adhoc - adhoc_f660953b.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: 285.5 s
total steps: 203

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 short black cap is left of center and the longer pen is right of center. I’m bringing the left gripper over the cap and the right gripper over the pen, still high enough to inspect their alignment before grasping.

move_to

left_x0.3900left_y-0.1800left_z0.1500right_x0.4000right_y0.2500right_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]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6098, -0.3775, -0.0204, -0.0128, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0017 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.6359, -1.2923, 10.4821, 1.7607, -0.022, 0.1001, -0.0366, -0.5265, -1.1009, 9.8667, 1.8095, -0.0317, -0.0464, -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":0.39,"left_y":-0.18,"left_z":0.15,"right_x":0.40,"right_y":0.25,"right_z":0.15},"note":"The short black cap is left of center and the longer pen is right of center. I’m bringing the left gripper over the cap and the right gripper over the pen, still high enough to inspect their alignment before grasping."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteBoth objects are visible low in their wrist cameras, but the cap lies left of the left jaws and the pen lies right of the right jaws. I’m shifting each gripper laterally and rotating its jaws across the object’s long axis before descending.

move_to

left_x0.3970left_y-0.1400left_yaw-0.5500left_z0.1500right_x0.4070right_y0.2000right_yaw0.6500right_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]: [-0.6483, 1.5219, 0.8959, -0.1234, -0.5228, -0.4034, 0.9997, 0.7666, 1.7119, 1.1042, -0.1677, 0.5884, 0.437, 0.999] state[eef_state]: left_x=0.3776 left_y=-0.1709 left_z=0.1289 left_yaw=-0.0098 left_pitch=-0.0616 left_roll=0.0337 left_gripper=0.9997 right_x=0.3879 right_y=0.2424 right_z=0.131 right_yaw=0.0424 right_pitch=-0.0631 right_roll=-0.05 right_gripper=0.999 state[joint_eff]: [-0.2803, -6.6393, 9.7436, 1.7558, -0.3883, -0.0611, -0.0171, 0.1846, -8.0479, 9.265, 1.8193, 0.5348, 0.2808, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.397,"left_y":-0.14,"left_yaw":-0.55,"left_z":0.15,"right_x":0.407,"right_y":0.2,"right_yaw":0.65,"right_z":0.15},"note":"Both objects are visible low in their wrist cameras, but the cap lies left of the left jaws and the pen lies right of the right jaws. I’m shifting each gripper laterally and rotating its jaws across the object’s long axis before descending."})

tool

executing move_to over 4 steps (0.4s)

step 25

assistant

agent noteThe cap is now nearly centered beneath the left jaws; the pen is still slightly right of the right jaws. I’m finishing the jaw rotations and lowering both partway, with a small right-gripper correction, so I can check close-range alignment.

move_to

left_x0.4000left_y-0.1100left_z0.0750left_yaw-0.5500right_x0.4100right_y0.1450right_z0.0750right_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]: [-0.2874, 1.4506, 0.8501, -0.0895, -0.0296, -0.0048, 0.9997, 0.3946, 1.5875, 0.9668, -0.0967, 0.0673, -0.0254, 0.9989] state[eef_state]: left_x=0.4002 left_y=-0.1091 left_z=0.1283 left_yaw=-0.2712 left_pitch=-0.1195 left_roll=0.0228 left_gripper=0.9997 right_x=0.4134 right_y=0.1632 right_z=0.1205 right_yaw=0.3451 right_pitch=-0.1576 right_roll=-0.0648 right_gripper=0.9989 state[joint_eff]: [-0.6632, -7.0632, 10.2085, 1.5751, 0.5299, 0.2613, -0.0122, 1.5932, -9.1009, 8.8684, 1.9951, -0.3736, 0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.11,"left_z":0.075,"left_yaw":-0.55,"right_x":0.41,"right_y":0.145,"right_z":0.075,"right_yaw":0.65},"note":"The cap is now nearly centered beneath the left jaws; the pen is still slightly right of the right jaws. I’m finishing the jaw rotations and lowering both partway, with a small right-gripper correction, so I can check close-range alignment."})

tool

executing move_to over 4 steps (0.4s)

step 29

assistant

agent noteThe rotated wrist views show both objects nearly on the jaw columns: the cap slightly left and the pen slightly right. I’m lowering toward grasp height while making centimeter-scale centering corrections.

move_to

left_x0.3870left_y-0.1230left_z0.0450right_x0.4020right_y0.1800right_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0921, -0.1619, -0.1997, 0.9989] state[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4024 right_y=0.1895 right_z=0.1236 right_yaw=0.608 right_pitch=-0.1409 right_roll=-0.0483 right_gripper=0.9989 state[joint_eff]: [-0.212, -6.8991, 9.6068, 1.7851, 0.1783, 0.1538, -0.0122, 0.0205, -9.3333, 8.7453, 1.8779, -0.1685, -0.1587, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.387,"left_y":-0.123,"left_z":0.045,"right_x":0.402,"right_y":0.18,"right_z":0.045},"note":"The rotated wrist views show both objects nearly on the jaw columns: the cap slightly left and the pen slightly right. I’m lowering toward grasp height while making centimeter-scale centering corrections."})

tool

executing move_to over 6 steps (0.6s)

step 35

assistant

agent noteBoth arms stopped around 12 cm up despite the lower command, so I’m not repeating the same unreachable pose. I’m drawing the wrists back slightly and pitching the tools forward to give the arms a better path down.

move_to

left_x0.3650left_y-0.1330left_z0.0750left_pitch0.2500right_x0.3750right_y0.1900right_z0.0750right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0925, -0.1623, -0.1997, 0.9989] state[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4023 right_y=0.1895 right_z=0.1235 right_yaw=0.6084 right_pitch=-0.1412 right_roll=-0.048 right_gripper=0.9989 state[joint_eff]: [-0.335, -6.9402, 9.812, 1.79, 0.188, 0.1441, -0.0122, 0.0889, -9.3333, 8.6222, 1.8779, -0.1929, -0.1636, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.365,"left_y":-0.133,"left_z":0.075,"left_pitch":0.25,"right_x":0.375,"right_y":0.19,"right_z":0.075,"right_pitch":0.25},"note":"Both arms stopped around 12 cm up despite the lower command, so I’m not repeating the same unreachable pose. I’m drawing the wrists back slightly and pitching the tools forward to give the arms a better path down."})

tool

executing move_to over 14 steps (1.4s)

step 49

assistant

agent notePitching forward let both wrists descend. The cap remains left of its jaw center with clear space below it, so I’m advancing and centering the left gripper, then descending to table-level grasp height while keeping the right arm still.

move_to

left_x0.3840left_y-0.1050left_z0.0050left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2489, 1.6249, 0.3374, 0.849, 0.2295, 0.0944, 0.9997, 0.3691, 1.7283, 0.4469, 0.8684, -0.1886, -0.1337, 0.999] state[eef_state]: left_x=0.359 left_y=-0.129 left_z=0.0546 left_yaw=-0.5064 left_pitch=0.1441 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3711 right_y=0.1829 right_z=0.0575 right_yaw=0.597 right_pitch=0.1533 right_roll=-0.0471 right_gripper=0.999 state[joint_eff]: [0.3077, -5.6684, 4.5744, 2.1368, 0.315, -0.105, -0.0122, 0.6359, -5.9966, 4.5197, 2.1807, -0.2222, 0.1636, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.384,"left_y":-0.105,"left_z":0.005,"left_pitch":0.25},"note":"Pitching forward let both wrists descend. The cap remains left of its jaw center with clear space below it, so I’m advancing and centering the left gripper, then descending to table-level grasp height while keeping the right arm still."})

tool

executing move_to over 4 steps (0.4s)

step 53

assistant

agent noteThe left grasp point has reached the table, but the cap is still fully visible ahead of the fingertips in the wrist view. I’m advancing the left gripper about two centimeters along the cap before closing on it.

move_to

left_x0.4050left_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1299, 2.0777, 0.3569, 1.3228, 0.3206, 0.1146, 0.9996, 0.3679, 1.7397, 0.4381, 0.8829, -0.1917, -0.131, 0.9989] state[eef_state]: left_x=0.3802 left_y=-0.1022 left_z=-0.0004 left_yaw=-0.4778 left_pitch=0.1936 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3692 right_y=0.1822 right_z=0.0532 right_yaw=0.5968 right_pitch=0.1481 right_roll=-0.0421 right_gripper=0.9989 state[joint_eff]: [0.335, -6.9675, 2.4274, 0.779, 0.1538, -0.1343, -0.022, -0.1026, -7.5556, 5.053, 1.7998, -0.0366, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_z":-0.008},"note":"The left grasp point has reached the table, but the cap is still fully visible ahead of the fingertips in the wrist view. I’m advancing the left gripper about two centimeters along the cap before closing on it."})

tool

executing move_to over 2 steps (0.2s)

step 55

assistant

agent noteAfter the first advance, the cap’s thicker end has moved closer to the fingertip area but remains visible above it. I’m making one more short forward adjustment to put the jaws across that end.

move_to

left_x0.4190left_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1184, 2.1277, 0.4129, 1.3518, 0.3416, 0.1139, 0.9996, 0.3679, 1.7401, 0.4389, 0.8677, -0.1921, -0.1314, 0.9989] state[eef_state]: left_x=0.3957 left_y=-0.1031 left_z=0.0013 left_yaw=-0.4865 left_pitch=0.2292 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3679 right_y=0.1818 right_z=0.05 right_yaw=0.5969 right_pitch=0.1336 right_roll=-0.0389 right_gripper=0.9989 state[joint_eff]: [-0.2667, -6.5573, 3.2615, 1.7021, 0.0855, 0.0415, -0.0171, -0.1983, -6.6667, 4.3419, 1.956, -0.105, -0.0464, -0.0073] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.419,"left_z":-0.01},"note":"After the first advance, the cap’s thicker end has moved closer to the fingertip area but remains visible above it. I’m making one more short forward adjustment to put the jaws across that end."})

tool

executing move_to over 2 steps (0.2s)

step 57

assistant

agent noteThe cap’s thicker section is now between the open left jaws near the bottom of the wrist image. I’m closing the left gripper and will check the settled jaw opening before lifting.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1181, 2.1479, 0.4545, 1.3373, 0.3233, 0.1143, 0.9996, 0.3679, 1.7412, 0.4362, 0.8696, -0.1921, -0.131, 0.9989] state[eef_state]: left_x=0.4074 left_y=-0.1012 left_z=0.0001 left_yaw=-0.4712 left_pitch=0.2334 left_roll=0.0083 left_gripper=0.9996 right_x=0.3673 right_y=0.1816 right_z=0.049 right_yaw=0.5966 right_pitch=0.1318 right_roll=-0.0381 right_gripper=0.9989 state[joint_eff]: [0.3214, -6.5573, 3.0291, 1.5214, 0.2564, 0.0073, -0.0073, -0.1162, -6.653, 4.547, 1.7753, -0.0806, -0.0171, -0.0073] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s thicker section is now between the open left jaws near the bottom of the wrist image. I’m closing the left gripper and will check the settled jaw opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteThe left jaws settled about five millimeters apart, consistent with holding the cap, so I’m lifting it to verify. At the same time, I’m moving the right jaws down and toward the pen, which is still slightly right of their centerline.

move_to

left_z0.1600right_x0.3950right_y0.1500right_z0.0050right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1181, 2.1536, 0.4545, 1.3506, 0.3298, 0.1135, 0.0536, 0.3679, 1.7412, 0.4362, 0.8673, -0.1921, -0.131, 0.9989] state[eef_state]: left_x=0.4074 left_y=-0.1023 left_z=0.001 left_yaw=-0.477 left_pitch=0.2413 left_roll=0.0081 left_gripper=0.0536 right_x=0.367 right_y=0.1815 right_z=0.0485 right_yaw=0.5966 right_pitch=0.1295 right_roll=-0.0376 right_gripper=0.9989 state[joint_eff]: [0.2256, -6.6803, 3.2479, 1.7607, 0.3199, 0.0073, 1.2674, -0.0479, -6.653, 4.506, 1.7998, -0.1099, -0.0562, -0.0073] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.16,"right_x":0.395,"right_y":0.15,"right_z":0.005,"right_pitch":0.25},"note":"The left jaws settled about five millimeters apart, consistent with holding the cap, so I’m lifting it to verify. At the same time, I’m moving the right jaws down and toward the pen, which is still slightly right of their centerline."})

tool

executing move_to over 11 steps (1.1s)

step 78

assistant

agent noteThe cap disappeared from its original tabletop position after lifting, confirming the left grasp. The pen now runs between the right jaws but is a little off-center at the fingertip end, so I’m making a small final advance and centering adjustment.

move_to

right_x0.4080right_y0.1450right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1181, 1.4441, 0.577, 0.5262, 0.3218, 0.1127, 0.0638, 0.2203, 2.1326, 0.45, 1.3186, -0.3344, -0.1574, 0.9989] state[eef_state]: left_x=0.4061 left_y=-0.1008 left_z=0.1467 left_yaw=-0.4703 left_pitch=0.2475 left_roll=0.0127 left_gripper=0.0638 right_x=0.3911 right_y=0.1507 right_z=0.0011 right_yaw=0.5887 right_pitch=0.2157 right_roll=-0.0304 right_gripper=0.9989 state[joint_eff]: [-0.0889, -6.7214, 8.9641, 1.8437, 0.0855, -0.0366, 1.0281, -0.7043, -6.9949, 3.1111, 1.663, -0.0513, 0.0269, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.408,"right_y":0.145,"right_z":-0.01},"note":"The cap disappeared from its original tabletop position after lifting, confirming the left grasp. The pen now runs between the right jaws but is a little off-center at the fingertip end, so I’m making a small final advance and centering adjustment."})

tool

executing move_to over 2 steps (0.2s)

step 80

assistant

agent noteThe pen shaft is now aligned with the right fingertip centerline. I’m closing the right jaws around it and will check the opening and lift before attempting to fit the cap.

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]: [-0.1181, 1.4349, 0.5873, 0.4694, 0.3218, 0.1131, 0.0638, 0.2016, 2.1757, 0.4965, 1.3453, -0.3599, -0.1696, 0.9989] state[eef_state]: left_x=0.4034 left_y=-0.1005 left_z=0.142 left_yaw=-0.4675 left_pitch=0.2124 left_roll=-0.0001 left_gripper=0.0638 right_x=0.4041 right_y=0.1498 right_z=0.0021 right_yaw=0.6015 right_pitch=0.2467 right_roll=-0.0455 right_gripper=0.9989 state[joint_eff]: [0.0068, -4.7521, 6.0513, 2.1758, 0.0562, -0.0366, 1.0281, -0.8137, -6.8171, 2.5231, 1.5604, -0.1148, 0.0073, -0.0073] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen shaft is now aligned with the right fingertip centerline. I’m closing the right jaws around it and will check the opening and lift before attempting to fit the cap."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteThe right jaws also settled around five millimeters apart, indicating they caught the pen. I’m lifting the pen clear of the table to confirm it moves with the right gripper.

move_to

right_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]: [-0.1184, 1.4448, 0.5747, 0.4732, 0.3214, 0.1131, 0.0638, 0.1978, 2.1845, 0.4999, 1.3621, -0.3634, -0.1688, 0.0529] state[eef_state]: left_x=0.401 left_y=-0.1003 left_z=0.1336 left_yaw=-0.4662 left_pitch=0.1948 left_roll=-0.0065 left_gripper=0.0638 right_x=0.4058 right_y=0.149 right_z=0.0033 right_yaw=0.6014 right_pitch=0.2577 right_roll=-0.0484 right_gripper=0.0529 state[joint_eff]: [-0.2393, -6.3932, 7.1316, 1.746, 0.0122, -0.0513, 1.0281, -0.0752, -9.0872, 2.0581, 1.6728, -0.0464, -0.0415, 1.2137] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.18},"note":"The right jaws also settled around five millimeters apart, indicating they caught the pen. I’m lifting the pen clear of the table to confirm it moves with the right gripper."})

tool

executing move_to over 12 steps (1.2s)

step 102

assistant

agent noteBoth objects rose with their grippers: the pen tip and the cap’s free end currently point diagonally forward. I’m raising them to the same height and rotating their free ends toward one another, while keeping the arms well apart for this first alignment.

move_to

left_y-0.1800left_z0.1900left_yaw-1.2500left_pitch0.2000right_y0.2200right_z0.1900right_yaw1.2500right_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]: [-0.1184, 1.4467, 0.5728, 0.4583, 0.3214, 0.1135, 0.0638, 0.1978, 1.4597, 0.654, 0.487, -0.3645, -0.1722, 0.0575] state[eef_state]: left_x=0.3992 left_y=-0.1001 left_z=0.1288 left_yaw=-0.4653 left_pitch=0.1772 left_roll=-0.0126 left_gripper=0.0638 right_x=0.4058 right_y=0.1492 right_z=0.1658 right_yaw=0.6047 right_pitch=0.2613 right_roll=-0.053 right_gripper=0.0575 state[joint_eff]: [-0.3487, -5.8735, 6.5709, 1.9316, 0.0513, -0.0024, 1.0281, -0.1436, -7.4872, 8.6222, 1.8242, -0.0562, 0.0122, 1.0281] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.18,"left_z":0.19,"left_yaw":-1.25,"left_pitch":0.2,"right_y":0.22,"right_z":0.19,"right_yaw":1.25,"right_pitch":0.2},"note":"Both objects rose with their grippers: the pen tip and the cap’s free end currently point diagonally forward. I’m raising them to the same height and rotating their free ends toward one another, while keeping the arms well apart for this first alignment."})

tool

executing move_to over 8 steps (0.8s)

step 110

assistant

agent noteIn the overhead view the cap’s free end points right and the pen tip points left, but both still angle forward and their tips remain separated. I’m making their axes more nearly horizontal, bringing them partway together, and shifting the cap forward to match the pen-tip depth.

move_to

left_x0.4450left_y-0.2050left_z0.2000left_yaw-1.5000right_x0.4150right_y0.2450right_z0.1900right_yaw1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0719, 1.6936, 1.1172, -0.1291, 0.9237, 0.556, 0.0638, 0.1722, 1.705, 1.111, 0.0158, -0.8673, -0.5323, 0.0575] state[eef_state]: left_x=0.414 left_y=-0.1675 left_z=0.1764 left_yaw=-1.1098 left_pitch=0.1687 left_roll=-0.0274 left_gripper=0.0638 right_x=0.4162 right_y=0.2128 right_z=0.1857 right_yaw=1.1582 right_pitch=0.1967 right_roll=-0.0661 right_gripper=0.0575 state[joint_eff]: [-0.5812, -8.7453, 8.3487, 1.2869, 0.4762, 0.1783, 1.0232, -0.0479, -8.3897, 8.0889, 1.5018, -0.5153, 0.1294, 1.033] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_y":-0.205,"left_z":0.2,"left_yaw":-1.5,"right_x":0.415,"right_y":0.245,"right_z":0.19,"right_yaw":1.5},"note":"In the overhead view the cap’s free end points right and the pen tip points left, but both still angle forward and their tips remain separated. I’m making their axes more nearly horizontal, bringing them partway together, and shifting the cap forward to match the pen-tip depth."})

tool

executing move_to over 4 steps (0.4s)

step 114

assistant

agent noteThe two ends are now at nearly the same overhead depth and height, with a visible gap remaining. I’m bringing them a few centimeters closer and straightening their axes; this is still a cautious alignment move rather than an insertion push.

move_to

left_x0.4650left_y-0.2250left_yaw-1.5500right_x0.4250right_y0.2650right_yaw1.5500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0944, 2.0914, 1.7489, -0.6621, 1.0782, 0.9451, 0.0703, 0.1875, 1.9198, 1.4403, -0.3351, -1.0378, -0.8288, 0.0575] state[eef_state]: left_x=0.4681 left_y=-0.1971 left_z=0.1857 left_yaw=-1.396 left_pitch=0.1597 left_roll=0.01 left_gripper=0.0703 right_x=0.4279 right_y=0.2397 right_z=0.1842 right_yaw=1.4161 right_pitch=0.1788 right_roll=-0.0826 right_gripper=0.0575 state[joint_eff]: [-0.8, -12.3829, 6.8991, 0.4762, 0.6618, 0.1197, 1.033, 0.1573, -10.0991, 8.1573, 1.0379, -0.8132, 0.1538, 1.0379] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.465,"left_y":-0.225,"left_yaw":-1.55,"right_x":0.425,"right_y":0.265,"right_yaw":1.55},"note":"The two ends are now at nearly the same overhead depth and height, with a visible gap remaining. I’m bringing them a few centimeters closer and straightening their axes; this is still a cautious alignment move rather than an insertion push."})

tool

executing move_to over 3 steps (0.3s)

step 117

assistant

agent noteThe requested sideways approach barely tracked while the wrists were stretched forward, leaving the ends still visibly apart. I’m moving both arms a few centimeters back into a less extended pose before trying to close the lateral gap.

move_to

left_x0.4100left_y-0.2350left_z0.2000right_x0.3750right_y0.2800right_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]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.1084, 1.1095, 0.0751, 0.1928, 1.943, 1.4757, -0.4648, -1.0821, -0.9325, 0.0632] state[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.1701 left_yaw=-1.4815 left_pitch=0.1421 left_roll=-0.0329 left_gripper=0.0751 right_x=0.414 right_y=0.2434 right_z=0.1784 right_yaw=1.4841 right_pitch=0.1718 right_roll=-0.0561 right_gripper=0.0632 state[joint_eff]: [-0.253, -12.8889, 8.7863, 0.7497, 0.7546, 0.1441, 1.0281, -0.3077, -10.5094, 8.6085, 0.9939, -0.7057, -0.0464, 1.0281] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.235,"left_z":0.2,"right_x":0.375,"right_y":0.28,"right_z":0.2},"note":"The requested sideways approach barely tracked while the wrists were stretched forward, leaving the ends still visibly apart. I’m moving both arms a few centimeters back into a less extended pose before trying to close the lateral gap."})

tool

executing move_to over 4 steps (0.4s)

step 121

assistant

agent noteThe last back-and-inward request produced essentially no motion, suggesting these nearly sideways, extended wrist poses are kinematically blocked. I’m rotating the tools partway back and raising them before repositioning the arms.

move_to

left_yaw-1.0500left_z0.2400left_pitch0.0000right_yaw1.0500right_z0.2400right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.108, 1.1095, 0.0751, 0.1928, 1.943, 1.4773, -0.4648, -1.0821, -0.9329, 0.0632] state[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.17 left_yaw=-1.4814 left_pitch=0.1417 left_roll=-0.0329 left_gripper=0.0751 right_x=0.4143 right_y=0.2435 right_z=0.1789 right_yaw=1.4846 right_pitch=0.1722 right_roll=-0.058 right_gripper=0.0632 state[joint_eff]: [-0.4034, -12.8889, 8.841, 0.7057, 0.7009, 0.105, 1.033, -0.4991, -10.5094, 8.4581, 0.9988, -0.7497, -0.0611, 1.0281] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":-1.05,"left_z":0.24,"left_pitch":0,"right_yaw":1.05,"right_z":0.24,"right_pitch":0},"note":"The last back-and-inward request produced essentially no motion, suggesting these nearly sideways, extended wrist poses are kinematically blocked. I’m rotating the tools partway back and raising them before repositioning the arms."})

tool

executing move_to over 6 steps (0.6s)

step 127

assistant

agent noteBacking off the extreme wrist orientation freed both arms to move again. The pen tip and cap are still separate, so I’m now bringing the grasp points inward a small amount at the higher, more neutral-pitch pose.

move_to

left_x0.4250left_y-0.2400left_z0.2200left_yaw-1.3500right_x0.3900right_y0.2800right_z0.2200right_yaw1.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1776, 1.9415, 1.6115, -0.7334, 0.8841, 0.8986, 0.0786, 0.2958, 1.7809, 1.4208, -0.4751, -0.8646, -0.7231, 0.0671] state[eef_state]: left_x=0.4247 left_y=-0.2114 left_z=0.1764 left_yaw=-1.3542 left_pitch=-0.0171 left_roll=-0.032 left_gripper=0.0786 right_x=0.3897 right_y=0.263 right_z=0.2032 right_yaw=1.3543 right_pitch=0.0569 right_roll=-0.0206 right_gripper=0.0671 state[joint_eff]: [-0.1026, -16.3761, 8.3624, 1.746, 0.6471, -0.1099, 0.9353, -0.1026, -13.135, 8.9504, 1.4432, -0.2418, 0.2369, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.24,"left_z":0.22,"left_yaw":-1.35,"right_x":0.39,"right_y":0.28,"right_z":0.22,"right_yaw":1.35},"note":"Backing off the extreme wrist orientation freed both arms to move again. The pen tip and cap are still separate, so I’m now bringing the grasp points inward a small amount at the higher, more neutral-pitch pose."})

tool

executing move_to over 3 steps (0.3s)

step 130

assistant

agent noteThe overhead view now shows the cap opening and pen tip only a short distance apart, with their heights closely matched. I’m tightening the axial alignment and reducing the gap by roughly a centimeter from each side without opening either gripper.

move_to

left_x0.4350left_y-0.2370left_z0.2150left_yaw-1.4300right_x0.3930right_y0.2780right_z0.2150right_yaw1.4300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2195, 1.9377, 1.697, -0.7383, 0.8066, 0.7952, 0.08, 0.3134, 1.7798, 1.4368, -0.4877, -0.8036, -0.6708, 0.0684] state[eef_state]: left_x=0.4358 left_y=-0.2242 left_z=0.1988 left_yaw=-1.2967 left_pitch=-0.0414 left_roll=-0.0129 left_gripper=0.08 right_x=0.3932 right_y=0.2649 right_z=0.2022 right_yaw=1.3041 right_pitch=0.0208 right_roll=-0.0026 right_gripper=0.0684 state[joint_eff]: [-0.4308, -12.041, 8.1162, 1.3455, 0.7253, 0.188, 1.0379, -0.6906, -10.5778, 7.3504, 1.5849, -0.6618, -0.232, 0.9402] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_y":-0.237,"left_z":0.215,"left_yaw":-1.43,"right_x":0.393,"right_y":0.278,"right_z":0.215,"right_yaw":1.43},"note":"The overhead view now shows the cap opening and pen tip only a short distance apart, with their heights closely matched. I’m tightening the axial alignment and reducing the gap by roughly a centimeter from each side without opening either gripper."})

tool

executing move_to over 2 steps (0.2s)

step 132

assistant

agent noteThe ends are aligned in depth, but the inward commands are again tracking poorly at this near-sideways reach. I’m easing the yaw angle and bringing both grasp points back while moving them inward, then I’ll restore the coaxial angle before insertion.

move_to

left_x0.3950left_y-0.2550left_z0.2300left_yaw-1.1500left_pitch0.0000right_x0.3600right_y0.2950right_z0.2300right_yaw1.1500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8139, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8352, -0.7116, 0.0713] state[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3284 left_pitch=-0.0599 left_roll=-0.071 left_gripper=0.08 right_x=0.3909 right_y=0.2661 right_z=0.1956 right_yaw=1.3418 right_pitch=0.0278 right_roll=-0.0041 right_gripper=0.0713 state[joint_eff]: [-0.0615, -12.4786, 7.9658, 1.0281, 0.6667, 0.1734, 1.033, -0.335, -10.6325, 7.4598, 1.3407, -0.5348, -0.022, 0.8571] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.255,"left_z":0.23,"left_yaw":-1.15,"left_pitch":0,"right_x":0.36,"right_y":0.295,"right_z":0.23,"right_yaw":1.15,"right_pitch":0},"note":"The ends are aligned in depth, but the inward commands are again tracking poorly at this near-sideways reach. I’m easing the yaw angle and bringing both grasp points back while moving them inward, then I’ll restore the coaxial angle before insertion."})

tool

executing move_to over 3 steps (0.3s)

step 135

assistant

agent noteNeither arm moved on the combined repositioning request, so I’m separating the steps. I’ll first reduce wrist yaw alone to escape the constrained pose before translating the grasp points.

move_to

left_yaw-1.0000right_yaw1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7864, 0.8272, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.49, -0.8356, -0.7116, 0.074] state[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1849 left_yaw=-1.3284 left_pitch=-0.0594 left_roll=-0.0711 left_gripper=0.08 right_x=0.3909 right_y=0.2662 right_z=0.1957 right_yaw=1.3421 right_pitch=0.0282 right_roll=-0.0043 right_gripper=0.074 state[joint_eff]: [0.0479, -12.5744, 7.9658, 1.0574, 0.6862, 0.1148, 1.033, -0.4308, -10.7282, 7.4598, 1.3797, -0.569, -0.0171, 0.6862] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":-1.0,"right_yaw":1.0},"note":"Neither arm moved on the combined repositioning request, so I’m separating the steps. I’ll first reduce wrist yaw alone to escape the constrained pose before translating the grasp points."})

tool

executing move_to over 3 steps (0.3s)

step 138

assistant

agent noteYaw alone also failed to track. The earlier successful escape combined a little lift with neutral pitch and reduced yaw, so I’m using that same change of posture before attempting any inward motion.

move_to

left_yaw-1.0500left_z0.2400left_pitch0.0000right_yaw1.0500right_z0.2400right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8356, -0.7113, 0.0757] state[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3282 left_pitch=-0.0599 left_roll=-0.0713 left_gripper=0.08 right_x=0.3908 right_y=0.2662 right_z=0.1956 right_yaw=1.3419 right_pitch=0.028 right_roll=-0.0036 right_gripper=0.0757 state[joint_eff]: [0.1162, -12.4376, 8.0068, 0.9988, 0.6471, 0.1148, 1.033, -0.4718, -10.7282, 7.5282, 1.3602, -0.6032, -0.0122, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":-1.05,"left_z":0.24,"left_pitch":0,"right_yaw":1.05,"right_z":0.24,"right_pitch":0},"note":"Yaw alone also failed to track. The earlier successful escape combined a little lift with neutral pitch and reduced yaw, so I’m using that same change of posture before attempting any inward motion."})

tool

executing move_to over 4 steps (0.4s)

step 142

assistant

agent noteThe lift-and-pitch change restored motion, and the two ends still have a visible gap. I’m now moving both arms backward and inward together at their freed-up yaw angle to bring the pen tip near the cap opening.

move_to

left_x0.3850left_y-0.2500left_z0.2200left_yaw-1.1500right_x0.3500right_y0.2950right_z0.2200right_yaw1.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2596, 1.8236, 1.552, -0.6601, 0.7124, 0.6029, 0.08, 0.3862, 1.6901, 1.3872, -0.4698, -0.6315, -0.5026, 0.0776] state[eef_state]: left_x=0.4156 left_y=-0.2261 left_z=0.1963 left_yaw=-1.1732 left_pitch=-0.0845 left_roll=-0.0865 left_gripper=0.08 right_x=0.3813 right_y=0.2715 right_z=0.21 right_yaw=1.1666 right_pitch=-0.0398 right_roll=0.0163 right_gripper=0.0776 state[joint_eff]: [-0.4444, -12.6154, 7.747, 1.6777, 0.3736, -0.0757, 1.0037, -0.0342, -11.0701, 8.0205, 1.8144, -0.1197, 0.2759, 0.5885] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.25,"left_z":0.22,"left_yaw":-1.15,"right_x":0.35,"right_y":0.295,"right_z":0.22,"right_yaw":1.15},"note":"The lift-and-pitch change restored motion, and the two ends still have a visible gap. I’m now moving both arms backward and inward together at their freed-up yaw angle to bring the pen tip near the cap opening."})

tool

executing move_to over 3 steps (0.3s)

step 145

assistant

agent noteThe pen nib is nearly centered in the cap-side wrist view, but the overhead image still shows a small lateral and depth gap. I’m moving the cap slightly back and bringing the two grasp points inward by about 1.5 cm each, keeping their pitch matched.

move_to

left_x0.3800left_y-0.2620left_z0.2150left_pitch-0.0800right_x0.3580right_y0.3050right_z0.2150right_pitch-0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3313, 1.755, 1.5036, -0.6243, 0.6445, 0.4728, 0.08, 0.4679, 1.6512, 1.3289, -0.458, -0.5491, -0.4271, 0.0799] state[eef_state]: left_x=0.3978 left_y=-0.2453 left_z=0.2066 left_yaw=-1.1257 left_pitch=-0.0943 left_roll=-0.1121 left_gripper=0.08 right_x=0.358 right_y=0.2882 right_z=0.1993 right_yaw=1.1469 right_pitch=-0.0854 right_roll=0.0398 right_gripper=0.0799 state[joint_eff]: [-0.294, -12.5744, 7.1726, 1.4335, 0.4176, 0.1197, 1.0183, 0.294, -12.0, 7.5966, 1.7607, -0.2027, 0.1245, 0.2955] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.262,"left_z":0.215,"left_pitch":-0.08,"right_x":0.358,"right_y":0.305,"right_z":0.215,"right_pitch":-0.08},"note":"The pen nib is nearly centered in the cap-side wrist view, but the overhead image still shows a small lateral and depth gap. I’m moving the cap slightly back and bringing the two grasp points inward by about 1.5 cm each, keeping their pitch matched."})

tool

executing move_to over 2 steps (0.2s)

step 147

assistant

agent noteAt close range the pen tip appears to the right of the cap-side jaw column, and the cap appears to the right in the pen-side view too. I’m shifting only the cap gripper back and slightly inward to line up the two small ends before pressing them together.

move_to

left_x0.3650left_y-0.2580left_z0.2150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6476, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4213, 0.0823] state[eef_state]: left_x=0.389 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1133 left_roll=-0.1198 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1728 right_pitch=-0.0838 right_roll=0.0429 right_gripper=0.0823 state[joint_eff]: [-0.3487, -11.6718, 6.8444, 1.2967, 0.2759, 0.1343, 1.0183, -0.7453, -10.7692, 7.4462, 1.6435, -0.1734, 0.1343, 0.2271] 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":{"left_x":0.365,"left_y":-0.258,"left_z":0.215},"note":"At close range the pen tip appears to the right of the cap-side jaw column, and the cap appears to the right in the pen-side view too. I’m shifting only the cap gripper back and slightly inward to line up the two small ends before pressing them together."})

tool

executing move_to over 2 steps (0.2s)

step 149

assistant

agent noteThe cap gripper did not track the requested back-shift, so I won’t keep pushing that blocked pose. Advancing the pen gripper in its x direction should correct the same cross-axis offset in both wrist views; I’m doing that with a small inward move.

move_to

right_x0.3720right_y0.3050right_z0.2150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.421, 0.0843] state[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1131 left_roll=-0.1196 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1726 right_pitch=-0.0838 right_roll=0.0432 right_gripper=0.0843 state[joint_eff]: [-0.1846, -11.494, 6.8581, 1.3114, 0.2662, 0.1245, 1.0183, -0.7453, -10.9333, 7.2137, 1.6435, -0.2076, 0.1392, 0.1929] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.372,"right_y":0.305,"right_z":0.215},"note":"The cap gripper did not track the requested back-shift, so I won’t keep pushing that blocked pose. Advancing the pen gripper in its x direction should correct the same cross-axis offset in both wrist views; I’m doing that with a small inward move."})

tool

executing move_to over 2 steps (0.2s)

step 151

assistant

agent noteNeither arm tracks a small inward adjustment, and the right jaw opening has begun to increase, so the ends may be binding rather than sliding together. I’m withdrawing and raising the pen arm with a less extreme wrist angle to release any contact before another alignment attempt.

move_to

right_x0.3500right_y0.2600right_z0.2500right_yaw1.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4728, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4217, 0.0863] state[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1387 left_pitch=-0.1131 left_roll=-0.1199 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.173 right_pitch=-0.0838 right_roll=0.0426 right_gripper=0.0863 state[joint_eff]: [-0.2803, -11.6855, 6.7214, 1.37, 0.2564, 0.0904, 1.0037, -0.5265, -10.9333, 7.3231, 1.663, -0.1783, 0.1392, 0.2125] 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_x":0.35,"right_y":0.26,"right_z":0.25,"right_yaw":1.0,"right_pitch":0},"note":"Neither arm tracks a small inward adjustment, and the right jaw opening has begun to increase, so the ends may be binding rather than sliding together. I’m withdrawing and raising the pen arm with a less extreme wrist angle to release any contact before another alignment attempt."})

tool

executing move_to over 4 steps (0.4s)

step 155

assistant

agent noteThe pen arm alone still would not withdraw, so I’m moving both arms outward and upward together to avoid dragging one held piece against the other. This should create clearance before I try to correct their offset.

move_to

left_y-0.2100left_z0.2600left_yaw-0.9500left_pitch0.0000right_y0.2550right_z0.2600right_yaw0.9500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3504, 1.7432, 1.4944, -0.6548, 0.6342, 0.4732, 0.08, 0.4969, 1.6344, 1.3159, -0.4564, -0.5488, -0.4145, 0.0875] state[eef_state]: left_x=0.387 left_y=-0.2491 left_z=0.2032 left_yaw=-1.1401 left_pitch=-0.1195 left_roll=-0.1261 left_gripper=0.08 right_x=0.3465 right_y=0.2968 right_z=0.2014 right_yaw=1.1687 right_pitch=-0.0817 right_roll=0.0463 right_gripper=0.0875 state[joint_eff]: [-0.3077, -11.494, 7.1179, 1.3944, 0.2515, 0.0952, 1.0183, -0.6632, -10.4547, 7.7197, 1.6972, -0.1636, 0.0952, 0.1197] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.21,"left_z":0.26,"left_yaw":-0.95,"left_pitch":0,"right_y":0.255,"right_z":0.26,"right_yaw":0.95,"right_pitch":0},"note":"The pen arm alone still would not withdraw, so I’m moving both arms outward and upward together to avoid dragging one held piece against the other. This should create clearance before I try to correct their offset."})

tool

executing move_to over 4 steps (0.4s)

step 159

assistant

agent noteWith both arms separated, the pen nib and the cap’s free end appear nearly on the same wrist-image column, but they are still apart along their axis. I’m closing only about two centimeters of that gap while keeping their current heights and orientations.

move_to

left_y-0.2250left_z0.2500right_y0.2780right_z0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2756, 1.6062, 1.4178, -0.6193, 0.6155, 0.3546, 0.08, 0.4545, 1.4872, 1.2762, -0.4797, -0.4808, -0.3141, 0.0879] state[eef_state]: left_x=0.3864 left_y=-0.2116 left_z=0.2341 left_yaw=-0.9821 left_pitch=-0.067 left_roll=-0.1442 left_gripper=0.08 right_x=0.3443 right_y=0.2632 right_z=0.2382 right_yaw=1.0172 right_pitch=-0.0421 right_roll=0.0421 right_gripper=0.0879 state[joint_eff]: [-0.5675, -9.347, 6.612, 1.6532, 0.3199, -0.0757, 0.9646, -0.4855, -8.253, 7.4462, 1.6435, 0.0171, 0.2711, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.225,"left_z":0.25,"right_y":0.278,"right_z":0.25},"note":"With both arms separated, the pen nib and the cap’s free end appear nearly on the same wrist-image column, but they are still apart along their axis. I’m closing only about two centimeters of that gap while keeping their current heights and orientations."})

tool

executing move_to over 2 steps (0.2s)

step 161

assistant

agent noteThe cap is still several centimeters from the nib, and its free end is a little left of the nib in the pen-side camera. I’m shifting the cap back in depth now, while there is clearance, to compensate for the sideways image shift that will occur as the arms approach.

move_to

left_x0.3650left_y-0.2160left_z0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2909, 1.5929, 1.4471, -0.6254, 0.5976, 0.3138, 0.0835, 0.4763, 1.4807, 1.3041, -0.5091, -0.4477, -0.2836, 0.0886] state[eef_state]: left_x=0.3864 left_y=-0.2157 left_z=0.2492 left_yaw=-0.9609 left_pitch=-0.0497 left_roll=-0.1442 left_gripper=0.0835 right_x=0.3415 right_y=0.2663 right_z=0.2459 right_yaw=0.9962 right_pitch=-0.0495 right_roll=0.0466 right_gripper=0.0886 state[joint_eff]: [-0.9778, -6.4889, 9.2513, 1.3993, 0.1099, 0.0317, 0.8083, 0.7179, -5.5179, 9.388, 1.619, -0.1783, 0.0269, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.365,"left_y":-0.216,"left_z":0.25},"note":"The cap is still several centimeters from the nib, and its free end is a little left of the nib in the pen-side camera. I’m shifting the cap back in depth now, while there is clearance, to compensate for the sideways image shift that will occur as the arms approach."})

tool

executing move_to over 2 steps (0.2s)

step 163

assistant

agent noteThe first depth shift changed the wrist projection in the opposite direction than expected: the cap mouth now appears right of the nib. I’m advancing the pen arm in x while the ends are apart, aiming to bring the cap mouth onto the nib’s image column.

move_to

right_x0.3660right_y0.2730right_z0.2400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.308, 1.6016, 1.4212, -0.6468, 0.5823, 0.3119, 0.0847, 0.4904, 1.5158, 1.3075, -0.5171, -0.4477, -0.2852, 0.0894] state[eef_state]: left_x=0.3788 left_y=-0.2187 left_z=0.2309 left_yaw=-0.9684 left_pitch=-0.1008 left_roll=-0.1718 left_gripper=0.0847 right_x=0.341 right_y=0.2728 right_z=0.2317 right_yaw=1.0124 right_pitch=-0.0839 right_roll=0.0651 right_gripper=0.0894 state[joint_eff]: [0.4718, -10.2496, 7.3504, 1.6777, 0.315, -0.0806, 0.8767, -0.8684, -9.5111, 7.0085, 1.6972, -0.232, -0.0562, 0.0659] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.366,"right_y":0.273,"right_z":0.24},"note":"The first depth shift changed the wrist projection in the opposite direction than expected: the cap mouth now appears right of the nib. I’m advancing the pen arm in x while the ends are apart, aiming to bring the cap mouth onto the nib’s image column."})

tool

executing move_to over 2 steps (0.2s)

step 165

assistant

agent noteThe pen nib is now centered on the cap-side wrist column, while the cap mouth appears left of the nib in the pen-side view. I’m bringing the arms inward by about two centimeters each, which should move the cap mouth toward the nib in both distance and lateral alignment.

move_to

left_y-0.2350left_z0.2450right_y0.2970right_z0.2450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3035, 1.5826, 1.4067, -0.6407, 0.5823, 0.3111, 0.0864, 0.4732, 1.565, 1.372, -0.5575, -0.458, -0.3046, 0.09] state[eef_state]: left_x=0.3766 left_y=-0.216 left_z=0.2337 left_yaw=-0.9627 left_pitch=-0.0924 left_roll=-0.1658 left_gripper=0.0864 right_x=0.3523 right_y=0.2722 right_z=0.2322 right_yaw=1.015 right_pitch=-0.1013 right_roll=0.0684 right_gripper=0.09 state[joint_eff]: [0.0615, -9.8393, 6.9949, 1.5556, 0.3101, -0.0904, 0.525, -1.388, -6.8581, 8.6769, 1.4383, -0.2515, -0.0171, 0.0562] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.235,"left_z":0.245,"right_y":0.297,"right_z":0.245},"note":"The pen nib is now centered on the cap-side wrist column, while the cap mouth appears left of the nib in the pen-side view. I’m bringing the arms inward by about two centimeters each, which should move the cap mouth toward the nib in both distance and lateral alignment."})

tool

executing move_to over 3 steps (0.3s)

step 168

assistant

agent noteThe cap mouth still sits ahead and slightly left of the nib in the pen-side view, and the cap arm has stopped tracking inward. I’m advancing only the pen arm a few centimeters while raising it to match the cap arm’s measured height.

