2b988ca338de432b5dea6bc2f8f2450fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e424edc0e9badbdb15172ac4a373c68be2fac29d0e906a6455d83e3111130d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5188c7738537e8de360ee5f8fe05f89ba300162b03dd231de423f345a14121",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0764ae4912640664016ab4304d10dc87d0a99c25caecce6575",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDBSMt0n6TgwQxwPQRlFzt2kY6tDFnX0-aL-VWrwPvay5wGJlMoDwA9c2xuMD2AX5OW1X1DLgwmexX-q-LMeqC_K_qZ7XaKqpFNwERzFyutW-q5lDPQmyVESPFrYzK-mI6CN8YIfneX3FXb_r__gYavHnaEIfNH_EMivRNejonf6oBHyLUt0dT4PQXQBHlPSLutbwaUEj1QZ9lq8vCWFffCX04PXf984jTqEVOM3hHHNyGRY6BTpA6h0bxUIrIicjWitc68IjjtfoZragvy91--2nGeZS0jRy7GcNsrqAMs9LjYSy4LTTxDP8wkEnnpwV6uUlq4kvXDgVr8zOFoJs1yISHNLPShWrTP-QLPDSkkawd0-a8v-ZO20Iug7p8m0dqIfY_JZ7ETxONwa3XNsevJbBHpevOEoborTyTfVRc8ZryOyQBj43yyG7B9f2k6DRApuXgFbi4McLlfAwoc5eKv0pdXFr51nYGGd5VOOq5GJ2fjFR47T6HOD3HpQa55Ko8YZM3cXVI8-7kkw9Y0iwsllq-LbdDubVqxNBlpa8J4HEzlGhzyMr-WBpWbxGEoQwPLvULxqUp1CiFPXg7Xl2orN6ltNU-rVEvSBp4Dx_XmrRzeG639GVnv8lIT8WqWk--anMAtjmWzJ5hg-GO67hqAzQOghoGEPFAMgjR-DW6KKjJNL1c2WYHXGEA02RGyDzHk6jJbwmev5cCbyfWeixlwV0AbRRMesCKZKYI1KJoTxeUSZgEUyqttIrhjxkFj3MbUuIF9UIV2u4zCg5IP1Gt551GGGa8N_TQBQ2q2fa--umIvwyGqUBXRJIuVXPVb98FYdsYXvWW1L4aaoQVfMTjNeWqR5EVRf-Oy-tBugJV6I64TPZPSfveNLjE6IrVtFwU_eG_156sHKNlZMjTuR3zGRkDvPD_c0ENeCsVi8pFvymsYlHg2q-5-pO9qmz86BAAc9ij5JiwoMmYleUzhoxuNOIzdNViDsn2gJdmsyrgZQEbn5LtiKrqNlzQk9m-d7D3xVhX3im_MnUy9uiXhokSI96eiF-QaXBTNlhDfqAsYR8qk8rt4QMbW1I2bV65UY5iNQw1uyMP2L_xnwQ63Myr1ROUwxp9gze3k1sR2IZfShvHLFCo82dFSxjiDMNz9ECXTL8Ra7ZHR1L6xL34MOzjycBwnza7u1Kq3c5Zu7lGP0pnB6A8z6E3-2CmAjDZ_cec8WhIph39bI_pzOrv33LlaP2eMTZZo6590hppKYtgIV-TRJStf0T4aL7IjTMyGoxNbSokuOTeMSDgD0HJCRz4bZpQwK3x-BBJh0l1kwrmfBDVDyff-qiqtY2gf5DnlyPcdXvG2dwDNn6fWPpBW6ZUoovw==",
  "id": "rs_0764ae4912640664016ab43051586c87d088faaa83c33a278e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.1,\"left_z\":0.24,\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.18},\"note\":\"Raising the pen caused it to retreat instead of approaching the cap, with a large elbow-effort increase; the arms appear to be obstructing each other. I’m separating them rather than forcing the insertion, keeping both objects gripped.\"}",
  "call_id": "call_kfUUZMxeOvAfnJWm31ImEIxK",
  "id": "fc_0764ae4912640664016ab43051ce9487d0b69e4d55f2123d2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kfUUZMxeOvAfnJWm31ImEIxK",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7208, 1.2232, 0.9981, -0.4725, -0.8879, -0.7525, 0.4638, 0.5953, 1.438, 1.2808, -1.1244, 0.487, 0.4091, 0.0761]\nstate[eef_state]: left_x=0.3344 left_y=-0.1066 left_z=0.2476 left_yaw=0.3834 left_pitch=0.1461 left_roll=-0.1646 left_gripper=0.4638 right_x=0.2934 right_y=0.1032 right_z=0.1779 right_yaw=-0.1416 right_pitch=-0.5043 right_roll=-0.3512 right_gripper=0.0761\nstate[joint_eff]: [0.5265, -3.5624, 6.2838, 1.3846, -0.3492, 0.1392, -0.0122, 2.8103, -4.9846, 5.8188, 0.8132, 0.0513, -0.0317, 0.4615]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047220d8520d08755eb834a839fbb88c15268de90cc5bfe6ab5a8e52d600dd20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e13837a7060bcb627f61f4a2fdab8f86e55c3cd40c445a5abf20b7ddc02cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb3c63b4c31e500605c7048e935d7af709f466e515eed57e360e4bce33d6094",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]