move_to

right_y0.3120right_z0.2500right_pitch-0.0900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0891, 0.4931, 1.6112, 1.3987, -0.5701, -0.4454, -0.3031, 0.0909] state[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0891 right_x=0.3548 right_y=0.2811 right_z=0.2211 right_yaw=1.026 right_pitch=-0.1334 right_roll=0.0786 right_gripper=0.0909 state[joint_eff]: [-0.1026, -9.7436, 6.9128, 1.6239, 0.2369, -0.0952, 0.6716, 0.0752, -10.4684, 7.0906, 1.5067, -0.1587, 0.0855, 0.0757] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.312,"right_z":0.25,"right_pitch":-0.09},"note":"The cap mouth still sits ahead and slightly left of the nib in the pen-side view, and the cap arm has stopped tracking inward. I’m advancing only the pen arm a few centimeters while raising it to match the cap arm’s measured height."})

tool

executing move_to over 3 steps (0.3s)

step 171

assistant

agent noteThe pen arm is also stalling near the current close pose, with the ends still apart. I’m moving both wrists to a higher, less extended posture with reduced yaw so there is room to make a final controlled approach.

move_to

left_x0.3300left_y-0.2200left_z0.3100left_yaw-0.6500left_pitch0.0000right_x0.3100right_y0.2800right_z0.3100right_yaw0.6500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0892, 0.4988, 1.6112, 1.3987, -0.5697, -0.445, -0.3027, 0.0914] state[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0892 right_x=0.3533 right_y=0.2831 right_z=0.2211 right_yaw=1.0312 right_pitch=-0.1332 right_roll=0.0784 right_gripper=0.0914 state[joint_eff]: [0.0342, -9.7573, 6.9128, 1.5995, 0.2711, -0.1294, 0.7204, -0.4308, -10.4547, 7.2, 1.5409, -0.1783, 0.1148, 0.0464] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.22,"left_z":0.31,"left_yaw":-0.65,"left_pitch":0,"right_x":0.31,"right_y":0.28,"right_z":0.31,"right_yaw":0.65,"right_pitch":0},"note":"The pen arm is also stalling near the current close pose, with the ends still apart. I’m moving both wrists to a higher, less extended posture with reduced yaw so there is room to make a final controlled approach."})

tool

executing move_to over 6 steps (0.6s)

step 177

assistant

agent noteThe cap arm reached the higher, retracted pose, but the pen arm stayed put. With the cap now out of its path, I’m pitching the pen tool forward and raising that arm to free its motion as well.

move_to

right_x0.3100right_y0.2800right_z0.3100right_yaw0.6500right_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]: [-0.4927, 1.3163, 1.3445, -0.6399, 0.297, 0.0025, 0.0897, 0.4988, 1.6066, 1.3987, -0.5716, -0.4454, -0.3027, 0.0922] state[eef_state]: left_x=0.3231 left_y=-0.228 left_z=0.2973 left_yaw=-0.7541 left_pitch=-0.0182 left_roll=-0.1582 left_gripper=0.0897 right_x=0.3525 right_y=0.2828 right_z=0.2228 right_yaw=1.0313 right_pitch=-0.1307 right_roll=0.0773 right_gripper=0.0922 state[joint_eff]: [-0.3487, -4.8479, 9.0735, 1.707, -0.0415, -0.0513, 0.7546, -0.3487, -9.8667, 7.0906, 1.5995, -0.188, 0.105, 0.0708] 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":{"right_x":0.31,"right_y":0.28,"right_z":0.31,"right_yaw":0.65,"right_pitch":0.2},"note":"The cap arm reached the higher, retracted pose, but the pen arm stayed put. With the cap now out of its path, I’m pitching the pen tool forward and raising that arm to free its motion as well."})

tool

executing move_to over 12 steps (1.2s)

step 189

assistant

agent noteBoth grippers are now moving freely at the higher, shorter reach, and the pen and cap remain held. I’m rotating their free ends toward each other again and closing only part of the gap while matching their pitch and height.

move_to

left_y-0.2380left_z0.3200left_yaw-1.1800left_pitch0.0500right_y0.2990right_z0.3200right_yaw1.1800right_pitch0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4973, 1.3174, 1.343, -0.654, 0.2779, -0.0174, 0.0909, 0.7296, 1.2835, 1.1419, -0.3145, -0.0326, 0.0479, 0.0928] state[eef_state]: left_x=0.3226 left_y=-0.2262 left_z=0.2929 left_yaw=-0.7324 left_pitch=-0.0388 left_roll=-0.1679 left_gripper=0.0909 right_x=0.3052 right_y=0.2855 right_z=0.2816 right_yaw=0.7266 right_pitch=0.1019 right_roll=0.0584 right_gripper=0.0928 state[joint_eff]: [0.1983, -5.2308, 6.8444, 1.8486, 0.3053, 0.1783, 0.6178, 0.4855, -6.8718, 7.3504, 2.3028, 0.1783, 0.2564, 0.0464] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.238,"left_z":0.32,"left_yaw":-1.18,"left_pitch":0.05,"right_y":0.299,"right_z":0.32,"right_yaw":1.18,"right_pitch":0.05},"note":"Both grippers are now moving freely at the higher, shorter reach, and the pen and cap remain held. I’m rotating their free ends toward each other again and closing only part of the gap while matching their pitch and height."})

tool

executing move_to over 3 steps (0.3s)

step 192

assistant

agent noteAt the higher pose the grippers are level; the cap mouth lies left of the nib in the pen-side wrist view, as expected with a remaining axial gap. I’m closing most of that gap in a modest two-arm move without trying to force the pieces together yet.

move_to

left_x0.3400left_y-0.2480left_z0.3200left_yaw-1.0500right_x0.3300right_y0.3100right_z0.3200right_yaw1.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3439, 1.4803, 1.5211, -0.7837, 0.5858, 0.218, 0.0921, 0.5632, 1.4586, 1.4322, -0.5602, -0.3344, -0.1848, 0.0929] state[eef_state]: left_x=0.3436 left_y=-0.223 left_z=0.298 left_yaw=-0.9532 left_pitch=-0.0403 left_roll=-0.1991 left_gripper=0.0921 right_x=0.3344 right_y=0.284 right_z=0.2969 right_yaw=0.9373 right_pitch=0.0084 right_roll=0.0257 right_gripper=0.0929 state[joint_eff]: [-1.0735, -7.5556, 8.8137, 1.2088, 0.5983, 0.2808, 0.5788, -0.1436, -8.3214, 9.0462, 1.956, -0.0317, 0.4615, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.248,"left_z":0.32,"left_yaw":-1.05,"right_x":0.33,"right_y":0.31,"right_z":0.32,"right_yaw":1.05},"note":"At the higher pose the grippers are level; the cap mouth lies left of the nib in the pen-side wrist view, as expected with a remaining axial gap. I’m closing most of that gap in a modest two-arm move without trying to force the pieces together yet."})

tool

executing move_to over 3 steps (0.3s)

step 195

assistant

agent noteThe close views show the gold pen nib left of the cap’s jaw column, so pushing inward now would miss the opening. I’m drawing the pen arm back and slightly outward to correct that cross-axis offset before the final fitting move.

move_to

right_x0.2850right_y0.2750right_z0.3200right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3836, 1.5639, 1.6451, -0.9016, 0.651, 0.2787, 0.0922, 0.5732, 1.4963, 1.4807, -0.651, -0.4133, -0.2474, 0.0929] state[eef_state]: left_x=0.3333 left_y=-0.2461 left_z=0.3018 left_yaw=-1.0758 left_pitch=-0.0673 left_roll=-0.2333 left_gripper=0.0922 right_x=0.3197 right_y=0.2951 right_z=0.2882 right_yaw=1.0458 right_pitch=-0.0441 right_roll=0.0484 right_gripper=0.0929 state[joint_eff]: [-0.253, -6.8718, 9.5795, 1.5263, 0.1978, 0.1294, 0.6325, 0.1436, -7.9248, 7.159, 2.1123, 0.0464, 0.2857, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.285,"right_y":0.275,"right_z":0.32,"right_pitch":0},"note":"The close views show the gold pen nib left of the cap’s jaw column, so pushing inward now would miss the opening. I’m drawing the pen arm back and slightly outward to correct that cross-axis offset before the final fitting move."})

tool

executing move_to over 3 steps (0.3s)

step 198

assistant

agent noteThe measured grasp points put the pen tip and cap opening at nearly the same fore–aft position, but they still have an axial gap, and both jaw openings have crept wider. I’m tightening both grasps and bringing the two ends together while raising the pen side to match the cap’s height.

move_to

left_y-0.2650left_z0.3200left_gripper0.0000right_y0.3230right_z0.3400right_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]: [-0.3935, 1.5711, 1.6672, -0.9066, 0.609, 0.2516, 0.0953, 0.5785, 1.4963, 1.4776, -0.6468, -0.3664, -0.2348, 0.0929] state[eef_state]: left_x=0.338 left_y=-0.2458 left_z=0.3036 left_yaw=-1.0404 left_pitch=-0.0817 left_roll=-0.2249 left_gripper=0.0953 right_x=0.3246 right_y=0.2919 right_z=0.2857 right_yaw=1.0062 right_pitch=-0.056 right_roll=0.0321 right_gripper=0.0929 state[joint_eff]: [-0.1026, -7.1179, 9.5385, 1.4969, 0.3687, -0.0122, 0.3053, -0.3487, -7.8564, 7.4051, 2.1416, -0.0952, 0.3053, -0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.265,"left_z":0.32,"left_gripper":0,"right_y":0.323,"right_z":0.34,"right_gripper":0},"note":"The measured grasp points put the pen tip and cap opening at nearly the same fore–aft position, but they still have an axial gap, and both jaw openings have crept wider. I’m tightening both grasps and bringing the two ends together while raising the pen side to match the cap’s height."})

tool

executing move_to over 4 steps (0.4s)

step 202

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3935, 1.5711, 1.6672, -0.9066, 0.609, 0.2516, 0.0749, 0.5785, 1.4963, 1.4776, -0.6468, -0.3664, -0.2344, 0.0687] state[eef_state]: left_x=0.338 left_y=-0.2458 left_z=0.3036 left_yaw=-1.0404 left_pitch=-0.0817 left_roll=-0.2249 left_gripper=0.0749 right_x=0.3246 right_y=0.2919 right_z=0.2857 right_yaw=1.006 right_pitch=-0.056 right_roll=0.0324 right_gripper=0.0687 state[joint_eff]: [-0.2393, -6.9949, 9.2786, 1.4676, 0.315, 0.0122, 1.033, -0.5128, -7.8701, 7.4325, 2.0977, -0.0952, 0.315, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 8.521 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6098, -0.3775, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0017 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.2923, 10.4821, 1.7607, -0.022, 0.1001, -0.0366, -0.5265, -1.1009, 9.8667, 1.8095, -0.0317, -0.0464, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31746154ae9a21fa8f251fee04a8091f38f8e1a080f1bd6a533d1c8d48a5e23f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d4a9dcf73c14be7afe219ca22067e164b38923df0b26ec5c44d161105e407a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaf634fa43815e3d410817ba38ca2e4e3209c3267aebe751022d71b0bf900db",
      "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 · 9.145 s

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

{
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  "id": "rs_0446e5170a8d8d65016ab43b296a7c87d09b5e9307507cb41a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDsxtb2rprHcqc23mcXE0QvJI9usoxAp5iC_6nuOKMhu5l_ZdWUYI-KDx3vMnS6ldfF5nXgLOMoilzhDOYK8ANWSS9QTqdeGoavuNRfw67zLOa3hR8waV5LHVc7BCFDILxLqg02svtBx9VftUyQ6ys5gBNBVkQ9iuTM5APx77iZHfbGJAOMAArlsJwAJSyDUggR4YkgqJmhGY6zT6HJIFOFZh_7eRNg6RVlfqGk9gc78NyBv3oz-zHF2S5SgrOzYtMNz41_05-xN-Ku1l2l_o6QgCT2B1IibOKHk2sNKEt684JEIXbIDxCHG1bH5nKk4CqENvRlHjf8QPy2-AGSqBCC3j6bdeKeXBsZAVkzt_VH-s7jEgINFf1HNvXePHvKEMSHcGhgzH_0wFY4KpoJp35FE3IvQyhxo8Q7gLin5VuA3BDbb3OZVXbt26-57ZUTmOWj1ypx5kxeivVZfKOxp1RTuERiFV1_Tg95Arv8tNKJCKBlvvmvgwD78ZRGK2yMf1XHbMQUSDdqxXAoHuzRBYAYKy1L8qSkOG4xRJ6Q85Wx78Xm1nHlcHIPEchRm960GnCWC2ZzDCWrT1WqloQd06D2lntzC6RiEBgu2Nrw4-Lu1qmlvaYIewx52t_fL9fdMqnv0uKCFMEabKSKqCvpgRZ_-EyV1RIOmz5eu6qdeRxZd7MEYBtfeFA9JXpkcBOxBrjBOIvhSft5KR2ZzWM2rRO40qMJUaazmi0oDIKO79iVty8Npcw4XaVQC5ul97iXfd8ofld6_RorVzOJoCb5v-PluRlQBcxyyDdzPJcBHIX_61AMOb86Kb7Ta1p7NUcWofFZ5Ol5zpFi1Ih5eWZ8khXsLGYB2BLyc1fNOS8nh_iEiMAvWPtPvs50_rEBX6w6HeX4eUIsoJBw6LMs7E9PuaxERPPQxl6_8hi0BULt97q5_TNP_vQ-HqFfI5PyTytwjMx7Laqtzz-ZCJShHSzn2mye5MZ8yXZOlPxlrmW-5xd9O-BfH7docUhljY05kI1B5ZqF7G4RygVwmiD1adUBNC83ERrHmOgQ5spCjyB7EfXCJpie8Szi5Ys1BclqFbTkxhq5U5csa93plN_zPP9HSgWXBhBFeoRByi-kxfOmLO8juXhcfwWaeVWpmDM-doyFL89vyeaO20l7Ho9rpdP_gq7tAEsGMd8WTsOdPYdBCGQRYX9zJDQmH91OL7JXfCkxirnFGn3DOFeDnVZYwIv6fCxB2ftBepHJp-VdyHChUg7Vmq-V6bHnB6f0-BkKu7Rx1GgnlBCJ1RyvqELjMp8LwDRniP0b_F-zlEJCuuMt9KArcMsFDc0VfjtYxMWCmrFnw02KPhqWzO3tQyhvYEBZmow0vs-VeMbjED-LgLf_c-TPmT2xNc5IZZqX6QIaCDgkG5-5HqXrioiDc7XiYoa7ZMwSuwr7Ho2ZY0TMNfgTduodML0d63I-hpeA7AJaFJBbvmdXD-rN43BA4svX-v8L9x2xQuQZqQWlx-lnLJ3KQlZP1WQCRX7tEGq-p_ttxBzzXayy8Z1zJU7LyVNh9MzKK_i359R5R0N3n8HqcFYRIHDe3BaeqdDJjtq0MYmHcXV2YTKWARzuypUbL597V9uftl9yf6PHDYdtBmsLUxgdWDSzlamfdv4VZk6c2iMNewz7uWCFqU3M8UeVGFWyEkKv3WUWKyBVhZen3_VqF1ouTc4JjkwEDYSe65ZAIpTgIW7Jmbrs-LwFQr6j_29MJeGt9GY0SB0p-j94Zuo1SZwqsFSjWzeQkYl-DY2YQHdO9uXpPPwMy05b29lc4HmOzXrqM0-zINApuYVn-W0mxAMn85EjHhPy-uQM0g8UhkchxNKPk5NkSBrxvJkJrpGB8SLsl_STpMja3O8oY9g1vM85-7wMCutNo7MHu565POZkvnrWlmim7rlcrEk-eTjERvCRVWwmr32VE6UxPjg2Y7uDPxQBbMCj5X2b9stnw60bfJtej3b5DbvLI8P4I5S3XvgYUi2CmzBbzhKG56j1PBCWhrgxVwcOPZX-JjGzIENzDvoesd0T4b9cjM9bmNhknsz4-BhezFuwGeHWPD6tCOmshjEmhHZV_VxNyuqk-ZiF1Iu4hIn4_b46C8jupSlvNLuo2pWxaJoO97NuFpmgGXpvD6uQ4S_ihc_sXM6Y1491O7QRptg5UTSAdD2uSdKMmA4yd0OhBTDWjrnEMvgtJSpXiyzY4vTr7BKY79wgNKOVfTeq8vv4EwsIuMfRxqKV-NpC14OI9PCTFnlOdJVuT89LEQ-fdYKA=",
  "id": "rs_0446e5170a8d8d65016ab43b2dfc1087d09158440c3cd914f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.15,\"right_x\":0.40,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"The short black cap is left of center and the longer pen is right of center. I’m bringing the left gripper over the cap and the right gripper over the pen, still high enough to inspect their alignment before grasping.\"}",
  "call_id": "call_YxKBImClefNTL75IHURed28L",
  "id": "fc_0446e5170a8d8d65016ab43b30495087d0b242b619642758d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YxKBImClefNTL75IHURed28L",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.5219, 0.8959, -0.1234, -0.5228, -0.4034, 0.9997, 0.7666, 1.7119, 1.1042, -0.1677, 0.5884, 0.437, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1709 left_z=0.1289 left_yaw=-0.0098 left_pitch=-0.0616 left_roll=0.0337 left_gripper=0.9997 right_x=0.3879 right_y=0.2424 right_z=0.131 right_yaw=0.0424 right_pitch=-0.0631 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.6393, 9.7436, 1.7558, -0.3883, -0.0611, -0.0171, 0.1846, -8.0479, 9.265, 1.8193, 0.5348, 0.2808, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a643f1977b1764167b2f983ca5bfe77ef97844cf78ec991fd813ac0fbaa01f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de842f4186c221d7530ee30f76e30513be6df2c30955a54e79c9f61d4d4e188a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8901298b520ec01900ba956ac894d4676b0540c2e61a942381d9a0667c834959",
      "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 · 6.468 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6098, -0.3775, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0017 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.2923, 10.4821, 1.7607, -0.022, 0.1001, -0.0366, -0.5265, -1.1009, 9.8667, 1.8095, -0.0317, -0.0464, -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]: [-0.6483, 1.5219, 0.8959, -0.1234, -0.5228, -0.4034, 0.9997, 0.7666, 1.7119, 1.1042, -0.1677, 0.5884, 0.437, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1709 left_z=0.1289 left_yaw=-0.0098 left_pitch=-0.0616 left_roll=0.0337 left_gripper=0.9997 right_x=0.3879 right_y=0.2424 right_z=0.131 right_yaw=0.0424 right_pitch=-0.0631 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.6393, 9.7436, 1.7558, -0.3883, -0.0611, -0.0171, 0.1846, -8.0479, 9.265, 1.8193, 0.5348, 0.2808, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a643f1977b1764167b2f983ca5bfe77ef97844cf78ec991fd813ac0fbaa01f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de842f4186c221d7530ee30f76e30513be6df2c30955a54e79c9f61d4d4e188a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8901298b520ec01900ba956ac894d4676b0540c2e61a942381d9a0667c834959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDs8NsLdEYlbtvNgwls4lQaB5209vPZFDfZ60cOK1KIIt-xwBgXC_PT5G11tnoe-WLnkRlLHOZO6QiZV99H85lVhXY0_yU01D2vmIudSsi0Yke9AgSIQNdmmaC2TOFb9ZEyINWAUX64-4NgFW_Fb2--SLeMdDOmUAk0r8j9bGSajGDQTgENmFI4ULPo5vvol5CueowzOHybcl5WR8swlyXBdnSzl9opnRFc50LlX0-Ivtf7oj1geWInLuttX9-UiGPpIppkvVWYbg-S3-m4bXoQ28_w2zHNy8YWv1ZS036yQUTPRmhtdwBt1ApaJlk_TrRq4kAI_c0MfIuyBRwYUZmAb_ziGo-z5qWSTbMLi61rb8-6SauPJquhGJkqGleSJ9WrdLN2i0dl6VNDZ8_-y3yksqFjRKXHw5BpPa1lzssrUzZD98XXmBN2gm46Ee0-Sk0ra8LG9LXfS55P3iIh9bAwdD6QAZArySOi-FtgZXM50g6RDHvw4eT4de7YnMdVfcUX_VHSfmh4v6J1FhOtnVTE3QD45-o3H7pWbVQ0UrhFzHjMqG54mblCehScD_7oFYaKCHyvkH-G45RJHk0QLaOEbBWOeXm7sZ5DDQk1JfIcTy7ZL6_eVsY61iQ66EG5vlmbd4tzZUVejmVb09gcR6VDBSSqEzuBCJB7EW1A25FdUPpiXNmECkSRu1R7pe6kXJCTV8y6mEq2-S3HSlis-k99R4kzGZLulygP6C3RSVwxWe6nwCClwigOzxzz2vTbEXk0C2sdRTDfSPiW2d9ODb_ARXd9dnkiSDGQocV4GKUIrWWhp7Ddnii76KzOohSOnN1HYNb2baYgX2RNY9AsExIdz_r8-VNHfIop3qC9rp-PJR4bvXu5VgMmxDCrOmjNIGcWh5I8EtSc-NAkP8JMzKlJJuZr64Dfrh-zoGMcfsVgIoJOU4rzW3hGRHdlv8FiVc44VP_s7jeNoWcJFEXOe6mEO6AfiyaAalYCkBMb2wXCVzMyFY7_lNKOouY7wO0SkcdHR3YtzK7KHkQ5LrASjs3OVId31tQKLjj3jNP3JvLZo9YBbRkuD_iV7riU7eCmMIHvqzZsu-mM3d76tVkAxtfx9U4HvW2TUwAWxELfwb2ujFO1GFp0GTrS_0i6c1aFeDqDeMnHC2ztIm9KRulJmcPHHUsycumkFfUpMrEDcxGCUJ4MXkmETNMfu3CS0sL8ZzqO-STUmlmlVpS3tNWpzHIaqhFdJ9TZdMBmoDaBp2AMbJz6YNJTHqWQ79wfbujRptObDV5bC7gYoaDwkiGcdx27LmecGF_ORT_BNLYf-XfB0QCfeKCT1NN5vw11Ugjv3_tbLwD2V9FI1MSnBCGL3EUirM4t5cG2L2Ojjhebb67YuLzAObpCMfGeEmkoq-tXemNWHMw6x_35jlACmBCYfkw999xI6S8SHNEO6kARGQZ_d--03sqVPtvyj15_o-8E22q9iDvb9qpz9e8o2Avwm6rjzjZf4pRgVkEGoUsWuWXtFZzb9UwhZQoRy1djdodNMLhF1rJKh-k__90Iviz9DEtLr_aoQIvTmOzNyHzZPklXJJ_VaFiiHMLDXQXxc84qwxuk7iVWnqdyScBZuhQaUvsPy_Ho5aeEKPxCnFKYUt1gjUcZJ_-89sJtAY9Uq-HCT9HXch-j7MhCf7jhGRf6D8ixVNDJoozMyAOafkovQ1TXkKJFwBazmdLfNBDcZNiKSiWSwlKKiJ02AlI7AT6rsp8gTXOcVkomi5gMXPEq2exHgGPgGf6AY4BNTZobG0pdY2wdS1_ewghJhA_-pYz10l74cPKUqkHZoR1_LjnvSC4rFILTVCkYTMaZ12p6QJRzunjWroLWWpv_VVTnfGuiYPCSSZbJ8r0Z3QOb5P2W4nPFeOekJekj6e2UnqZI2FHGDlHzt5hjm2IGO2fAHS5pPETcGyVmluLKbLdhXMnTprbEQvmnPBuIuiVKDMhP0ajb2MhcpSg0v69RSFXLwxVfMnYTjXrRIkmjNyeeqEE0fNvR6oVecqtwNEsS17Y30vyN2Z8qKRvbLVER1-AMVxvGvIOLbLOxvVin0ATGBabval0R3uiwskY148S9a_VoHGwQSkv3jtMusAE4IvdkYgwzuR4XNAOGPZxSahY0hN21Kn0k5lBGd0QFo48fWW-OTlB580yNuU0Zir8PfrknynunkjnJTnxxIMFwoMP_PQGYDNY8uTqbv7UtyAzlu5RZM8ZYMTr7jLt4weMw9JB5rSLzUvYICQoJlkmstiT1pOi3WQZvXfiNeAK85ggK8wVItqebcUfRlhRpg18bauhEFWrLAllpor_c9tLkSpWKtoNl4mjGxGi6ZB76f4_tBCENcs2aAuzZBPcz2186xpC-pKPKvjYRbp3q8Z8VxaQI3yB86KCVJnh2Avri_7hoUvO4zmfz71Qlz04HFUE9TjLZudNndiRQ-ftOlAoz7rIAEQPrPHWawaBXGFz8EObE18OfSdY5vJ8478a1_jdi-KzYtT7mcLPjpP7aTxWjnMclX-3aL0_joi3fJGKWALYm_YAqspRwinO1qlZyfgcAJtoPz0v36Yjv0ZoHyN22CEUEg3U2Xo1SNwQaoWcRCBl0VMpRbVmTnZc9LBGJr7Ky250crRy5w0aOJW4cDMAK5ZWO0oYT6lWZOUq-XsYVEfj7CC9JHW3z6e28wDBzke36VLM5wLOt_FVCgckAfcyNcM0yucCOBoxmAQF89uscCLh8yttcCB9nnav6V3AWTKkrGQtgc2Z4LpU0vhgsjbIIqhVRosyL8SDkKgIdbkPPnfFm7IFgFq2NDUadbTRp1XtdBrbq4R9aprIzgyA5mcGAwU9icaTFUFrQa6czN35lPOtCGrXkzUd2IFevVE5LyNf1mPhx3givD38Ur0_IC9-DhZlbs8xpYwvKs7O3ef4bZZPl-4Eq_1-_Vw7b3krm2c2NjRjm2YRLx-ciD_9NbotJjoh8bgLLnOmfMmLB42JDTbr_WFWmq9Qgk0GowGUIRpGWM7_PjtGeVz_XpomwRAuI5UERqHzOu5kj-9K-FtSYRk5wHlQDlSpnkigvlOFJD_3gjQBmWLGPbG2bCxwbvi5H5fCkQX8z1V96Oyn3gU2uxzuSrB7zI-w0Ji1c3m_SVFk-Q_gxK_v5M-hS_JNzD5nA_rqCM-nKKYfIM79cOL7hsAfUHkY5j3q0QpNa08h-6yg5Jkjq0xCapTYmtkPSlLI70MgbFr2uqRcmtx5USKsJ75t4n2RvepA6iHCVUNU06gp7Th0t0VPw5fNGblWpKOmnPETjDnwB822bWfvPAN5HAPecgPlxp3ZWD7jXqjxu2qvv0hAOMWlWg8tUyA5qrweBTcYUDe52GtqncvhEtO3XkJr0Xb_VuP9-kOsXZ52xrfnDLixHzcTxbFoC9IH9q96yvadOhrpsw5fNcFCS35CFXra1oxy2NUGoBPsmQq2slE8L4XTgmFhRdOj5DRJkEuSnoNQzWU1_-1KqeK749xv3g8-vxlPz5_e6u0Ce7Y5zStEJu2m90HGTgHbWMXcSzMX6FjuvUzKIM9cwzuJS5zk9_Fzbk-up-JsQwIQfrFyHVfUoFpj3KO1wpGk1WYtvDMt_5kBDV18kXYmItV1klNau8VH4EyYmr-1g4BRiW8ERDb3FC9CIqwkfs2xr1A2cgj_A1sxQa1TTRRho86yUpOmgGM_qZKQu6j6vhataNoxouvZ7ITTYgXlNX6EDZjIu-2I9tizCbFkScSpFXBiR00hEnA1GtdVeqekDpdeLJpCg3-ngymDtj8H4QPuYmGrlQZ7nmrwDzEBTu8o9p--7FPn1UK_G5X0uAF4H-syMQEWIJoriMfSa6b68UtrIGodC17kVJxwBP0MQ_1FG8w6A=",
  "id": "rs_0446e5170a8d8d65016ab43b341c9c87d080bfd924749844e8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDs8rzxHvY-GPUBhVjrcDy25hede8RqFQ4WBkE8R226mfgCUCKHoS3a3-TCy6IvxvXDD_xn1UqOMZYmV6M37jz8WTYwbZQ4EUyFo-Bp4zfCyR4V9j30yg8aRstTkmmccYfoOb9BibwRJcb0wtZfKFEUESvYNRSd5wrVvAJyiwwcz8d6CCZ9bObOTXzgsoN5kQkqHx1S0qufYE8p3-2A2Cl-g4PV7sNUflVCq2FxrtkRWjytO4gWadthhlxBEzeAUUrX-daG_CyfLKB5LChBRIFp0_-Fd4ExZXVINAt3_eAK-JCUfODGK8HXmEe0YYmPtrAYzfPnDhInkx3fAEBr792V3linn9-xhY0DOeEG7FIh6JiNbcOUODRtqyei0j_--UZvkrDV1qkvDg6UCNje98p7pXR6isNbxfEEaWKALF06_7NjaQjPhYfmfgju_n2mlGjLDlZNy6SxvtCb_pO5z2_kwt2rCbhxQe1LCIs4lIRoh-yjFXVNsGHwGxMvyoetd-UrHB2nnFI7icVoIl-Bk-aDxgGfa0uyoA65lvN2jAmanqOiVcWW97ukErg3T7JDAErvfkGJNvEkciYLLKHTCxxTMrNdn3D_AFQWKh-6x1iAi-ZNROHelQdkUMRjc_VaPpKkUhgzt6Y4CjZ57Lq0Lp9k57tKvEsvrNiNV9UcacxHCsbW3WBkF8ipv5Cuf77HfS7cYEb1D4Wp6BgHlZG5VnBRMRauLXhePogKLKeJiO_rotwqn-yuQeRC2-SvzHUsC5dD6sRzRYxqIadAyW2canyVC07cg5BZROhvw_sEVP2iDdGQ7moP3ThGyva0Bw97K6BDf5bW8ht6tEI2hDMEkM_0knA7QMoORXR-O8aHbKLAjwQfhqk024TLtzAQE2XfKOfA4FZv3ABEJKdg0HZZy48z-bQg-qK2EIT0kYwZ-XZUIouDTObZiYcQ8nOSX7Y7q305OeuZLZXOZDic_9vDR0jL_uQUgb0y7mAoGz-KMmHidh94Zg0gGMtO5Iy6f-AX0dPHIWzmn_fbm4ci1d8jryx7g7QMkn2T6FbXxyBtcAoZsrkdMgsGgQa0pF_pQR0VpxMhBETL_wAiI-l7Se4YDQg8M60nbcwrWCFQcJpfup0l2tMQ4yVJs9wouZeKt3AVW-4ygVlmsv58yhzXT106KZJf1bPEKVodif-ARBTwe-ekUN-bsKvRNgYMkDIAhz-aC_FTMy8kmOsTfK79kkdmSdP1KTdTpyiigLqhXZhzMGcwmUYOHQdGj0GlzweOLdazxCcXWN7j5l96_XAKFRMMi6zmQOI60DE7btlAmi7dSWsNSo-5jkPa1P9TnNprAkkkBBFodrx1CENBQUsVmU8icR40uVkJru4Fr0Nl5_oul2ivd6snrsPqVpGWGBAliRQWM8ROGwrKd_C3zXnyqC1SLsoG9RdHatZadEWgI6KTT410PNYUL2VPXEsI49BqCjQQsplbANpzN9wu8weIdJYEsEpcykO2AVNHHFXn2o1zFVyj2vWZvGmdh3wQ479W3IVKO2m7KEJXWtLYsD9HyaKJ5ZeTassOo_sdbOnW06iWOqydze4gEx_CUZQlqW2G6PaQhILVG5VxknBIGuuqwYbCE1lC47nokcYRlOksRke1j4Cwz9FPBcTPmyHZs_df8JZEkeQzMRlzVbFGrBys0vtMipEDOM_rq4KFjA4MSfPQkrEkGR7bMEM0NP_hLRrmarv3J4SGwEyXHXKzSnaA2RvWw0OHFZaN91EX17o07KpS7gSEszJXqMl_P-dW6QOWZSusn6CkMldKDNT87dJ85ay0rGmgy_zFKNyAVvRtC5Ib4Ob8JqWBD4YQBj8LFAxbbHpH0nZ5Xr1loTv0oGZGnZ7aXegUaif2wKrBJ3PdAkhmgSOhJK8_GVT407hT8sx8XP_c01m0m1LpGK6S0Q4f_Rq_kBUBDhHl3YzPHG79NIfj2yW3NM507kCsKto9FbZvpZxDLh08UgUGfOh0SjCzcfEJc9hj8_IAoCtDKSqCwQ7_fY1FT-F3PpsP8EjTYZeBfBzVmPZAIm2Ao3buf-KOLIdvwSZZy1O_07QmLLzlXbAG12EyxsO7Mz0UCHGp4jqRsKwp3npYjClfrWMDA7ovCAXith6Mkuyhnzfq7_Ww768gAddVnlT3eMCUVZ4n0g4McL4MSPYossiJBazEkuHDGHbhmdesg0x5hzcZgkfZQSo8KWlJRVIcNHCuQNTTbh1uaVzUphV0L",
  "id": "rs_0446e5170a8d8d65016ab43b393d4487d0a7f8562d8957064f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.14,\"left_yaw\":-0.55,\"left_z\":0.15,\"right_x\":0.407,\"right_y\":0.2,\"right_yaw\":0.65,\"right_z\":0.15},\"note\":\"Both objects are visible low in their wrist cameras, but the cap lies left of the left jaws and the pen lies right of the right jaws. I’m shifting each gripper laterally and rotating its jaws across the object’s long axis before descending.\"}",
  "call_id": "call_i9z23HaNXwfzi5E0dDu5xpiG",
  "id": "fc_0446e5170a8d8d65016ab43b3b773087d0bcf8e73d863ed479",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i9z23HaNXwfzi5E0dDu5xpiG",
  "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]: [-0.2874, 1.4506, 0.8501, -0.0895, -0.0296, -0.0048, 0.9997, 0.3946, 1.5875, 0.9668, -0.0967, 0.0673, -0.0254, 0.9989]\nstate[eef_state]: left_x=0.4002 left_y=-0.1091 left_z=0.1283 left_yaw=-0.2712 left_pitch=-0.1195 left_roll=0.0228 left_gripper=0.9997 right_x=0.4134 right_y=0.1632 right_z=0.1205 right_yaw=0.3451 right_pitch=-0.1576 right_roll=-0.0648 right_gripper=0.9989\nstate[joint_eff]: [-0.6632, -7.0632, 10.2085, 1.5751, 0.5299, 0.2613, -0.0122, 1.5932, -9.1009, 8.8684, 1.9951, -0.3736, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31741faff255382e1963c97327e7720b48171f2cc2db04f6dc43e81de77c6b8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67bde5e4aa22a9472c8deb114dc9d28d8935b8326631e3c3d01a9191f4e3582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd67412ae76e9e1c770bd078910dcbfb478769dacbadbf8ab1a12753fc009ae2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 4.576 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]: [-0.6483, 1.5219, 0.8959, -0.1234, -0.5228, -0.4034, 0.9997, 0.7666, 1.7119, 1.1042, -0.1677, 0.5884, 0.437, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1709 left_z=0.1289 left_yaw=-0.0098 left_pitch=-0.0616 left_roll=0.0337 left_gripper=0.9997 right_x=0.3879 right_y=0.2424 right_z=0.131 right_yaw=0.0424 right_pitch=-0.0631 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.6393, 9.7436, 1.7558, -0.3883, -0.0611, -0.0171, 0.1846, -8.0479, 9.265, 1.8193, 0.5348, 0.2808, -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]: [-0.2874, 1.4506, 0.8501, -0.0895, -0.0296, -0.0048, 0.9997, 0.3946, 1.5875, 0.9668, -0.0967, 0.0673, -0.0254, 0.9989]\nstate[eef_state]: left_x=0.4002 left_y=-0.1091 left_z=0.1283 left_yaw=-0.2712 left_pitch=-0.1195 left_roll=0.0228 left_gripper=0.9997 right_x=0.4134 right_y=0.1632 right_z=0.1205 right_yaw=0.3451 right_pitch=-0.1576 right_roll=-0.0648 right_gripper=0.9989\nstate[joint_eff]: [-0.6632, -7.0632, 10.2085, 1.5751, 0.5299, 0.2613, -0.0122, 1.5932, -9.1009, 8.8684, 1.9951, -0.3736, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31741faff255382e1963c97327e7720b48171f2cc2db04f6dc43e81de77c6b8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67bde5e4aa22a9472c8deb114dc9d28d8935b8326631e3c3d01a9191f4e3582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd67412ae76e9e1c770bd078910dcbfb478769dacbadbf8ab1a12753fc009ae2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtDoHaQSuGLgzpJhfukU2VyRduPDeZf9tdicOAgkZaAVaSypRVFpWzqj_JG4mCJDplxDsLbMtzQpfLBGd0-iosBOzI3HMvzFzu0y0Tb7wNjCuIvPDplne4tMu7Kw3iM3S-6YG47FYjj6nuEg1szDPHzwKIuE-uFU6QRfwtPDJoOsvD7Admzvx9kLC_o9N2oGC_UdonULNHgVnQOTU4wP6CLxE8Y2UcxYvoQ9UwnYXGPYBFJlpQKUapJIxCDXrCQ_FIuH2amjpy3wmc94vgY43QuME55d-OkbyWrx-3Ti4krbj1MHIpMy4miLr3iNDYPMbvP68P71o2aK2Tw0dKAUNRtS3_n_kvD815SQuWrKZZNpbSbEj6AxzG3WgYZcpWLYJIBrUgc4BdCl7tM-Yf7oBWf_OoA5cEhdpuDxg3RKh28aL12JwOeFaO6XIGwuiXHT82sdhyP1jGxh8mmuQ3QDyu0rEZ4iyv305xEYsDtwKVKZcjIWqS1APbyWYWaj89AvDGbY2deJ5fqFcyulp2eCzKnumqH-8HZArtHQGkQJ363LxAlW-T0QyutJ0VB-UPMqI-lapaCcy5ppjXdxOclDI94AnZwDzOamXZyBLML0wLAtDlUX0AvDp38_VQUAku4w1_zJ84xcWCRqs9enxiy9NmnH-KXRt8w3Q7norwVCM2yjXF-gW96pyM3ADSp3CX3-gItI4SIwu4sAA3Murv3xDoW42Mb8smgLuelEGTcpGDYC9r4D1r73eEfhnEINNKcupYvFc7SdKgd0bmaoVSrUAWtevUp2qo2Pz2BkTl6ysAfOnN0AorybSuu9u9FPvJRUxAnfeA4Su91GuqLkT7D0TVElZAphfv4MFEYi7feLFLJMDuAYBXjK5UodPloxW7AOJtTMBrZMgMUfwMkUGkQjF7BZmsZojmQUPQs5DtrXiFJuPX-SwtsnWLr2MGZzFgY30Gwre88u6VWkPCLBmRtJ5E1EPc2qnAsc_xzDcW_u5oxU4LZyoT1OmlKdGqU-pE_kPvZWyy5yw3PSjIcQObRjOEgvMsVZcq3TQSUU26Xwiy2_oNWbCxAGEhb9ZovL4QDqXE-w1D_yF0fnqI5xglecIghfsOglZL64pWZFFpa1_aQFE4MA31lOdY2qLVc885AtNpSCdo34Z6sMm5qOEvrrfhn08HkpXJC0iyX90LFyJOFLodSGkaHP0xbiPD4qeaQ0ejN4061NqgeEt4QmVP0KY1cmLQB-nYHvgPbqkz1CVgQd7xnHBYpUTCOY9ESggBY6oPI-oFXwSWbAJQE8LMy2xlUrlOjOjbqj10Mu0jBHZi1l1bYvhxN2QGAFZFtw8aDlTq-xi9wYcx-bY0_L5LSsqXlkx-BiXUhM8RqdL7bArOwH4fTsNkFGwofGLF_rPbgBubvWgkWmXp0KH4Z8m0Eh9yNCFhO0gwOCSoeOGZULz41dNCKcZRhua49-b0GcnSTXVcd9YopRMXFJ9YWJ64NOghXarumup5hifU4fyP94zx2Kz3batJD0iCmBdH4D69kvnFdds-G-es5mZrujYgnrTN_QcesOgndk6slzj4uLqiLLyhU9MPynP1EHGIiRVm3pRJGPNt-CYJOdY6lyCWBWNsCawcbNCJmvzk1-g0s73oi7_OB2LpIbJLLb-KEpvWZdAZ6xJsJhllvW_hA40e2XMhll0zB3THMYnzKOuNem6GVVf41s4nkxvGvfkoBMhw0dEs9pYC_4aAyD4R9aeD7K8-_LEue86stkPEG2Imshwi-pRohGEVW0f7LICW-9FeqYEWZQSoLwR75mvLiNBUBYSorm1lP9ZPtLaWBZhB0DFt95TsgAmJh7Xg5MclLE2BShXFI57zebdmPl5gyYrd8IU2FjQ_bQz2czFHNAjBGAFRJ1lP3ZbAmLiTmX5k4U_z5EFr88R5v70ce6dSt1WFhZhQBN21xgk4tU4i82Mp6SwKaEC5aeDfOF9EMbf_1MFZyZ4JYvBprsaILvTGFtqmxOCZqFB_1qPid5RoGElw7bfbXEbk94c1pzqhu607gWJPnpWfIDzTyNfrQAPHnbc6NyuXIci5xZvSrxLAAvmQhH-hd0-7hZHXZT7sl3dvf4wAll_eBDffEPaLC_DuOv0byHshKVFlvgLqcDoMzfKGVdGf1drwkCBFAUwoZa3amD80zBouaX377hRIrLXK_7rWU1Zi5aTSt5UPZgEQapsYplCwvaNL6ZoVm0RCJeEhPqSnM65kGGGMcSZm8rMubBE9dBetaDoW3eNLSiBrYYmn2nyhQYgoCNr0LnWsO54wVAV1AG0GPa9RtXzg9GnmXVDtxnPPYpkSHQlugIeUYrQ3QhG2mro1UluXVSHUEC4OTFCCh7OSGYieCKFuzZAFRsWcUQSTUKc1C-cbUn4ES-ncWK20CoaqSdCJif6X2zonM77Z14byRdVx_0FkLkEw5N50O-LSwiE6ogbIN5zyt0Ua6rwNm9IHaMPNaMETRrt_85M6sozKX82Whir6Ca4IN-Oax5SXFrhVSamzp2aLbeCKiG3kp6q7XWKQwxFaCLr1hIC8QWmx7qaGSI4tt2NdBPCv8YkKsmN6Hu-vRr-JkBAwDufL1oe2ChC_J4orTTJsINbHAQwAxaHVRkMk6RJ7v85wsCO6RcjSLPGFeUiPPvMdZcm-ZiUjdloNAijC97zSRLiYPzB8SHneRAoprCq7WRB4g00L28fqVZ-xWX3V3zs6DLmco0PjunlYhvWXYuNPQSFqdaLQ8SeE9cFCP_Cds22VzhS5nY797MizzQvYyNxpZSLAQNs2u_VAWD2ayxwoG8JCS7NyRzDRRIgiZV_u1obVYatJw2o_yXMu705EYrbIGkK6UylLEXyQL1DAHS6OZ8eDsgTLN9ziDfoHAqfGqwoAmvF3-V20VsoKLBX9jiFRkvR4ubGSSb0OfqD1-xBoYhjF3r1mPZ6yfHjv1i0D-tygAqIK5rLSAuhsfF4Pk1dYV4eaAyhbx8sSPAFHHsULBXvaIU2OGvjFpZFAR2E-sGgYozm7QAHxXoNP0BvhewXSAGyQfiVGuk6wz7OsEnks8x2w2gDEGp45OHkTxggg-qTRG182WlieMrkEvMB0pjYB7KycoiNY86N93ktTF5FSAUKADTXd4Ub5PU2J5VwD0a6WmtF49fXZHyTrUTD51kCYr8oZHBoZ5YmDKAH-1qYxITVVofKZ_KntYBCYLl8JZ-hMXN76fNcuQqqhEi4QpTrpdDHnfx5Yw1T8lruqVGsfobY1FyTX5RLcNoJcDN277Z-6wuHl3zd_VtxTMOrYmhxuMdA62aarK_azyyi_xpNjGzupaCAPWQwsfqlpNw_qffl9e4g-fPUysE1hjeO13pPyo0uZLRrbrBg7L1Q60jCH1tqETqh3yQmy7crMNo3MnaJhxr8490CqRdZVmojZHVzwjRLNkcdtGWgT3nfHJvHwbpsg3PUCvnwCGsDZn2R71uEqxYCR0cy5GoHxZv7hNJ7dIG656y4bf1BY7VBDc_lHUemTUTe1-kDLB6yW5NVd35l5yA7h_bJA5nepdulq4Sk7vNr2S8o3xB_0nNA-ecqg4QzKWTH2qCV7JNbOk9m_JkyJm0V26MfnJsV58DYgebAZGrguvbXM=",
  "id": "rs_0446e5170a8d8d65016ab43b3d9b9887d080ef223b31d58685",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.11,\"left_z\":0.075,\"left_yaw\":-0.55,\"right_x\":0.41,\"right_y\":0.145,\"right_z\":0.075,\"right_yaw\":0.65},\"note\":\"The cap is now nearly centered beneath the left jaws; the pen is still slightly right of the right jaws. I’m finishing the jaw rotations and lowering both partway, with a small right-gripper correction, so I can check close-range alignment.\"}",
  "call_id": "call_j1p4u9Nm5wO4Zb8JA15AXrGB",
  "id": "fc_0446e5170a8d8d65016ab43b42397887d09ff1bbf5f466037f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j1p4u9Nm5wO4Zb8JA15AXrGB",
  "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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0921, -0.1619, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4024 right_y=0.1895 right_z=0.1236 right_yaw=0.608 right_pitch=-0.1409 right_roll=-0.0483 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -6.8991, 9.6068, 1.7851, 0.1783, 0.1538, -0.0122, 0.0205, -9.3333, 8.7453, 1.8779, -0.1685, -0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543db1bf865b519bd7671354b6ab1b58246740dad3d42323fdc2b443027cc4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f795c179aae6814a9818b7d9a663239eaa6c6567b0c785b3d45f89abae4ff90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1452d9f40e5d621b001023b5aa5639e0e4225074474a60b2b41c65835113769f",
      "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 · 4.438 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, 0.7929, 0.6025, -0.3798, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6098, -0.3775, -0.0204, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1797 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0017 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6359, -1.2923, 10.4821, 1.7607, -0.022, 0.1001, -0.0366, -0.5265, -1.1009, 9.8667, 1.8095, -0.0317, -0.0464, -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]: [-0.2874, 1.4506, 0.8501, -0.0895, -0.0296, -0.0048, 0.9997, 0.3946, 1.5875, 0.9668, -0.0967, 0.0673, -0.0254, 0.9989]\nstate[eef_state]: left_x=0.4002 left_y=-0.1091 left_z=0.1283 left_yaw=-0.2712 left_pitch=-0.1195 left_roll=0.0228 left_gripper=0.9997 right_x=0.4134 right_y=0.1632 right_z=0.1205 right_yaw=0.3451 right_pitch=-0.1576 right_roll=-0.0648 right_gripper=0.9989\nstate[joint_eff]: [-0.6632, -7.0632, 10.2085, 1.5751, 0.5299, 0.2613, -0.0122, 1.5932, -9.1009, 8.8684, 1.9951, -0.3736, 0.0269, -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 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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0921, -0.1619, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4024 right_y=0.1895 right_z=0.1236 right_yaw=0.608 right_pitch=-0.1409 right_roll=-0.0483 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -6.8991, 9.6068, 1.7851, 0.1783, 0.1538, -0.0122, 0.0205, -9.3333, 8.7453, 1.8779, -0.1685, -0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543db1bf865b519bd7671354b6ab1b58246740dad3d42323fdc2b443027cc4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f795c179aae6814a9818b7d9a663239eaa6c6567b0c785b3d45f89abae4ff90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1452d9f40e5d621b001023b5aa5639e0e4225074474a60b2b41c65835113769f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43b447f0087d089ccfb9009d4388d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.387,\"left_y\":-0.123,\"left_z\":0.045,\"right_x\":0.402,\"right_y\":0.18,\"right_z\":0.045},\"note\":\"The rotated wrist views show both objects nearly on the jaw columns: the cap slightly left and the pen slightly right. I’m lowering toward grasp height while making centimeter-scale centering corrections.\"}",
  "call_id": "call_p1P6JDUuPnKLiFyC7h2IpWqO",
  "id": "fc_0446e5170a8d8d65016ab43b47306487d0a784f49ac50da855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p1P6JDUuPnKLiFyC7h2IpWqO",
  "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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0925, -0.1623, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4023 right_y=0.1895 right_z=0.1235 right_yaw=0.6084 right_pitch=-0.1412 right_roll=-0.048 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.9402, 9.812, 1.79, 0.188, 0.1441, -0.0122, 0.0889, -9.3333, 8.6222, 1.8779, -0.1929, -0.1636, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea829390f4fa8bc281e73cec88f14cfb5dfd7455d352b16993c49e1f74fa1d00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aca1709a9314fcc066ee5e44c44e147b3939c1a5b7ad702bf81fa3bbea7795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7259d0dacc4545eab973153987a240c9a6bf304abb9ea9f30d86b9cc929da0eb",
      "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 · 5.818 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]: [-0.6483, 1.5219, 0.8959, -0.1234, -0.5228, -0.4034, 0.9997, 0.7666, 1.7119, 1.1042, -0.1677, 0.5884, 0.437, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1709 left_z=0.1289 left_yaw=-0.0098 left_pitch=-0.0616 left_roll=0.0337 left_gripper=0.9997 right_x=0.3879 right_y=0.2424 right_z=0.131 right_yaw=0.0424 right_pitch=-0.0631 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -6.6393, 9.7436, 1.7558, -0.3883, -0.0611, -0.0171, 0.1846, -8.0479, 9.265, 1.8193, 0.5348, 0.2808, -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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0921, -0.1619, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4024 right_y=0.1895 right_z=0.1236 right_yaw=0.608 right_pitch=-0.1409 right_roll=-0.0483 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -6.8991, 9.6068, 1.7851, 0.1783, 0.1538, -0.0122, 0.0205, -9.3333, 8.7453, 1.8779, -0.1685, -0.1587, -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 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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0925, -0.1623, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4023 right_y=0.1895 right_z=0.1235 right_yaw=0.6084 right_pitch=-0.1412 right_roll=-0.048 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.9402, 9.812, 1.79, 0.188, 0.1441, -0.0122, 0.0889, -9.3333, 8.6222, 1.8779, -0.1929, -0.1636, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea829390f4fa8bc281e73cec88f14cfb5dfd7455d352b16993c49e1f74fa1d00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aca1709a9314fcc066ee5e44c44e147b3939c1a5b7ad702bf81fa3bbea7795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7259d0dacc4545eab973153987a240c9a6bf304abb9ea9f30d86b9cc929da0eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtMrrPQYb3D34hLIc5kwrsNuQeKkR_rgirRr14GyAJyjDUr-dbysF5LvaAUvqhraZDliDWhMOV4tYBv80MwN8T2GPZL09zmrWKX7y3ftnlPK2_vRRnviH3VFMP4DaMmdSBirkdId_aGruj4FgrmYPYlEKTP9yWfVJTtNOCIIC8iaDvMLWufJYnyvvNLye5pCDA954njT7wWcBIrdP17BP6SGm3_YjurTcce3UUADwYXlZbfTaOmvBZKDc9gnK7p-rUwLhJU_5LBMWdHS17oZdjBnY4KxTFb3tJT2jIrdQQ98RnQ0jitlP96hDwwETWZq-AzOSx_4JfJ3o5easB50wVdWTtI0sCvFRfeJ2_898mazPY3Sckw54ae8uvo44s6P2ScVZ_jfcl8fgvya0QpEPXJAUrNKKO1ncqyszkpZqeF7GtlgsWAm1yxdlWRhRSPviGFm-UiZnCHq8hAaUDpsQR0RwIr2Ly6BFYLo86X4h4jedV_YFFBDrpylooemVzbyvavV4vSH15INlMlWRXXtEKt9e_qsxuhrGdlLhGtXotMa8ZGXgZV_FKQyVPDfn_Sdf0nosjrTcXKzENeK1OjupgdEySCjy4W0KjC1e2cI0j7RpkkCte_QC2EMM1p3Hy0wmHb4KsuVKzRRtZE4DalrItaWKMsF-tb6Xh0xRMunmqXkPCwai1baGyjk3tvE2B-ci13F2ACyBPgRZUewCY0qFGb_8-OgSPDBsqBgSp9ipKTL7bQIzhI6agmbj6uwhNwCdrjF9h4aDvlAxp9iuFO1DyN6pQzdfLgKlBRkqkCT9tRBZQGNRb2skXjaDMxeAcl-3MX5vw7qwztED8Y8Jqu8Hx-EbTr8_brBrDfwsvZk6irg0fxcckdSQmMP94PvqmfVeo-QRBeWODuzV9QtiiN1XaNZ28wOCA6lkKr5aFw-kPU_Bn7eQvjJuwIIWSLKzCMoY_yjyNgD7q5hLLyS8357xh357HX96MBuYboGvm8YpvVcDuJUcQln5ELQJPSepsV0VKrn060jW6dsbvvt4vPcg8XDfrMM1IJ7ieN3xVLMnlplKBOQqGfiJ9eTnd5wGVGJIa4-LJbMiM7mM_CDY9A2OPWCPPi1wiAxJFutQbRDxPGT897aDhk7mtQXP3oqK2IjLI0di_H6UPoQCySA3dvYd_85C6k1exYHmFdIeocgnA2aRzYjkqiU8Zy1r7chM9ORteDZesSDkBBeVG3ayNqt7yeT6NauZsjNBfW3d3LqdImLisdf9-fDAdMsfus-D4SvSWuorl7Kbb30_MWt7Bq5KEDuqNJTpOznAEroAAhNOcIKEu5evmeECaUnaxiGHies7mpWTyvXMlj3menklZLzU3yzY0hUQc_9BFlbFajVq5Wc4SGHg9PfoZglfHWnIg-gLuor9YFqaZNZQLyC01bXZBmzsMcweLKn7HNr38-tWh2R2switldMlfOzdex4ISO1SLEYjiPhjpHewBm0UTiR_4USp9xsTPprLZcYHWFRLhkMeCysCX2FEpI2vmyGvsq-t1t_FstXqtEosa2dApQG4CyZCZ1rs7Cd5dexbv1asLFZENEfDENRrpp-4bCcIdpT3LO2ZBR4SBQotUst-1avP8ZFiVX6BLuPe3poTX3c4rm5qZGl0pw97sWeH14U-wnsoG2XvYi5yuxr0NGEbPYJIR2mhEOFbhecHq8BABTKrOoCtTXNYDVfzM6GLrPv4DxWJhBWvZ_mgv7h5UaFjoFcwjbA2JbGIkdYojf2bOHsYKThMPYsZ_XJ9V2uFVz3pS_6PkZmPs7qAnkLAgerHvvUm-FsFcADneHYG25DRzQPFToWQSi9j_13Y979iBpq1GsYYbv0h16AEf7055pt8_1a_ym5sBIJ2mCkk4LBxnSLJpq3dZqUxlTNu1uAYhYR2XzD4SvyYjXifKrZUS1pomDZFnoVw1sUyK2BRxFVByBspmDGX9FY63eWPnd12wzinZUKKXTvM4WD87CNsvyKmf_a5Kf5YJKg7JBvVckcqmy6326Eh5QZ9_qXcPl17qX2hbuK_J-c2Nb1XOqbr88rk7xgPf4VQ3Ie191M_0jX1A6jf8QYpdkxuAGyPP2NF2clhxb93Jjz_Pz9CPH67GTn-UjYqDc8hezyot1aYaOFnlVnDA7d2wlgvWbXZuXaEVEDQnG-byOpiaZcBBzLtjt51JnQAGS0JNmLkGuKUpl7LF5SoO5l4Z_smGkDvrYIEREJHzbghjCPiyktOeaLtc-R2dh4a74dWbS6aOLj9ElV6NBjg8Gf95br74_k5W8NtGftLX1zOLCj3NFRkja3qEAVjbzOFlpwdIdFaryIwwY8-qBZ9dW8kb4CgkmhfDqNfPTzpgR2RvE23hSsoAuNs1Zf94ZElJ1IDp48Tr-QCez3gaFi6dPyQ5vUvuOvRl92VuVcqwYLIB42UPsdeG-UsSErU1Iy4m9QOGG6DhOSQDusoyYIATvqVzN2pl9hqNSB2WCkiFkkh1mAulZoiBJxKoKTzSFewvWOnn_kVmEThL8j5lCLEyPNxgVGfU39U0qdsxkyo8rw7K-NKXmjWwOo-uwPbgD1GPyLyWZEKk9AfD4a7Of_YIyxySJFijp_TbPYXEh14St0C8zVDpUAF6VgNm2j8op8HSxq_ghSFHg84-_0Gsb_2-FpN16cvzm_EABQ7sGipAmIZRr2x9cqzMGu8WgdVQPGeQPqbIYl8wHS8A0vnLSZMUYetUpWRG_B_QrvEMcHfCJ0lm1PgfPYy9D0s3KnCzXWdtk9hgmcYJrK9iRkBXHevPDLRNsmiB5v44WtZ6aP45ztFvayt8iVyqlCC4W83iObg_0dg==",
  "id": "rs_0446e5170a8d8d65016ab43b4968d087d09efecded2ece446b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.133,\"left_z\":0.075,\"left_pitch\":0.25,\"right_x\":0.375,\"right_y\":0.19,\"right_z\":0.075,\"right_pitch\":0.25},\"note\":\"Both arms stopped around 12 cm up despite the lower command, so I’m not repeating the same unreachable pose. I’m drawing the wrists back slightly and pitching the tools forward to give the arms a better path down.\"}",
  "call_id": "call_LD3qOipzVKWm5CMCiEDVgNhR",
  "id": "fc_0446e5170a8d8d65016ab43b4c145887d0afacc1e71087b833",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LD3qOipzVKWm5CMCiEDVgNhR",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2489, 1.6249, 0.3374, 0.849, 0.2295, 0.0944, 0.9997, 0.3691, 1.7283, 0.4469, 0.8684, -0.1886, -0.1337, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.129 left_z=0.0546 left_yaw=-0.5064 left_pitch=0.1441 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3711 right_y=0.1829 right_z=0.0575 right_yaw=0.597 right_pitch=0.1533 right_roll=-0.0471 right_gripper=0.999\nstate[joint_eff]: [0.3077, -5.6684, 4.5744, 2.1368, 0.315, -0.105, -0.0122, 0.6359, -5.9966, 4.5197, 2.1807, -0.2222, 0.1636, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654373bcdea36e8279e26864ee735f4839f429c95df790e599ccc6b5c5ab58f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02af5c49f2cffe962abdbd89a454a1b39866852cd2ad9d30102452f03484deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff508c1b5852791814af0dcc7149a86fec914281df62227273fdf0cc20b8fd5",
      "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 · 5.768 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]: [-0.2874, 1.4506, 0.8501, -0.0895, -0.0296, -0.0048, 0.9997, 0.3946, 1.5875, 0.9668, -0.0967, 0.0673, -0.0254, 0.9989]\nstate[eef_state]: left_x=0.4002 left_y=-0.1091 left_z=0.1283 left_yaw=-0.2712 left_pitch=-0.1195 left_roll=0.0228 left_gripper=0.9997 right_x=0.4134 right_y=0.1632 right_z=0.1205 right_yaw=0.3451 right_pitch=-0.1576 right_roll=-0.0648 right_gripper=0.9989\nstate[joint_eff]: [-0.6632, -7.0632, 10.2085, 1.5751, 0.5299, 0.2613, -0.0122, 1.5932, -9.1009, 8.8684, 1.9951, -0.3736, 0.0269, -0.0171]\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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0925, -0.1623, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4023 right_y=0.1895 right_z=0.1235 right_yaw=0.6084 right_pitch=-0.1412 right_roll=-0.048 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.9402, 9.812, 1.79, 0.188, 0.1441, -0.0122, 0.0889, -9.3333, 8.6222, 1.8779, -0.1929, -0.1636, -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 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]: [-0.2489, 1.6249, 0.3374, 0.849, 0.2295, 0.0944, 0.9997, 0.3691, 1.7283, 0.4469, 0.8684, -0.1886, -0.1337, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.129 left_z=0.0546 left_yaw=-0.5064 left_pitch=0.1441 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3711 right_y=0.1829 right_z=0.0575 right_yaw=0.597 right_pitch=0.1533 right_roll=-0.0471 right_gripper=0.999\nstate[joint_eff]: [0.3077, -5.6684, 4.5744, 2.1368, 0.315, -0.105, -0.0122, 0.6359, -5.9966, 4.5197, 2.1807, -0.2222, 0.1636, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654373bcdea36e8279e26864ee735f4839f429c95df790e599ccc6b5c5ab58f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02af5c49f2cffe962abdbd89a454a1b39866852cd2ad9d30102452f03484deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff508c1b5852791814af0dcc7149a86fec914281df62227273fdf0cc20b8fd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtUgblgNfNQltEaPpStjdRx9A-Veyb8DoXo4U-ojdsLrNHJIhMpWxHT2XXVuLFL87rTBLQRIt_tscPYXXra3pYYIxlxoKacvBmrSLEJyWddutwG1bBOx-FCL01W_EHqq6St_tcSM9JKW3zEwtmhkU450mypW0oJBPeMb5bQZ9ZaOXrHinSK4R-fjOBJhovj0DGQ82VPd2TjWt6tZoEP1Bj1kJ68SLKb5wGaMeQlk0k-dK2oI3EB-RYsOi7X9kiSZTVixk4mXvm0wOs360-ejsw-Ef85cS0l_xQmkS_amxycHe0suHM1y2nzjcdNjOA6l6PzeQYqvOWvhOXHG4QYBIAG99SyF7DVGQ1VBN1K6-seeu28srX7d1KFJ60uCaqiGStAypMZW-HiJqUaQ-ey7EZg92WO3CZDDRsoXGuXMNyTHE0nK594s0NZqYC8Uc0Pe0xHXxHbgk2QIbfjEvfjOeWHafgFzbERleOjFXxoCvIWyhqer0WHm0ZT0jFWhujW50kf1K9yUrtCUi6sMNbNQ6D7ynsv5AfHe89aqgKp-nENfGPRN3DKaLxvqmTZUtjYaQj8TVhsfFgtGi_iWv8OthCVAndtiX88iJpZxAF6-UqR7W9TTymwtA-OI-ugruui5dnOcsa7r8Itvg8i6BIdd6t8BIQ3SDVkQVef89dX3Cr7Ia52vSZ-BIZJkUSg9snUH5z6U2T9YHKKLYD7m3e7xWwj3j6EBliOOIb7OynJ6F5X0qSUmboRErun4uCVfTePQZ-yQLczOA-0C7zFFzGuqJxAj2yo6Bad1XlO4TlCNNQrZQV1efAG4YIuy3ljidCzPoDLe1MJZQ5KMZeg-ckNJwN7KLd9vRsEDP1zgvRVi5tsFrEzxDtozL7P4AKIW7uC1nD3pp-FQnwR7vfp5cqwnk50o5NzhyeWcnAtCkgmKCIHTIEdecmJJYNvlUtFswggYo_zsW9q0zMYBNO5Q-uIG9_KV0RTPDL9I0HAo0rvLGRcrDtTrSXt1jB3A4zD4W998hqbcNPewonmhdCBLTnfTNzJr9Cj1V6mbdDjfyN6sVuv3mB77yGj9kNtYNd_qUmSbv4Fvx3P8QfhKuej_pnfgT_PI1ucIB-NCZjsUBWtsVRa3Z80e55xa9VUtYvuPNHYzCViETvwaKc8eCGgjl-FvntnTkhwTZkfm5i0kd1MGUa4cwf_WqJ0OyUHl6AgOjzmFkO4J28g1cLDgJNviv-nlVIIoffSwAbAaeGW0OSPfsvz8QBgKKrsTqJuvKsPd1vmB-uA1JltYjtD4gn5Dbgsga6M0391Gfl2_GyQbDseOzE4LIeqbgitABR8JXfEh3EGhrjCPrxX5ywXyyiZI7_Hy1aguyKWQGGOfYH6JD3OvipRXu4NT6d32YQyQCwDbawCmrO5BqkkLDJ9gzsnPF5i2ivMBOysz8kAX-qNL4vRq5cqOaLzkuWbjwm2KSStW_2Ky-Ov1RdPumO_g_d7_8LCshKDz49k7Pko077CBSfGyMdIvi5424HCInuT9l36iZ04TqsAZ7QAm1nRja__yoA99CG_tK_juhPKiVsWkSomIU7BUa_EMAQYwDwgeSZftWA8G1_nRf_wlEiog9sygBq_p1be4yhzkhYyYP-WigmcDHo6-Je_QLZfQdOLlKRha3JKD8GThufTEGL3l9umhq89TRNNUAe9nG1O6ZDaE6oJBamYEmCxyQle3tTWYmFn0Zo0qgppt4u9qt3QHIR9OqwuZX4XQWM06eZvzdnj9IY1hC2z0uWBtfZS7aAtfkH0kI22kRFU7-DS8EYUmMj4mg0P3hzdo5pkoogTcSDWhUKPst_bWaK8TqOYWMQedBhfVUJPKGmRh0uSQiq4E-mE2CSN6esdxkVQom_uUHojaLvgeBfqoBDzTS_5wu5_1uSA_lEQpOG9p5xctbmw3KKaTLwVgQbASZ7vD80L3m0xAyAX_CcbpUzDUJ_1UdAJfBpmsWP0ivb0KqEeI2Yx3FwTU8sUYtFdQmf1ENHdplPNJd-a4DPRO6-2CQJHL-L5-K1rTu1V3UzCAk0TwCL4eS6Mx5Et72EpiTNOW1RSGlDqu4bcU7upJe8LUQYEsydrK4mdhxWduw2Be47YPfTsUYOvGQ61lCFueU5CHrgvjKYLpvckvH4IrL1qKsvKtT3tqBpsk1zjeI6tdzlEKHXeJRSXFBioBUbxv2tPMYKpEm-UDSBtS59NU6JV2RGYQKHj4e9syEwgh67868wAO3Bs4mSqHzY1EC0SgjJY23hKrH_g4uFgwm7TlfQE_ZtwAZCSrtVA1qWv6M-6gxhKDBWPq6etL82l10K-mHECa9QumkAzoiz2iNOXoAfbEezvJNDpl1QRd3Dyrl9gCw_j5ziQlNbWnPiZdLu0uy3FWs3SUsVSRbLXrS7sniNwOBCVw6ko8PpLCj7J5mmJjNOpPxaWmG0aeg18B9PUtvwGwk-NENdYxOoky8h0EVh9M-IBahMjfGtSXR5EUsgkDh2fAdpkCfah97LO4oaxRv6tzGvypxaWpPurw_1tm4mNDn1iU7EEJpFdglSDVQ5Tj9u-4HkHPOV_4Y25pDFhf7nRfUF-Wa-JazCzhfdt3cGWwgnNcGM3wTTP_E8OnyMiPPdeimazR1CcpfYfQnqWHBhyO1sSF6pTcwmmAzgA-cvjEXgwtqMTtuaMkNiCKMBKj1KOS0w2ivst0odxoU607hQ7r7Xw3YiHAYsW90V4comUBnmsCL7u1H5u-8qpELtMwWg8JZNlCtW5ZApiZrVXBj0GTj9ECIG5Pxa5z-SDpBmjM9IQrW8F1-5lzsfWu9CFGnSKi2x0FbQbx_CgfaO7bhKuFdCGVQuvvxbmqd61FUtNAFn_1qtH74EjS8fAOLR65wewkf939K1Nl1X9jyBIzSZlbH6mdgEN-t9aURxAK8Eb4u9I6aLlf7gYX--hnij2Zn9hH8zR4sReq6XoVUSIzw==",
  "id": "rs_0446e5170a8d8d65016ab43b4f5f7087d0b1c8ca95b5acbe55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.384,\"left_y\":-0.105,\"left_z\":0.005,\"left_pitch\":0.25},\"note\":\"Pitching forward let both wrists descend. The cap remains left of its jaw center with clear space below it, so I’m advancing and centering the left gripper, then descending to table-level grasp height while keeping the right arm still.\"}",
  "call_id": "call_4shijrz9pSvQghVoWtPjKbFX",
  "id": "fc_0446e5170a8d8d65016ab43b5315f887d0952886c97dc5b338",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4shijrz9pSvQghVoWtPjKbFX",
  "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]: [-0.1299, 2.0777, 0.3569, 1.3228, 0.3206, 0.1146, 0.9996, 0.3679, 1.7397, 0.4381, 0.8829, -0.1917, -0.131, 0.9989]\nstate[eef_state]: left_x=0.3802 left_y=-0.1022 left_z=-0.0004 left_yaw=-0.4778 left_pitch=0.1936 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3692 right_y=0.1822 right_z=0.0532 right_yaw=0.5968 right_pitch=0.1481 right_roll=-0.0421 right_gripper=0.9989\nstate[joint_eff]: [0.335, -6.9675, 2.4274, 0.779, 0.1538, -0.1343, -0.022, -0.1026, -7.5556, 5.053, 1.7998, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84e84a15908fcc5333084c4d0d91c893da406c3ed5c1c3a196e809dea980cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a8ae0abd5bed97333c769dfc77dad9a945065c9490d0b3f690ddd24b75af06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c8334fded68a954b323f422bb5389b9d130fac8a9ef48d51b7b4e97f665715",
      "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 · 3.861 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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0921, -0.1619, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4024 right_y=0.1895 right_z=0.1236 right_yaw=0.608 right_pitch=-0.1409 right_roll=-0.0483 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -6.8991, 9.6068, 1.7851, 0.1783, 0.1538, -0.0122, 0.0205, -9.3333, 8.7453, 1.8779, -0.1685, -0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2489, 1.6249, 0.3374, 0.849, 0.2295, 0.0944, 0.9997, 0.3691, 1.7283, 0.4469, 0.8684, -0.1886, -0.1337, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.129 left_z=0.0546 left_yaw=-0.5064 left_pitch=0.1441 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3711 right_y=0.1829 right_z=0.0575 right_yaw=0.597 right_pitch=0.1533 right_roll=-0.0471 right_gripper=0.999\nstate[joint_eff]: [0.3077, -5.6684, 4.5744, 2.1368, 0.315, -0.105, -0.0122, 0.6359, -5.9966, 4.5197, 2.1807, -0.2222, 0.1636, -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 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]: [-0.1299, 2.0777, 0.3569, 1.3228, 0.3206, 0.1146, 0.9996, 0.3679, 1.7397, 0.4381, 0.8829, -0.1917, -0.131, 0.9989]\nstate[eef_state]: left_x=0.3802 left_y=-0.1022 left_z=-0.0004 left_yaw=-0.4778 left_pitch=0.1936 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3692 right_y=0.1822 right_z=0.0532 right_yaw=0.5968 right_pitch=0.1481 right_roll=-0.0421 right_gripper=0.9989\nstate[joint_eff]: [0.335, -6.9675, 2.4274, 0.779, 0.1538, -0.1343, -0.022, -0.1026, -7.5556, 5.053, 1.7998, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84e84a15908fcc5333084c4d0d91c893da406c3ed5c1c3a196e809dea980cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a8ae0abd5bed97333c769dfc77dad9a945065c9490d0b3f690ddd24b75af06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c8334fded68a954b323f422bb5389b9d130fac8a9ef48d51b7b4e97f665715",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43b556b5487d08f4fde2e20dcf675",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_z\":-0.008},\"note\":\"The left grasp point has reached the table, but the cap is still fully visible ahead of the fingertips in the wrist view. I’m advancing the left gripper about two centimeters along the cap before closing on it.\"}",
  "call_id": "call_XNTFS5iMCxJLMOYhQ1yuYQTE",
  "id": "fc_0446e5170a8d8d65016ab43b59724087d09164248e439a971e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XNTFS5iMCxJLMOYhQ1yuYQTE",
  "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]: [-0.1184, 2.1277, 0.4129, 1.3518, 0.3416, 0.1139, 0.9996, 0.3679, 1.7401, 0.4389, 0.8677, -0.1921, -0.1314, 0.9989]\nstate[eef_state]: left_x=0.3957 left_y=-0.1031 left_z=0.0013 left_yaw=-0.4865 left_pitch=0.2292 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3679 right_y=0.1818 right_z=0.05 right_yaw=0.5969 right_pitch=0.1336 right_roll=-0.0389 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -6.5573, 3.2615, 1.7021, 0.0855, 0.0415, -0.0171, -0.1983, -6.6667, 4.3419, 1.956, -0.105, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a6a7bc2c91a0b5a3d158af91d29ed010a085251b4b91d1241ee858e76c0b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f3206a8494382fa4c64e17f7144baa8bc71cd023a53e79cfc9081a804fc86a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df72dab56aea9bc9b74d7012c947f7746acb24436aa65faca8ecb4c408e530a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 3.271 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]: [-0.2584, 1.4506, 0.8516, -0.1158, 0.1917, 0.1669, 0.9997, 0.3679, 1.5852, 0.9668, -0.0925, -0.1623, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3873 left_y=-0.1335 left_z=0.1261 left_yaw=-0.5231 left_pitch=-0.1287 left_roll=0.0098 left_gripper=0.9997 right_x=0.4023 right_y=0.1895 right_z=0.1235 right_yaw=0.6084 right_pitch=-0.1412 right_roll=-0.048 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.9402, 9.812, 1.79, 0.188, 0.1441, -0.0122, 0.0889, -9.3333, 8.6222, 1.8779, -0.1929, -0.1636, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1299, 2.0777, 0.3569, 1.3228, 0.3206, 0.1146, 0.9996, 0.3679, 1.7397, 0.4381, 0.8829, -0.1917, -0.131, 0.9989]\nstate[eef_state]: left_x=0.3802 left_y=-0.1022 left_z=-0.0004 left_yaw=-0.4778 left_pitch=0.1936 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3692 right_y=0.1822 right_z=0.0532 right_yaw=0.5968 right_pitch=0.1481 right_roll=-0.0421 right_gripper=0.9989\nstate[joint_eff]: [0.335, -6.9675, 2.4274, 0.779, 0.1538, -0.1343, -0.022, -0.1026, -7.5556, 5.053, 1.7998, -0.0366, -0.0415, -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 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]: [-0.1184, 2.1277, 0.4129, 1.3518, 0.3416, 0.1139, 0.9996, 0.3679, 1.7401, 0.4389, 0.8677, -0.1921, -0.1314, 0.9989]\nstate[eef_state]: left_x=0.3957 left_y=-0.1031 left_z=0.0013 left_yaw=-0.4865 left_pitch=0.2292 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3679 right_y=0.1818 right_z=0.05 right_yaw=0.5969 right_pitch=0.1336 right_roll=-0.0389 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -6.5573, 3.2615, 1.7021, 0.0855, 0.0415, -0.0171, -0.1983, -6.6667, 4.3419, 1.956, -0.105, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a6a7bc2c91a0b5a3d158af91d29ed010a085251b4b91d1241ee858e76c0b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f3206a8494382fa4c64e17f7144baa8bc71cd023a53e79cfc9081a804fc86a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df72dab56aea9bc9b74d7012c947f7746acb24436aa65faca8ecb4c408e530a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43b5b536c87d09118a43062b7741e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_z\":-0.01},\"note\":\"After the first advance, the cap’s thicker end has moved closer to the fingertip area but remains visible above it. I’m making one more short forward adjustment to put the jaws across that end.\"}",
  "call_id": "call_Gl25nBCmyuc6Igs2cXeiXY0X",
  "id": "fc_0446e5170a8d8d65016ab43b5d8b8487d095b177c619b5161a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gl25nBCmyuc6Igs2cXeiXY0X",
  "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]: [-0.1181, 2.1479, 0.4545, 1.3373, 0.3233, 0.1143, 0.9996, 0.3679, 1.7412, 0.4362, 0.8696, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1012 left_z=0.0001 left_yaw=-0.4712 left_pitch=0.2334 left_roll=0.0083 left_gripper=0.9996 right_x=0.3673 right_y=0.1816 right_z=0.049 right_yaw=0.5966 right_pitch=0.1318 right_roll=-0.0381 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.5573, 3.0291, 1.5214, 0.2564, 0.0073, -0.0073, -0.1162, -6.653, 4.547, 1.7753, -0.0806, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed8cf73fef4fbb5a6caeffc26eaf5374a6f7685383914f29f5c66408f01dcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc4b7550c25c768e991065a5d4672bb857b5545dd4aba472d8a0be8c7bdc5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb432e131f75ba8eaf7f252d8701ca7731f0c3468f90ff4cf6ea148a6c18cc10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.633 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]: [-0.2489, 1.6249, 0.3374, 0.849, 0.2295, 0.0944, 0.9997, 0.3691, 1.7283, 0.4469, 0.8684, -0.1886, -0.1337, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.129 left_z=0.0546 left_yaw=-0.5064 left_pitch=0.1441 left_roll=-0.0004 left_gripper=0.9997 right_x=0.3711 right_y=0.1829 right_z=0.0575 right_yaw=0.597 right_pitch=0.1533 right_roll=-0.0471 right_gripper=0.999\nstate[joint_eff]: [0.3077, -5.6684, 4.5744, 2.1368, 0.315, -0.105, -0.0122, 0.6359, -5.9966, 4.5197, 2.1807, -0.2222, 0.1636, -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 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]: [-0.1184, 2.1277, 0.4129, 1.3518, 0.3416, 0.1139, 0.9996, 0.3679, 1.7401, 0.4389, 0.8677, -0.1921, -0.1314, 0.9989]\nstate[eef_state]: left_x=0.3957 left_y=-0.1031 left_z=0.0013 left_yaw=-0.4865 left_pitch=0.2292 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3679 right_y=0.1818 right_z=0.05 right_yaw=0.5969 right_pitch=0.1336 right_roll=-0.0389 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -6.5573, 3.2615, 1.7021, 0.0855, 0.0415, -0.0171, -0.1983, -6.6667, 4.3419, 1.956, -0.105, -0.0464, -0.0073]",
      "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]: [-0.1181, 2.1479, 0.4545, 1.3373, 0.3233, 0.1143, 0.9996, 0.3679, 1.7412, 0.4362, 0.8696, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1012 left_z=0.0001 left_yaw=-0.4712 left_pitch=0.2334 left_roll=0.0083 left_gripper=0.9996 right_x=0.3673 right_y=0.1816 right_z=0.049 right_yaw=0.5966 right_pitch=0.1318 right_roll=-0.0381 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.5573, 3.0291, 1.5214, 0.2564, 0.0073, -0.0073, -0.1162, -6.653, 4.547, 1.7753, -0.0806, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed8cf73fef4fbb5a6caeffc26eaf5374a6f7685383914f29f5c66408f01dcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc4b7550c25c768e991065a5d4672bb857b5545dd4aba472d8a0be8c7bdc5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb432e131f75ba8eaf7f252d8701ca7731f0c3468f90ff4cf6ea148a6c18cc10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDth2UcRJww2M9396D0GheOHHWzLpnIIZkGiSPhvK1X5-MNx6tTG-LLQOyo2Sov7Y0f7l-2sb_GOAUUVKgA7RA5YEtsvxKotQXnc8wNiLx6DENQmHNBgaJ_IW2Bg1Xl2NTdAJeaDSf70EvIZpZWrlawPlaJcqjaxqcdrgEjG4K7HSUFznmr5dMo_JMt74jMJEoTRKopPsQGcJ6iIB4QOIIig_wJXMYKKg28T_ephe6moDuFUNtp5VQehWGUKXPpjtPyz7VTFm2d8djk1wlym8I1iB9qm2rYOZfKXflOfw7Jqa5pbonb-ZtdKv_N6MeBan0KrGHHDGsXBABkQBBmbOAdD0zWc6qx_oDtw0f8-DClskSJ-F50idMKKLDurIOb-BDNdmHJZsPBrtP-g6odI3xWO0SmarHd6twA11fcwnkzHfekod5jlZIj63WSqJ3nYp8VwOISjlVuhDUg6_wXr6rkytqCOOj6k8iEuRpkKiUui7-VlMQHib6l30ikaxfR1aebfWz3xrvrto9exaRO3IQKDXssBW5obbQnt5_LJDktrCofdRmVYTT6rdr7y5y7JQPC581FEuSTZU0SbRPX4ynOJhtfQZJVTaajZP9aRUtkbZujfAg5UKwG_kkXSpxCqhr-zQju0SGZysTFop_aJVEepr-TEvi2qe8BFXu-T4y5RSQ88v5WavA-MDaRM2Ofdk70dKP5IqPo2ny6i6SOVhWGb_eX0ZO614_L9p7q0g07rszPpLY83xMhJZ_v0Vc5vyBt7Qha04I7sFi8oEBfTEcWX1Cd3f5_ByszO0F7xKFNOJJC8z6ZQllI68PnZp8-3jl1yZzkpQu3z2_tVXb2K6qkjm5QNFbHWysjD1exMmb60Je_pg5gWpMbjN3a12gmWlaMbHRc1F8QepX2IEP_MEBUzqpVrlcny10Ae8r1woTYBwElN_dLhpXHiWovYpvqY1ZiqK41vto23AVZZh7GcI9xNqcRdFdPg7YhmaNZLB4VG-uj3hOLkDCjh0hTtxnPTScE3WAVRQS7aePE8oJGiczcL9yTnm705kc8A3x67WtVmQ5rgWWniRQh97dr49AxLb7DVfKAm-37WLFwNND4TnCrT06sG-4DLSIp7fjMaKx-3Z2ObZ3P8qthkOwb8-byAhb2ojtGKesYD68ywwxlPBPQHvpnpJiTHC3dsDSURjfPg0JIfhMpAQvfVB1BcVZyB-0Ab8YM6EQofdrvP63dwmxOkB5H8SPQl0gz7bFHoTxaqHfVzwjz-Qx-Wg0WyVBwMTeVWD2CP9UrxvLfa3ScYToMGabYUStjyW3Wcgw-R7NC7ncQksYoCPCXmG53HB5U62y6ClTGNvSKotErM99zMqwkH0x0PHlK2E5s8Yi-y736vKVxLvkw9r06siwnwOeoq4ZXT_7tsx2vjhJ2l4jvsLd-GI7Au4e1WFQfVAAUEWcz1L2cN9VSDSX0YBNGRUT6p2jJv9n8IGPqxYVhcHcPUfxOWhleX2gKKPa2DoqEA36LmE3EFTsocKFvgB5RbiXU2XMSFqrlS4AJUwoaF7sFNPVTx5vLQu4H3Z2XcNZriw2cBSKkSV5q0RpMK1AwJ49dyUYkFPhsTmPeCoj2YtRVhVGKn-XYcpJvhjHOt4ikbAUw5D-0L2p_a7-5gYB-8wMyH19zZ2qX0EV21yCJh794xDBS8F7vcyYFcrebaalt9qkxhZCA_OWmaqVxMy_xnG5ud8IFL2_hTJj5yyKePu5RlCyGKCGInraZHk8gUqmW4z5kI6Ea5PnIiYmNbcUQD26Mh4Vau72_Dop2nW2WzIT2PiIB7OSDvS75esMueoR-9BE_M0vZNj7VQZKiL0E3WwYlFkviUt8BE1_iGWq7-Oz5nrqY3A5CED4YXPMAJY_mLNQLXvao=",
  "id": "rs_0446e5170a8d8d65016ab43b5f53d087d080c193ebc7b4f810",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thicker section is now between the open left jaws near the bottom of the wrist image. I’m closing the left gripper and will check the settled jaw opening before lifting.\"}",
  "call_id": "call_StPQbSvWMYJz8XGjwKyElQ8M",
  "id": "fc_0446e5170a8d8d65016ab43b60e4b887d0bf036513b261894e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_StPQbSvWMYJz8XGjwKyElQ8M",
  "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]: [-0.1181, 2.1536, 0.4545, 1.3506, 0.3298, 0.1135, 0.0536, 0.3679, 1.7412, 0.4362, 0.8673, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1023 left_z=0.001 left_yaw=-0.477 left_pitch=0.2413 left_roll=0.0081 left_gripper=0.0536 right_x=0.367 right_y=0.1815 right_z=0.0485 right_yaw=0.5966 right_pitch=0.1295 right_roll=-0.0376 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -6.6803, 3.2479, 1.7607, 0.3199, 0.0073, 1.2674, -0.0479, -6.653, 4.506, 1.7998, -0.1099, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f198f97714794bee8248eb69cf19e6aa881f5f43016f4dd3e682f1b8eef9dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a840f0552b8aa8bd3a484518656775f52a8e3a19804a50f72d1be64e87a76e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3832fc406325cd3f1edc77df813fb6d6407781df586da91b8e52f13fd45726",
      "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 · 4.513 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]: [-0.1299, 2.0777, 0.3569, 1.3228, 0.3206, 0.1146, 0.9996, 0.3679, 1.7397, 0.4381, 0.8829, -0.1917, -0.131, 0.9989]\nstate[eef_state]: left_x=0.3802 left_y=-0.1022 left_z=-0.0004 left_yaw=-0.4778 left_pitch=0.1936 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3692 right_y=0.1822 right_z=0.0532 right_yaw=0.5968 right_pitch=0.1481 right_roll=-0.0421 right_gripper=0.9989\nstate[joint_eff]: [0.335, -6.9675, 2.4274, 0.779, 0.1538, -0.1343, -0.022, -0.1026, -7.5556, 5.053, 1.7998, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1181, 2.1479, 0.4545, 1.3373, 0.3233, 0.1143, 0.9996, 0.3679, 1.7412, 0.4362, 0.8696, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1012 left_z=0.0001 left_yaw=-0.4712 left_pitch=0.2334 left_roll=0.0083 left_gripper=0.9996 right_x=0.3673 right_y=0.1816 right_z=0.049 right_yaw=0.5966 right_pitch=0.1318 right_roll=-0.0381 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.5573, 3.0291, 1.5214, 0.2564, 0.0073, -0.0073, -0.1162, -6.653, 4.547, 1.7753, -0.0806, -0.0171, -0.0073]",
      "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]: [-0.1181, 2.1536, 0.4545, 1.3506, 0.3298, 0.1135, 0.0536, 0.3679, 1.7412, 0.4362, 0.8673, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1023 left_z=0.001 left_yaw=-0.477 left_pitch=0.2413 left_roll=0.0081 left_gripper=0.0536 right_x=0.367 right_y=0.1815 right_z=0.0485 right_yaw=0.5966 right_pitch=0.1295 right_roll=-0.0376 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -6.6803, 3.2479, 1.7607, 0.3199, 0.0073, 1.2674, -0.0479, -6.653, 4.506, 1.7998, -0.1099, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f198f97714794bee8248eb69cf19e6aa881f5f43016f4dd3e682f1b8eef9dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a840f0552b8aa8bd3a484518656775f52a8e3a19804a50f72d1be64e87a76e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3832fc406325cd3f1edc77df813fb6d6407781df586da91b8e52f13fd45726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtl3ZrHf96xMh_YjgiEntX0lDCs_YLWlO6nfedlJAOOKFtFh8vmcv4aOuP6l22fxeihZnB-nwM91EsFlebm9W5bc4KlPpafUU3XpXI8iJwMonoAc0_3Q7aP4wzWUTHQMz272jDOpkESe2AD6D6ZZUyGF67p4-RzMRciakJiqHvFlP79jU35zc9GxUrFcXpBGUAAVRFy7XpOIznLjx6fwzAVLVr5N4UkX9HIr2fxSckPMnS8L2l5_FwQ17TD5mOZUlbE1fJgVyBCzx0MO8Rtt_JlmP5d8DxwsTZSEb0-5MXVSX50pRxvQrTTh7DaBLTMPvVxfmDxoOf_VZVqoRrsmZ6LIVdwBi3YgGg1QR-onRJ8eUVQuOi2VLUZmrM7uX09ImZQxEjcjpLULhcE-GVCHcvzsAWZjexPOdyBFeAn4m3fmj0YP8N61qJoSxxFdBQh5g4BxlS-dtk6D-wx3MkBZGj-xfqsUIFUz5z8mkiCHMvzFtUjU13UlpWadXCpEquPdE-0cGAjqlZTF75JKcOK5L9Dts3lpYsTcWmgc_UtF1K01__m0ZixgWpDEB6Sz9U-1yu_5u_SrcEttRKp3eB1LKeMsRUlz8PJl_J5YAQ4M7vA5lreCKawiRQ98kPeJgCGHQ0tB2HS8EUB2IXALWVtzuc_eYDA6hVWLAtzLnG8QeRdLd9jU3w3ROBlpdGPR0WcXCPs0XEKZJ9z0nRguWJccmmn-vbg7pBQesQg3Gt9MFXEOgxD7l8RQHQsEiY9oA3AI0WfjRxCcNFLMMWkjFi_6gDGV8sIqw4EYq4AMJSfFikS8l2pTC4Axf6O8AJxfBsQbb4qqoid_4m12Wqbh1GldZpSUU5CzZc4sX1S2P-V8BmFYMPTF52NJ78BEfAHTEAzSvTcIHDbOywcEpDDvMVdCHjY-CS4-0BtC830xR5zyz0AuvPP-EasTZkdXbRvSFa0FhI7Wf6CN4o6ek9zeRXW2syqgsBzLziU28zQegZYXpTs22CbharUNdmf0E7ElPmMrvkExU-Z_WVoCrnRMpfU1AN4cfS16TNy4_kr0wxhSKcPyLhrVkR_E_mJsRBNUTpyZ-UCwl_MT2eYL_jTFdm4_AHx55M0-RGjqcKJpIMRbkFcE-D7f-xb-CoyrCcNHGyksC-i3GVO1Tcal9kpijy7iQYIz-EsoEQidue5b05XVIpAViK7JV_nfUwHyglLaZZ8OX_05PjeB_i9NE8dh5vrcyiL5uRF44bX9hc-IPlo2XjxZ9JyKVAvcUrjYueAne2EEFX_XveEnRaDacAow7xhEk75JZ3935xTWXlVfg87TW9LSDfF062tcxPqGfvvorbYeV7Boia37yOIR4Elfv34v6AWgTRUGH7prt4F7PWGJ6mJMD4x-xaEadTtQe4J5pmBSr-UbM_rjkrwvJx92l748k_NqsmcOYxMiKd1wulYDR2DeDqqw13EIoA89SGqOvueR0uUiLmowCp8_PN7rWTOUTeVkFMWLRhZ_sAMR0JldBhnOQEJUiY9dDwoxAMBfVnrVl6J2h8muwp-Lb5oJrGP8uM3rw6F5bPjKVth0M01ErifdVCFSIs-c2IXfUPyAWh-DdylUYhnXO0xwlgoyc5V2qeViqJLZ8qmzesKbhK0_NEm4sREdAuDnMvvnhtm9QK5hoB57Saf5T26rZlyH5GCHhbtLvwgTtpfWubIaRLB_jUWafESaddTz6LiscVFGZ5V9WKqnPXjM4TWKGQUtyP2dgSM_Q5SPfMBFTV_lAcsC-W4BAQ=",
  "id": "rs_0446e5170a8d8d65016ab43b636a8087d092439058656e9fb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"right_x\":0.395,\"right_y\":0.15,\"right_z\":0.005,\"right_pitch\":0.25},\"note\":\"The left jaws settled about five millimeters apart, consistent with holding the cap, so I’m lifting it to verify. At the same time, I’m moving the right jaws down and toward the pen, which is still slightly right of their centerline.\"}",
  "call_id": "call_tkxTeoCBy6zzav3Atpzs6qy6",
  "id": "fc_0446e5170a8d8d65016ab43b645c6c87d08439b9c125aeceb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tkxTeoCBy6zzav3Atpzs6qy6",
  "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]: [-0.1181, 1.4441, 0.577, 0.5262, 0.3218, 0.1127, 0.0638, 0.2203, 2.1326, 0.45, 1.3186, -0.3344, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.4061 left_y=-0.1008 left_z=0.1467 left_yaw=-0.4703 left_pitch=0.2475 left_roll=0.0127 left_gripper=0.0638 right_x=0.3911 right_y=0.1507 right_z=0.0011 right_yaw=0.5887 right_pitch=0.2157 right_roll=-0.0304 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -6.7214, 8.9641, 1.8437, 0.0855, -0.0366, 1.0281, -0.7043, -6.9949, 3.1111, 1.663, -0.0513, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ba7b2df2cbb0c24ac4ac20f72ea3e77d3d9c82d3442530dba80b9043ccb376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84197a2be10c5523f0b586d3dc4ecd3e423963e80fa2058f90063afceeb0a712",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73595ac306eb324e91a0886135755df06f3a19c8a78d163b9964bc7eedbe1cb9",
      "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 · 1.534 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]: [-0.1184, 2.1277, 0.4129, 1.3518, 0.3416, 0.1139, 0.9996, 0.3679, 1.7401, 0.4389, 0.8677, -0.1921, -0.1314, 0.9989]\nstate[eef_state]: left_x=0.3957 left_y=-0.1031 left_z=0.0013 left_yaw=-0.4865 left_pitch=0.2292 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3679 right_y=0.1818 right_z=0.05 right_yaw=0.5969 right_pitch=0.1336 right_roll=-0.0389 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -6.5573, 3.2615, 1.7021, 0.0855, 0.0415, -0.0171, -0.1983, -6.6667, 4.3419, 1.956, -0.105, -0.0464, -0.0073]",
      "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]: [-0.1181, 2.1536, 0.4545, 1.3506, 0.3298, 0.1135, 0.0536, 0.3679, 1.7412, 0.4362, 0.8673, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1023 left_z=0.001 left_yaw=-0.477 left_pitch=0.2413 left_roll=0.0081 left_gripper=0.0536 right_x=0.367 right_y=0.1815 right_z=0.0485 right_yaw=0.5966 right_pitch=0.1295 right_roll=-0.0376 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -6.6803, 3.2479, 1.7607, 0.3199, 0.0073, 1.2674, -0.0479, -6.653, 4.506, 1.7998, -0.1099, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1181, 1.4441, 0.577, 0.5262, 0.3218, 0.1127, 0.0638, 0.2203, 2.1326, 0.45, 1.3186, -0.3344, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.4061 left_y=-0.1008 left_z=0.1467 left_yaw=-0.4703 left_pitch=0.2475 left_roll=0.0127 left_gripper=0.0638 right_x=0.3911 right_y=0.1507 right_z=0.0011 right_yaw=0.5887 right_pitch=0.2157 right_roll=-0.0304 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -6.7214, 8.9641, 1.8437, 0.0855, -0.0366, 1.0281, -0.7043, -6.9949, 3.1111, 1.663, -0.0513, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ba7b2df2cbb0c24ac4ac20f72ea3e77d3d9c82d3442530dba80b9043ccb376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84197a2be10c5523f0b586d3dc4ecd3e423963e80fa2058f90063afceeb0a712",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73595ac306eb324e91a0886135755df06f3a19c8a78d163b9964bc7eedbe1cb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtqfPq6HyBX1ir6385sQgyKBBR4wOmbd8uxmDvxg6I2AkWWgYKnkZQ0Q7tJVCvWXaUJqwuGUgtU_YzjRYl9th4rV79McnvONn-imoXAj6SJj5OwbScwWm02bFwrFyE2c1nlOFs3aQnygIFj816Tx7k2zxe6jjYSh5ob6PiQxP0uklHPYUghk-_fZMh0WGZ5D5oYz2QveOUMMqk9li5S5n54WRYYs0g3VGU41Jqu85672vnahxwfpj7XftN3PYYNJrxf0lVSu7Kn2-sLyChPAFnH1JWOTjVR3E6YphoxjAySXxGLm4hFP3krdC_1ErIs8k3YfXYWnMvuOp1ro0SUxgDLDTHYfcll8FVhXzxIkvWctMo9Ql4JgzYPn93RWo0-FfZt0zo_yjtIC9n_pB70A3o4jInue5ZhX9vDZLkvmXE0Zp7otBsQZsjeBgPpk5-kTmEpt9I-CGNvHN27f4RQ1aEIOSo4GOSXx4cULUGIwhMxPgYf-HYWj5TDXihTAM6pwBjV92c9neL-Z0VvR2AT0yBzve8ukLeB9GQqOeonqnFDEN8FDCFya57BK4OzBC2eUqJdrLssTrmdQpOPk1m9BOhKbsqfqwCKk0_5ifRZUh1M1pDDWGoJ6-6oc2WU4wqHDX7fWmWwk1dqq3dTcXeRP8cHRADD8NAZDxmrWs7SJlpQ5cBKq1pKVAMoAZCaKw12eHp-QPcRSGNJGi2Nh20dnIjgwaugp7PYuPALQS8xY5m_A-oNsWZcFFC-Xktoh0tqWH43SO3vYKYqT0Tmi8wV0y24tkdlNastQltdSkv10Jw-cd8SVhUcC8xQOcO5gj2-Jkm-H-p5lvpvXBSDIWZGNmQtNfbJ66kw1uZFoip4yuJFT8MClQnZ_agDkN9p3eV0b6VpjRQ0j_-cChZlpux2YgcHMn2S7HzRhoOepbCiphceyjwsBg-Au7sycfy5nkL24fqvJzS18lBaZ9_2mdVFEVo1Oy4At2PK5CzQq3GGqgmQFfs5OYvILtlY2oLo72la-Cc7BNrg464tdH_MLe5gdNbGksG1MRU-yT2VH8FEhuyTaXW4w4z927K4qEmP5r652L6Rwdmv1x6GMPrDRgos_SNhXP-pY01w2XLd5SqzOfyNcsGxVRQvfA5MCJ8Sy5jkNRu9MTtUPa6UMHy2NwXeIXk9hAKi-jJEEpdcWAsch3u__XA2u-d-PQMgih_pNqDseg_nzqMewDRPe8fqkxp23_A8_f1E-hG3xP6-SReaTj5lOrJUAVbf5UxX7fsuxBhzVb046feiTqb8RfI_IIy2ObFoYVSU1vYvAOJwVTv-IiOw_DTU5QohctZ4VR-hESg6RVZ1hy26h4tPj-rSyiwJX2qOAXk3W_Kf93j7kdywIZM6c4SidyHEBAQaTfPNRYSBpr0xJXW12dQ4fCu5pUpsctduF_fBBbDl4T1mEKdirVhN6NQ1g6fg_ZYYPiVK9Hkim6bLw3eFObDe_X1erM3w2k6bylF6enIzw1dHEdu88bFWH6oSvC5waH6PevWEl619J8PXhWirN7IfhsWC4BjPkWYCprAht4hN6DMDnf0-xIJjvau1QOtjeB5jAuDwM7dFFd3_ZhEmAMai1e4sXRUobLvpYe41Ztm70Qb9c3eDLicjpQtFRHKQps_vspu4YCQuCEjaNbrxFePTrbZQEQc9PEfFp72nlSUPmY-z-Ff9kcq5mnsnT_ERJlFUJYcn_6jdE7r6-Q81q9sXbat9Zc8W8n4EO2GqcfNgZv_hm5t7jCnySCkzAorw7ZMumm5iiki4DsBM2qPuMS2xBfXeuXYtDYkGqiYsg8SDWUJSHGuFJ1zzmpCAWDrqYQ5snRoRiYINKAkgk9L1EMBR2UAsDbtFizSKnfpl4wLwGYJGO7OTNz1_zS7tv_XkQU_roefAcbix1_nP1cEMfwB4qBHWr_Wv-LP9kDn6nFqKtJkGxEfZICQN5xp7U2zYqLZ6fPFiDh-9aoVwWMfiUsE0OmUwQ0sUi6GuxO6RTvYwF-9Ej8xmHJBCypfGsbzmtySMiT9ai1GdJDqTzEUXFBON61z6Be1UVULSCXK4fcVaWJZhfCTc3B0WnKtR-Mal8Kb72sowP2NmioTYrNWr3GjaEo3nB0N90wbXABfa1YexlELT_c_sbiqnWhDkSFLj_q30kf9nC2wtL2aqrioQ2sy_xwYEJNNV88jZMx5dj57Rhf9q9vjPMwhf7O1GNwITd8X8GQ9txiYdqgxyZHkiP_ugC5VMaZhOijsP1FIf78eaWq9PJVbbne-bl8IdgVzLM-avqKhYAhNT3D-dSnWzU-SpxpTLaoZ117kNlAhpyuIhiOdkW0Da4iEkkz_kjcEKy_u2Qmleg30dBahn2wVemoVG2OWO8QKoMo8qegGBVfufP91Y6zj35pULnpUOH_Y1o5uyUJUkq1vOwY3Xn0vDCfwHyjxNaIBjWbd9GFqTChYSOrD-ozad8UzSWU2UMV6kWqx5UhDczUD5ThjYcc1O2aXMcLhwqd0Ua75aedrGx6PrmG2hnSbcOIv3UpRqU5wCHypSKcUUdmnRnF1osWz5kFx0ejt5o_q1s3ikoA==",
  "id": "rs_0446e5170a8d8d65016ab43b673bd887d0abfef8ae41b43fd6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.408,\"right_y\":0.145,\"right_z\":-0.01},\"note\":\"The cap disappeared from its original tabletop position after lifting, confirming the left grasp. The pen now runs between the right jaws but is a little off-center at the fingertip end, so I’m making a small final advance and centering adjustment.\"}",
  "call_id": "call_TqWpVO5ieXOyvwGtoEJpVC6k",
  "id": "fc_0446e5170a8d8d65016ab43b69b80c87d098b4800a236aef2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TqWpVO5ieXOyvwGtoEJpVC6k",
  "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]: [-0.1181, 1.4349, 0.5873, 0.4694, 0.3218, 0.1131, 0.0638, 0.2016, 2.1757, 0.4965, 1.3453, -0.3599, -0.1696, 0.9989]\nstate[eef_state]: left_x=0.4034 left_y=-0.1005 left_z=0.142 left_yaw=-0.4675 left_pitch=0.2124 left_roll=-0.0001 left_gripper=0.0638 right_x=0.4041 right_y=0.1498 right_z=0.0021 right_yaw=0.6015 right_pitch=0.2467 right_roll=-0.0455 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -4.7521, 6.0513, 2.1758, 0.0562, -0.0366, 1.0281, -0.8137, -6.8171, 2.5231, 1.5604, -0.1148, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfcbf7ad603b7be1453c3b8042b2e3696761555750aba121b2d7a999de887e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a437e602d8ca240c24e69021990a7df5474c0624d2d48e5851705b1b58490b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2164b18a1110acc26b42f12fc9f7ee7666df956852c32a6938391feb57df73b3",
      "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 · 12.43 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]: [-0.1181, 2.1479, 0.4545, 1.3373, 0.3233, 0.1143, 0.9996, 0.3679, 1.7412, 0.4362, 0.8696, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1012 left_z=0.0001 left_yaw=-0.4712 left_pitch=0.2334 left_roll=0.0083 left_gripper=0.9996 right_x=0.3673 right_y=0.1816 right_z=0.049 right_yaw=0.5966 right_pitch=0.1318 right_roll=-0.0381 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -6.5573, 3.0291, 1.5214, 0.2564, 0.0073, -0.0073, -0.1162, -6.653, 4.547, 1.7753, -0.0806, -0.0171, -0.0073]",
      "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]: [-0.1181, 1.4441, 0.577, 0.5262, 0.3218, 0.1127, 0.0638, 0.2203, 2.1326, 0.45, 1.3186, -0.3344, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.4061 left_y=-0.1008 left_z=0.1467 left_yaw=-0.4703 left_pitch=0.2475 left_roll=0.0127 left_gripper=0.0638 right_x=0.3911 right_y=0.1507 right_z=0.0011 right_yaw=0.5887 right_pitch=0.2157 right_roll=-0.0304 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -6.7214, 8.9641, 1.8437, 0.0855, -0.0366, 1.0281, -0.7043, -6.9949, 3.1111, 1.663, -0.0513, 0.0269, -0.0122]",
      "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]: [-0.1181, 1.4349, 0.5873, 0.4694, 0.3218, 0.1131, 0.0638, 0.2016, 2.1757, 0.4965, 1.3453, -0.3599, -0.1696, 0.9989]\nstate[eef_state]: left_x=0.4034 left_y=-0.1005 left_z=0.142 left_yaw=-0.4675 left_pitch=0.2124 left_roll=-0.0001 left_gripper=0.0638 right_x=0.4041 right_y=0.1498 right_z=0.0021 right_yaw=0.6015 right_pitch=0.2467 right_roll=-0.0455 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -4.7521, 6.0513, 2.1758, 0.0562, -0.0366, 1.0281, -0.8137, -6.8171, 2.5231, 1.5604, -0.1148, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfcbf7ad603b7be1453c3b8042b2e3696761555750aba121b2d7a999de887e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a437e602d8ca240c24e69021990a7df5474c0624d2d48e5851705b1b58490b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2164b18a1110acc26b42f12fc9f7ee7666df956852c32a6938391feb57df73b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtsOHwg8rYar1wZ_kwrECb3PALIzwiVH5_YkFsaxACNhDX_iRmSDrwHekNP_mbKsz7M5600OP9F0lN6OyR0TSKtQuhLOBVGozsMNFoJogRTe0UThbm3TyaPNgGUvoGjUQMRAP_dpBDIs5Z1irbbHbL7U-7IZoiR0BBAMappVv5dVG4wLWM1EEQKYN-I-gDve65zTcCaE8jPyu9KWEcZv1XJ8vlp-QKRiYskO3YzXS4dD-B-rmbpV14MuwVn2yJGzO5hFfIbhm0MDPvgDL-NOZ0DObKWOT5rtSA2hIVwXuZl7NkZm-und4GgVgAwLNT25YgNHPX8n_FgAFVV3U5JAnTAJOs31E8hjhBqMEhG76Cc1ki4GQN9T1_lYjy4VJZOfQkAHkoaZRMBLh-ESkzkRzSapH0qJamuWuELmRjsFM6egzFzxw02cK71i3T2uUhhhm8i4zo4OuDm_kjsC2ZH3A7yWdeIUWtDsPdMD9pfS63a0Ucw5snuwmM_ABLuaJU3fz0Iqa4MqiTsSgmeKdM_d1JtRlrJm5egs3J4XsatT08xLJhlgSY7C90yoOHdVPmljJZe_vGUjqbBEUajvLToc8t6rrkZQgnC2u7QxEqSJMKO0AuPWXLV41PCelhSwXUISlDriBkqyvPRdZ8TN0xcs55WsqMito9Dvqyw006gJNMbNNzr0oXtprop6IJRfTqKyEietE5N63PlIGD3qc9tHhkEIXGl83J56rtr0wAd3SeiumyOVIQBVemCdsP4V6s3OkfAMoP8a0sRqsmeVmt1EMI6fGbepeOpKYQRGmwdpSiLvH4gE1Y_PD38pmJSLAh26qfXGIURttuZbwQGiMWoMjmtpdNiWVrEJAkVw2I9evN95FtVi8GPvjPIsseGXOiIqPL53vosD5b6xZl7l9zpHdd6vYFZedSN6ZRG9edDL98PAvLrWkaD_pM4-qrnkPBn62uvVwWI2hWvSxYLuxh8NpE_WTBLTe1Y7ugRvSw82CHepR8SfZweCD6k5nTsc54cZAEfVndRtWbpgJdoRwKRHArffPBYkHkpiDWz3AQn-VtVNoe1vtNQZ9QlsvVGExGwhkkC5hv6N4J0sj4Q_KHpSpKkSyANCrZvIBh2UHdP71D8czpxo5Hr7T7mct5ejEtZBIyvpnkWJePEPz1yoQSJMuRkaVePR0QyHbnuGUr43F_CXbwI9ab-dIvCuHjnixbx9XsO0oX2zZOSvPsEYpzOKD2Vp5qdIEG7vgouw9StZpWKNt-eRKtJTcM7RpZQZ0X_7Kqw",
  "id": "rs_0446e5170a8d8d65016ab43b6bb4fc87d0b16d0c47a35888f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen shaft is now aligned with the right fingertip centerline. I’m closing the right jaws around it and will check the opening and lift before attempting to fit the cap.\"}",
  "call_id": "call_f437FIWndzCt0bXsdhy9icvX",
  "id": "fc_0446e5170a8d8d65016ab43b6be64c87d083f32d5842a5e3a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f437FIWndzCt0bXsdhy9icvX",
  "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]: [-0.1184, 1.4448, 0.5747, 0.4732, 0.3214, 0.1131, 0.0638, 0.1978, 2.1845, 0.4999, 1.3621, -0.3634, -0.1688, 0.0529]\nstate[eef_state]: left_x=0.401 left_y=-0.1003 left_z=0.1336 left_yaw=-0.4662 left_pitch=0.1948 left_roll=-0.0065 left_gripper=0.0638 right_x=0.4058 right_y=0.149 right_z=0.0033 right_yaw=0.6014 right_pitch=0.2577 right_roll=-0.0484 right_gripper=0.0529\nstate[joint_eff]: [-0.2393, -6.3932, 7.1316, 1.746, 0.0122, -0.0513, 1.0281, -0.0752, -9.0872, 2.0581, 1.6728, -0.0464, -0.0415, 1.2137]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fab898d2f4943a9aba44f81b1a5e9845df064d2588e2882492da741c808ced6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3ed20f50951c0193b1131983d6ee2af6521ee97e5ab5f0def3bb3e4dac42fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c85ed89be309ea19820c5de6e349763e6a42d0d225f2a53144060ca88545f5",
      "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 · 5.637 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]: [-0.1181, 2.1536, 0.4545, 1.3506, 0.3298, 0.1135, 0.0536, 0.3679, 1.7412, 0.4362, 0.8673, -0.1921, -0.131, 0.9989]\nstate[eef_state]: left_x=0.4074 left_y=-0.1023 left_z=0.001 left_yaw=-0.477 left_pitch=0.2413 left_roll=0.0081 left_gripper=0.0536 right_x=0.367 right_y=0.1815 right_z=0.0485 right_yaw=0.5966 right_pitch=0.1295 right_roll=-0.0376 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -6.6803, 3.2479, 1.7607, 0.3199, 0.0073, 1.2674, -0.0479, -6.653, 4.506, 1.7998, -0.1099, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1181, 1.4349, 0.5873, 0.4694, 0.3218, 0.1131, 0.0638, 0.2016, 2.1757, 0.4965, 1.3453, -0.3599, -0.1696, 0.9989]\nstate[eef_state]: left_x=0.4034 left_y=-0.1005 left_z=0.142 left_yaw=-0.4675 left_pitch=0.2124 left_roll=-0.0001 left_gripper=0.0638 right_x=0.4041 right_y=0.1498 right_z=0.0021 right_yaw=0.6015 right_pitch=0.2467 right_roll=-0.0455 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -4.7521, 6.0513, 2.1758, 0.0562, -0.0366, 1.0281, -0.8137, -6.8171, 2.5231, 1.5604, -0.1148, 0.0073, -0.0073]",
      "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]: [-0.1184, 1.4448, 0.5747, 0.4732, 0.3214, 0.1131, 0.0638, 0.1978, 2.1845, 0.4999, 1.3621, -0.3634, -0.1688, 0.0529]\nstate[eef_state]: left_x=0.401 left_y=-0.1003 left_z=0.1336 left_yaw=-0.4662 left_pitch=0.1948 left_roll=-0.0065 left_gripper=0.0638 right_x=0.4058 right_y=0.149 right_z=0.0033 right_yaw=0.6014 right_pitch=0.2577 right_roll=-0.0484 right_gripper=0.0529\nstate[joint_eff]: [-0.2393, -6.3932, 7.1316, 1.746, 0.0122, -0.0513, 1.0281, -0.0752, -9.0872, 2.0581, 1.6728, -0.0464, -0.0415, 1.2137]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fab898d2f4943a9aba44f81b1a5e9845df064d2588e2882492da741c808ced6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3ed20f50951c0193b1131983d6ee2af6521ee97e5ab5f0def3bb3e4dac42fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c85ed89be309ea19820c5de6e349763e6a42d0d225f2a53144060ca88545f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0446e5170a8d8d65016ab43b6e418c87d08094bae136d45fea",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0446e5170a8d8d65016ab43b734eb487d0805a03d9c3ea96a6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDt5ogCZMWUUzIPWetzfAUqJs3f7v7XPQ19PckYmxdlXMHM_Jr3iRENN6RFmrQAbDYZZpht7v3Ob7H93YX-U15u0Cxz_-xh0RGZiuockUeeZ-jHkE_oAfoYu7T8VsOsW2y7zgfDJaeYEL9DK-mOlMZPKawW-5Wp0KhF9OHo-07dYDHIi1V87xrFCU23Jaofoi9qHcEV7Hhb5JSAztgf3HXeenO-i4lOUEwLKIe424quRqnfL7UHuBe110IunN4BKqamVeN0IAZNYq8eFeOJCjCB9nmRjR73l_YhbrtZZdDD7LuqHNiBQkmQiv08xX520yvjZHH8TP3dgb0awAcBtFbhwrnpE5ir-QNhKC_LRpXQAHB8EAXHJ57Bw_D1GyDhX6tYgq2yxk1XRsreCrdoq9N-BJIaOrNCNeRWPVzBkpAmqe9VOcYsLgpUXkrzE8mZkotNlINE1ZbDWtfZu-1wllaypCZ1VTDXC_r2cuI4gUmslE52d3JzyiCm1a2D_n1DI8nN8QG8Io8Xy9KvxIvm4S73uglK4WaB0WbXN_Jz70IyliH9xI9fjtScB1cNuD73RZqBDNFmHcr1lJN-48omDufVbr9rYuUzjpOm2BYSKiVxCvoEcY38j2vB9Q0OQKvtzZJR7tRuE1EJGyLx_vEGvKl2YNwllhLwiPYa5t6voezKCtdcxE4_IsLrOEG1Hmxa5E9wy-Vg25hLX94Hpj1anTewQBoRNrRAgwTbuBNwxEQAXnJhDgWmgC2j3icnibZFLwhc26is5maBmoSWnGtoYZD-lupSGfoSd2iqRh0tUvFf7yOPjAHq5ctlJZq12OKPkFYkbJVts_RL8lD5vneUatOZAr_3YEgNrHjq_nK1ibzuCmDSKyYFCH9DUVRt25vk3V3RukBBhCW6klMmVpIjUy7yp-v-CAqyj6705IvElGrjkFiXbk_elFDs9-LTBiPs6NYkj9sjQsMfjGuX0w7Vr6DkvjukIRQIFMzll3ZZ-pk9zOIpkXZOEwWADDl4ZPbD81KnY03HYrNahz-e0bd7ueyq884tYI2oU6p3tDoLVWjac_lLGPwvEF6IEPY5L5kya32wUZMZqA8DQImlfnrHdiq5c0KFTIX9ywdQGrugNr55gftz2wp_JWxxnH2vPVEnRC-4AZSq7j2YNfsRQqt4DxgaStl7bY5oRB5l2NtSZKDoAsgbYlgkWF5ScardvDCLJztsMXZpGMVFBk3spQKOiasX3r-1KIbA4A9QJdqf4pGWbPXTeP6qac2cSieiZmzC864QIn9igr3V_kaN6yNnUjE4SRj67wkXLLJWCTsZTCYWgE8UbTuGqPsch0-KWbc6izlC1WiYKQ3kSZbu7OENytSFrpwHapiTfPoAAw40azbCj7Xx-lgwBVke2-KoE9jiGaStwofA4G3TFybtfr127cxhqBP0KmNljoFVTN_AwbDp72TdbU8B9exlVv_mrGDPPF4uF5iSzO2zBHmj_j7LaFBHBFsDbr0Fx_RUE5RkSn4kY1iot1AGf3sqgNxo_x7SCptFZve9SpxCW4IJOQfoolx7Xxx15v_vvu7DVM72eFtzmDRY_TSMK9QGCyn8qusl3KgPP6cqmovH3EXiTlmA9XKPsUbz0y8xYurX8cmQ2a-FYgCCj5Y6xFqgWqyJT49Jf3BnNeXZen6v2PMaaUrhp82ba682QypUroVrCi9oe7aOzm-0=",
  "id": "rs_0446e5170a8d8d65016ab43b77cf8087d0969ddcf16bbd1178",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right jaws also settled around five millimeters apart, indicating they caught the pen. I’m lifting the pen clear of the table to confirm it moves with the right gripper.\"}",
  "call_id": "call_IQ8q8HfEmwIuV7oeyBfRy2q0",
  "id": "fc_0446e5170a8d8d65016ab43b78f70c87d0a1e459dd231ee2d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IQ8q8HfEmwIuV7oeyBfRy2q0",
  "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]: [-0.1184, 1.4467, 0.5728, 0.4583, 0.3214, 0.1135, 0.0638, 0.1978, 1.4597, 0.654, 0.487, -0.3645, -0.1722, 0.0575]\nstate[eef_state]: left_x=0.3992 left_y=-0.1001 left_z=0.1288 left_yaw=-0.4653 left_pitch=0.1772 left_roll=-0.0126 left_gripper=0.0638 right_x=0.4058 right_y=0.1492 right_z=0.1658 right_yaw=0.6047 right_pitch=0.2613 right_roll=-0.053 right_gripper=0.0575\nstate[joint_eff]: [-0.3487, -5.8735, 6.5709, 1.9316, 0.0513, -0.0024, 1.0281, -0.1436, -7.4872, 8.6222, 1.8242, -0.0562, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2289a724063321a52310266c5247d96cf967a792e9ab9e933f783d41a33bf5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0d7e5ab5f67a87fad95efd987ce012be665b31c3f68581605dde4104786ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96ae83a7d76d38b4d3499a2bbfbdfb51de2cae2dff232e07a0c42a5047e75b9",
      "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 · 8.441 s

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

message 44 changed as sent

message 52 changed as sent

message 58 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]: [-0.1181, 1.4441, 0.577, 0.5262, 0.3218, 0.1127, 0.0638, 0.2203, 2.1326, 0.45, 1.3186, -0.3344, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.4061 left_y=-0.1008 left_z=0.1467 left_yaw=-0.4703 left_pitch=0.2475 left_roll=0.0127 left_gripper=0.0638 right_x=0.3911 right_y=0.1507 right_z=0.0011 right_yaw=0.5887 right_pitch=0.2157 right_roll=-0.0304 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -6.7214, 8.9641, 1.8437, 0.0855, -0.0366, 1.0281, -0.7043, -6.9949, 3.1111, 1.663, -0.0513, 0.0269, -0.0122]",
      "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]: [-0.1184, 1.4448, 0.5747, 0.4732, 0.3214, 0.1131, 0.0638, 0.1978, 2.1845, 0.4999, 1.3621, -0.3634, -0.1688, 0.0529]\nstate[eef_state]: left_x=0.401 left_y=-0.1003 left_z=0.1336 left_yaw=-0.4662 left_pitch=0.1948 left_roll=-0.0065 left_gripper=0.0638 right_x=0.4058 right_y=0.149 right_z=0.0033 right_yaw=0.6014 right_pitch=0.2577 right_roll=-0.0484 right_gripper=0.0529\nstate[joint_eff]: [-0.2393, -6.3932, 7.1316, 1.746, 0.0122, -0.0513, 1.0281, -0.0752, -9.0872, 2.0581, 1.6728, -0.0464, -0.0415, 1.2137]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.4467, 0.5728, 0.4583, 0.3214, 0.1135, 0.0638, 0.1978, 1.4597, 0.654, 0.487, -0.3645, -0.1722, 0.0575]\nstate[eef_state]: left_x=0.3992 left_y=-0.1001 left_z=0.1288 left_yaw=-0.4653 left_pitch=0.1772 left_roll=-0.0126 left_gripper=0.0638 right_x=0.4058 right_y=0.1492 right_z=0.1658 right_yaw=0.6047 right_pitch=0.2613 right_roll=-0.053 right_gripper=0.0575\nstate[joint_eff]: [-0.3487, -5.8735, 6.5709, 1.9316, 0.0513, -0.0024, 1.0281, -0.1436, -7.4872, 8.6222, 1.8242, -0.0562, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2289a724063321a52310266c5247d96cf967a792e9ab9e933f783d41a33bf5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0d7e5ab5f67a87fad95efd987ce012be665b31c3f68581605dde4104786ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96ae83a7d76d38b4d3499a2bbfbdfb51de2cae2dff232e07a0c42a5047e75b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43b7c447887d0857bd68baef380f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_z\":0.19,\"left_yaw\":-1.25,\"left_pitch\":0.2,\"right_y\":0.22,\"right_z\":0.19,\"right_yaw\":1.25,\"right_pitch\":0.2},\"note\":\"Both objects rose with their grippers: the pen tip and the cap’s free end currently point diagonally forward. I’m raising them to the same height and rotating their free ends toward one another, while keeping the arms well apart for this first alignment.\"}",
  "call_id": "call_pEKO2uhrAKJZgQyhZuhBMMWt",
  "id": "fc_0446e5170a8d8d65016ab43b7f70b887d0837043a6992b8947",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pEKO2uhrAKJZgQyhZuhBMMWt",
  "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]: [-0.0719, 1.6936, 1.1172, -0.1291, 0.9237, 0.556, 0.0638, 0.1722, 1.705, 1.111, 0.0158, -0.8673, -0.5323, 0.0575]\nstate[eef_state]: left_x=0.414 left_y=-0.1675 left_z=0.1764 left_yaw=-1.1098 left_pitch=0.1687 left_roll=-0.0274 left_gripper=0.0638 right_x=0.4162 right_y=0.2128 right_z=0.1857 right_yaw=1.1582 right_pitch=0.1967 right_roll=-0.0661 right_gripper=0.0575\nstate[joint_eff]: [-0.5812, -8.7453, 8.3487, 1.2869, 0.4762, 0.1783, 1.0232, -0.0479, -8.3897, 8.0889, 1.5018, -0.5153, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d24ff3491687b131eb574697a9fe8912930e0fb4e79190ad2f2abfbfe758dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1396bcff57e9fd7e09dd6428514bda80cd1f7ea90ede0971870f51638359b9c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac02aa582785862c661f38b42556059c5f01eb5d3787482ecadfb17c98125031",
      "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 · 5.395 s

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

message 48 changed as sent

message 58 changed as sent

message 62 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]: [-0.1181, 1.4349, 0.5873, 0.4694, 0.3218, 0.1131, 0.0638, 0.2016, 2.1757, 0.4965, 1.3453, -0.3599, -0.1696, 0.9989]\nstate[eef_state]: left_x=0.4034 left_y=-0.1005 left_z=0.142 left_yaw=-0.4675 left_pitch=0.2124 left_roll=-0.0001 left_gripper=0.0638 right_x=0.4041 right_y=0.1498 right_z=0.0021 right_yaw=0.6015 right_pitch=0.2467 right_roll=-0.0455 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -4.7521, 6.0513, 2.1758, 0.0562, -0.0366, 1.0281, -0.8137, -6.8171, 2.5231, 1.5604, -0.1148, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.4467, 0.5728, 0.4583, 0.3214, 0.1135, 0.0638, 0.1978, 1.4597, 0.654, 0.487, -0.3645, -0.1722, 0.0575]\nstate[eef_state]: left_x=0.3992 left_y=-0.1001 left_z=0.1288 left_yaw=-0.4653 left_pitch=0.1772 left_roll=-0.0126 left_gripper=0.0638 right_x=0.4058 right_y=0.1492 right_z=0.1658 right_yaw=0.6047 right_pitch=0.2613 right_roll=-0.053 right_gripper=0.0575\nstate[joint_eff]: [-0.3487, -5.8735, 6.5709, 1.9316, 0.0513, -0.0024, 1.0281, -0.1436, -7.4872, 8.6222, 1.8242, -0.0562, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0719, 1.6936, 1.1172, -0.1291, 0.9237, 0.556, 0.0638, 0.1722, 1.705, 1.111, 0.0158, -0.8673, -0.5323, 0.0575]\nstate[eef_state]: left_x=0.414 left_y=-0.1675 left_z=0.1764 left_yaw=-1.1098 left_pitch=0.1687 left_roll=-0.0274 left_gripper=0.0638 right_x=0.4162 right_y=0.2128 right_z=0.1857 right_yaw=1.1582 right_pitch=0.1967 right_roll=-0.0661 right_gripper=0.0575\nstate[joint_eff]: [-0.5812, -8.7453, 8.3487, 1.2869, 0.4762, 0.1783, 1.0232, -0.0479, -8.3897, 8.0889, 1.5018, -0.5153, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d24ff3491687b131eb574697a9fe8912930e0fb4e79190ad2f2abfbfe758dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1396bcff57e9fd7e09dd6428514bda80cd1f7ea90ede0971870f51638359b9c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac02aa582785862c661f38b42556059c5f01eb5d3787482ecadfb17c98125031",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuJjC3CEws558CVABiLn-4trgsnP0NnP2A4-Dn6ZgEd61feWmgZMtXEF313d_NokhzHZnYHMKIUjJQ0TPqDcbzvLvW9mXluDdITUpTU6TGiF7v_31GLiwMllZZH6seHYjPmVOBG_N_FyWuDAoByVfS1NUFm0wvGvVUxfwLjqsfM4bNrVoMUz1CqAjLc0Rk9Sh9SNZXaiRHibLccpHjzIOd2LFrE9l-W50pN9jV2Tthw1Fa4BU8EbOV0YJPFQylvAtlbOoAIUzdOaT-ZhB-QScnI_KIVXA4hvmKjDBw0eHOQBZ0okEzd0JaSyVt7gnSiJI5aJPwNjbEkGNcdr0YnMx7zXoF84S9Cwy1y34eUn-Uub4qSaBSaXM3Dx45bcyAQQagIVcZb1kFpHCX-CepeEIbls1nZhUR0mdzNuTqdrcYDxXUE4YaUANyexcgNnAz8YSOZrW7C_4FMvJ6xqdqvusagYM4Q2DbkarOi5c5RCcoOnX5CE7IYky6ucySQ7qazxh1H6eVLjpWFBC9WvNPpREy1ZGLPU-_dnEGLcE6Jubh7On1oJv6cx7ohTF2fGGk0turLOD4_08dHzJPfCaeF2iJ9_18hlf8uR_m10TgDvnDyg5LflK3OCKiFjYmp0ydDURiL5Lmy3Z5k95VNBmv3w91e_XfviqqlWDvlMiSv8cRKz0wLsq1M8nkAG9Ec--w8bf0B-qeEG7EHZqTBgtL8-rapAeDohDfKIo_X175wLIQ9CiiJrKnpLrTPz_7PEINW6jbXDx4wK0XD33OxOJpO3rMnd5WBk7RIHu7X0AWY_NaDNeAI4gM279m7q3BMiNj0YOjp4V-2lYYq5vm9euqkYd72n_p7N65BBPqS0cjH4wNYSPpdhz7sYfIKCPqGwQv98WagD931lvcslUQxIZcnrbUO_hhqFKk-WH3KddtKfnNF0zrWsOBmi1iAnio6sPGhwEyan84dJWYSk-7paNk3M2dqg7CdEZbGJXOZ5_7ONQUpB1ZKQ-BYH4ZwKBQZdqSs5MQ-yvyzoUhWg8IXHc3knerBUP8IHvUc7OF4I1U9z_Wyd5V9_Q0E_ox8ZLxVjPd-OzdaAle_DoklZ7k43fgswCWa2d7422ogpPAiwkOLJlM6ieSlxl6WmTLHQUXTMWdLTBjG06rnPA4cGWKsKCgc-3KE20aJnfHLA5BgYzGkOS9JXMTlLfHmIQXULHGqjZcbYKQf4Tke-vfvIwNsJWzJfMS8nX_h1K_Uyzwut8q7YAs-p8sbxOmLVvdqDdycA2Wp_Hng0AcPAuN0HbFxBzdDjQA9ocvaxLydsF5_necnPY4YLcvXOFCts9nt0y-u5L9ElbG4YlfuOc9tUlDeK5ydQYD2Cli1oS-4o5ErDQPmMZEe0po3IA62CsXe_968a-6b1rQMbR9YlcmRlJH5nR4oHTVZ3-u3cPlCyoSxhZTeUAxJGRiXC20wXDY49LudtO-ZgHWpcHx94wgATw_EtJqZzGxCVsl35D1qu6-OpdWp2Fy5KHZ70rsH9p5e1kc7NOEu8eVPh7Z7ErxdZzLdQCNgONt45LIm_SGX1rmuA9BbRDPmqOYfTli03mp8m36jlkPLUOQnkeP0OhvbHF0WdjIB7_kUK-ft7r1XAbSX0mjhCWz2v9lNOGMm8XUOX-4v4ahaxrof26QPGRgvhmoIs5-0O0QE17jaz_JxDn76-NoVZaIM_w8-_Mc8swVQ8yUV5tnuGSbPUqXLCVjwhblbc4YGGVNEaC6NDWrsFpTPlrHHiQVBSRad5ezxggfCqVEEnXtaV3QK4O41EN57jD8UG0upDwhl85BvE9_hPDIIShf-SXw8dh2lJUzUNA5mf9qF7Yt_zsLwpOtUvwUQJuiwVQjwQUIbhNHS8eEY3FbMo_dR0cWnUSSaza0UK4DYMdBq7g_j5iinIQm41EPK16q6Gei2bMEvkV0GO3QcYCKuY706mlRgKphWDqzkWUp0JEuBdP4Rdgo5uWZnOuY4nPkzboRDUUBhj291ijDj4IhpuShoYNzsTbjBBD58fThJ5VuANbL615mIH6zfVLsnyCKl6wEXCV8QbR7c1vyyIz-_KVK0LemoceqOmEyS7LHCMLCqhmfPfkY8hdcxIl7Nt4Zx1wj4K5yCuLeXgUuhxJ-kusxxeyu9WsJFhcdnE4Affm8O26gyVIcA3iknZu0aLfZEj1T8ZwCVQIecFtVJHHzprUbxd9vfIBZCwDaN-V4iZsQNWNM8D89_xS_VDfIuZqjRIgVy5BfDALvPo11dpb9GMiaN7RoG8LR-HjVUiHGmSBXLTlS10HQxQ8HNcml7YWF6MJ7oh0j4f4RTxw62S1nrSR09K35uIQtu5baympC_zDCrmJsYS2yPvKdle1A5olbu84oId8XlMoOk6S5ln0QAsWQjnsnHIJBjrmqDViWtpuuMRHQ6DUYnIMbYnjrqmAFU39IGn8qfzh2igi1DaqbZjr5i00WNwNXUTHEjnL6I0dVh2AUgdogZqvHpbjGHIFAov-xxw-Fml1zxejmXhlHATn1RJMMX33neqfcALMRdYCmow4aXc6IqZwOtpCphVvvL6yNSMHyYKQJs8Q6qO3nAwmvYjcjkhnDcGFFr39BzS9LEryIPNOIsfG7zYkLl5xb0oaDa4st3PWTXl2sNvFHfrk4dy_EVSyrteJIvR0GEiPndIKLg3Gx4BHQVPue8UqDv6hjcwhEh_a1OaQYAMhmFhzH3xZsT5VvnJz0EC6JUgWTe0DCa8G32KlnY9_J5UKsB1whzcb3HxGzdzn9fWG4OQx67hKx5Fc-sxn76Xx9jF5_ONy6n7E7j4BxOHWt7WE6Ezma98uZjPreJTX5OhT_-dMKw6_gBp2hpVLyaPukjtistG_Vj3ttzgwB-Kc8pmob3ruY_pxPSarzaUEX9ocbeUu29t9YhQFL14YrNP6epgHGB-L6W7KPj9IXOwgcKhh9FbjibtyCVyG_kahZt-VAVXCE0vEvwmfypG6OasbCS_Mt1dGdoLCn-TGLZloBttIY4mrYJoaAxSlT7aMBilWM57xbnBHfvadTAcslbiOpP3wNuoJvBm3lnB9-r2bJ5wxLJsEiXWmj9XMYEqdK01qYLNIpr5o7gx9oVNe9KF9FyeNxWV5P1bmffDbwD7CzUcq8Njs747SloD1MWhnKzz4PujK5K_BIU7jxLe32F8bd8fPpKkvBwxqgCvdbjaqJuG0xCwcpUJEVnk-8lhOqX7h9_W1ONooUSIzo7ihLzi8EgAKOIikISRq0pWGvRvFcLpqJ1-INtSeG28rCZIc47clSMmhsP0O6Rqi8vwIOktE7E5RXt8Uu1gMHdQi7u0WdJkzib6P4oEbEwxfkORvKGgw9O9mcDKxWnAXd_PmRV8e3YK8gOB8LY4GTXQ8swB7vvnm5c-Scx-FA5ENIofXx9kngB74gLYzcF91XpLgnneaiIUWQHzsu2QbEm265ClY24Ky0YfXnZw2jOJUIKb7MxoUN_aHcoT4312jM=",
  "id": "rs_0446e5170a8d8d65016ab43b8225ac87d090f3126a414b9e12",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuJQxWOdemNlEL-jj9Z90GWzPaspLrw-Qpk49PBuV09LTEGHkkLdH1BwExrmWLCpoU4BVHy6jx3oSzpqFrk8YbHIkqgVRjhDMln30tH8EjskIbKf1wgXVYkA2bW9xejUUGAgiuaFIFxbRcwIhTXgli02HSFZiX20aEj86v1tpsvBy0yRIuQaGBpyKqQpuA_9EyOdYlc78EAlIiCx8GiqzHQ07s2gUoCM2zaJmIy9bdYJwop62VQzl_x9znSAWU8E-Tjhdof50SajrYrJQTlcVdiKQgMS81_y0_A7gmkPewU13-PtlV_BLOQ_VCfSN_YRkfPGNXv5WK0cet05OH7J8__sMY4P6AFGQBVvqdbaY9znrCQGTnWHOys57ccYaC5qxcb0KpETmeFiTTXegZB0Vp6QM6saGPr6jVsuxDBDuHZi0ugVvrV3ntpssHIdH3puuqlN6jk7JsTsIMWXH33uNsc0Um0phnskU6fyIDXc38XWdfct5f72zWA2cchVpN1NE7eOKyfiq9tPtV4WaOGhE579RABwJrVsFEczI75W1Vi-KwDPkswPppxSzSXSbGdDZxyCzKXQC5PUZxO2mnkhGo8KJ9Ah_xTjkqFf4O-WEDBRoP2gmbbb_GbPcu2q0cMXt3SO4Twfzr3xidoO3CC2ImWP_h6tyXx1p5CLdxbZvLy45-G6PPeB6siYnh6qzZvYxLKYvzazJcWDaCFJbjvA8dBeMcIJQZE2Qko-sHQAOrs3k4Ue8clmnIcePnDyLBM8aaZFh6T7wNbNz64cR_xOlKDaSk_d27B6G8HCS1Cz9aEeqefzorja2_4QCkLFmmawj1wfI5NcQ73o5uVp_ArPYgHRhtiREhrHGHhi5yHmBAioiSVQ0BAQ5ttrsuILh52tLMoAAOL-OcEtyLvd2OrCO__J20SMMlS8cyUYTOIXsKDDXHXuFEp4LiSzr0GwE55RzsccdpV3AhOzObreiqH678KUiwMC3qxJjKgE2izfe7__CSeoHSTET8_cse4y5yFwzapYDEQpHB6sow3VoTsD0t2KgomaNVfXbs7za6fmj2BUB8WLIsdPs9MYBA8EdRUd4UQQc94ate4nfH9wvq-Dx-dry4b4L2lqJGdH3oC_hdNuhYCrNdK1gC8m7UF5MqHioeF2WKUP-u1p5m9NSqDAVS_t2nYe0mE8ongvsy13FelC1bdMtMgCZx_vNU1EWPQgn0Noq8ufhEgBrwYK6hqp6FwzzSVG73AZ_m3pSXcU9-1bV-sI3D_jUTjC1hjxjSi72gFVJNU2Fr3BccrF4Rd6AyfmTmjd6YrPsH84dsGATqauO4Rq83Z2_3qHErfmG5RqG7S7Pu4rCKUPZQFYpZDdN5_f7WqhcxihE-QkQXF1Rv2N0j68gQm6HiHoojIva8vNO9o5W6S5U8Dlyc1doOf-mrt_t_JHsWTae9GihtoLPWF6CSxUla13IkjvhDBeRhuU2Bu1YTjpXsAReDLTH2F-N0vjJpAHfl2Uw0eB0T_yQqWtNrzDNbbQWJNaU_zhyzWGem3v0V9OI6qME96MogcTjVacqk6sKYLWn6LrLWKKdteLDdBxDD0p032NuFiusuw_5bhflw4D8a-KaorgmgcrqrvsbMaSIXtD479Esx8IZBTREUFc9YJxMxQ3ErF77F-UT0bVy0aMzD_Opa1dJbjoiPLWrWuGG-jIhJgRamzHVxMwWC_z8BuqCab7whANlpKZjFy-hNRV9V0KpdiTTcGD6OVKDS7zBvXUTxFmoDFO8GrpyCQ5Dd5c4-yZYkBMg8x8b2T3xJHPkot-_xkHba-P2EJuUe2g_Y3567cN9bR_0YaGvk76KghRLgCh5iWDfLaJ656H3z5_eWvIzd8nWfxZPMuPc8srpkYsVjZAHQJHxI0drGHKksvUjyxMB23KLrb2rSJ9nlv2F_KYvIZhTsOJfSTqviRtOz0dHie3QsDGVHk16TiNkvP31Yx5ENqIx52fxqHwLaAgMlCX35MYxrgjDfZrbqK7xws7VFZWwJWlu1EIj90IVWcshkSfYy1AJeQM6xY",
  "id": "rs_0446e5170a8d8d65016ab43b868d6087d0a5dbf11f6517341c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.205,\"left_z\":0.2,\"left_yaw\":-1.5,\"right_x\":0.415,\"right_y\":0.245,\"right_z\":0.19,\"right_yaw\":1.5},\"note\":\"In the overhead view the cap’s free end points right and the pen tip points left, but both still angle forward and their tips remain separated. I’m making their axes more nearly horizontal, bringing them partway together, and shifting the cap forward to match the pen-tip depth.\"}",
  "call_id": "call_nF1TJ9HFhAT3Ak6c42e4nVSJ",
  "id": "fc_0446e5170a8d8d65016ab43b886d8887d0b0e1d04302affdba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nF1TJ9HFhAT3Ak6c42e4nVSJ",
  "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]: [-0.0944, 2.0914, 1.7489, -0.6621, 1.0782, 0.9451, 0.0703, 0.1875, 1.9198, 1.4403, -0.3351, -1.0378, -0.8288, 0.0575]\nstate[eef_state]: left_x=0.4681 left_y=-0.1971 left_z=0.1857 left_yaw=-1.396 left_pitch=0.1597 left_roll=0.01 left_gripper=0.0703 right_x=0.4279 right_y=0.2397 right_z=0.1842 right_yaw=1.4161 right_pitch=0.1788 right_roll=-0.0826 right_gripper=0.0575\nstate[joint_eff]: [-0.8, -12.3829, 6.8991, 0.4762, 0.6618, 0.1197, 1.033, 0.1573, -10.0991, 8.1573, 1.0379, -0.8132, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5923422fe5657fbed3b17d7b347ef29a07658ebc17d420f28e82bda51bc5bd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e454672ee88608ad16c1350864409996b11b22c0ad7c9105c2a6640a97951e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e325e6de88ae615aa8cc59a29c29b384cb949829057a3e3dac08c777b19c94dd",
      "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 · 4.589 s

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

message 52 changed as sent

message 62 changed as sent

message 67 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]: [-0.1184, 1.4448, 0.5747, 0.4732, 0.3214, 0.1131, 0.0638, 0.1978, 2.1845, 0.4999, 1.3621, -0.3634, -0.1688, 0.0529]\nstate[eef_state]: left_x=0.401 left_y=-0.1003 left_z=0.1336 left_yaw=-0.4662 left_pitch=0.1948 left_roll=-0.0065 left_gripper=0.0638 right_x=0.4058 right_y=0.149 right_z=0.0033 right_yaw=0.6014 right_pitch=0.2577 right_roll=-0.0484 right_gripper=0.0529\nstate[joint_eff]: [-0.2393, -6.3932, 7.1316, 1.746, 0.0122, -0.0513, 1.0281, -0.0752, -9.0872, 2.0581, 1.6728, -0.0464, -0.0415, 1.2137]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0719, 1.6936, 1.1172, -0.1291, 0.9237, 0.556, 0.0638, 0.1722, 1.705, 1.111, 0.0158, -0.8673, -0.5323, 0.0575]\nstate[eef_state]: left_x=0.414 left_y=-0.1675 left_z=0.1764 left_yaw=-1.1098 left_pitch=0.1687 left_roll=-0.0274 left_gripper=0.0638 right_x=0.4162 right_y=0.2128 right_z=0.1857 right_yaw=1.1582 right_pitch=0.1967 right_roll=-0.0661 right_gripper=0.0575\nstate[joint_eff]: [-0.5812, -8.7453, 8.3487, 1.2869, 0.4762, 0.1783, 1.0232, -0.0479, -8.3897, 8.0889, 1.5018, -0.5153, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0944, 2.0914, 1.7489, -0.6621, 1.0782, 0.9451, 0.0703, 0.1875, 1.9198, 1.4403, -0.3351, -1.0378, -0.8288, 0.0575]\nstate[eef_state]: left_x=0.4681 left_y=-0.1971 left_z=0.1857 left_yaw=-1.396 left_pitch=0.1597 left_roll=0.01 left_gripper=0.0703 right_x=0.4279 right_y=0.2397 right_z=0.1842 right_yaw=1.4161 right_pitch=0.1788 right_roll=-0.0826 right_gripper=0.0575\nstate[joint_eff]: [-0.8, -12.3829, 6.8991, 0.4762, 0.6618, 0.1197, 1.033, 0.1573, -10.0991, 8.1573, 1.0379, -0.8132, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5923422fe5657fbed3b17d7b347ef29a07658ebc17d420f28e82bda51bc5bd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e454672ee88608ad16c1350864409996b11b22c0ad7c9105c2a6640a97951e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e325e6de88ae615aa8cc59a29c29b384cb949829057a3e3dac08c777b19c94dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuPBGFHSh_BAN0YYkuEe5ReR4hqJzeOuiqZYtYcd1g8vrXzOQlDeo31OZa7KZ_kxTFGxAvLYxz6Feha5fqAv_VUxH8RbSee0a6nK7VdW7FBvZjQ9qSwMSrhTm0PJD-WsGc5bhx-YhJIjCN2G1RmsGfgLQqPcA5kJnAe_X-GDihR0NRcLEWKtxcmdTKQZsPBuPuxf_wUQlrDPdRP6jYYhUOnYaeAL8u8DghyjIJg41dZVyHBVWq-VmDuViQ1-b_ro9dXjBbUcqToIHoNbp3WtbVQ4zS6p2B_n26oVpPh4kgC1fYgLOru-5TalTT1Ta3ekg4HkhHN3PsvfsT2_3CgD3WIJ9zH-SqL6WtvTsQ-HoACYZAFq6lJGNJyCh5-1txJRvw_3y-jgwiEIVoeMVaq1EZ5n8mT5NBvw6p9_RarKppaiqk0ldSJhRCInnACgs9dOSyFEZtl0XpZ83CjgA5y6eK92nCsxj1wqqopA_VMMlJRzhd1kbq96RX216bl1Vr3vK-XTYRyGceTSgc8A8qwx_EMa1sWwg4xu3davSArzpkSHAN0TiAB1Qgv8nuo_RnrPvsu0Il1_zgpxlbrDak8QxtmI9Wy1pCHJ24rOktJ-DpohBetIWpY6GqHNPkOQhMhokqmeH3QYsSYSYS8EIIl0MSDu8duUdXQRfaCTnIlaY_lGQTJUL2AwTMpQK-Qw1p9sPSvzV4IiD7TxAXu0CmSwGgKI9fUQxD8rq5gS4_TdRWHUXJlvLsyAJSC0x3XLw2LB3Qg0s5xMlZA2djZ4YbkmNXL8shkoubnfpX_Xbt0xp-DAM90Y0P-0lG3OGgI2RwldVqvIpANVDWpYEu-8x1imxkamHUmqGdp3c41b2eir0WeG6736RgP-HZo0s53zCwjECFOXmRhjqr3iA1J7SGFrrURnCp-NNKgf4MVi1Wpm3Z6zMlCdfCgnWdkFu9NwYgyYuyyKtJW_1KQ4O_cMC6JsHJoFLDaiwuem_YY5e1HHrB_oOSMOmkJveBvrm0XbFnXijvu-OJNw9fnLM-cg0FZu3k1nRNMgIL5kpgfmtFq2-RPlPH7_Up6-BQ8sU662xBMjrQezB19M_b9kWPvzsPhkrf7dS3rhagojey0Fc5Pi0G2infoAPdO1LNycKsh5uE6_yRZepwLezmUG80Ng1DiBehlRNINtU0xWHXt-sHNQ-PTa9Vev0C_HIbLys06cYPECN1XlIPgIZHY1QmioDA4FBbvpVXsgTsWZHQlj8dG5AA0WheRY1HDxiVnCmkSMcO9PzFHWKphVgUB3F57OfR7o41h1JezpnMDfALmgxSwzA753vdMjD4h8WcdlRH9jGw3lvGQhLeii9NJgDV5zkITZlwr9LgRDFAUl2UPb0e6dC1jyBZyBsmVUXLsRmKCgo3UOsFX2EAeRWbQZOiyJeb7VejKt9F4_ndna6fN2r8mMSpX6cBSgkpSir3FP6laUsvE3mtePgm3KZPxd9SIFn7VhzTrYFYawAP0TOqSGipOpBvkrZcpGiVtJWf9DJkdhVn3QJxpBGPvBSZd9UOmAx93awA2f_BuYjoWfeSWviGq8UB0Mdw1jO7Qokw09Fk4vljBHNolZw8JfLpGw5ZcJUrqn3r-bR9_XvI6zqTCYEpBg3RDUqDauIiRSw1ZpM5zeYfrawuGoNp0WNMS3oyrOrt32uw0DyM5JU557RdardPWiVmKHqIqMkmt-tSYR9gt1OnXSyPgPyHzPk7LDsxbSYmASWZCfX0fBfXKKXImEoCyuhTIfQvF5K_wOglhHNy-K4eyq6gsgs03LZRUsvh7jBFwEVtYWtZbiRSWskcfuC4bgkCMX9siV8oAGvoBUGdWz_vNwXahBda5Ncqk1jbslDftzw56MDQEh5XYitEYsotzVymgtdJFK9AqwD6ePYlpo7xEXlRMfBHaJ0CkgJq3ZBpu5kKR2FfeoOXfVCWuAyrPDP-zJBy6LDqLmOZO4oNloIh8Of_qrSD2u19hIyZS3k76LkuV_9gJEgLZS8csfdUv5tcN97DwZ88_RupNa8nxQQIQYX-FgM--3UVTNzggUf2ouUtfOTKZSWVWuLXmYVMIxLX2G7IGGXqb2gwKNUUv99Aof_WFQTUIVbWGUfeSK5N0hz_aeaJv9Snj2HbxUGr-2SxslDlgCAhHvZcpBAe2lu5M4h-ytQITm57VmVtz0n_l9nqppwm9stkS5KkvMjCCyyt-VZ0bxozSz1S19T2NjTu6AxQcHZ-qZ4tvOoaM_z3qeMZX8n8szsorCJj-ad65NtTVrllGYHI0C-u6LsQHLFURZj0j_SAyojV9uNzkhFIj9EH5J-4iXdFGN6z-Up60amSPSMm3cxDQscrFpu7dMQvJbs-8OSIbjm6ClWmvh3CCMZ-T89YCuyX-PjseRgU_fGDizk8S6QyPB6KREqQEx5LHaz_9ek_DGHEhb87xsHGJ818CmfzNGbtClsYCOh4P-kCBaE_wB8n5S6PKhlozYKMdbOnmTJBNOdRQFOVtVHPku50pVzEl7Xbm9xErT2PtB68ez8c9fWbD1noE4MMQ98quuAb0E7VpE2_vOR9yrlO5tmwz8ADzIjqgy6OOLncFqrhIiVwDAD7HKZWcpYy2oMK5ZMp8ZNKMYLD7NRDaaxW-e0Q3D5T1tgSSeqTZZpmqDp8hYuLBLTM6B5-PrMWB3KwSZWYx5_U7Ksjpw57W7T3ZxUu96F0GkzyNb-5R1t7QpiTOANXWmX7p2LgFrhLJ3VLUk1BKUxfe1Ah8fW2D6-qrn-x_WdZN4NMP-MYGxO2v45pgZnLkwYUfoacjQ_L6mfNWXuwDQ7OEfhPUnxtZFyH3Ty9UOxD1vwSnm6K2TyvTWvaaB_B4i3nLn7pcixJzvMKMdga0C7ba2L2aE2FGPqGcz30etY1KQ5NFyodMBY5OibKLgQc=",
  "id": "rs_0446e5170a8d8d65016ab43b8b113c87d08ea28a8c4945b9c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.225,\"left_yaw\":-1.55,\"right_x\":0.425,\"right_y\":0.265,\"right_yaw\":1.55},\"note\":\"The two ends are now at nearly the same overhead depth and height, with a visible gap remaining. I’m bringing them a few centimeters closer and straightening their axes; this is still a cautious alignment move rather than an insertion push.\"}",
  "call_id": "call_BxD0ELIBBfjOZQAeCqUsyW9c",
  "id": "fc_0446e5170a8d8d65016ab43b8e760c87d087b21b96bac0e1eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BxD0ELIBBfjOZQAeCqUsyW9c",
  "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]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.1084, 1.1095, 0.0751, 0.1928, 1.943, 1.4757, -0.4648, -1.0821, -0.9325, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.1701 left_yaw=-1.4815 left_pitch=0.1421 left_roll=-0.0329 left_gripper=0.0751 right_x=0.414 right_y=0.2434 right_z=0.1784 right_yaw=1.4841 right_pitch=0.1718 right_roll=-0.0561 right_gripper=0.0632\nstate[joint_eff]: [-0.253, -12.8889, 8.7863, 0.7497, 0.7546, 0.1441, 1.0281, -0.3077, -10.5094, 8.6085, 0.9939, -0.7057, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001cbabbdf81a319de52d0cfd33ef82a1b1c41292ed791ab13a827d8a499af30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba15775db46248e94360b677120097ad8b0ebbae504029030f43376a43872c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc15952a3491cc57abf531b1a016709772b68d733e3f504e102ef85028eee442",
      "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 · 5.231 s

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

message 58 changed as sent

message 67 changed as sent

message 71 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1184, 1.4467, 0.5728, 0.4583, 0.3214, 0.1135, 0.0638, 0.1978, 1.4597, 0.654, 0.487, -0.3645, -0.1722, 0.0575]\nstate[eef_state]: left_x=0.3992 left_y=-0.1001 left_z=0.1288 left_yaw=-0.4653 left_pitch=0.1772 left_roll=-0.0126 left_gripper=0.0638 right_x=0.4058 right_y=0.1492 right_z=0.1658 right_yaw=0.6047 right_pitch=0.2613 right_roll=-0.053 right_gripper=0.0575\nstate[joint_eff]: [-0.3487, -5.8735, 6.5709, 1.9316, 0.0513, -0.0024, 1.0281, -0.1436, -7.4872, 8.6222, 1.8242, -0.0562, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0944, 2.0914, 1.7489, -0.6621, 1.0782, 0.9451, 0.0703, 0.1875, 1.9198, 1.4403, -0.3351, -1.0378, -0.8288, 0.0575]\nstate[eef_state]: left_x=0.4681 left_y=-0.1971 left_z=0.1857 left_yaw=-1.396 left_pitch=0.1597 left_roll=0.01 left_gripper=0.0703 right_x=0.4279 right_y=0.2397 right_z=0.1842 right_yaw=1.4161 right_pitch=0.1788 right_roll=-0.0826 right_gripper=0.0575\nstate[joint_eff]: [-0.8, -12.3829, 6.8991, 0.4762, 0.6618, 0.1197, 1.033, 0.1573, -10.0991, 8.1573, 1.0379, -0.8132, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.1084, 1.1095, 0.0751, 0.1928, 1.943, 1.4757, -0.4648, -1.0821, -0.9325, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.1701 left_yaw=-1.4815 left_pitch=0.1421 left_roll=-0.0329 left_gripper=0.0751 right_x=0.414 right_y=0.2434 right_z=0.1784 right_yaw=1.4841 right_pitch=0.1718 right_roll=-0.0561 right_gripper=0.0632\nstate[joint_eff]: [-0.253, -12.8889, 8.7863, 0.7497, 0.7546, 0.1441, 1.0281, -0.3077, -10.5094, 8.6085, 0.9939, -0.7057, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001cbabbdf81a319de52d0cfd33ef82a1b1c41292ed791ab13a827d8a499af30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba15775db46248e94360b677120097ad8b0ebbae504029030f43376a43872c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc15952a3491cc57abf531b1a016709772b68d733e3f504e102ef85028eee442",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuUIOKdaHtzbhGfxPrVIhJbvCY-oDqvuMOOZF2Y-dIpKy2VJejQXc_1gUnE01kr6iB4ghLJ11-QoWiPCq7IEcViUjKYQhbFhgcNfWTr2UWP8nX5FF0KdFoEZvC-vZN-6PHDZKvM3AOqKsZZ1lVvvNx3lkIIJca_ovUdtg6QWv_jUmVuIglyBLUC8ThjaBH99zJSCAQ0fHjevxksoYsBcSd-xBsS2CZS1hdJJpG7Q78Ei83-7NT1-bYjuXqdQvKfY1IpeBRi7PDOsLc6CmeDvwe1T27eg_01Z0Ifa4Xkt4q2s7Y6GHqvr2lelgV3WsAVLiXSFseM5iQNYb_A-RTgMgWeZkGGNpx9AQmpGqjYUEFCaOi8LpDk2Z2XV2DYq10AMPBUFnUadcZgcIbMxap2Ri-ddiA7kCidfwwvUlQI1lGZFhml9SVC-aq580bMYFo62Sh5ww80oOSJnwLymgjtX1sHmT7SzEwu1LTTIa5Mrw5qiwuS8JcqxxXufI7b1pc1X8p7TLj_iGQsZmarU41xSe9fQqG6b9D3w3ybKa67oCBtb1XQSU2KDLlqekQYtcCHvcS8CCJAdvVIJg9wn4FI2rxjW9g4dw6KWVBkgmFze6hfdoz2f1tP0wwkW-0fQ3IM-CUz8QYXIxHXONf4vQJ9nVsgpu-Cux9l9El8P-laYLempkDf8MwUEhxzERgWoIEpcc7zulSmOPy9YhURal-XFnaMIYTYYjlFG4nK1cppX7xe89axlVJ0GWPyKMeBmUOaHlkcdNGNK-ZWW8IY_3sM6VpAn7XxaD--KCI2heb7TU8kbtZgsCi9-AISvpwVjxcQCIzfObkg9wdk0-bWmIy1qmjuXFThSoeTfdD5gDMQQb_XmmXdGK-sl3kPus8n4LbB-rjWgxX0vRf1iGGn5MbASXh0ld1svGO4eBzPU0HOx99Xle_jKKwhJAMQQEuO4i6BAQPFFRVk3juyAGzVaixkwIf8n3oVR4krvgMQ171PTgOwxscQy9ZyjC-CuhVwZRWBjIQasjbVv4xWXWdMUo0lYffiqcKlW901F_Df2aIHrvu6ghEiqC816VRLBy71NBz0j3so3Zoi5g7shoxq5HdoHz8VweFdVck0Ynwq8T9w8vHw3Qfn5-zjKR69bE-peHldrINE-dHeWoBFbF4U4PHOaS83KvHe63vKNbo9k2gsgsWxzkEcZB8Ual2zMpzHBAzFSwaMxzZ-2jxF_nRja_pDKy1mvPdGjGp7Y_CdK_wFg8OY9U6S76vTgbSZERsnv3-IsFwD0VcRJ47GpSO9KsBRqh0sKbOT74rHEV1Wqi9FAUUW98TvgHA6m--N1j6285VRSIogtIoDoGTFBpLg_IrXireDwc5xfwUpW_lAkdkyWrVcEHviXASY3Q8dRI5r_jzj_fmqOc3c8RW8EBMh4KxBN9c8coo3dKyGg53HjmmkrKqe-azNZc4l0fnpx4r5UsieNaQbj2vxCVWXrjZ0nwpldU5Nuv5JcSZUcG4pmAW3UiCkYh7Z6bKwzb6rhM6oKdNwKAbMMBG-pjeP-ie_ISxGsO-F8duYNJWnb408FxFvYGZGfyXcuvb4wclWLErknOuR8rwoI7gLwvBX_7kjr5YCT8nxP193tGWkrtrCh_v8NGr64sR_EUst22I1Ky7CLHq7lRRQ3uM2uc-vpkt3uVu1c3ze_tAP6IZCJaTtLpqIN6jj_6Kq4FT7ig-_5TwCnhIRlkWUs2hLYsEjnFl56qFL8mSRepBfJMHzglZE3hfOv8mPg7aienbkZ9IMYBnL4ZgwT5iDelSZ8PJqKn8kgFyPKkEVc-vC8KJ1DyL3fZ8KNGW2kFLwCVvO2_CqeRFczIEUTX3rrLJhuozmWDcMkyTsyDsu_AoPqr7dRLvrq9hqM0YS9smSZyA8G_Ht3kCinJlUTWHpGlHONaeVH_qxt1FijM5NFoTLo9yNy5EV1vTbnT0OvYfuxlv42SCwMFBxyRU3WGFPV08fhsqkjBD8eiBuTBdhKLWfG_pRtHidHB-bTQuBi9WDAXc0ESlNfOsrHUf3HsVtV-8y9WMWEHpX-EI1eB-tMhDLcFWo0nN7C31CIz-x2OYyp7LzB_QTO8cg6vJxocofDJ_nX-_sHXb0YMlbKsjEh0agvZC1M_GYQLYW0_U4qMKejsZSfAeiEXDjVoB914bZFEYawSqHAYEDw3YuNlZbx0UE72FMWCExHVubkbXPIyR5PydIAWjAOVidDZd79jj5_SiUpVokdrw8Ph6ZOS5EwWS_pVLBdKLCTSymAYnyJGl6h2VjXkr3lAQizoGB-TO2Z67g6paQl4D3EQqu6c8KaXKXI3sHABwiRf7TErGzhemhxGtAfnGF6DaJXKucXrL3nKrrXK6MNH5Qa2U-hE3GvZ-QhmHbmdy_7qKLn1vPOaRJ9kFT4L-lJciYY8mCJg4AbEI_r2A5LPuDPyaY-gUBuB9FyshurcYP3WFzWixvims=",
  "id": "rs_0446e5170a8d8d65016ab43b908f3c87d0b9bf0f836ba6d640",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.235,\"left_z\":0.2,\"right_x\":0.375,\"right_y\":0.28,\"right_z\":0.2},\"note\":\"The requested sideways approach barely tracked while the wrists were stretched forward, leaving the ends still visibly apart. I’m moving both arms a few centimeters back into a less extended pose before trying to close the lateral gap.\"}",
  "call_id": "call_geYvukH3UyrZ4wu5vTWNpEUk",
  "id": "fc_0446e5170a8d8d65016ab43b9382a887d0acbf0eeaef1d37a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_geYvukH3UyrZ4wu5vTWNpEUk",
  "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]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.108, 1.1095, 0.0751, 0.1928, 1.943, 1.4773, -0.4648, -1.0821, -0.9329, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.17 left_yaw=-1.4814 left_pitch=0.1417 left_roll=-0.0329 left_gripper=0.0751 right_x=0.4143 right_y=0.2435 right_z=0.1789 right_yaw=1.4846 right_pitch=0.1722 right_roll=-0.058 right_gripper=0.0632\nstate[joint_eff]: [-0.4034, -12.8889, 8.841, 0.7057, 0.7009, 0.105, 1.033, -0.4991, -10.5094, 8.4581, 0.9988, -0.7497, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c9daa6f51f548ef7c53e99a5236fecd3f1e29341fe51baaaab6a1b01ead8c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96abc07ed2db4f8a99aa44273f44932fbbe172db74f973d2d26b7f159e2ad2e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52b69210d836695090af55166cba4e39708420e20bb4dab670491d390f93e13",
      "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 · 4.192 s

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

message 62 changed as sent

message 71 changed as sent

message 75 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0719, 1.6936, 1.1172, -0.1291, 0.9237, 0.556, 0.0638, 0.1722, 1.705, 1.111, 0.0158, -0.8673, -0.5323, 0.0575]\nstate[eef_state]: left_x=0.414 left_y=-0.1675 left_z=0.1764 left_yaw=-1.1098 left_pitch=0.1687 left_roll=-0.0274 left_gripper=0.0638 right_x=0.4162 right_y=0.2128 right_z=0.1857 right_yaw=1.1582 right_pitch=0.1967 right_roll=-0.0661 right_gripper=0.0575\nstate[joint_eff]: [-0.5812, -8.7453, 8.3487, 1.2869, 0.4762, 0.1783, 1.0232, -0.0479, -8.3897, 8.0889, 1.5018, -0.5153, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.1084, 1.1095, 0.0751, 0.1928, 1.943, 1.4757, -0.4648, -1.0821, -0.9325, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.1701 left_yaw=-1.4815 left_pitch=0.1421 left_roll=-0.0329 left_gripper=0.0751 right_x=0.414 right_y=0.2434 right_z=0.1784 right_yaw=1.4841 right_pitch=0.1718 right_roll=-0.0561 right_gripper=0.0632\nstate[joint_eff]: [-0.253, -12.8889, 8.7863, 0.7497, 0.7546, 0.1441, 1.0281, -0.3077, -10.5094, 8.6085, 0.9939, -0.7057, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.108, 1.1095, 0.0751, 0.1928, 1.943, 1.4773, -0.4648, -1.0821, -0.9329, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.17 left_yaw=-1.4814 left_pitch=0.1417 left_roll=-0.0329 left_gripper=0.0751 right_x=0.4143 right_y=0.2435 right_z=0.1789 right_yaw=1.4846 right_pitch=0.1722 right_roll=-0.058 right_gripper=0.0632\nstate[joint_eff]: [-0.4034, -12.8889, 8.841, 0.7057, 0.7009, 0.105, 1.033, -0.4991, -10.5094, 8.4581, 0.9988, -0.7497, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c9daa6f51f548ef7c53e99a5236fecd3f1e29341fe51baaaab6a1b01ead8c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96abc07ed2db4f8a99aa44273f44932fbbe172db74f973d2d26b7f159e2ad2e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52b69210d836695090af55166cba4e39708420e20bb4dab670491d390f93e13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0446e5170a8d8d65016ab43b958b0c87d0b2907b5d04dcfd24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-1.05,\"left_z\":0.24,\"left_pitch\":0,\"right_yaw\":1.05,\"right_z\":0.24,\"right_pitch\":0},\"note\":\"The last back-and-inward request produced essentially no motion, suggesting these nearly sideways, extended wrist poses are kinematically blocked. I’m rotating the tools partway back and raising them before repositioning the arms.\"}",
  "call_id": "call_AjkRVEdmu33TkenpQ6YaGMul",
  "id": "fc_0446e5170a8d8d65016ab43b98d5b487d09e28b00dbeeed487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AjkRVEdmu33TkenpQ6YaGMul",
  "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]: [-0.1776, 1.9415, 1.6115, -0.7334, 0.8841, 0.8986, 0.0786, 0.2958, 1.7809, 1.4208, -0.4751, -0.8646, -0.7231, 0.0671]\nstate[eef_state]: left_x=0.4247 left_y=-0.2114 left_z=0.1764 left_yaw=-1.3542 left_pitch=-0.0171 left_roll=-0.032 left_gripper=0.0786 right_x=0.3897 right_y=0.263 right_z=0.2032 right_yaw=1.3543 right_pitch=0.0569 right_roll=-0.0206 right_gripper=0.0671\nstate[joint_eff]: [-0.1026, -16.3761, 8.3624, 1.746, 0.6471, -0.1099, 0.9353, -0.1026, -13.135, 8.9504, 1.4432, -0.2418, 0.2369, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210073902bd31ef8f0ce110bf2324105dc22ecc1a7e55b85293cfb3c5f26b8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7a2ef3b02a801d5d32138d357d10495da2a2412068b8eb6039572575162def",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a72ff9a15510b6f77cb3940a3d9b04eb524c2de24b969774142fef337f0eaa3",
      "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 · 9.411 s

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

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0944, 2.0914, 1.7489, -0.6621, 1.0782, 0.9451, 0.0703, 0.1875, 1.9198, 1.4403, -0.3351, -1.0378, -0.8288, 0.0575]\nstate[eef_state]: left_x=0.4681 left_y=-0.1971 left_z=0.1857 left_yaw=-1.396 left_pitch=0.1597 left_roll=0.01 left_gripper=0.0703 right_x=0.4279 right_y=0.2397 right_z=0.1842 right_yaw=1.4161 right_pitch=0.1788 right_roll=-0.0826 right_gripper=0.0575\nstate[joint_eff]: [-0.8, -12.3829, 6.8991, 0.4762, 0.6618, 0.1197, 1.033, 0.1573, -10.0991, 8.1573, 1.0379, -0.8132, 0.1538, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.108, 1.1095, 0.0751, 0.1928, 1.943, 1.4773, -0.4648, -1.0821, -0.9329, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.17 left_yaw=-1.4814 left_pitch=0.1417 left_roll=-0.0329 left_gripper=0.0751 right_x=0.4143 right_y=0.2435 right_z=0.1789 right_yaw=1.4846 right_pitch=0.1722 right_roll=-0.058 right_gripper=0.0632\nstate[joint_eff]: [-0.4034, -12.8889, 8.841, 0.7057, 0.7009, 0.105, 1.033, -0.4991, -10.5094, 8.4581, 0.9988, -0.7497, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.9415, 1.6115, -0.7334, 0.8841, 0.8986, 0.0786, 0.2958, 1.7809, 1.4208, -0.4751, -0.8646, -0.7231, 0.0671]\nstate[eef_state]: left_x=0.4247 left_y=-0.2114 left_z=0.1764 left_yaw=-1.3542 left_pitch=-0.0171 left_roll=-0.032 left_gripper=0.0786 right_x=0.3897 right_y=0.263 right_z=0.2032 right_yaw=1.3543 right_pitch=0.0569 right_roll=-0.0206 right_gripper=0.0671\nstate[joint_eff]: [-0.1026, -16.3761, 8.3624, 1.746, 0.6471, -0.1099, 0.9353, -0.1026, -13.135, 8.9504, 1.4432, -0.2418, 0.2369, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210073902bd31ef8f0ce110bf2324105dc22ecc1a7e55b85293cfb3c5f26b8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7a2ef3b02a801d5d32138d357d10495da2a2412068b8eb6039572575162def",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a72ff9a15510b6f77cb3940a3d9b04eb524c2de24b969774142fef337f0eaa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDueTJAWrZ6_TpUmi-gSMIUR15e-6goPJEEkxErhGG4Ecc7WWwtExnUEGd7L0EtbLJaPwi2hixO-mFrELsrtJ6DDYsE_gijHtG35OJj5HROjZysTPch78-b8odf-hzHIKKEFaem7NlwvfsKMA_Ci0l7MCXCJYdVM3cg8oRQNR7FcE4FQJ28cR0U2dJx44BhhrCq2nDpZzQkPxkJyGiiTgG0SNe2bE80g6EjzjqfhgwNvFV4OO6mv3LRe677obykGe2JEtTOE0BsDptqyFUdpJ8gAE4bG3anPZpp7Jy1muuasedYNQ5Jg6Q-pNbvazB7F07jkY5skriDap1rlkhaQX7kiBUjuyHJ298gS6u-zve_Xb_XvlVrKE55xeMqeZcMdzW_k5gPQcFqr4Bn4q0poo7cX6IfyM1PWovpSvPtmR009cShQ1DxhEfqSvFTI7wueZwLLzsgxUg8i8q9ZlzLJlJe3fRXfFifvKeGATpCYRwchTDS2vmBdJ_iAVQGbo40CdK4HCpbjc3UyDWOHgyhS4rb2WB6KYL3dgS7oLI-K4O_56Kz9hePI2tRGu1yHyKrV9vq9N9dr4Xzg_qgvuKW2grj_TElMm8QPZEKABu_UIK2iDpBfiQ1wi_I1yzgHQ7lby9EU9zPx7g4GnJVuVPLxB6nm1UzqVW1uAWEkzarLNQ6xsu0kI5wlvQjGLCzP7-_OC5NLT1YatZmVOYCtDECrWh1LPp1h6HRTzExKjT5veXtukq5-35G4SJNuOUZlM3TiaYaiezH1BgDLv7TycA5uGZmFci1EYjYx3h0szMcvmfIj-giJ2hna-9OmcRvpb-D_G0MKaXmODAZsAN9i3PiaSgS1pMaY0r53fa0jRjlPStebnIheYLTAPc9nXz9vl-X_uQNZWIA7V-805KtpXpNPVsZekRnEZ2zbGs4E9yPxU9rhk8oW9VSX-bhM6Fb7YkMvAzj7SZBwr8Z5wyVwFU6VcUDnUe45uepr43IOEtUYHkd9mPQa5R2i5h0e-ec8hq85KlqOJTw8S5uGsucZmv_A_m_cqnFYdN7RJyY2q8M5zluAzyveU-A5z5WVfitQJeTs6yu8BEQkRrTpD74gBHyLU_lx8Weh0y2oNlZw3Sopq5ywxcaEC4p-GGDcV5gYrfxOCpNxImqWeJDQOWJnMUHx7EAyzRbFT_40BSyzzyO3hHw8eLVj6BOx5uagIF7MQJcXKZI6ujdnHXWad0VoPbo1Xp1hrCRWkoNc_TtcnwtILtejuNTImA77PQf4ERRiYLlnK3fadrfEPaVvP5Ph4-nYeamCYLH1-nppsHj3omGTgV8jqFxhBtl0oP_O-aHQiFhA9aVz9b5BBtC3VtPyCVututh1cfkxQCh69HabOel25WJPYycCkgwHYtQzKDefIYqF58sIOqyvHS18ZpmZy0LUTLdzoLVoY2oO8U65urXg2qVdJkUB70cxZhgcraiDFZjJIW9zzwfowFzubgPJoDM09IibRH0cmOraTfpeUfHD0_N5q4ziBnbb7ludGdwciJT6Fuikrag16mdiwvgEi0t-M4QpV3kQT3VzNtsPKt93qpMYlLBa6m8CELFqazIshDc_wPkTmvag8AiVM4ncZ-nccq1YaetwCtU8yAPzwC369fNSMfLepQ5re6tFPpcTkSNYco22A21hKQgWZshRqtdvVTEy2WqsIrGFNwZA7cT3AG9noIhvHmn65cQQowLx7iugMl6EVnuxSxRWRv6nEGxH3cIL6Isvg35lLmE08spjfIYFfOgxdYsP38GTK79faxNRHUqagc-4b0UVzFVlJWEY3-1Vif1ywHZnESQUW-K_4c8XHu-8M-BlKxErFIUtD4Pu2WHbXdqfAVuZK_M4D80Y0WLLCGuGas0AOZKW3YJkgF5shkcIMCQgiLHzhq5J-sWFhfR8-g0UXAuSRAgPNBZGpA1t5ry07pup356VmkBuv5gJ1t0RgkjxrIrkI6df0M6crWnnvhATso6LdQ4tpMzsKMY6ILdnYncf9yYyqhDXuosd9wyn3kR7aWQaph1geU51lOJ1W6ljW-HygIPaft1-R2IJjaAB_j7m__2Zf0CP4vZ00qleWTLCWcN8f3F7dPpWEvYQB-MZE0zi4_UZr8TRXc8Kz1xOSmzt863l5A4ResJWQuhWg7zMroEQqMyiI-hDHo5Zuo21Ncxb6lzUhBgw2e4ySal5ZSFHQdavc8pSdm323ePGlDrVTovZoA2pfDVNDemUxnQitpTM5VtuO81EeLYqsioBX9lcMIiULMy7PF9MIc4=",
  "id": "rs_0446e5170a8d8d65016ab43b9b4ae087d092c627476c1148ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.24,\"left_z\":0.22,\"left_yaw\":-1.35,\"right_x\":0.39,\"right_y\":0.28,\"right_z\":0.22,\"right_yaw\":1.35},\"note\":\"Backing off the extreme wrist orientation freed both arms to move again. The pen tip and cap are still separate, so I’m now bringing the grasp points inward a small amount at the higher, more neutral-pitch pose.\"}",
  "call_id": "call_5iptOzEM7KVK61UdEGAGNjLa",
  "id": "fc_0446e5170a8d8d65016ab43b9d64c887d090937ff78eaf6859",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5iptOzEM7KVK61UdEGAGNjLa",
  "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]: [-0.2195, 1.9377, 1.697, -0.7383, 0.8066, 0.7952, 0.08, 0.3134, 1.7798, 1.4368, -0.4877, -0.8036, -0.6708, 0.0684]\nstate[eef_state]: left_x=0.4358 left_y=-0.2242 left_z=0.1988 left_yaw=-1.2967 left_pitch=-0.0414 left_roll=-0.0129 left_gripper=0.08 right_x=0.3932 right_y=0.2649 right_z=0.2022 right_yaw=1.3041 right_pitch=0.0208 right_roll=-0.0026 right_gripper=0.0684\nstate[joint_eff]: [-0.4308, -12.041, 8.1162, 1.3455, 0.7253, 0.188, 1.0379, -0.6906, -10.5778, 7.3504, 1.5849, -0.6618, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a03553d4f49264f4f68ff40dc97e8588bceee94c0b98c54dee69b68c2858fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9784e04e8729ecebc706a35cf8a8e69247ff7f94ff5aeb252113152a21b17c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19871cb4d7281b010a9df7c1a82d2985dec43e1a45741d35627e8bd683e8107b",
      "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 · 11.2 s

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

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.1084, 1.1095, 0.0751, 0.1928, 1.943, 1.4757, -0.4648, -1.0821, -0.9325, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.1701 left_yaw=-1.4815 left_pitch=0.1421 left_roll=-0.0329 left_gripper=0.0751 right_x=0.414 right_y=0.2434 right_z=0.1784 right_yaw=1.4841 right_pitch=0.1718 right_roll=-0.0561 right_gripper=0.0632\nstate[joint_eff]: [-0.253, -12.8889, 8.7863, 0.7497, 0.7546, 0.1441, 1.0281, -0.3077, -10.5094, 8.6085, 0.9939, -0.7057, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.9415, 1.6115, -0.7334, 0.8841, 0.8986, 0.0786, 0.2958, 1.7809, 1.4208, -0.4751, -0.8646, -0.7231, 0.0671]\nstate[eef_state]: left_x=0.4247 left_y=-0.2114 left_z=0.1764 left_yaw=-1.3542 left_pitch=-0.0171 left_roll=-0.032 left_gripper=0.0786 right_x=0.3897 right_y=0.263 right_z=0.2032 right_yaw=1.3543 right_pitch=0.0569 right_roll=-0.0206 right_gripper=0.0671\nstate[joint_eff]: [-0.1026, -16.3761, 8.3624, 1.746, 0.6471, -0.1099, 0.9353, -0.1026, -13.135, 8.9504, 1.4432, -0.2418, 0.2369, 0.9988]\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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2195, 1.9377, 1.697, -0.7383, 0.8066, 0.7952, 0.08, 0.3134, 1.7798, 1.4368, -0.4877, -0.8036, -0.6708, 0.0684]\nstate[eef_state]: left_x=0.4358 left_y=-0.2242 left_z=0.1988 left_yaw=-1.2967 left_pitch=-0.0414 left_roll=-0.0129 left_gripper=0.08 right_x=0.3932 right_y=0.2649 right_z=0.2022 right_yaw=1.3041 right_pitch=0.0208 right_roll=-0.0026 right_gripper=0.0684\nstate[joint_eff]: [-0.4308, -12.041, 8.1162, 1.3455, 0.7253, 0.188, 1.0379, -0.6906, -10.5778, 7.3504, 1.5849, -0.6618, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a03553d4f49264f4f68ff40dc97e8588bceee94c0b98c54dee69b68c2858fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9784e04e8729ecebc706a35cf8a8e69247ff7f94ff5aeb252113152a21b17c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19871cb4d7281b010a9df7c1a82d2985dec43e1a45741d35627e8bd683e8107b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43ba0145087d09a8535f3f5947606",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuoXjom27Vc50AZVvf02WFPp9tSkpTlUXsf3zO8kqThtrYYat2FkBAGdaTvrlhtAosXQvLR0qPge3SVadpymaQo_Jk2MqYZZi9DP9BusFpHSjhYoByNhOb47313CfmNDJ5-1knxPSYWw5PhPZMwlVadmj2EITeM6jceg9m1QGJiy7MX1la9osCJTew4wXjmq3Irsp4aeGnhmbBVMnEyl0iYmvCmOG-cBLvd0CvO5pGCPj7YAQEQrHCU9lnEISL6Ju-323ZanbK6UFfP0IqQ6VeWCX4TYMmSixj1OWSOiWKy9oc3-6cbsOXXej0HR-7JgesBhnbbekwrxOyjvzKOtW5C7VGPvaIXcig0kT9DAiav9cqtOpLGs5SntxFTpsaOye3mSDiiZXAHrhmCiYK5pqgQqHCoF8hUN2P6eU5J8BRSI_qSEqUp92jAOLX0S1zoPqIKPqMqs7cjnplleUfqokfQpRIzv4THiYT7Amiqty5IaJfrqc14MeLXYYRuopFU8GlJGTkqHsLlxqNbMoJ3IdkxW32VUm3S30PXpmSo5IoTC3D6k5LXDwn0U-bIK1hVKquOrGRly7ki56MM_3uV7Qu1Ouz8L0SfX3XChoIdNHZVz-bmu7gGPWxi-YACgdMMBb1-MAUrKtA0Av1DtKUydWu9LZOu7BXRAIiwgJXA-U1y2-Pf5E3QsGfB6Y4V0QK3jLZOJ9C1ceG3ikKgsxe0o9KJxtkfXDEa9piFOeo70D6vj-IT8gcCX1ZAhUfq6louCDXaqyRWRLGMYLdqbz_-YX8A6kTDHAZVh5rAdV7msCxIEzMYIZBpPgZvug9Y60_Y5lPMqjvRGEBABIf2fqEj2xaV70cZ4p8DNg4uTSqOqI1gh8bYVOdfcjsk6rYFFkHxbDi7cNCGIUZUkJj9o0gFH9sC_cpOykyd8Auj8Uo1MyUA7RjWGtFgXV8yH2xuIiGFG91TzmKnpumwUoGyp80Qf7CZ-119wvK_zAfX4BFu1MhWQ7I_lxXDiQN1BwyawO-VKMnAybJoWaQ5xc4Wjuap5U55CY__kdaGNEO-D6S6lkf9s6nkFJQzlnf1-5XB8VP1ABJgawxmsvkQIF0iQJkQPJGX0xvBqkGoIvjHt8-NKr2aQKlBx8p95nZ_KVi9nkxGClPXfFUOItdeWZ7c_A9yGKQzZNW1kV0tfYP6wUexVrY5NdGwcqdyjXHT4IeTgB7BT4Dy9KfwQTEmd4kloMgvKEj6__6vnn0t1gTsj1PqZsnf4S0cdYxqYIdadptWu1Qawhw9rCDScCDf1yjxL_3aTYZDXsij8uf1-FL1OhXjsO4XOmIhtXODxDNFzc44L02xONk47E0G7_nV-mIxTQvP1vTO1qLr2eYJYTD7i-JfYWxLI4qK-_F8YdATRCMz-dT1Gdo-6Og8KAy26cxwkxiZq3XqrlMO9YQ8ZvS-bh-AkTdbsJw85GH1SJXLfoSriIK9bYnM0GbTVCgm45x63BO6NJWZjx4jtJPlR01YSmUkla-Z_NRM2kjm20_YDMu0LLqsn1Mczsf8PMKu04ra0qgMyr-kZlbNUOrubKJfaCUUQ67vEE7pYSsu4tM48erS8u8fYWoq1ui29VQCFH7oIxbRfpHKt36LQVcUpkfm3rTzRUjAY_48t7rf7VfMu43BuY60hnH0qmOPFvYGHotqYFN5pSO92xPYs8OVmTUpdWvLqDDFpUcIZSHk9DEV9VjNK98ZPXtYa_x0mMU9xBBp0c6t7o2eOmGdzU374mPcwgFH5_095-C2lPwv4D-jXmoNpJrw91ycvrWycIUMgporvqry039ALNvHSgOoNAkrMyLLeuOEBpwxGhv5YndgOs0JsPtV-k3Wz5inu7sOFRTCZ2l8Z3rM3Rg3zb63HSEMAuCCWA3lbaxg9nQ__YZO1Ryj3gavXqCeVY0_QvB8i9_WlrrCmlXDHNrXTfYcHkljr9RkZ1g8FY6cdmWgifSjSMa89DnflDR2csShg6yzvuYdjEVkYASJccUcPQfjKLV4dczX_K5RWnUOR-MGfeQm90KsTlZdPBnJZ2AZUMBtLypMJKgyyeBcZ0QU0CmZZbvdpCo2RSij-ll8Y1Y_a0w1yniuvfiKLVHb-_9J0hk63S6_YU4dBGMRdts9poYcDcIm0lYjnl80fZziP54OYA3SC6_pDoGunCCTI4OlIO4Z0QoO5gLHhJUS-vHx_4TzHPld8SzjYEGEz-DoV7tP-cszi38nIXXZxYavbpPJKBMtgftJnB80I8uFcm4TwPU6DCfr1cWEhZbGeLrmLWvXoNA9KIbnbAMPWNil2dGiQxR57LQnBHpfZW290GVYGZU9ymP1qdpiLBJYgjRSHzLBg9yVh6i3WTGDjnCs9-XWDKl-Glzq2miEwY1c-zhgS0Yu23-pAUTVOIH4G1OYvXxPNS90fivcLEH4bW9LIauYLn9-dSYTSAMRlOe4Y5JU0s8iH6CZjFjqfwNvnaJAwg0JDxKp67oQV-CMsvqQUVmXCF371rWNMEnyNWb67krVucMrOEvVTOtK-slhgsy-6ebaHcT37d8xVVq5BXoRN-ArINCs_YWBLp3rjwaqOtJt1T5onILoU9GIAEqQrLQ=",
  "id": "rs_0446e5170a8d8d65016ab43ba4294087d08b1f74b26574c551",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.237,\"left_z\":0.215,\"left_yaw\":-1.43,\"right_x\":0.393,\"right_y\":0.278,\"right_z\":0.215,\"right_yaw\":1.43},\"note\":\"The overhead view now shows the cap opening and pen tip only a short distance apart, with their heights closely matched. I’m tightening the axial alignment and reducing the gap by roughly a centimeter from each side without opening either gripper.\"}",
  "call_id": "call_rESYot9ZQfkT8zUWi2mnATdC",
  "id": "fc_0446e5170a8d8d65016ab43ba6e98087d0bb3d63e312364db1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rESYot9ZQfkT8zUWi2mnATdC",
  "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]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8139, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8352, -0.7116, 0.0713]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3284 left_pitch=-0.0599 left_roll=-0.071 left_gripper=0.08 right_x=0.3909 right_y=0.2661 right_z=0.1956 right_yaw=1.3418 right_pitch=0.0278 right_roll=-0.0041 right_gripper=0.0713\nstate[joint_eff]: [-0.0615, -12.4786, 7.9658, 1.0281, 0.6667, 0.1734, 1.033, -0.335, -10.6325, 7.4598, 1.3407, -0.5348, -0.022, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4b583c9494e265d164a7a67a26bc02cb5b6168703feac0a1dd5d1f4fbe92f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d26fa3b4a5fc5a183606c7793b7f2a09825a8524603da3039395510e75aa3da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92daf2dede5e817451fda2f1fe1793b480461bd676882322d3a46fb104fe961",
      "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 · 2.691 s

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

message 75 changed as sent

message 83 changed as sent

message 88 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1055, 2.1407, 1.7981, -0.8536, 1.108, 1.1095, 0.0751, 0.1928, 1.943, 1.4773, -0.4648, -1.0821, -0.9329, 0.0632]\nstate[eef_state]: left_x=0.4489 left_y=-0.2029 left_z=0.17 left_yaw=-1.4814 left_pitch=0.1417 left_roll=-0.0329 left_gripper=0.0751 right_x=0.4143 right_y=0.2435 right_z=0.1789 right_yaw=1.4846 right_pitch=0.1722 right_roll=-0.058 right_gripper=0.0632\nstate[joint_eff]: [-0.4034, -12.8889, 8.841, 0.7057, 0.7009, 0.105, 1.033, -0.4991, -10.5094, 8.4581, 0.9988, -0.7497, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2195, 1.9377, 1.697, -0.7383, 0.8066, 0.7952, 0.08, 0.3134, 1.7798, 1.4368, -0.4877, -0.8036, -0.6708, 0.0684]\nstate[eef_state]: left_x=0.4358 left_y=-0.2242 left_z=0.1988 left_yaw=-1.2967 left_pitch=-0.0414 left_roll=-0.0129 left_gripper=0.08 right_x=0.3932 right_y=0.2649 right_z=0.2022 right_yaw=1.3041 right_pitch=0.0208 right_roll=-0.0026 right_gripper=0.0684\nstate[joint_eff]: [-0.4308, -12.041, 8.1162, 1.3455, 0.7253, 0.188, 1.0379, -0.6906, -10.5778, 7.3504, 1.5849, -0.6618, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8139, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8352, -0.7116, 0.0713]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3284 left_pitch=-0.0599 left_roll=-0.071 left_gripper=0.08 right_x=0.3909 right_y=0.2661 right_z=0.1956 right_yaw=1.3418 right_pitch=0.0278 right_roll=-0.0041 right_gripper=0.0713\nstate[joint_eff]: [-0.0615, -12.4786, 7.9658, 1.0281, 0.6667, 0.1734, 1.033, -0.335, -10.6325, 7.4598, 1.3407, -0.5348, -0.022, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4b583c9494e265d164a7a67a26bc02cb5b6168703feac0a1dd5d1f4fbe92f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d26fa3b4a5fc5a183606c7793b7f2a09825a8524603da3039395510e75aa3da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92daf2dede5e817451fda2f1fe1793b480461bd676882322d3a46fb104fe961",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43ba9479c87d08fc1dfe2a35269d2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuzW_3ueF_IUop_0BbB0C_VjvXQ2rhe7Zujtgi2XpHxcWAc1MAu2H-HagHv8zQ7os2P-SKaTtNkuaAHYo3LpGtUVkEoIF207kGaNrxyxxJT70oG3TwKc_UCK46SsY0Ug5rvLzY_mzYmuveM0s2aixbNcsfM8kog2lN1ST5V1SoWHx_iZs5PmCPBNPuHE9nCPNtaizHtmb1LTuBM7ThXpa1_CeymuSnp99AwQ5uog9rLEYMPb8Im54LZzXJIkfiGAMfTdbGAciZHFroGZwOxnpq-ttdWhiWYWHWKDdIAwJ4BKuUpleqcleG914AWs082pajeoTd-JJ_uNxoxqitAWijjLLUhM73KAfD9lX9oIV_V6wvbMWgwrQHG9TuBCPEF2FlbP8iFhB0KYQe1n2HAvblnp6jkqUghvcfNnzD-O7N820O8QGLi03k98cQH69lx94sJ0WaGiJIATdpQMpQGG2ysJaVGxt6dHV8P8AndMEF05sG7TCrFrI29JRl37B2Rgf3Ck5AtOhPBb4rG0lbTcBBaj2j5Tu6zqnCtxm7XjaF0mLW7LItp0PT0yr-DelK9ztS4GPBxOPaAmW9-xV3XYObVPxWG2z3Wu7XvV0_C3ldS-6JvXCH17vO-doXkd4kegGQx4JqGXnmvhdGwYFjhYaZtnfhzHX122I0Vkk6LDF0YmrFMObU568Wti9ApRWQxd6k9_CRFaaFUnNi8uNbIIv6B3n6aQ5bhnhBqRImBGXlv-kapzwNOYlaSuY2DpdnuxGwtbqmFhsDkQySeKGl8a1kVwVCvk1JwG5iTyeWIzuNTnQwCdDQ4lDBWu3oaeC0VebJhAgpB1mt2UO5vX5h5JgRB5Cc6CHCCL9wst0WKwkekD6n6OUWA8BvNdboGmPoNkvO3Svlj9ZhoMUT26igzZIAD7x667UjKnZOxLMDUaCZvsoTaa1g9PxJM9rI24KSTRjvhTsmwpQcgx2y_R2z0J3B7By5jtfn43iw3mVDtK-ayM41F_izjTabt9YPDYx8NwdL7eUannu-Y6WLrPkRHH4kRC-4mrQRiYHj47gIPXo-3fcJc7iC-wXIUlQAG2jgA3Ayb78E4MCrQc0t-M7gFhpW1BQdAlMt-WRY7ntle3F8FDPi8yiVDuMIm769eSkMMBJ1bP-UL9_1AFQF7WqI4yCfbqXHl2NdXGROAwf_Un-VMkmEASth4bUp7CDlz8fyMplRzu7YFL9ol6jSvdf0L9rB7pSjWAoRY9HF9WtM2lD_Uq9zrfUugRzJOdZJS8mNOR4h33mNauo1Hd6oK67MVz-5vIICXKifi1QP5zr7JX8pd4-T2J0KOGjsUxSAOGeN71LINXvihs4qb0W1aNIhlX-09f0hNQn6WvtWqgqssfCCYonzzsayNVUKw2RPmsFn4VLs0uqhJZObrEe0hW1KxmOYBzl3PHaSzz_r9p-g7Z1lq2d7Islp_HpmihoERklc8RxoQ7QhJ7xFiA0hvmqgjX_6tvSbAK0ULxdaD6FNTlc2u7m0I7eBoKw3yDJWELXP0Ho4vfCyah8bZcKTfLqW2Qo4nAFcfEDR5_xR1tnzqLry0VTVcK7XXKmbFSM83w9VrrAmspjjjYAUFrn46ohqyZi-C9HMkBNV3VQZKnTEQccEHelKnmFMQbwx0CaGPDtrM7PP93YNkOq-FiO--9byIfrn-NFe3W4t9wb8LPFcIFLtyx7ZjdCx0z-WySxlfMD1GZGbT9aVR55vLV7L_hJimaAebVj2ULM1hrP6zG69U3RCEPrMwmsAaB0RLmeJfTQ1Zt2eg7dgdfhzlEM7nroQR4C4B2N5v0HfUliMhL-WwFebmqkUQkcB4AmALgRg5LeDbd1qysOL-VpfSbtaW5Rw8zaOYhhcqwLGBZDXzZSEPuAfzzOA1XYX2TybGHH_ipS9raOxHFg_c-U3XhOhm1EZGfcryZC_7shNmVyXmaDqWoc99r_ihh5ZrXUuWre0PInIFeXcC8MvdZ6g9KGiKt0yxr3Xzh84I2j7g8DPH1ZiV4ZCxMmn8cnrIvEF8dSjvg1ZRoYLVa1kfTUJ6UI2Gcn-QGVt7OxQf6VRm3nhCuAJt-sVwy6zF9dklwZuOGhklPlhwx4_Ns2qUO7hH-fXo1jdmB74BdEoIVO-OegLYY1R3-vqSkuQcSGFYgeROjmHWXScu9yLKPilONWk77p7jCN2egWZGK6Zmw-GaMmnFJpi71e_YFRN-i9EfKJat9VGHu9621FrtlnhPC47-OZdfvSYqDiAD1spt0ejlNbqGflQEymvc8DLk07pUC67sjDmJQY0SRmR3k4-whmLjnm-rKUgwrf7TUrgF9EL9bvQinKTK5VkbWJinjbMojVwYKXc7_Hy1KNPh1FKWV7_T3uFhm9PYQ7W5_R8SPcxE7-FdZpTFgfbkv4z_sWCq86daY6UV3w59_2Dcffew2X6NinsiR_8mK6R4syEGsn8GIvUxQs10J2ZK0RfOKKPxRmTMudjkW5tJpqT1ZMei7KBbPBsCzCPo1SQUBVtL9WqiOxzyzSq63Ce49VIY4YUO7UmSxeGKWFwKcXHozuKDJph6kBiHDdGs_NNSwZOXk3pKpgekDh-dRmNBwkgcJPBSeZRyUARyfpwslxKTBzlE-XUe3x3rTE9zytuFOEZgWpaEfquGsvlQwEH3rATByZrf6WaTmYfpqH0BNCj_dOMGufLo82UN4VDFInL_o_9W7maUNZQko8ZfV_1E0ntaB07j6N75n4K1-UDvkq9Wem2XA0AP_wqhKSD6ZQsmqtvcgncTjmOzxXzw6W3BvMfUukofUGZlcTkb9f859JS3CB0c_ZU1bx9_0l7YXYc-Uf2JxKzMq9FV1r_CHae_M-rWqOjtIQln9p5FK5UWQmFn5Xs4FKFP0bK44BPRS1AX3_76KiP-7H3p2jbIU1GUm_iiDFxT_P1lcOArnV_fJfm2NAf79uvR3oabrIVlLjge9qSVd1Zt3RoCQLkNUaeJ5alka0cGeg-p0ZIWQscuOGzUqKk7lPo7d1ScbwHpXGzqHQ==",
  "id": "rs_0446e5170a8d8d65016ab43badceb887d09792dbf7264d5dfe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.255,\"left_z\":0.23,\"left_yaw\":-1.15,\"left_pitch\":0,\"right_x\":0.36,\"right_y\":0.295,\"right_z\":0.23,\"right_yaw\":1.15,\"right_pitch\":0},\"note\":\"The ends are aligned in depth, but the inward commands are again tracking poorly at this near-sideways reach. I’m easing the yaw angle and bringing both grasp points back while moving them inward, then I’ll restore the coaxial angle before insertion.\"}",
  "call_id": "call_J6UE76ofHk6lm9aoXbmC4NFv",
  "id": "fc_0446e5170a8d8d65016ab43bb2153487d0aa1476457402b48a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J6UE76ofHk6lm9aoXbmC4NFv",
  "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]: [-0.2268, 1.9629, 1.697, -0.7864, 0.8272, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.49, -0.8356, -0.7116, 0.074]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1849 left_yaw=-1.3284 left_pitch=-0.0594 left_roll=-0.0711 left_gripper=0.08 right_x=0.3909 right_y=0.2662 right_z=0.1957 right_yaw=1.3421 right_pitch=0.0282 right_roll=-0.0043 right_gripper=0.074\nstate[joint_eff]: [0.0479, -12.5744, 7.9658, 1.0574, 0.6862, 0.1148, 1.033, -0.4308, -10.7282, 7.4598, 1.3797, -0.569, -0.0171, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ca71cac5dbcb01915504bdeb89af9271eb15459998027f96011c2e0d4b6e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f49bed875062ea194fd35833d80b9e951e560ac8cba7d6b52e850440dcd8d96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffa7d089c1a3c9851267e70bae88a465d61dd373e12a9bfba689c863afb10c0",
      "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 · 3.168 s

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

message 79 changed as sent

message 88 changed as sent

message 93 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.9415, 1.6115, -0.7334, 0.8841, 0.8986, 0.0786, 0.2958, 1.7809, 1.4208, -0.4751, -0.8646, -0.7231, 0.0671]\nstate[eef_state]: left_x=0.4247 left_y=-0.2114 left_z=0.1764 left_yaw=-1.3542 left_pitch=-0.0171 left_roll=-0.032 left_gripper=0.0786 right_x=0.3897 right_y=0.263 right_z=0.2032 right_yaw=1.3543 right_pitch=0.0569 right_roll=-0.0206 right_gripper=0.0671\nstate[joint_eff]: [-0.1026, -16.3761, 8.3624, 1.746, 0.6471, -0.1099, 0.9353, -0.1026, -13.135, 8.9504, 1.4432, -0.2418, 0.2369, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8139, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8352, -0.7116, 0.0713]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3284 left_pitch=-0.0599 left_roll=-0.071 left_gripper=0.08 right_x=0.3909 right_y=0.2661 right_z=0.1956 right_yaw=1.3418 right_pitch=0.0278 right_roll=-0.0041 right_gripper=0.0713\nstate[joint_eff]: [-0.0615, -12.4786, 7.9658, 1.0281, 0.6667, 0.1734, 1.033, -0.335, -10.6325, 7.4598, 1.3407, -0.5348, -0.022, 0.8571]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7864, 0.8272, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.49, -0.8356, -0.7116, 0.074]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1849 left_yaw=-1.3284 left_pitch=-0.0594 left_roll=-0.0711 left_gripper=0.08 right_x=0.3909 right_y=0.2662 right_z=0.1957 right_yaw=1.3421 right_pitch=0.0282 right_roll=-0.0043 right_gripper=0.074\nstate[joint_eff]: [0.0479, -12.5744, 7.9658, 1.0574, 0.6862, 0.1148, 1.033, -0.4308, -10.7282, 7.4598, 1.3797, -0.569, -0.0171, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ca71cac5dbcb01915504bdeb89af9271eb15459998027f96011c2e0d4b6e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f49bed875062ea194fd35833d80b9e951e560ac8cba7d6b52e850440dcd8d96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffa7d089c1a3c9851267e70bae88a465d61dd373e12a9bfba689c863afb10c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDu2c4iAOJBpe665P3trkbfVrlcWb6y2-WxTP-zGXkVk1sWdsMHfD01u0kGoYFVOpdRIa_kGSY5ENWyXiV2Yu5QX49YgANEqICZd2uE8a4k7hSynZvRMETDp9Du-qTedQ2FeKTCf59wmDn_FMdroMlCrAWIXed6Vn1eXszqMDp_OuQrpteBTm2mPK9e4135qkHqc-iJeXr9DulaAHkaJuZMC6htyk7_I6Hlrl58Q7Il5ehWbJI7Td6X3BQ2UQDtVTuwNqavUjQmMZX2zf6BnN7gPemTbxFMdB3QHzrhgxRIRwoXj0SNZrFj9Wm_r4jqXba0CwVJ7vxf1Atu2GKA1uO4Aj19u6gtRw26YV38ApfnMbtR-AG-XrFg6GGg5Ve0JQqcHuJaTWNMnCHLkqN5VVmplXIVPRGz1U9ZSeOui8xGpjyiaNqL4cIIv0229Kw079Cn_x5jLXwoU62xIuJlDoupjmyiRofhJbRO8Coe1oO7gpssHOlGFZXGSt676kV2pXbatqQytjHQpmHfBeHPGOIEFZVpFfLrpecdpjqrPxYUrfaY1RNATqqSscp8ra5gQbKqMpP_WeoJJEVZ9zFy5RPdCit1hZFYVRq_9qaedY052K52_B66hyi5HMyIuWaBFJeqHMha88AJvnn69CJO-OZ7woMpJE_2YxWkXg4SrF0_a3M0RLIjS3k8380g7-lFdeUFGqr_ctVO_W4H2ARXDwdU2pYeaOcb14LUVl6w5rKUwSBINFX1s5pmwqTTKDUiqntGBnYb56bX1YwQA0Ooi1m5w3GsgHzBYYI2ndNwC4MSA9FA-hPWXjFgU_Uw4tCgs4mbsHimeOphAvfzA0GYJMbofiw0ETY2v8Y-1OWvYeRmXJzDo1MhJmmBXs7nPKqiWRs5Nzsu57w9Azx_J6rKkITlMI5WnkZOxy2CqI8RU0Sa2rNOSgbqQ8MueqebXZ70Md6ekqVSY6YTe_uthDzEtvGvc4YhT89oPCZBGsRnV8qsx2iPyT4Bf_TNEE_Rm3Wxbb8hxEVjgOGZFi2hJhHqpFiCJHdyTlYssCgUwjztInNR0NyjhXtZsed9efqDvURzNVoppP6hUY1P4CbZZ4ZXxjOuJ4J_70LPsJ-4crTDrcmNuRhIztEnH4WAFURPCBhyLSmYz6Zn_DIDKSUaWHaQgRcuqdqmKnk_4FMsWLSaV77TXvSfbcVxHIk4to92bD-ptqBO8RmQ3xbXkw0nxUwPiAzZnJ3oA7rY348sK-5jsmwHV2FQWgjORKNJI85toY7TTGjBg4jY2vW8WxA7CHP4VfYJS9khTRJwY3pD51z8UVobig0HAd5TXldORtHfsbAfIKySVARg-uiEYXw3-1pUWRMczWA==",
  "id": "rs_0446e5170a8d8d65016ab43bb4edb487d08c13fd84943d6fa8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-1.0,\"right_yaw\":1.0},\"note\":\"Neither arm moved on the combined repositioning request, so I’m separating the steps. I’ll first reduce wrist yaw alone to escape the constrained pose before translating the grasp points.\"}",
  "call_id": "call_M7qCS4BBajggz2BcRnBJEnc1",
  "id": "fc_0446e5170a8d8d65016ab43bb5664887d09e154b857c6ae9b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M7qCS4BBajggz2BcRnBJEnc1",
  "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]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8356, -0.7113, 0.0757]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3282 left_pitch=-0.0599 left_roll=-0.0713 left_gripper=0.08 right_x=0.3908 right_y=0.2662 right_z=0.1956 right_yaw=1.3419 right_pitch=0.028 right_roll=-0.0036 right_gripper=0.0757\nstate[joint_eff]: [0.1162, -12.4376, 8.0068, 0.9988, 0.6471, 0.1148, 1.033, -0.4718, -10.7282, 7.5282, 1.3602, -0.6032, -0.0122, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e020e90db2c1637ae77727fc2a1b4379e963bb14a974f3f59936659cd05daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b246428aed93a87a19652693424ef7bf158db5df325fa9caa6c3626977fb89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540e75b55c194352225113b6975f5c6ddecf4c2e18fcb60f36584cc34053bc83",
      "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 · 4.158 s

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

message 83 changed as sent

message 93 changed as sent

message 97 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2195, 1.9377, 1.697, -0.7383, 0.8066, 0.7952, 0.08, 0.3134, 1.7798, 1.4368, -0.4877, -0.8036, -0.6708, 0.0684]\nstate[eef_state]: left_x=0.4358 left_y=-0.2242 left_z=0.1988 left_yaw=-1.2967 left_pitch=-0.0414 left_roll=-0.0129 left_gripper=0.08 right_x=0.3932 right_y=0.2649 right_z=0.2022 right_yaw=1.3041 right_pitch=0.0208 right_roll=-0.0026 right_gripper=0.0684\nstate[joint_eff]: [-0.4308, -12.041, 8.1162, 1.3455, 0.7253, 0.188, 1.0379, -0.6906, -10.5778, 7.3504, 1.5849, -0.6618, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7864, 0.8272, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.49, -0.8356, -0.7116, 0.074]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1849 left_yaw=-1.3284 left_pitch=-0.0594 left_roll=-0.0711 left_gripper=0.08 right_x=0.3909 right_y=0.2662 right_z=0.1957 right_yaw=1.3421 right_pitch=0.0282 right_roll=-0.0043 right_gripper=0.074\nstate[joint_eff]: [0.0479, -12.5744, 7.9658, 1.0574, 0.6862, 0.1148, 1.033, -0.4308, -10.7282, 7.4598, 1.3797, -0.569, -0.0171, 0.6862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8356, -0.7113, 0.0757]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3282 left_pitch=-0.0599 left_roll=-0.0713 left_gripper=0.08 right_x=0.3908 right_y=0.2662 right_z=0.1956 right_yaw=1.3419 right_pitch=0.028 right_roll=-0.0036 right_gripper=0.0757\nstate[joint_eff]: [0.1162, -12.4376, 8.0068, 0.9988, 0.6471, 0.1148, 1.033, -0.4718, -10.7282, 7.5282, 1.3602, -0.6032, -0.0122, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e020e90db2c1637ae77727fc2a1b4379e963bb14a974f3f59936659cd05daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b246428aed93a87a19652693424ef7bf158db5df325fa9caa6c3626977fb89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540e75b55c194352225113b6975f5c6ddecf4c2e18fcb60f36584cc34053bc83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDu5pjyOl4VTO9-gIYAc6-sPgWQduvIaMYFQ6kgm6NshUzYAbtyTYvMfmErdhZ2HQ32S6m1Mf8jNeoCX0t_wdYcbgacjT-W3Zdfq_eDgao_n-GkeUIaO-b_atMcc39_UBAkwp23op3WAQzvBOWe73bHDxv7nY1qvot_vk1aE1hb6brHMjf-8NilDMGoFgsSqO1TImpprG8IodWCAWsWGAWnPhjiBklTNX56BOEqPr6M1P_i3kYq9wTAQyuOHnapQoRM1FqvVAj9ak9qri6OIthR37ihHsR3LNRgrPMuJi32T6ndv8rcmMw0he40Ud3X2BIIJBjDx2J0lynz8qEhO9RjP-xmYh31QRYxAWKfeNddnqw1TTfMrNXrGOf2gx0VSh5WfLFcseTE-E7CT3KaI8KAgJOqfLM_YB-wW63FdPYuKn6Intfzk-sR-Eu7QnnaAzigBtmLhm5zDdjA-iMxYHrBcKMUISF5h9xroXzBw38CryXi9R4Vm8TAvY4Bazi4KlWMGpNcoeIue47yh859UJ1AWIFmgcIR24Adk9xxl0O3y0XT0HRJrfWlnMf-7VytZf24Cm-x5_2OnSagVSkrC9gm9HhMAVrtesplP1WADaJig61ia-fd3sKoLHESIyEymAYfNXeNioIZOWRfMew_vCxFGsN_v6kSBgeqXPdyh2v97Ij7UTZfV7JsR5r9_kYkOspLOtHbE_1hPP4wGSjj4JI3F3NoTDlv5aFcHFV8y6RVlKiQURlWVtAnLMlvwa7a7H6VhS-e4vSgH2hhNBLfb6RCDAXBJX-d1GcZHvf1e_-GaJVhH2JOZbD_JL6snehYMMA9_bsFVRpCdA9-y85jgbqJ7QldiPRrRTZANImhjhLLxwcCi8CN7PgwxZi-Ms5vlAPd9aughQ8svJ35mI2yicxfLqmsYUwRc7dehP4f-fVrchJ67PPlV56NjTSvpMkhZk3z5uEcGtSmgTOvNSbp2ZhImwzNpXziAZcRWmmKG8x6UeTWlPIB1e1yh-LvkQo5AzVYJqhRtdyZPAupnUna-x0sZX6bvr--gUd223i67IvRm4e2rJyIgVwRDTpQV-DQTgBTsJtxJcJtAm0pb0H51f9WTPj_PMI1PQS_2jVSZP5HpzKv6sa_5-Hba4lBlQbXMNnTTUY26sYPXGqIEQlZaGjB46w_tXcSAVM3q_R2GPkXpybOuh8AiUs_bQtU9uChDM5vuJcRNsrZ2k3ooznnHFldBZt00P-qYXA1MYTIQ5p4qLE_9AkrzUw_RjaQ8A81pWtFpsceY040usEWyhPMPzm5XkI4LPuP8T-TTrENSifNxNVOsvMI_otMt5eJQ7w2-xcU7ta4CgmYcerjEsaFGhL5FCy1dG4U_xhRT5L14AHFy9WF6jxpVkg2qN-_zHlntutttOnvxEdtmztVEiheFRSzWmmSL-pZYdoHoVDIIQeMhNovfmOZp0dksdIRhO1OtwBsarg-iJMozR5xvSXUJAJZiZ43Dg0MqJkeXc2oYc99USrG6vMaGIVOaBGq6vIPyUOBj",
  "id": "rs_0446e5170a8d8d65016ab43bb80ad087d094f3df5f5885cb1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-1.05,\"left_z\":0.24,\"left_pitch\":0,\"right_yaw\":1.05,\"right_z\":0.24,\"right_pitch\":0},\"note\":\"Yaw alone also failed to track. The earlier successful escape combined a little lift with neutral pitch and reduced yaw, so I’m using that same change of posture before attempting any inward motion.\"}",
  "call_id": "call_yS6dRIudKmbMOIAELQ1KHPav",
  "id": "fc_0446e5170a8d8d65016ab43bb8b39c87d0b220a7247a4da00e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yS6dRIudKmbMOIAELQ1KHPav",
  "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]: [-0.2596, 1.8236, 1.552, -0.6601, 0.7124, 0.6029, 0.08, 0.3862, 1.6901, 1.3872, -0.4698, -0.6315, -0.5026, 0.0776]\nstate[eef_state]: left_x=0.4156 left_y=-0.2261 left_z=0.1963 left_yaw=-1.1732 left_pitch=-0.0845 left_roll=-0.0865 left_gripper=0.08 right_x=0.3813 right_y=0.2715 right_z=0.21 right_yaw=1.1666 right_pitch=-0.0398 right_roll=0.0163 right_gripper=0.0776\nstate[joint_eff]: [-0.4444, -12.6154, 7.747, 1.6777, 0.3736, -0.0757, 1.0037, -0.0342, -11.0701, 8.0205, 1.8144, -0.1197, 0.2759, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815e3c6d316ca8a14a9e7dc04b5e7f9c2e48f4a78d10b0699b3fb434b1bc272b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a112cf2e66bcf8a8f76b9db6ef342ada2176cc1aa9a813961800420933e5ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf130d466470d7fb92d0aa29f7e06faecabc6eaeab5c4796d5a57a38d56cd80",
      "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 · 7.495 s

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

message 88 changed as sent

message 97 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]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8139, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8352, -0.7116, 0.0713]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3284 left_pitch=-0.0599 left_roll=-0.071 left_gripper=0.08 right_x=0.3909 right_y=0.2661 right_z=0.1956 right_yaw=1.3418 right_pitch=0.0278 right_roll=-0.0041 right_gripper=0.0713\nstate[joint_eff]: [-0.0615, -12.4786, 7.9658, 1.0281, 0.6667, 0.1734, 1.033, -0.335, -10.6325, 7.4598, 1.3407, -0.5348, -0.022, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8356, -0.7113, 0.0757]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3282 left_pitch=-0.0599 left_roll=-0.0713 left_gripper=0.08 right_x=0.3908 right_y=0.2662 right_z=0.1956 right_yaw=1.3419 right_pitch=0.028 right_roll=-0.0036 right_gripper=0.0757\nstate[joint_eff]: [0.1162, -12.4376, 8.0068, 0.9988, 0.6471, 0.1148, 1.033, -0.4718, -10.7282, 7.5282, 1.3602, -0.6032, -0.0122, 0.7302]\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 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]: [-0.2596, 1.8236, 1.552, -0.6601, 0.7124, 0.6029, 0.08, 0.3862, 1.6901, 1.3872, -0.4698, -0.6315, -0.5026, 0.0776]\nstate[eef_state]: left_x=0.4156 left_y=-0.2261 left_z=0.1963 left_yaw=-1.1732 left_pitch=-0.0845 left_roll=-0.0865 left_gripper=0.08 right_x=0.3813 right_y=0.2715 right_z=0.21 right_yaw=1.1666 right_pitch=-0.0398 right_roll=0.0163 right_gripper=0.0776\nstate[joint_eff]: [-0.4444, -12.6154, 7.747, 1.6777, 0.3736, -0.0757, 1.0037, -0.0342, -11.0701, 8.0205, 1.8144, -0.1197, 0.2759, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815e3c6d316ca8a14a9e7dc04b5e7f9c2e48f4a78d10b0699b3fb434b1bc272b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a112cf2e66bcf8a8f76b9db6ef342ada2176cc1aa9a813961800420933e5ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf130d466470d7fb92d0aa29f7e06faecabc6eaeab5c4796d5a57a38d56cd80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDu-Mm759DYaD80wSYJbTNJEAKLPo_FVQc440ELmJ7NPrWMX5pSA8IvcFqY4dHgZeD99hFHmWPTksw0RsU4ztUsLVVUmTqgx-vDHqqzbaP05grT9tI8wXI_3-IYYUJr32U4Pm2KUzBs8Z6uVWkPqrFq_2doSTQZxjeNtB3jhh0R62XAul5JVMUWSEIViggFSRcWs3NJ5vzOEUvn6UKCzbiRwkCShoPcVoVJQ5ZpzZkqzVCMBOS33TKwstl-wLJS9iXfym_Hkv1DJ-bg3jkpvgkXlwTK3sSJzdnzDpMfVyp3dpqDmwYWJu4zVeqDweKInO6R5s18991yGs6h3-6fq0-2nZL1MfnrZQzdGjZ8eY6YqhBAr0Qac9s89CDi955Rul0j873kmaCd_b7G2y2926NpbuPL2YEFVXy0uV5nnwXAvtsAApPa_yP-CNvtwmYNDUX5RXpAOhUnZusNJ2XigvlntCEPrLhsDIvJ0fN7uJx6ScOKR0FjxS3FNpmG92LCTOdZCqgCD-4Vuq2DLwdWV8bKDo1SB7acHxcuzzHiWH2arlgTlN4xUVENRUwrZeHVyEb2ar5sqIEp35nO2pH2YRS5T484DXkWUuoKnmcr5U0HRnzA3jBnMGPs-pGWO3zqxPUROdQOdUDWZNmqGkRHcWbqvd0YqBf-8UIduvifJRQEcs7es45GJLTZWpSdwz6CUga3OcRAGsic0v5lgal-qA4ucVNjgfSpmbhsOe6BuBAlDvK7NzpE73FjriTEw3l4tFnTTj5BECCr3pQeLs2Rb9sutkFXx8edCl95XvAhQAqf2ny7nSkHx4FZ3xUNGL62SYPP6QZdVXTryqCdedReHljGGT-QaW8IkGkbjFvgexBfzidW6Tl8K91yp4dRj_4P-ZrZbL1IFzEjj9kz4eGMSBN-ofeM95BwDmzg8azPQJ5Agjq7hiSow9Pm_xQ9rdgsD99Gen5coqsmUID4GgS4Hw5l3VAQf7UiMMJpW9WaoJBfsmg9Xn67nIKxMIZ_Od5pxZg6SFpg3nBcpTA94ltd9_hWe5eFNtelVy5lPBEu-7xaieNkHaW55c_4oRHAvBkRLZ5415a7hW9E_ZIgoTjOxRM2fKZwCno6pc_9Y_kc6ZUPTxoUx9sOpoMFpxtHZWf_yDF76bb2gkF0kqVzEa0iGHtm5nMyYc3qUYuZE3nc2v8EI3MC7CR6wG7vdTDHHi0sw8gh7g4JdCB1zVQoA2BHoAzC8BL5ZOi6A9_lrELdw-iIbXNGmfuaERX1fV_UcYGhngzo1HWcUyWOCfX11dlZbLFBnx7d46F9nrWybJZRzxvStij3JM3yU5AR7h_HndoZh7WhCMrfqxi1xenDVAu0Y8FVytr-r_EJQlGRAo6Qr49dwk6Q3qZQEoKUqrloEpq6X1Lut1hlkfjlKTbzzOcgLEuLIBAD_ceFKyUBxNvY2hEzG1R4Pa8adxlrX3Sha5Tf-znYPrF3QSUV0xKGKTwaYY5q_JZorifyvVBlonpvYBERbJJNqL9oWdr8egxj8M2r0TuI-SS2c-Apy_HWBbJ1qHhjViz6Isux81XO_W4hnUDDRufIJfyXWA3NrKHIIMj82ojoeWOFYY3EEuN_4TEHdwdTAREh7IuX88lMH4OTkyJJoUfjxpx0pG3ubueek2Gs1kQuvWCBv9m5QhoHgWffWzllFvOt_GBnosfqS-feuB4d1HiM1B80gBRSaicqJoMP3gT29PFQTlPQCXfCPmJ9RMumb-Qjbpa7mb45DDFQfB-ecHN19Am7hA7lwMyTCb4XGp3hleX8TOoi-dzZbW4UQKweXLdrbiqFziFAp_icEH3aHs8YmVRdjbqpIjrm-pLFi3R-Fune6j2xlf6x8UteEqFmR8Y-ujrWAra1B47WeImZoYU-1FyPdL5Cxcp6SrDYcQJgsSRRA0m7Bnb2gQ73hjRszSKyK8fpaH2PBYUOXxzYFZOiZ2aCODR9Mb7LJyLIQcwP9tstYev-7hwe1_-cgr1bFBg==",
  "id": "rs_0446e5170a8d8d65016ab43bbb86a087d083deb6a979bfa72e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.25,\"left_z\":0.22,\"left_yaw\":-1.15,\"right_x\":0.35,\"right_y\":0.295,\"right_z\":0.22,\"right_yaw\":1.15},\"note\":\"The lift-and-pitch change restored motion, and the two ends still have a visible gap. I’m now moving both arms backward and inward together at their freed-up yaw angle to bring the pen tip near the cap opening.\"}",
  "call_id": "call_tSHpcrqHiLcMxz6TuS6weoJI",
  "id": "fc_0446e5170a8d8d65016ab43bbd428487d09da3e7b7a8a3780f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tSHpcrqHiLcMxz6TuS6weoJI",
  "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]: [-0.3313, 1.755, 1.5036, -0.6243, 0.6445, 0.4728, 0.08, 0.4679, 1.6512, 1.3289, -0.458, -0.5491, -0.4271, 0.0799]\nstate[eef_state]: left_x=0.3978 left_y=-0.2453 left_z=0.2066 left_yaw=-1.1257 left_pitch=-0.0943 left_roll=-0.1121 left_gripper=0.08 right_x=0.358 right_y=0.2882 right_z=0.1993 right_yaw=1.1469 right_pitch=-0.0854 right_roll=0.0398 right_gripper=0.0799\nstate[joint_eff]: [-0.294, -12.5744, 7.1726, 1.4335, 0.4176, 0.1197, 1.0183, 0.294, -12.0, 7.5966, 1.7607, -0.2027, 0.1245, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7f73d38fcc74e069d88972e3735665063d4c721fb5f42a25044d6e0a94d7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7dea3f48e2f93759860bae87e38f200470a88dc15a1624c2f620b0c3342b092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126dafd5abf420d8527a9306e0cf7e49ca9e80d0b5e886bdb0fd2203e7c82bb5",
      "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 · 10.73 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7864, 0.8272, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.49, -0.8356, -0.7116, 0.074]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1849 left_yaw=-1.3284 left_pitch=-0.0594 left_roll=-0.0711 left_gripper=0.08 right_x=0.3909 right_y=0.2662 right_z=0.1957 right_yaw=1.3421 right_pitch=0.0282 right_roll=-0.0043 right_gripper=0.074\nstate[joint_eff]: [0.0479, -12.5744, 7.9658, 1.0574, 0.6862, 0.1148, 1.033, -0.4308, -10.7282, 7.4598, 1.3797, -0.569, -0.0171, 0.6862]",
      "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]: [-0.2596, 1.8236, 1.552, -0.6601, 0.7124, 0.6029, 0.08, 0.3862, 1.6901, 1.3872, -0.4698, -0.6315, -0.5026, 0.0776]\nstate[eef_state]: left_x=0.4156 left_y=-0.2261 left_z=0.1963 left_yaw=-1.1732 left_pitch=-0.0845 left_roll=-0.0865 left_gripper=0.08 right_x=0.3813 right_y=0.2715 right_z=0.21 right_yaw=1.1666 right_pitch=-0.0398 right_roll=0.0163 right_gripper=0.0776\nstate[joint_eff]: [-0.4444, -12.6154, 7.747, 1.6777, 0.3736, -0.0757, 1.0037, -0.0342, -11.0701, 8.0205, 1.8144, -0.1197, 0.2759, 0.5885]",
      "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]: [-0.3313, 1.755, 1.5036, -0.6243, 0.6445, 0.4728, 0.08, 0.4679, 1.6512, 1.3289, -0.458, -0.5491, -0.4271, 0.0799]\nstate[eef_state]: left_x=0.3978 left_y=-0.2453 left_z=0.2066 left_yaw=-1.1257 left_pitch=-0.0943 left_roll=-0.1121 left_gripper=0.08 right_x=0.358 right_y=0.2882 right_z=0.1993 right_yaw=1.1469 right_pitch=-0.0854 right_roll=0.0398 right_gripper=0.0799\nstate[joint_eff]: [-0.294, -12.5744, 7.1726, 1.4335, 0.4176, 0.1197, 1.0183, 0.294, -12.0, 7.5966, 1.7607, -0.2027, 0.1245, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7f73d38fcc74e069d88972e3735665063d4c721fb5f42a25044d6e0a94d7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7dea3f48e2f93759860bae87e38f200470a88dc15a1624c2f620b0c3342b092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126dafd5abf420d8527a9306e0cf7e49ca9e80d0b5e886bdb0fd2203e7c82bb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDvFKWJB0nLLXhGxjb1OzYLbyo3lG0dh8mBTA68PSTOUjN3N3hLsHzyrPc0q_pUcS21lKvS6TTxXAVsopWcrMmuhjqARlWoDND29X-nkqLgZbe0gG11nAKcnoLqLIpK4TjhANM0dDpKsOMvKFHhGS5Mi3tQKH2DNTkZTFTkkiNeUefMxpTxhg5f3Phl_IXbQwz-Htg6fA-9c_K-LKs5ridU9dwVnQMsiDSf_P3Hcxj6QN3E3fDiaietBTN72Zt4wycbWGA2gln9SwUS5XS0Cyuy1RpudLRKUsWxLoxLPNhYhvPivizFJPQfTbHmmTPHjv5VqYfAWrxK6tMO0T1ut_q5dKtUBw8wL_KmDLdCWJvE5_LHRgvycweWRVCbKi8ZXE5s0arkbiYjlo9Lph_y8O4_pKV1Kp_YeeDVQ2gzowFnT655gAFCQs5McHCjysqLiBXKY0K_5DzLFaXsDRhxO-mF5eCr0bsPsrFFghncVkHHwaHyOHEqExwDZokoYXr-Cyi7n1F4FtsVbLz8msJ8Al2Swa-ak0bBlHJig43M8B70we1XvCxMv8yrnyoykSYMjBHZmq5LT5W0OV-dXlc8V1XZIEBBwArMAmdy0BSQk88Ez7zvXYCgHdvV8mM72wRoVubRq-YJfWdAKM836gEHlZLD243G9uuKSCGgAOZDsJNI3Yv3p9dwfCWqr8fwrvRjlRDGdXwuA-OQ7FbvhdGfMzr-3gD-kdSrH8Dr7VQR9jLySCgEcU3Lpz74nVoRKxsEtmA7C79tnrxpcj4B39SLqWmJDjA5BQVIJAu-1j5cIeFWOMej04-6keu_-bXevdmv54E-qWqJa-EJ-r33nBP-Hh1g_b1lUFNwPJCkDmXxIdFs12LZiyLuaAt0HhdsQSlUW3LJqxyUT-TSh9cNOPzTJaP4M28x4O3mNa-mCX4_OYd8iF-RvYpApsjKLXMqI2IqY_ZO6M3C5T-sDoxnXUedvtU4tNBeZrr3eWT-I6IAfVcEcRpdmhHQpMni2ITaMBNYwzLzwfeOVD8aSnUEpcI1yKsAjwvWif4jf4GEOhPi5EefX_JTPkfP0ca7_9itU3JSrAQdcIi3IQJUiq6xW7eufEyRsJkJ9kSMzzVwyojEVXrywR_XQtNUsLid7a0W35_x9DYiR8Hg_rtT9eYarm39jBYLqsrC7m7Subz_tL2dC1dDXYLVvk935h4-lk3QeMvMJsMznpoQ_apiuG2SLNQgI1DjAjUvHJm_jO48S9qIMGBv0JINcOiP3G_83oaobaPBa0TpuTvp3lVbRsw4rK5ixX-5d6xbdgg_-CgdEMCUOkWWwoaLde3tX63HUmgyqntgeIkH1vooAiAPaMvN9DY6MuFa_zqhalGAV5mtAm_fyyTaOjO6ErVHXEcaDoCKuO2GBOjoOIW_AJhgKCEqKKBJig6OtBnCwnSP14SlrzPU3koGQ2utSWr7GWqzXv3Vw4j85wY8FSDUV-om3mVYRT65jNeQ4KB2L6pC7fhGwUgE-7yCAJzCEMnS0j10rUeFMQlEpkid1gKp1rKykoY_fy0xjp3VlV7P3jgFW2Dpr91ID3amk9fSKL4GT03WnA-JJ3MPiY6GaCpgJqIB1SqDlDcUIih7dxFYDm92b68GzC5baDtUwHhAdfTUsRpGUkSWoaJZX0XKFp66qIbca2dzupQ384rsMmyrXa8ESp9lBw5FmspV2HCqGwPWsxofo_jhUZVg-_iP_rTei8FQA9gKcm53oyx70jyt7gOFO7w7Yjsc7esVPTcNKyTYYbcN6WkfnnmnuW_Gb86wVaprIFExiw_MiIT0Lce_j4baf1-_uml-Sw4GnRUjuqjnU3MpeS4kQElwEPhT8yam0vYA3dHdJ7rtorNk5DKoyD7R8Jo8tsN1jZma6i4-35DPcAFTx6LCnqV-NNXtDghXPy3vho4qaBkDc7r_0zRv9muanKuSydWyqyCGOSMjhNifSXM7d7qpl9WUAuqS2InmAw3syjUSU_ySizKaXRRAWiczj9cEBQ1p4uWlvSNLhLOCJ-CeGpRF5MggD2whNHGAAE63pJ3rOZEaJDIVBt91TjMn0hYOVTLcV68EGmjBsgmaLLgJpiOuwt7GMrXmmXRUtP_aFXBBONWdaUxa_kbIShMPlbjse0c2S97QzwVQIys-evsXF716_5iyRL_t88N0FYybWpvqaLZjfqU1NDsu6M1zMvA6k65wReaxjLHBPVICdbUMPqvmHWdi55mBnb06PNiDbXRlilqyP2JSaFw0BAj1n3Bg4RE6SfS-YIexdLX_9QVX6oKZMNYHbk4FEz1kBgvULwU1NsNx36gTMmAb_k8NlK4YsjwRk18zo3yEp8R4N7BWR2BvxRwsbtNl5A7QbOayni_eEcDMuY-GPf7cVrpztExpilGwIFN6uRnpGxrYCydsdkl2oRy1SIVxVtp9MUljh4KEe7LD2hlzBRxKAXHuqR7x1APbBx3uivHnqIJ6Qc0hsXSPip_iLLwywPsGB8cpcaHIG8RBm5zWXz-DEbW2bTOJ-88imQ_i7oxVmXLF_HNzg3S8ElAVBPT5a8jz-eass1_XgqKOXYCIo-4UNcsfwpmDla2DLZfTyjy5niGzz9liy079FCi-oAwxTShV5qouHNKMVFDwizXZ377Ukx3oRLCUMPtwRfumNxEClHzw36ssy5UJcdTTVSepNgdFXqcL8bb4zpp1jQtPEHlw5qU7Wu6qPo-UPk-36vO5RvteXVUBY-59k7cGlMkgOEPiBoDKU1Y6vicA0DFuc5ODW-Ktzz49Uva0tUx_Ibdq1ej6vk63T0O8UTAUPBR9zzQf1K8KiG0IedfLlJ_4IabXXs6zQaecRKDc9U6x5hiopiW605jR_4NLTyCSJd6IuajgSPpku9q8aScA7GspNlIJEpif9jliekGxzL5RqeT_0GOYF_9gLWpfP2YzU53jjI5kFpm8_Bs93gRs7FTu7KEZLC9ni7rZhN3UveUEDuaYM25JYvzF-LEOidQ1EbW-NQpCdz_T8wRpzKJ_jolJkkYB1B-tZpomzvXD-KY4caiM6HRT4P8m8HWZy5YVXE7pfQ6NTmfBUgdUV0xrcashY4YGJAzrW5OBxYUILGLlCNHiL_-zwFLMaLkZJjMrbAEsqOuvNnoW6t_PBS1v9H0tAE4lChQattUoPmZNjjxjta-Kpzvwwt-yx1Oe0JoQiBd08q_2L6GA4j9RWEsMcdHxeMmtQyw2DX2Hlc6hDB1s7RmbEXPg7sAta3IX7IPJlt6tWaFO9ONBaKIyYsPd3aUUWQ7cOHw4gXtdVIkyH7DopasA25EqNHpEzfRcKlttnObf5-79sAX68xlPSpzobvrjdRNACkXfsYW_5nKiIx3SDvM-ZB4F4VBdArv0GEsbkazy5dLYT-5hsWlk92y2uVYH5XwqxMyuQxCjMz35wn5Z3NFl7VXB4BHYflJSaI2bSJTiJIHXcKRTcZ7hymLJ57_16IPzjgCGrlVKR-SgnhMI5seh3lhOoQgobccL-2imZSue-JUC5itRPBy1n6ZvTT9ZowppjOTsi1QLg-UuTJYaRkdpuJEOn4qG2oUMS36yWfeVQ7B6jUo0CSw_S32uI3AZ3KA==",
  "id": "rs_0446e5170a8d8d65016ab43bbf7f4087d0a8b0933374ddfef3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDvFYVuUjuH_t8TX-0YbaHB_cWTHNymKtk3gJOg30Xw81qTGjG62kVfWgReSudnbwUm9MI7Kos_VeFHENAa7EoLTGC31uMTLyuvLoC_rOFPg4F-ihOtOpU8ZwhXLwLVxq4ryXD-eWvVuuPQrrwJlluyz4ySAsT3sfLopJCqQYN2K7n0bG4FmnvkkGLcUdXNStsZTOEJav2dj5y-Tse089G4foAR4OzUN7xxXllSfw_izxmdz1A6XSK_noKXCQmX7zzRidpn-ln6ZdQYZBzK-K1ysewFZ-fs8cT52cqJTQ8dHZ0gJLkSGAi0weT7ZqKQy1RRjhPbNjk6XfDUdg1PhyFsSrmRIdMEGv7A4uc-_KS4NRhtWyBU14fqiIflKty1cqvsrW7YuHy-AJBr5o6VFU-lRwu2gJLpXi0_DxAVL2V_8tZ9FgfzaunzbGlqshiwwRCsKTb3Ogpchf0zFhzbpOSf-RaOeftJ6eC6rO0q1raN_zx0JOgiOpjPmaMsBiT5ReZuAl3WdWaloz0JqaoUS_BdMnKVSUBhVcDVmh6NjbF0rKDsvbLzx1Mr-uAEkND0ARExJKJRnG6ZYaiFDqE-ct2QER-0QEovBNYBXq1fmz1SAq-6IZwxtGdSnnyxYD-uf4_1ri-d0GfpV352lF8xZdAqGGRa_5eqthpS7NXFShmqMFF2YlalxtfukHlh_Fd8BIuloPBaCD7XyWzEC2PBWKQbpV-wssJ7tZptLaxXfGeHXjNFYIWsA2a4Fwztxo9MohZgrDdNnoCYqw71JRyNDVjFg6UohpuKmSm-NeGlvIstSrx3OTuzxOnxtObhd1n9Y0hrDU8HQm3If9T0K0H_X1W7w1aet9pShTlAVtBO0A2lhfMGrdigEM6Z6TZQFGFj0h76dOa0kKKbFoHDrrHe08IFs_QJ6v7eYRJ65mV9J31ufUvwv3h1PmyN9mmiAXYq3vLdAmj9ruagaDDMk2XWzix5bsj0JJKcwXlOFKBg8rv30-oONb0-t85kLlNFp8XCpF84voLo9noYYCd2ybZRU-VuvzQCsDWbsgdf0q45riohLYwNhZ18LMcR9D92CEqL2X71hvYFmYfj4gz1drp5u8gE8f0rbd-opy27sLBDWjSCHJRRRXaMHYntdKZIL5Og4NhI_A4fA7XKO8R0nNroHkjFLVfSPQuulzoTIJlnHEm8yNV95LguBO4-3eukVrbALzPPoAF0KRdw6BCdNm6rw-c-qzi3YLDlnBf-lwqOV0jJHblzZRUrU2Qzj6ZYhuoK0r32czPJ7VgBAAWWqY3y0rBKQLOT0-uQIZ_ygtNSPZNDhY5cdcd-OZ7q_QzdL5ClNH8DQbaJUeghijNlhaQg59Il8herxsuHSgIJJk2ktw84BrnUr1V_UMqUhTYRvprHFWG7qmp9oRmZDwURTw0UDif8NfvDNBsUK8SHvDET1PgK7y30GaOAudHHKSK61JOwBz659wIpkrHrRwRWz-kNUsfaDDpoFtI3fHyH2-bpTRsNldHcd2SPA77oGCEA4hZW9TB4-Jtcb7mJcfq2Zy7O-vzGv1190z1AFO3GbWVBmln1fXxhkSgw3t95HdD35vlr4zjounGcYU4ufn1Y9Y8rbEx6Ldq5Uuw6aeA4qgovI6udJkrI=",
  "id": "rs_0446e5170a8d8d65016ab43bc40d1087d0abfc449ca79e2be0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.262,\"left_z\":0.215,\"left_pitch\":-0.08,\"right_x\":0.358,\"right_y\":0.305,\"right_z\":0.215,\"right_pitch\":-0.08},\"note\":\"The pen nib is nearly centered in the cap-side wrist view, but the overhead image still shows a small lateral and depth gap. I’m moving the cap slightly back and bringing the two grasp points inward by about 1.5 cm each, keeping their pitch matched.\"}",
  "call_id": "call_vXCE7EDrUE95S8U5ntNRxQzm",
  "id": "fc_0446e5170a8d8d65016ab43bc4ca1487d0a3f38844214cdb2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vXCE7EDrUE95S8U5ntNRxQzm",
  "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]: [-0.35, 1.7454, 1.4982, -0.6476, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4213, 0.0823]\nstate[eef_state]: left_x=0.389 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1133 left_roll=-0.1198 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1728 right_pitch=-0.0838 right_roll=0.0429 right_gripper=0.0823\nstate[joint_eff]: [-0.3487, -11.6718, 6.8444, 1.2967, 0.2759, 0.1343, 1.0183, -0.7453, -10.7692, 7.4462, 1.6435, -0.1734, 0.1343, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084cdc55127131981dc4ee4cd5c5cf2256d08387d8ba0dbe54b2632028c1ccf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350304b05183c6a3fc543e22c23bee369542ad544f9ed47caef7b55dfcb3c658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0dd94163cde99a3ceb8ff9528fbec75b302758d8a6d50c14e449a6e122333c",
      "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 · 7.004 s

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

message 97 changed as sent

message 105 changed as sent

message 110 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2268, 1.9629, 1.697, -0.7868, 0.8268, 0.8135, 0.08, 0.3092, 1.7973, 1.4322, -0.4904, -0.8356, -0.7113, 0.0757]\nstate[eef_state]: left_x=0.4266 left_y=-0.2282 left_z=0.1848 left_yaw=-1.3282 left_pitch=-0.0599 left_roll=-0.0713 left_gripper=0.08 right_x=0.3908 right_y=0.2662 right_z=0.1956 right_yaw=1.3419 right_pitch=0.028 right_roll=-0.0036 right_gripper=0.0757\nstate[joint_eff]: [0.1162, -12.4376, 8.0068, 0.9988, 0.6471, 0.1148, 1.033, -0.4718, -10.7282, 7.5282, 1.3602, -0.6032, -0.0122, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3313, 1.755, 1.5036, -0.6243, 0.6445, 0.4728, 0.08, 0.4679, 1.6512, 1.3289, -0.458, -0.5491, -0.4271, 0.0799]\nstate[eef_state]: left_x=0.3978 left_y=-0.2453 left_z=0.2066 left_yaw=-1.1257 left_pitch=-0.0943 left_roll=-0.1121 left_gripper=0.08 right_x=0.358 right_y=0.2882 right_z=0.1993 right_yaw=1.1469 right_pitch=-0.0854 right_roll=0.0398 right_gripper=0.0799\nstate[joint_eff]: [-0.294, -12.5744, 7.1726, 1.4335, 0.4176, 0.1197, 1.0183, 0.294, -12.0, 7.5966, 1.7607, -0.2027, 0.1245, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6476, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4213, 0.0823]\nstate[eef_state]: left_x=0.389 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1133 left_roll=-0.1198 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1728 right_pitch=-0.0838 right_roll=0.0429 right_gripper=0.0823\nstate[joint_eff]: [-0.3487, -11.6718, 6.8444, 1.2967, 0.2759, 0.1343, 1.0183, -0.7453, -10.7692, 7.4462, 1.6435, -0.1734, 0.1343, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084cdc55127131981dc4ee4cd5c5cf2256d08387d8ba0dbe54b2632028c1ccf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350304b05183c6a3fc543e22c23bee369542ad544f9ed47caef7b55dfcb3c658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0dd94163cde99a3ceb8ff9528fbec75b302758d8a6d50c14e449a6e122333c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDvQhRG_-8aVYku9y_zTTVSGBwk2wNReJITIBhJass1-8ynMASQPWi6k6J3VXS_HF_uwIAcnmx0Qop_ep0gbK271QC1hsaBruvmoETU-ItgcZLD6BPQEqN5cdJyVR-mlnw0QaX7siLCPtlLndnFf84xNkoUs8Klmox54fArF4I11jGzHhmF2HLvLIIlQiEig2bdMiWbXuRPS__YKIZfv2KMMUqUnh3SflWJn4RqegC1IKqte1wcpqNmcpsB36ONFXmnCbFkVm1EIsSYNBEE6BmN4OcGf3-ZrLdO18PyjnwB1LHDVtBw1gLe9XrloAjHiCu7_CgjAqRAv5hswj0wor5RC_zNOgJDqbHZPxZiidrAN4MJV0R_qgp9f05Var1X-rvzJovEXJ846PmTDWJFPaXLRsaESjQfo0N3EwhsGJy6D6QrX_ZFaXq0QFcgx7u9KKeI_7No2y2jPZB5Ay1LxbxQVNkzKphnnEDt0gX3Jhwq0wL5wmmoQ0ADteLk_etCL5bL41hVLtyDoe_I5mvQLw6mCwZ_orDyvozaq8VYr8id6Cw2C8f8iVr1_at5g7cTUrIVXSWI_5kHhE7Cfrizyf3Kydu5A7RvnvXCudeMN5RV0751G4HzONwgahK7CDTeftT04iqsAUIJmazKQZY6HBanHxgoIeixm7C7UugNMpUKrNX-FqBSaDOzylTDMHgU5kJBaVeE0Yx1_hc40uQZCy6hgDQCnNuwN9E8OQ3iwyFhT-zAgUU8cz_hL1ysVAwKOjOJsABVpLP9wZ1SlLcBNyk0Jy_tYF_PSBSuCT9NtBOBKdZedET4406CmzN0jUAkjj8kVZUzIkDoHHgH_crvy3UT51RVEx-bD9WF0nVu-WY-z3xwpOKC8cGfzBn4rb5uW77sJX40lxGZopSe058R5z4dVjf31fCZoiA9Repn5XE6hmCAG3cCvwNA61jK9qKRPV4hWRp122rab7Lat8pVMsSwsPs51-ZJIJNBefl5NWGDZjABtSfgDkfwZFCleHTu1PPhVWUms51lVY5PfgSyYecZkwOXfs-f_XOwJ87Z5DKc9Bz5Gd2TVULQUTnIQIwA4awW1abmDtSM5ZOhG7ofhXvDDMnIrxalSXoVdVNTttGuC3N0GnFCXDSWGCGI134_4WL_qrAfyj9xY3nDuaUeaugick60jr_orV06QiOnODWAFIOoxmgiTeuV6vuPKM2BZ4csDJJh_ScbIOD1BWkoCSJc4lrhwCWgM0MDXXUodSsHeNttYZB-6qbbX0wRu8SXy_OWRN0OQIOQEy9R_7CfP4oGTUEXQx-qp1YxQ83X1nPswdDkBr5a6y7DIRsrKqTKulq6jjUG_wRzhx3FbsLvcpZSle6SfUhSSvbIAqkiDe2ZISqpRfjjfXtv842jrAMtqvSEJHV2FqKF-E1x6i1LJ5WHqNQaoFVQera5F8tZqCofXpH2JTqe1Rfj7e4kSjzV_BdFQFT4UJ4N_QI5Iuanc642i8MkP3B4yKvsxDLBHXZzbYKeTCEO60SyUNbROr-6VIERuXr9n6TTRJRC01ofTdLWEQQy7Kuo4xM1Ze86rHvIM2h7w6gVdzk-61m7cRWymA44DOWCfGF7hgr9nVKp-Y3hxcHBf822BK7caiLbliWF5wwcelXM-dmNO5iTCNXnwb-aQrDvp580LThJDnaGuLGyA8Q7DsUo8xuBTVjInbSNDNDTCwHqRCGL2xRgH-apcegIPT50icLXt3kIQ_PAdFslz_fp3aULksZqdgWjHUoNPw4ygsSCtiv5HEBNtOncU_A5YltQOssQH1XqWFDS9aWTAE_WO_u2oIb2o7r-0MKxoozsQi-rlZzMCxo8ft8BLGwf9FtQNFgEorbkWi-UWDBWi0qIb-0l_vbymHkKWPDXrlwyIkbRFGRtRd-bWC1sYHb0pHW9C1QFsdJTQLi88YkVZKORI0j098ra5bbVCaQ7dEO7kQTYPODpke-Am5I7Hb7rjahFbbgZemyS0jXcrAErJCNQffbWPKP6btQB8bbMDhIjwbWfntR3zKS-MvV2_OdDY72hQV6WzVHOzmX8FrpDc519pndxtkEmyI43usVUG6drnJ5-SQu2_WHGz-lPt0zhzfJo0czFiHxY3xGL6QMnqFwc6lq-PjG0DrCLJstssjBh4V8PI9rHNac7toNQHs0eMb8J7Msinf9SVsdKFhAIsltcV0kKi3QJ2VqzSJNCIaM6TxyXXzMJoGRLZtRsGefeUehqSLvkARJjsMUHsDQO41iD3BvRqqEm4ob5VV33WBZChS7YsD5Hp9KAp8XRQ34xpi8Bx1qZ_JQHLh5F39XwhYEw8UUUEaqKQKiK0JU3I6wDaHzxZazdakDmSwYkDZJaFE1jDTGx1PC77xZbNoIfa1pmx53jY66QZqGAT21I67bh1oY0OXxGS_poZ3vZuSA1TDNKDD8MVOmZnSYoGz_Hxjev2v3JbuFz6Nyy4w2IT3S-yKaP3jNws2ELX7IWrJ5eeienSWhcEzoQntjT870JM5yX40YUIeLWMoQsCSKt-vbKRqibChHIRxvtAspdVh2LKQeG4IEi8-jVLid6eIsLd-oCN3PPnXXuwevCtm9GBDBLlxD_kJQpk78pfuisiucOuIBjU6_xmcwu5mhYIjWuR4BMXcxSVK7ZQ-9J5T-xW99CsC0CH2ItCUHhBqZoO3tAG1tZEwkQ0_63EfzY7rhLzcDv86fVxLn7n9gi5GYMZsRSoy-fDRLwdthlndRRZl8AzSygu3alqeua9zK82XREdW7N1GaMw1HZV_GdufuMjyUcvLTNALIDKqvjWcLqy1a3dCApoky4sbFVm3c8x4_uamQhTLqBFvQCtTpLE6r0F5lHJ88NU2uY6xGY7AGVdoPROVBvdMuup7RWHQ3OGGxBs1C1SqNb7vGuqUm9x4m-3n32tMRhUfYjzqm53FCMkX5mAzEQRQ-oGGzTtQG9BIri8X9E0L2Mg5gWy0vyouzaJDJ5EGU0xTh7KpjYjNjJRywVXd2AYZMUupWAtKu0YyDPYRKS5zE5ZXxLzE4bTSof0x1R_NGfnpkLJ9Ub2kmRQgKWDMjFLWcxc9eE_oyBc0IFJ9PzUsJPTyYdi2aXLsdh2uINVMy13FQejkNhhO-bxZZgIHTczSWsBjHgItNLU1lCTD82o-NWkpvheQcHTqK7ULOoFK9RrWKps27PBBtTHOU2-3U-8AruTzXVai5wP40c6O3i62a9S0kb_ZTZK0zeQNajPb2ktVxtBmPbs5suYXsbENDkRHqYWu5vjy4F-sCqRdV87SiMWQwdFwAZ1lmuPUCbxu7kjhk1S18PUHo2upLnmtsyT_6E5qgdM3nigkXZ2nH1plAAEbDdm0mQhAklnVLUD2E9UI-C9GK0_XtZeE1in5urf_AgwNkbrsD8vYz6MU7qxJ4QOwQNQmggUuYC-n1wcG9rkiacDu4hDW4R8RqG01ZFcEED-VmtlX8R_e3_yREccv4_3JOD3fkq8VwvzCWZWUgAS1-Oi9SpZp5LLRL_e6WRCtpJ8NddXxdaxjLbtDz90ww5xKPg6mDA1mXOQ_u70wBTQuJqxLMzZu0peYb4XeQzFhmAti0DFM2twxwjmMaZiF-uvR3u6tPPwhDesk9TXehzsrzfX-P67EjS0fVnMBV_BE5PYNmPlMstey42PojSbkbU2COpu1Nia34TVt23zKxJCGwKH9WcJMjLOhvgiMe9DA9SZqbne0tGHfE_Mk7KYHN-SZ7i_N3IWPBnihA1cp9sWkg3r1tGdvdFZLRHs",
  "id": "rs_0446e5170a8d8d65016ab43bc72dc087d0bb47f1e697a3cf0c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDvQiyHE7_Mfru2BNA3mt6__GdqpjkGSpF_5muC1IXSBt_RYVP_npYhtAE-bIftf3Izd11xv3dkC1oqM0pkBZ3vsHay52XBRdlITmz4zHe60HxyVojGghdxOdZypVcg1qk8Zlp9TOs4z_b3gsp2L4jNdhDWTP0mM_t0Bw0OLez5sZ96E4mWFnPwT_KlxqL8wnBc_9HdbYK2zCGo9dcWbZfLlepsyXVivLGRh78gvlM9wtBMm20aphCJBIwwHMaK1-8AVzhLGkkyNv9eafJBo5vp1vaxCqLJFRK1Rpe88eItovB0-OscFwyLE8s62tID6MG_7LSeLDtLQZeWfPs_ze3bTbsUT1DR0MTQV95JxW8NhIRzwWdZmBpT_3Bv_2htz1e4ORstyipeWmXnuPRq477PtkPzmSmlTmlIAgVxwc4P3V_Jszs_Xgcv7B3oHEq-WJU0rr8dCAPg1yzHoR_t6nBH8E6uzcwHXG-hrHgJdtQDe0w_fKkqnw0wWv0JENRcmssrZ2UNJ5d0FhKnSEvu8Qb44t20SKbkSPp8rNrWf71EjXuuFPkMsycoTd4lb5B2R2TzdKMUJffj9pnJSllvd3FMZk0cNeCRS_9Fx2n6bCxcEmYo3H6r6jLxEOPOoWac_sgTTd9io7xfXnB6ggcSGheetOIMIqemsl6JingO5j8Ej23TooiQJDpB77D4nIJe4Z8t9L6ZAUdAeTcnGaoTBWG6QD8bJB1zjoa1ws2ewNedKFMxM3dTBGkasKhRo1bt-pJUiV5HcKt8stdxzhXiSsBlGG9xT8-Bf6KYF11cp08nhRUxQ7CjqoNkBarDZEkW3cmsilc1Q6BxtMG5gG5cypgvYAGPQF8PgEybQP7byTcc33pwkTruDYuz_fyjqLsGBVbNgoMzUh4_SP9v7KnTJ9AOvX0LsmzoVONX1btUuGTQvH9DkhDXblK_T7gcYcNa3VdbsJPDWfcMUGliYAr0DmLOAYLAwghFBAHo9yqRN9vOkBqWnXB7tyaQtKzxj8lj2zN4OSR96PBjAQ2CDuGXeixcxrtd1Um9BT-fes9lg4TOSPyzpXoUnn5ow8Zo3c05grZCXVOLjcGW840P9-BuvBO9pWWwvER0EXhAylvWZPOR3j7gkdaOx6Pm1z7p5TyPB_adbi_2j0R5i8UxWfM-d0DJZpHaSSHoKrnmeCSXANQEMLzgSm8QsirKwrvz1dR1D2VTcWpxeYX5yhY1LLeUP1whQoN7tRYlrAGp0FoV8oExnTE9yOJ5UcN8eE2gvr8n8C-DkVUzyZqq0yKeZgNrN_2aBtTcJ6ccvCnQN0Ry9GPwJctLaaJfnbVCnFbDdoj_-ihjsiGDcjIxXcvsyVgvxp95LvIuK7TloAwKgRlk0zdwMTn__isd5vCOf8ygZ7T3FjuGCMFw_tmd4E1k3PKh-8AbJcUAts_DM2GSw9KULN2ZqxH94Lg3x6A2X8rOAdccVswYvGR97WQUHMCTCLhjmNUwIpX-fMVZtw7uoNF4vPJFBihpHc2X7sC3V94WnZrgFQxF1Q7G7N-U_SSpKudFO4ebBJJQRfVgZVD2tEND03ke5-1OZoIA_cH0gQVTZdXxKSR678ZWpP-b-NnjLm-StaYeM43EaWVfQAX378i58p1t-jrNVfmiA0TUx-JN-m6_HJnsr9gzkuD70XRnuHHSEXenDe4Cf-U2YyfCwkqgqejRomwEmjzhfjoP8fAICrlAL4r4YoIEgM-OhTO9_9xBfhfhDlswklrXfrWUJySb1nIdz_GGQZG8_IrIqtz1ihQJS2uPQ8-K9qYHHxYNOdot8iKs27ypQS9eIoHPihLvF9NGGeqKYIh_tkcAZgx5KBy1-kUBAX2lGvo9RmhIgkLKLtwOc-Nvc9a0zjBHx499P9Pc6YTRGUFPIR9MPXu4rFAhPbYyo7pR0btNUEEE3wXxBZwBRqfbk7hVEHxlLYBloVMix4b-Mi0_ZHabQ5fwDu3sy6WafRy3eHN4tTn8-SuV34Z9bcIYYaikMjxL7UC0NLyskCl0vGuYLWoMtz7F_-x-4pAPzyhkkaC0MvGQIPpgpXD4ND2zQz1D5IEKDUPUoov3yEBxG7Wril_cAucxo7SdYc_2q39TiS2jrC6QF48jU3tEqIUrggW_swodjyvDYLxrilcl9lMUVqf5isfdIOEec4vzsczxOc5Kqq6thrXGEWvjiCZ5NAypMaQ8suJMelG2l-Uzkq37tNW6QKwtf8mgVBmjow0_FW6xgQJNPXeRZc9DZx6sK1A6g_29P7UH8YFjyA75oj9Ju96B2b5YnIqlwxWQWAm3TBowWkS0xcvQv3yWx0qhn6lpX460sOYQcdyB9nMoSZuV1mM517Imajk_7yffkPxuYgT8hZ7K6pFglSkAs2oiYALn52vpfi_acpjB7RVRLF3_YqFdFmeFp2nYvlZqaNSozoGqwfTorf3h4ICPIwH9OPk67sCY4ClIODgn66-0__v9oFnbbiJRCkkW2BveKk4eh6U1dXqIFhmqwHq4b3hPwxJOfIVhvrhFCgl3_lLvYh0jYfRy0QOKfCRC83CDjaJ-zIAUlBeTP6bbfYYadx0Zznu2dt6tAU-4z4wERz64N-6SsMTxEYPUh-Gmx26yuXYF8v-_qIfOpZcHUQDZkXnPIkSnQnOR5Dm50rRGPCuIP8H576crozbjF2sEyY4O56udjWpPp1YKZZGrFmoHZW3mVumfyJf8Pnq9CVlvKv3BAzZ2G6caDOZxS40Tvrh880oKUf1kx6Qo_765FiBeSsIvzHoQDNZbFtB4i4ELTKzft5INiXp1lV98nqeDq59OTg6JWBiHEDmR1GXQdSf4j8JWlxL2-QoXDidoK11Zy_43hgviEXxMyoDDz8maipMc28Aix6D6mNdDd1c91qtasoJw5u_E8IJpairxIAVQbH2KJPO37t-EApQev9T2Gc9mitmD5H6zUxU6s2Q4GF6jZrkYIArULmuLCMSC-XG5FdDZ8FeCVk77OiuotcmxHxPZj",
  "id": "rs_0446e5170a8d8d65016ab43bcbdc3087d09255c90ec62aaf64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.258,\"left_z\":0.215},\"note\":\"At close range the pen tip appears to the right of the cap-side jaw column, and the cap appears to the right in the pen-side view too. I’m shifting only the cap gripper back and slightly inward to line up the two small ends before pressing them together.\"}",
  "call_id": "call_yLdXdjPubPlLLvISuLYGIWft",
  "id": "fc_0446e5170a8d8d65016ab43bcf999c87d0b489b5d48af5950c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yLdXdjPubPlLLvISuLYGIWft",
  "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]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.421, 0.0843]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1131 left_roll=-0.1196 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1726 right_pitch=-0.0838 right_roll=0.0432 right_gripper=0.0843\nstate[joint_eff]: [-0.1846, -11.494, 6.8581, 1.3114, 0.2662, 0.1245, 1.0183, -0.7453, -10.9333, 7.2137, 1.6435, -0.2076, 0.1392, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138120e89faa225cfc55696e677402c6b6530d83c8d51e0de1b01e73239c1b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b33c38d919cc56466d5b92c955f5424387d472dfd8ee3f8b3a0dfe77597f875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef899d96bb239a5b41bb2cb742adfe7da1d73a9fd0d998bc521f5fd48534a86b",
      "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 · 6.164 s

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

message 101 changed as sent

message 110 changed as sent

message 115 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]: [-0.2596, 1.8236, 1.552, -0.6601, 0.7124, 0.6029, 0.08, 0.3862, 1.6901, 1.3872, -0.4698, -0.6315, -0.5026, 0.0776]\nstate[eef_state]: left_x=0.4156 left_y=-0.2261 left_z=0.1963 left_yaw=-1.1732 left_pitch=-0.0845 left_roll=-0.0865 left_gripper=0.08 right_x=0.3813 right_y=0.2715 right_z=0.21 right_yaw=1.1666 right_pitch=-0.0398 right_roll=0.0163 right_gripper=0.0776\nstate[joint_eff]: [-0.4444, -12.6154, 7.747, 1.6777, 0.3736, -0.0757, 1.0037, -0.0342, -11.0701, 8.0205, 1.8144, -0.1197, 0.2759, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6476, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4213, 0.0823]\nstate[eef_state]: left_x=0.389 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1133 left_roll=-0.1198 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1728 right_pitch=-0.0838 right_roll=0.0429 right_gripper=0.0823\nstate[joint_eff]: [-0.3487, -11.6718, 6.8444, 1.2967, 0.2759, 0.1343, 1.0183, -0.7453, -10.7692, 7.4462, 1.6435, -0.1734, 0.1343, 0.2271]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.421, 0.0843]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1131 left_roll=-0.1196 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1726 right_pitch=-0.0838 right_roll=0.0432 right_gripper=0.0843\nstate[joint_eff]: [-0.1846, -11.494, 6.8581, 1.3114, 0.2662, 0.1245, 1.0183, -0.7453, -10.9333, 7.2137, 1.6435, -0.2076, 0.1392, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138120e89faa225cfc55696e677402c6b6530d83c8d51e0de1b01e73239c1b94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b33c38d919cc56466d5b92c955f5424387d472dfd8ee3f8b3a0dfe77597f875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
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      "text": "",
      "type": "input_text"
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[blob elided: media budget]

{
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  "id": "rs_0446e5170a8d8d65016ab43bd21aec87d0b6e87c87c3e80f75",
  "summary": [],
  "type": "reasoning"
}

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  "encrypted_content": "gAAAAABqtDvXDsEjAuDSb39WMT27CbByRFPGg70ddMjl8-cJnHn3V5Z0JcVDSgntq5TVz3BS5YhN2RDPgdE3hxNzBLzNEGUs20ooEaiz2ZcouKVVCR4Jc7AiQ-MZJC5nVIiYStLTT27S1oHeLW4nk_oitoL9XiaV1Sswj3dJ5frwc56OSdGkRKiFsKHP5iRX_8J2t82px3N8Dx_EKaO-Ctp_UVxqtCtShXikcGEq1qNWufea_hry5HqqO3JuCDeKRb8Hfox11z2hT0TuBkLsWDLtuv1Qe6nqI7UEbk09UcoMxgSqwAzJpJIjGlXP90XMW0iJMS3RdAU4VRpT2pd7z9W_D7gOwkD3affw-eZhB7GUv2eUT-V5TBHskEEyxEQZGc3x1TJSn_Lu-etFrm20uXqJSe_U7gDCWXnC_2Eg-ogzqD92wI_O0KNKvIZhPIibjx2hWyCS96UxG5X_MmBrQlR8QEFwr2S7208nx0LPcszwSg9Ld1EGzrRGg6M-Cv4mbDc7MCbL1kNziby8M6QtcxdcW29GN_fsqhaQpalJFYse3LEXmM2aonv-qumuGxNNVN-iGyN91TEPv3_Ajc9dsEWtzHGqbjJapZcbcmQkhs4YNsLyJUj9pWco_lvPfcOfvIDOdijCESw-clk3Fs5kdDgOTwaoqkr860z1ieTna9q7bsAuHfzWdkQw7zWDFxCZeZvk6wbEj6GSEoc7hGCuxjHqygglm9j9ljisKRe5yXQlu13Dz1Tz13wexOStVEXO7hlPTnErS_ptgloAXBS1RWm16-MbS4dxjPHB_Lx4xLrghDAjBhkNRAK_uW-aOWlgcXr9F7awyLTCOJXZBpqUkCkRdDP1Zr0CzcB1fR1G8Xnpy8SlKzsAOYNIBk9xY3c8TPtpNkeBgDuAoeteMqox1yAqrIv6_qasH7qhOBWxPSEcxAKDNyIBvpVcu8mbfDEPGRCk8-87fZrsoccdY2iq418UUsHNeGeEZn-rZruo9u7KQjqpsmMS2dxuMBtPAp5FsKCu62m0E9nA_G2I3fHjwNzr5TODhPWYxEOdozrh92_I-CeXyf9YPhU5J-3zuBUSWfRYDtSCgk0EJIBJd8THTVXSM2twp6eubRS2pB6f6AcEaipdbh-JuEtxCyxTxXeAJWY8y7xcZWy1wiQ1cAR2lfqkRsf81W8m8LnmUlvjaENGv6PGU5IVf_yV9i-drVnLdTyq-c5V3nDEyQjkGZoFzrrIiZwwimR8VDGHhRJBVIJ-MCzWS6wqRTxTBr_cQnCwRO4geM7ZzEAMck2uWsh7y_4U49DHSqWdTsGiawFOBA1JsJ_iUhUOAHMutqPVUymnSJ_Qhq3YZNcshtGnb5Jqw9yaFdD7KSodMg==",
  "id": "rs_0446e5170a8d8d65016ab43bd6ae7887d0b8d2c695bdabbb60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.372,\"right_y\":0.305,\"right_z\":0.215},\"note\":\"The cap gripper did not track the requested back-shift, so I won’t keep pushing that blocked pose. Advancing the pen gripper in its x direction should correct the same cross-axis offset in both wrist views; I’m doing that with a small inward move.\"}",
  "call_id": "call_PX5Y4L4Y8sDcd9JK9cc9P7ny",
  "id": "fc_0446e5170a8d8d65016ab43bd7188c87d0b04c8af154a224d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PX5Y4L4Y8sDcd9JK9cc9P7ny",
  "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]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4728, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4217, 0.0863]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1387 left_pitch=-0.1131 left_roll=-0.1199 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.173 right_pitch=-0.0838 right_roll=0.0426 right_gripper=0.0863\nstate[joint_eff]: [-0.2803, -11.6855, 6.7214, 1.37, 0.2564, 0.0904, 1.0037, -0.5265, -10.9333, 7.3231, 1.663, -0.1783, 0.1392, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5010d39a5ade2714b4b7d1743f058efd013e1a5de95832e73237c42783363f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844bc5455d0628c0f57b84c17e08b8a1792ccf155d97816aac2bad3303137027",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78f1e7399f4e6140f4d6f9f65f309979b7ba650b7c9305cf36807b5b84f5250",
      "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 · 3.83 s

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

message 105 changed as sent

message 115 changed as sent

message 120 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]: [-0.3313, 1.755, 1.5036, -0.6243, 0.6445, 0.4728, 0.08, 0.4679, 1.6512, 1.3289, -0.458, -0.5491, -0.4271, 0.0799]\nstate[eef_state]: left_x=0.3978 left_y=-0.2453 left_z=0.2066 left_yaw=-1.1257 left_pitch=-0.0943 left_roll=-0.1121 left_gripper=0.08 right_x=0.358 right_y=0.2882 right_z=0.1993 right_yaw=1.1469 right_pitch=-0.0854 right_roll=0.0398 right_gripper=0.0799\nstate[joint_eff]: [-0.294, -12.5744, 7.1726, 1.4335, 0.4176, 0.1197, 1.0183, 0.294, -12.0, 7.5966, 1.7607, -0.2027, 0.1245, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.421, 0.0843]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1131 left_roll=-0.1196 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1726 right_pitch=-0.0838 right_roll=0.0432 right_gripper=0.0843\nstate[joint_eff]: [-0.1846, -11.494, 6.8581, 1.3114, 0.2662, 0.1245, 1.0183, -0.7453, -10.9333, 7.2137, 1.6435, -0.2076, 0.1392, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4728, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4217, 0.0863]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1387 left_pitch=-0.1131 left_roll=-0.1199 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.173 right_pitch=-0.0838 right_roll=0.0426 right_gripper=0.0863\nstate[joint_eff]: [-0.2803, -11.6855, 6.7214, 1.37, 0.2564, 0.0904, 1.0037, -0.5265, -10.9333, 7.3231, 1.663, -0.1783, 0.1392, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5010d39a5ade2714b4b7d1743f058efd013e1a5de95832e73237c42783363f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844bc5455d0628c0f57b84c17e08b8a1792ccf155d97816aac2bad3303137027",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78f1e7399f4e6140f4d6f9f65f309979b7ba650b7c9305cf36807b5b84f5250",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDve_QM2uKGcfUQnE32brhccreWRWkXCiyWcnIibXam1WlsOx_x8GgzyJGfaghH8ebX9RHD-_TitWjqPOT286TF45yGiV5yYAtmcMV-XEdLAWwc4WLsubaZIYLl19tNDO0fhm_6dx2Wc-jY-TeLzVe8PnO1XGqoEyaFZyXZNSErXtiGqhkDEkjLe7a-n4XgmYOE07Pwiqk4XQMzQ3TO5fkD8m91a1QFsXHztSh05qypjbwozQ-eb6LOIxGkvBJOaDdLcFsJ6HguGmv7llEKW7DWhxA8pxoEmdC2E79OhPBUNOaz63Unvkf07pZsJZKB-z0WmC1-OoI3XOXWUC-HGGBhiTQanY1ty41N3xOsxxeMFw_L0Kz9ATST9Q4IJ3i7p6n3o1YByN0SHtwwqZmr8tnVJSmBSY_rAXrAYRxNH1HIteVM4SRY0_uVXIpjpO0yDIix-QJTBNwtlf5dwbV4H-MkCrcLNGUB5QdCIVGAYBXNmfOh3e4Tc7E5MGPgRXOXNM-xULiBATCSdLumVQmP0YtR2EJYq52jgswIiJR1ViBoMogYkoXNaSzGaSzyfdEcP-jeThm8Cmz1S1y5K_lZyhaFN_4wxt-ibDt602etmRMMAjAhZzp_8pIxLyrnUsYzWefg_eEWjDcvkqKhYDecItzlhpSqbaYx6ClrSgWqOaCdGX_-hAJWJg0RTVf1RZpUQdDoPKjAKvPJaM4td0xDKbBqxRd9ANgLkcojDGK70qgQZN_TW-fkdNEXAQat3xfkp9umYcvEFKa6XGJtZE9VdJZXupA2zxSSzfT0gMTNsjpEAqol3NNCgvNqWbb430lQVX1M0wgjZMJHUV4RtG3hgIirnNo7J-rjuly6KS-coX95objqCpdxpk9twPKmKJccnICKIlzylIZRduTLZtHWhT2ojYCggL7AhymGTMTg5Ws8TRB8upJm26xePDURncOdwE87VB8UowAGiciCLYDXzQmz-iwfLZlv8mgMA1bbV2VkbaNDUwM3susl0QvPesa0jJLeLEQnjcHtt9N9pzH7FEKCEUs3wnp-ywasu72BZyCfhErk-IOaDAtZn77UDP_gVzWI66nPI_7AICi2irLexX3swRkAksEdVMhfBg6KsOMxTB23Izr5n3zoQJxRS20j-X9IiUoIRTZ8fFHOUT0UqWBWRoqyEsDlXCix8a16RgdesmPicBzwdkTXpz6Q7k1FznuyLx0fzAx1WFNGHctDvLsbtfAio474O-QFPxu4aRSSqtyK4gyDIspQ30afj3bpoDoT4ssM6J0Vs25xauxXy6PMSKy0ayfm_fRibqymK1GisVJFhgUlw7InB0CBQHeI-tTTd2RewOHKtGghSTQpuy5XZLSDNZP2WnoqM5faUHz1SU6cxWHsDtELSHmEHeJtm6JF4r9acTWFuorHs9MToNa2g_knM7O9op1uJTNto_tpE2IpSc8Q1Pds8RG0bG7l7CjdOsyxrhXADHehALQzsm1W_tlaBpApgIoi22OhA_8PeWEDBkDzK-JsvwaeFZzlG6VwAG57lzYZD53q8l7TSlLLbazQ0lFvxNFfDjU94JcDVteDH2rYw5eHBQwOM4FM4bvk4A-x8MLLCn3QlxG8huKE3WL9o2S7DNW4Zn5EWElF3k6-dq-wx0FG-IsDwg0QifO4JBq63bz2c7euVPKBilYAZtq_2mv6svHLHzZX8JwixFLYhmbpX-YlZVj6R6HegAAieoVvUoz-UuM5msZPhg2rv-cRqcc2RZaXT54ewOHZPt0vZqKLzeOSh-ZEf1_sgL-tKuEragoZE28K9B1Pco_Bk8GPqjrPCsDA3jBgN7HffC6FEf_z3tiCG8kD7rZpj8R2T-94571angg0tc0LPYKl0WYVi4hg7gX9dHOlo89YhJvM1CTgzyZuXga5kYAFHvIT3OP2Lp0Ur4nfwfErMXyFqHJX_lwSHAbs5iaeHVz3FylsYch4T3mEi5MmOZtIAmk6lpzR5F764N2Xczx641FKGg0p51MEBLTH3jHTdwIbLQs6hUut5HJO4GbLgdqpwULImJnPzw2AuklF_EdrdpsUrff0ectjA_Tk9gy_FNOqo6WspyQC13jdMluca5Jy6m1kzdzGTlXmpDyxyY6-jMKoHvYipMj3afHstPWt1ej2-a2nnCwVpJJTxcli5vqYi1K5UAP5WyhO7DpNTwSjV-U47_5tA85nXKUhGvZE-_w0i1FLCPKSOTFXLxJnP-KIZVetJDVORFN_usFFd1BB3_uG6TJQlsmUneXQ2zkQEWkpSUV-Vz8girj9-6R_5bXig00Dlzjoj7aCc5wtSUIZEPgeUkwxZznayJiIAE_nkC2ryzLGfqxdHXd-1IGz9jYr0umjflCAaVawrrFQ02eb8hL3l1iZbNqGBg7ReADqpBaldL06TZdprWLDZqg6bib53b7_hUHaZrh5BzQlmXb40XTApsn7kdwoC0yxlE3frgFVRv4ekv-ETkNaM8AlY3gid0V5KPUJI9hEkDzjofQcR-MyNOozRlhiCCtp_bxM2O48pYhP3dVmEhwJqJhwZT_-Tdne7GXTA5_3e6WY1iAOq5d2TV43T63AeQJzCXT5HLOws-FFQz69X3bfYEDRfh7TCCbalRtVV2MivtilBDbi5MYgfWF3sEqPH61557E-sv1FSLvQi2ets3Sj0tHqESZweFkFA2Uo7p_ran3xrJmj4DGE8dQe1N6HHbd_1BVu7ExAiGnfXQpDv-0mDuS42Ug1O5BlIfwk9X2cY7vf9S7xwMWE9i7YF2uhnyF8r9DFg9G8c_ZbApY5ardBWWnL-tr5PBgiYMbKzf3sTOs-JxtVbZSK_cXjtX19Fqs6kmi9vJy3DCxp142hM0wC54B5qMacxpaXR2HPGKixigXXIZzOP8eEeVuO-q3cAPoDhtHjdV2cUmTERkpc2vOuJ8Z0gOlTjzWjbdA5quIPdTMP8HGvKjlD5FQTgLmZV9YOgujDpd5iR1Fi9dO-rdzSRtCk8u-2oLFFjUpWQY5M3NoTKLWcO7dqj9XGPysIxNJwZaHYBbo81iZb4_vjRHYQOT2rEgCp-edY-MaR8IBITMLqcOiiBnJWzN2IS0A2IbwdA-oIRNVeMCmzasPmkXVg1wUs_0Aw7TY54O_-85C78Vw7yOZGxal_Tuw8WvRSj1QHsnu3tKBg8prSkoZ37gWCqlvCX7GijU4pinnNOD8t4yWtvOlr8AqqsKJ_tvQ_ITDaxDEH5pjMpMuZwsvs9HfLgcTRLfZI1MTdUOSbF_cr665XYNtyDGjY-0znhqWA7SNky9S8m0Yt2bv-XYn6ZKuGhD0wTzZKmV-4SNACFOX4X_GtLOTFjiuMpfjoqs3_aPYpYTWd8ppeTstJ2gHPYI8pZppkTuGTImm0px1Mml_e78PSGqITnTOdcFHscKhX1E22nvYX3SfenTwg9bh3GJNM-kZoucQGZf5walekv1aZM18GjG_n8jmUxZ0LEuTDlTbTkscZzAa3Zl2eedLzLgwgFoJUYOurqRpXOPjZCsi90Ixw8cVB-fykoVLef_kmx0TatgQw3KzWuyyyrLDLujGeFsCEknk-xHmd49BxcI0W7Uq31i5aFpQmRgrw8Bpz_-D2RgtuqOK3fD3B-kiY02Z5AsOCXP7m4lu0z",
  "id": "rs_0446e5170a8d8d65016ab43bd969ec87d09ae54c54a3dd0820",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.26,\"right_z\":0.25,\"right_yaw\":1.0,\"right_pitch\":0},\"note\":\"Neither arm tracks a small inward adjustment, and the right jaw opening has begun to increase, so the ends may be binding rather than sliding together. I’m withdrawing and raising the pen arm with a less extreme wrist angle to release any contact before another alignment attempt.\"}",
  "call_id": "call_BqX0rMyOy0liLcAvZLtYuHyB",
  "id": "fc_0446e5170a8d8d65016ab43bdd2bac87d097e4ae77abff3b35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BqX0rMyOy0liLcAvZLtYuHyB",
  "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]: [-0.3504, 1.7432, 1.4944, -0.6548, 0.6342, 0.4732, 0.08, 0.4969, 1.6344, 1.3159, -0.4564, -0.5488, -0.4145, 0.0875]\nstate[eef_state]: left_x=0.387 left_y=-0.2491 left_z=0.2032 left_yaw=-1.1401 left_pitch=-0.1195 left_roll=-0.1261 left_gripper=0.08 right_x=0.3465 right_y=0.2968 right_z=0.2014 right_yaw=1.1687 right_pitch=-0.0817 right_roll=0.0463 right_gripper=0.0875\nstate[joint_eff]: [-0.3077, -11.494, 7.1179, 1.3944, 0.2515, 0.0952, 1.0183, -0.6632, -10.4547, 7.7197, 1.6972, -0.1636, 0.0952, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4727f5afc4f7361c9a3ceb20e17c9f3f8d2cfa7d30de0fd8bd606cf071fc7f25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6174cc6a2dcb0d363c1da39fc2a1d91d9662c795d057b3365c3aa10c26f577ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9aede7407a7c65678e22885394d0e0225eb08ec6055a28bec43ccf7186dc4e",
      "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 · 8.468 s

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

message 110 changed as sent

message 120 changed as sent

message 124 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6476, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4213, 0.0823]\nstate[eef_state]: left_x=0.389 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1133 left_roll=-0.1198 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1728 right_pitch=-0.0838 right_roll=0.0429 right_gripper=0.0823\nstate[joint_eff]: [-0.3487, -11.6718, 6.8444, 1.2967, 0.2759, 0.1343, 1.0183, -0.7453, -10.7692, 7.4462, 1.6435, -0.1734, 0.1343, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4728, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4217, 0.0863]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1387 left_pitch=-0.1131 left_roll=-0.1199 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.173 right_pitch=-0.0838 right_roll=0.0426 right_gripper=0.0863\nstate[joint_eff]: [-0.2803, -11.6855, 6.7214, 1.37, 0.2564, 0.0904, 1.0037, -0.5265, -10.9333, 7.3231, 1.663, -0.1783, 0.1392, 0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3504, 1.7432, 1.4944, -0.6548, 0.6342, 0.4732, 0.08, 0.4969, 1.6344, 1.3159, -0.4564, -0.5488, -0.4145, 0.0875]\nstate[eef_state]: left_x=0.387 left_y=-0.2491 left_z=0.2032 left_yaw=-1.1401 left_pitch=-0.1195 left_roll=-0.1261 left_gripper=0.08 right_x=0.3465 right_y=0.2968 right_z=0.2014 right_yaw=1.1687 right_pitch=-0.0817 right_roll=0.0463 right_gripper=0.0875\nstate[joint_eff]: [-0.3077, -11.494, 7.1179, 1.3944, 0.2515, 0.0952, 1.0183, -0.6632, -10.4547, 7.7197, 1.6972, -0.1636, 0.0952, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4727f5afc4f7361c9a3ceb20e17c9f3f8d2cfa7d30de0fd8bd606cf071fc7f25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6174cc6a2dcb0d363c1da39fc2a1d91d9662c795d057b3365c3aa10c26f577ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9aede7407a7c65678e22885394d0e0225eb08ec6055a28bec43ccf7186dc4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDviLPHRBK13gtBOK1S-Csb6O1hfiQZGTqIYLKujv_GnguzFQ8A5sNMT8o9YUMGlIok1nSY_-xCsQcdKJ8CVpQzEdIhsZ4khp32s_qIzTywajqADs00ixCa2NYvfD1eeB8qZhTzYnhSCbz75NnOucgTpMrI6fRnxnEZHgH9tV_AEE4qPDbncH3OLkrYTkFilAeaCmDOM2J1gh2S43mKxJOA0mDaE0E9dX3XE3ZSeZE87I0UcK-Kss_wclamWZo25rpiJAfxAtJIn28U7fqjQF2cReOkwIDsObrsa2t2cvGrxO3mHGsM4qE0mI8YGkr3jz27af1rp24x-ffGzr2D3eGOaqR2KvZm1-i_JF7suvzdEsPslcPzrBZhSS5Zk2P0Wbn5oIiP-7T_dlXVNW0Da3wkbYQLdFA4hbR1hKfLV4hi5ygrrbrAr-qI6isYRUA0eGfDMhibM8IryHGrLzsLf_8oRCqrAOmXBacbMsS6qTnNNY-sIC1DN-__qpMwYk-3_ef-1MSq4VLxdSkhGILMAr2_VcIbdlZnKlYkYwHaUoRBsbPogEbPnD3eUH5oevHtymY0mhqDGtK2PNGjJnOTnx-k6ZMdSHTrdHz2FJUspKcBnoD5NY6TewPqwKb4T93l192H0soEJM0JFNamS963yEmp5Rd70WY4KuavySgxGVhGOAuWQE0c2rpEE9WmDTCYT75xnIHh2p0jFCqJkU36rKRfhIyhDU4BQNDoFd5dlhnttg4RWTumKYRHlJXWZgBLKPmXcGESjt8E3Sf1H5wjnX1IrxM--sP4vYlEWr0wf0QI0p2p6mHzqA6Y6lmzzUW9JYlKkxG5WUI1WHZj89bFNFEguZinR2QCa9pO2BTI0hvc9ApCE5hrLqMrCM3vMk-taVfjEyOIt3nHWDTwixkMmMU1NRvZr5ED1nlbhcRGMTe8exYZxeQUxHPcBi80CKjcWby60UD-ngFcwWpqjkskoyA2NB0eLjdKXbD-nAwaQ09SIQ1OF7lCbEejcPkeAD2zyFvcMupG01MYkp7zbyzjW7GSCVDOy-guSSMmiD3PanYbkNTEZC7JIdwj_KIdDmzEkI8rV9opYG7FZBdHVFcRWxuSl85UQrKy48YbnerBIHEoO2RlbipQPkHHLfdEvx6dZZj8P5jXiXbM_ohbz-r_Z7lGBFjJim1IOkNtR3hgBDebzhHDbquEcBIOfL8N3eHYcsduhW62mgGzPBFyHja_qTVOBFrWPUSn9BOWvA0UtuFZopMt2U3fRM0EYA-ABwi5jSeEsXWLSdQ4jfptI9Pnt248Js3TtwEMOj61MP-Peb5UgrRACy5QIAB8BMR94a_6V9RLoJb-6l-jPhYR1RgFqxa6fkd_Mo6AlzOB-BOKuECnMDdZMqRyw5Q9tDV3i_yM0N_Tp2GhfUgM-xe8IdqlbvikzVVsDEomMyb7LRa-qH5I8laoaTRCnphhgGns98DnDeWW3Ad2FXIFqi3t-Q2WOdJ0yDxSKXI8PCeaCc6a3x2XzUW7zoQ2abEk5NYJ-1dD6cbdGyE57zIX8al2CYX4tXBGeqJh1yNO_XPFtYGH38uYtJ4tVYiFvNmS72VqCbd9TQOvOPVJTve15sHleKnBCc-YETQfCp5to3fjLoIXBBUYIEDcdTxLDBZRBP6N2Zeuc47GbzDQPolyoyBe-DM1yz1Pf1yh926SXJkxBphBDCSn9dLZX3HpgxZPCLzuBMeA9o51r9FdjMaubWCmxknBcdZp2fabUPy18JOs5wns1LswiIVlv2g7BjsgbA_6EGl1ZNLT2SBc4drzXAT9HUYU4PqAgu5qWGj9YyW2XYX8vipxCFbiFqk49eXOlCknNuF6QF8pRqz7Q-ZTiGV3SQQ1MVOMExyz9u__kDW2dhK2AIhq09YUuwKBaR9ey14YrBgnsYzTjOWeyM2YyaueXin79JMyukYUNzY4GZEzU96SFiQRGhoVw6OWbxLlbjU-reaOXowgnhocnBz2Gig21Q0hXVLWhcfh24-VM_BzEK4E6An1o13IdNxJ_K3U6zJGyjN0iEmmP_nGpgirr4uuKsZaQZ-hR2iA0gQNzEJT3IQ99xAj9olDkWHzbAknVzRZYsdgfcPlb",
  "id": "rs_0446e5170a8d8d65016ab43bdfd09c87d0af5ce4700c0473df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.21,\"left_z\":0.26,\"left_yaw\":-0.95,\"left_pitch\":0,\"right_y\":0.255,\"right_z\":0.26,\"right_yaw\":0.95,\"right_pitch\":0},\"note\":\"The pen arm alone still would not withdraw, so I’m moving both arms outward and upward together to avoid dragging one held piece against the other. This should create clearance before I try to correct their offset.\"}",
  "call_id": "call_1C3UACLdgzadfnnXRWnFYbty",
  "id": "fc_0446e5170a8d8d65016ab43be12b0087d0b31c2afb9f10f480",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1C3UACLdgzadfnnXRWnFYbty",
  "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]: [-0.2756, 1.6062, 1.4178, -0.6193, 0.6155, 0.3546, 0.08, 0.4545, 1.4872, 1.2762, -0.4797, -0.4808, -0.3141, 0.0879]\nstate[eef_state]: left_x=0.3864 left_y=-0.2116 left_z=0.2341 left_yaw=-0.9821 left_pitch=-0.067 left_roll=-0.1442 left_gripper=0.08 right_x=0.3443 right_y=0.2632 right_z=0.2382 right_yaw=1.0172 right_pitch=-0.0421 right_roll=0.0421 right_gripper=0.0879\nstate[joint_eff]: [-0.5675, -9.347, 6.612, 1.6532, 0.3199, -0.0757, 0.9646, -0.4855, -8.253, 7.4462, 1.6435, 0.0171, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523866d960c6beb19430c571ce4f7a7691d7da71bb710caa2d524aca148fc87f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73622731c2d18d57bcc9edd5f3ecf8123bbdf2b3fe9ecbc3b0776120c52effd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073d3a44d308299988f0a17af66c96544a6d3b3d5f39c074ed3c3a44544f6c3a",
      "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 · 10.02 s

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

message 115 changed as sent

message 124 changed as sent

message 128 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4732, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.421, 0.0843]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1389 left_pitch=-0.1131 left_roll=-0.1196 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.1726 right_pitch=-0.0838 right_roll=0.0432 right_gripper=0.0843\nstate[joint_eff]: [-0.1846, -11.494, 6.8581, 1.3114, 0.2662, 0.1245, 1.0183, -0.7453, -10.9333, 7.2137, 1.6435, -0.2076, 0.1392, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3504, 1.7432, 1.4944, -0.6548, 0.6342, 0.4732, 0.08, 0.4969, 1.6344, 1.3159, -0.4564, -0.5488, -0.4145, 0.0875]\nstate[eef_state]: left_x=0.387 left_y=-0.2491 left_z=0.2032 left_yaw=-1.1401 left_pitch=-0.1195 left_roll=-0.1261 left_gripper=0.08 right_x=0.3465 right_y=0.2968 right_z=0.2014 right_yaw=1.1687 right_pitch=-0.0817 right_roll=0.0463 right_gripper=0.0875\nstate[joint_eff]: [-0.3077, -11.494, 7.1179, 1.3944, 0.2515, 0.0952, 1.0183, -0.6632, -10.4547, 7.7197, 1.6972, -0.1636, 0.0952, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.6062, 1.4178, -0.6193, 0.6155, 0.3546, 0.08, 0.4545, 1.4872, 1.2762, -0.4797, -0.4808, -0.3141, 0.0879]\nstate[eef_state]: left_x=0.3864 left_y=-0.2116 left_z=0.2341 left_yaw=-0.9821 left_pitch=-0.067 left_roll=-0.1442 left_gripper=0.08 right_x=0.3443 right_y=0.2632 right_z=0.2382 right_yaw=1.0172 right_pitch=-0.0421 right_roll=0.0421 right_gripper=0.0879\nstate[joint_eff]: [-0.5675, -9.347, 6.612, 1.6532, 0.3199, -0.0757, 0.9646, -0.4855, -8.253, 7.4462, 1.6435, 0.0171, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523866d960c6beb19430c571ce4f7a7691d7da71bb710caa2d524aca148fc87f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73622731c2d18d57bcc9edd5f3ecf8123bbdf2b3fe9ecbc3b0776120c52effd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073d3a44d308299988f0a17af66c96544a6d3b3d5f39c074ed3c3a44544f6c3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43be40abc87d0943a1636edf7d3ac",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDvr1K_R942S6ndUYeAGcYQEUuCs6x2IJ07Ok1s4ae93YCy1S2QEYqDawrqeSK6lvRhtT5OObG-Xt9u5YX9kAiz8714SEqm0zaF2Bd4NidDiyhZm2PAaYkeKRqic85P4iDDxSP4mQYlbbJ-ZAt2S8fHTnyrHTcuk3UA-hiIcwi08e5XnBSdg0-3aS67FX8FZ0cbcBxDOs0Piydy6TdC5STyYd22ZYlvthSs5hu9vOH89tQ4bNj2DGFPXJihNVqpxbh0PuALIpwdDHL0-Oyj7H1uxU0IAlK2fh4_IF8c2mrMHmUWkw3bJFbfpGTMMeY5JxMZv9mb01OUgqRAhThG-2zRE0rAtqfRy9ZiyDZHq4GAL3hPNRYby7mKn65zFqwNtzflwcyuB8wgKU6GqLU5tUs1TtyPih-0-O_P8wxSmtbvicGevaY_xGf1Vw6h9eq6VVFYTRzn8SSphVbRBVIfVa8fcP_WjrVW4G7fKkQs3IOl7vkSD3vnuyRpN-lcsb1-BHz3jelQDHthfjmTnOblYzmHF4yeMbAN1OOVvsFJ2XfzquNhIM2N_oEu8m4pkr-jDC2OYpfmXXRx-NaPe-aLFGxhGkOzZlM9qkTO77Z4YePayFj8RuyVLAa-BL3DFHTc1Uxn5nKx5bgtrrITavnZlxGMGMmydKBMSythcr-BmFAEQVEhCXUN_h2xL7v-_SzQ9TlzZqzNanzR8BBoEg-B-BSSd2RV6nXxrET1_e__DL2GMQy9RygaDIUsKoc6PU45DlwKAhYVZAs-Z58tu7KUcuzrG-4d2mEaeOEWWU2bon5Id4gGO9qLgVXpHxs0oAaQEQ250mCxLuJz7B1ZPmw0kT6OOeW1ZbPvy830a-Fx5yvvcap9QuRiUGEpI2Y07sjo9Me7pKY3_Xymr64D9TQCcRPl1zOCU8a_VJm7IJsv4ZfZ0YvfaEk4OTfOaLEDTcNkiKZ8gsWFzFj6SppoWj_ZWmIHU6TWKhgKQF1RJqq95nxM3Hzv4czyxsd7ehywjH_t5-SCfqgiaqhKO4TyXnSpjvL6ALEgv3vmPCBgSInjbBIBfiPil-RnhfMIrN4oq0LTFilyn3QphxchtiPRyOyNRGMaRhVf2G6kERZQ2m3uPIuGTA1PBitDSSOLxqod02VxSSHAwD8bWO1gQppBxO3WScwgo6LzPjR2SPz5A1Jr8bs3LjGjDmpVklL03BHqQty5oO758rpcO8-rw9lBOyfzToXNqX1Mfg7d6Xjc7Bl79NkdVPRcESB9HUTzIMV0rVcQLHUyJNHiIeSaHyeok6Q9jP1iGEfloCSWD-SzfX6xo272WVvdKLQ0zKExtkDDQmGIcFZwg7IbooscTqXYRwKzCn6PItPGD7EHLQzrOOvvnvGh6WATnXwG1bw3gCmEjVcTm1vwmM2G5qkaJ48B6ESoz7Y4RMq4qGX5qeIFzsXVvE4V6Xy2B93pd10EFoAKoT7Eb94H8FDkLM2ijLFtgTrYZKaUBlFa3RTAT21HbeHOlwI1eYMSsimgM6ocCImPbwaOD1qajCi-HIrJMyKMgulhZtKXe1CPjJbUXElg_Cx0n4XA8xQtxyPWA8ZRssyRGLXLBQ6OR39EtppWnpAnFgmwCqSjFaJIWEeopq3pe07vvfgKu449zONLvWEV88uaocEd_xau0nvhqT5fuhcgzJn0JfMBzc_1YMFQuvCExLVfwB73RlbV643Dn9JOAGBKhFxTWSOYCZyAv-oBEfNuvvmFDC9aFesdABLELJxctZchbWM2Y5ZPvoGvMyNppuvXET_bT3od58ZCWzgeu3yLeZrf363xfVe21r3zli53vH7RGZN5Drp9XI4qQs-jBqV3LgJJMyKkvJh6c9ZjBGQKGyAI1DefU2ytTY3gxwnilUcAWwbLk3QXamvogRYy4o3pQ885JHirwR4gX69imyz5qNfYxItrBNioyftFkuiscNEtiW-g1D_gNq5Kd2r6cUYHqWQG8KeH1C8BNehL9eFf6hpfq2t0yfxMiZYjJG3K_zJV9z7IaAzdT85xTX0G7beXmwGlgMD-vdkcg6XoHEZ-w0XLlzm6qUmh-bwK8kEODiEpQPV3snbSI13XL-hSwf5VVUMZkO7cOzlO5xrrmcafq2yhFo247EK6dSc8YCapxEhRph37gLMECbWpAuVHQGcxyB8_A3BcCLefHVPjr-oky1ddoPg1pjsVrX1F6YmAr-Pi-gkMNR1k=",
  "id": "rs_0446e5170a8d8d65016ab43be8209887d0aace997edbb22113",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.225,\"left_z\":0.25,\"right_y\":0.278,\"right_z\":0.25},\"note\":\"With both arms separated, the pen nib and the cap’s free end appear nearly on the same wrist-image column, but they are still apart along their axis. I’m closing only about two centimeters of that gap while keeping their current heights and orientations.\"}",
  "call_id": "call_VTSUIOVUzx5js7BqGJYsJB1v",
  "id": "fc_0446e5170a8d8d65016ab43bea137c87d08b62586dac06e9a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VTSUIOVUzx5js7BqGJYsJB1v",
  "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]: [-0.2909, 1.5929, 1.4471, -0.6254, 0.5976, 0.3138, 0.0835, 0.4763, 1.4807, 1.3041, -0.5091, -0.4477, -0.2836, 0.0886]\nstate[eef_state]: left_x=0.3864 left_y=-0.2157 left_z=0.2492 left_yaw=-0.9609 left_pitch=-0.0497 left_roll=-0.1442 left_gripper=0.0835 right_x=0.3415 right_y=0.2663 right_z=0.2459 right_yaw=0.9962 right_pitch=-0.0495 right_roll=0.0466 right_gripper=0.0886\nstate[joint_eff]: [-0.9778, -6.4889, 9.2513, 1.3993, 0.1099, 0.0317, 0.8083, 0.7179, -5.5179, 9.388, 1.619, -0.1783, 0.0269, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b3af4392c1ee23b042246085b4988a75ef870d467e003e6dba5384aafd61ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b50b2a86fcc3de73eacb84a10d934613347ffae963959b28a80c5ae70ab185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9bdd44c830db30fdb9d82f752424537aee8995426ccdbd262516d60a918ce40",
      "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 · 5.549 s

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

message 120 changed as sent

message 128 changed as sent

message 133 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.35, 1.7454, 1.4982, -0.6472, 0.6342, 0.4728, 0.08, 0.4969, 1.639, 1.3178, -0.4568, -0.5491, -0.4217, 0.0863]\nstate[eef_state]: left_x=0.3891 left_y=-0.2496 left_z=0.2047 left_yaw=-1.1387 left_pitch=-0.1131 left_roll=-0.1199 left_gripper=0.08 right_x=0.3471 right_y=0.2972 right_z=0.2002 right_yaw=1.173 right_pitch=-0.0838 right_roll=0.0426 right_gripper=0.0863\nstate[joint_eff]: [-0.2803, -11.6855, 6.7214, 1.37, 0.2564, 0.0904, 1.0037, -0.5265, -10.9333, 7.3231, 1.663, -0.1783, 0.1392, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.6062, 1.4178, -0.6193, 0.6155, 0.3546, 0.08, 0.4545, 1.4872, 1.2762, -0.4797, -0.4808, -0.3141, 0.0879]\nstate[eef_state]: left_x=0.3864 left_y=-0.2116 left_z=0.2341 left_yaw=-0.9821 left_pitch=-0.067 left_roll=-0.1442 left_gripper=0.08 right_x=0.3443 right_y=0.2632 right_z=0.2382 right_yaw=1.0172 right_pitch=-0.0421 right_roll=0.0421 right_gripper=0.0879\nstate[joint_eff]: [-0.5675, -9.347, 6.612, 1.6532, 0.3199, -0.0757, 0.9646, -0.4855, -8.253, 7.4462, 1.6435, 0.0171, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2909, 1.5929, 1.4471, -0.6254, 0.5976, 0.3138, 0.0835, 0.4763, 1.4807, 1.3041, -0.5091, -0.4477, -0.2836, 0.0886]\nstate[eef_state]: left_x=0.3864 left_y=-0.2157 left_z=0.2492 left_yaw=-0.9609 left_pitch=-0.0497 left_roll=-0.1442 left_gripper=0.0835 right_x=0.3415 right_y=0.2663 right_z=0.2459 right_yaw=0.9962 right_pitch=-0.0495 right_roll=0.0466 right_gripper=0.0886\nstate[joint_eff]: [-0.9778, -6.4889, 9.2513, 1.3993, 0.1099, 0.0317, 0.8083, 0.7179, -5.5179, 9.388, 1.619, -0.1783, 0.0269, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b3af4392c1ee23b042246085b4988a75ef870d467e003e6dba5384aafd61ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b50b2a86fcc3de73eacb84a10d934613347ffae963959b28a80c5ae70ab185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9bdd44c830db30fdb9d82f752424537aee8995426ccdbd262516d60a918ce40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDv1ErIXbGVXA59x9PdhdMkr5aoI2pTpVzCX_e-rCzeJ4RaNNhXz8VhFXrKw2FX8_Boc3FnR9l_vo-TvXjbcFRrkOjqOKK7tP6tVmn6DoVsLk8XEubY56HpW2e_gmKw2yy129aJ8wSmg8ulVXkSH4-qkpUz8YIa7ye2G9o0DUG_P0xSSK7PE7Ol-bmrohmYQEnI9p-ImcTsrFOp6bp6YLfZO_6cvQp2eiPC_0lkfSH0tLq1RPmnDrgixRzdElClFFMrW9BBnxfS5Vq3WXGdos5lKwo3KOudes5Gz5qXPol3oyOy36bruOyTf4v1ZpMvh1JzYajz73aakazPyIlsn9qY3ErenqyQBQl7tda-gMsqMZOElzJre70dbIk6HFe4UccQ0H341yGtPwcFsXfZaZ60aqYvaNNV-ryNqiqBk7EFxWf2hK7lxoBepgRF-qwrv9pom0lv7K0k7LtqA8GeDjAFI57qx0JJ--mpUhgTyBego1PIOCUzHt3N6dwub0MiaAcImbw5JK7jMQXZvahQcrU6kNvZP3yLSFSA4sE_b4TaOPYjbUbEm2SoQLbXZSCWM-XNTKEy9VwfLnqRplQLICAlxmPmL-HgGByG9pifoZEqpIZlMFdBSOesDaEqkqc_TEdRerZkuZtoDG0F6I3UYUfe60YTuBBlpkbjIqDTc3-8CbDdyXVanf4B9KwOAavmr3d1OXseFPqb4utLb1iil4QZKuuMn_RU4tJRZv3z49bhSx19ZcFOd6L6UaSmZXAP2gqKupF0G6-B_XraKryucjXaETTDslUZUM4DdRnodxBvUWdLfXOvoU2j_kZdkZZDGo1mJooo7qpr-O7yI_zMOD1A4CGAT6ANYxLzTY6QJADN4t4HAbAmR1qsYXegYtydF0YFhMg_w_vs1EdryDjvcKvNca5GseiP3qPJS7WaNbT6FLXnxnicFGLRKq893EuT7qqJ37-QJ6UUVmogDTqDinvvS9clDYHCZevZNtgbhS5Irbdqw_IDzEM7kMRjXBoNv_AwkaX_pRqAOlo6yeBjRZkltAtPxWbAQuOYRiJXpaZoeCGBjKiETv6Kr2h07FA-wWKWI6UKeJCu1yKz6oTyUv4-PByvVT1wa1x9byCiPoJvw604mOH6o5P37ba1Iw2Pqa-6BCjKr3UkzaAEPKdPF7KbQeNal_KyBLFruTiiyta3Q34xjAlVbQxjLqPoZFaczF1SsN9GKnWeWV7cQqXK4A63x3CR6k3MGX602tgGbohszi25n1s0Ehmp-vxLTMLSOqHta0CG_cYLKPUNmMm5vJCb2qz57zJ-FgU0as3BlXKvVzDiD1b0qEs692tJ0zdZVaUJRNCY4_RIP7wu1J3M6XFzoako21_o5dn1Z7Wm14fXRerAeE7hWsw5arsHKCHEORvu7utKSM0r1TSSEnuvxT2ehXovP4ycLG4HaharbkgToYl0gkVH90PpS3HZKAEHjCtBj-wLW579qNF1F3ZTONqFeRpmBhM98f4FVZiRhuAA11eC9ctTsxRp2feJYAnkvtDhlzftCAtxznaaLBsV7WEK6bAwUrSmUytmPowKwNKeEqMW9zcR2zKf1CSnecQNTJdQBbqqXvgzBZqrAZzJcM5D6qbBVi9QOBhVliqK1CWiLLWfmhOCXcvmu2HueN2j02rkKnmCMfzY_UZ1_fFrblaxR2IoV9oMAso-y7SdpDu0lwfmkjrpnp9LAt0jiNzTUF0w2IDnkSKkqubOEeWdn91Gj2vsk07L3pXAmPs93g1jiYtObAGNp9dcxHOUjyAP84qJzVydmgFfg6nTlCXAgWyTRuLoqfLmWYMP5xGqpR0XRXxdxA12-ZNp1J2r_2PK4NYxoKyHJRL6SCTt-F6pZY5v-U3VIUWudx6M5Xisbs0dwGID6GtrpOFPxNIKFV63BSRbdgBGrl3udQCScvcoVh94jG8gzYMY1g11BOizRAf7USs0BXe0J6tideiRjxTWyhaXuWrKTkWSpXM3ixrP4Gc_nAub6rCVgfvmkiuqGVk4_Vyj4qJFRy5bn1Fw-IZ4jnm5dWJcbktXLUrrE2aFJXeJBRxqQD4EJgvnVWOE45tL1_pa1QJNgD_biQTT0YkS4bG3rjMWlYYU-cZEOmQ3EmXrkTP34UYu7WZqBfXMTk3Rc2EVjMIuImfnA2EXJb4Fi9vyfa7xrOrte3CNbBY8FpQeKXIaPWNUHmVtOEWx1HRCX04cbVePY10Ik77pliX9sS-FQBmBIK7zeLiJGIR4oNB8cvvabBy7_QXnuC_FOUgA_6SWY1TAeAVVFBlXwZz1m70hpM_aLazAGyWhr0w9_CwdWIamWaH4PpVvmzaxAJcDEpXy_kjwvfbUOW_kQmC3AfGYKWYGJANNZWmrbEnTVumNpRyTLT_ZinU0VJpzPruTJ2eTEd6kSAC1-33WU2m0R8ZoKUZ7BU2vYCEJyMS1-nkByWae9rvMBH_ZfAVw67OX-a9P37ijsBifPo8H2hnmyego2gKQOsf47eAF5eoq2pmDXU1OOaWX-TzCAdTyrb8ppRcBuso-ytWU1FHuvbbVSVXf5GnbI9t0yA1cECmARRYfTdi7RjBLR3bOkBFJvvh0u6SwlFUAhZcypwrwYYcOyNJmd0EfTF5XCtNP5GCYTojgG2042ueHV3s2u6eQkkCG_gJMeWPOdvL1ibicIarAK0mt9O1OLwKGyjZzFb-ucze6uYjzKiTb5nt8sQZ2FXiioKe075oDuZPdvdPDkpqIJt4o2dvmvX0o2LT5KqUGCUL9VcBqQeouKmOtvYvcC4XHMqdiNv_2QXI7Hqjc_15hLDqul_EClmAxPJg6JeDW5WuHNkjmQ0qq4WZFEHpBl1NxFJdHamgf2_wfFzmSU15regLeZMao4Qzqq1j8bk5jZa2i7khxZwi1Vn7GElE0STQR7iMgVl8-HvmA_GPhPUvu1eg1r4JcKZeEkU0LkAlO63slc8lpC7eQEXeQaZuDoHUnnrXZopVI-0gTTABAxxtFPLT2H_Qm3rxWj1Yv71yHG1nrdNdN1ageYjMNfOvB2T4hsrVxLmdGQRo6K595bF5_6UW2orC1bgX2emUadlge-05s7iWOXjkB4YvB7PWbk8JrrxJOqCf7qMqECoQ3JIC1Nopmjj1JP5rMgFv3hNACCL9MvPvvSRIR2jHE-iocSYt0Bb4VVaQ2sKmC3fDF3CcQdoyifj16pv81aocmCbN06ebWsjvZEdHlZkRtVsWUy46DE7iI6eRiEzF1Vhp6ZWs4fWU5l1OJtNjVB3avUcuJpMIsFbxKQK4jyhLkMnlDCv5MxZZbVV0NueJdq-J0b07BSLa7mvjF_xR5JB4XFFw5VwgIAGxu_w-yWjh6c0SqeW6OSMCUucdatVIsHiOEhJukAuNKoKssWRQfDTtjs83lsjUdwebkj3wfy-CJr0uFKskkGz5XYHN2ZVgPnE3vREqFUKPSscEQPubP49qB_vYFT4fasEg==",
  "id": "rs_0446e5170a8d8d65016ab43becbca887d0a74adeb45fda2247",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDv1FukNl-gD7GdYh_-C8hmszQPJD2pT51WQcmd8oQMlJ87TIOqUbzw0iWQbdnQLm6Uw75vLOI6X_C-y_LQG7hTeB8BKC49ID20oomD4WLgxsEp3gkRTYnGMhR-UkNxcQn0pk8B9dU1FoqnLVaz8MzwJH8xz5MfO-1hjz5kBYekf739W1HCqODAJWi1_UDMDCakIrYn9Q-B8e9kAbln_CHmjS7zNoZJcTSYGDiMk-3ajyKtJ_TZMBNPelnhj1dwbQiR2P3OCZfjxUYZk0R1pMtcFg0JUzUmyfD0920ArLT93h04isaZv-Ncn0OzfEQmHjPXUoobFAKjSoUf74tagpxGjorIpGOlcWv3fSgFKgFZSGt1OFQqaZKK8RB0pfcKPGUIN1EAt2gi1pZiyAmS_pBmEVQBc2leCbqGL18SCexjewbwy9s46Gq38AorB_fbVhZTc3TSXmWpf4MSmGeZA5PjR9MXiSoRSqQJOWegdXLytHMgChWWC452TzWDhPHOp-RFyZDJrlYV-fg1O1ZsEG-cLZskVfwFvtrre9BvXJ6s0-qSKO8BxrPG3W5M2N3-PHHbP6Hk9Hrb7KSTRDF-R6MylMMRn5xx8At-cthQYvnzElEqjCOIyPgl2RD5VY1O1J5Sv5ZtPHeSa9-B4fkq28zSbsTU_bQJ0jfoQKrte1e_JkpLnVWtx3ZONnj8r1JsMUEPZIHqL1vZhtOuiuBezsQRHIiROO9NA4xVeBEe_BD0pXGjyaPgtJVNpalFFCotqYrovOcXTKjlwA_3HFzk25XidrBt2d4aHCxQm6dXh3bwdeXgy4tOXzBMXF0S-dVRvrzYuLDz1hx_L1iJR3B7okFvCcP524FaLR9BKXGkVAMm5v5gMFMyHeysB3MTqpxyRTo0-1wKcRiN8pfAMJbk13zcfqizbL1u2oQYySDiybqJboyOcZmG6STY97pz33IRbJFwEeftcVCsbA_nzKkpuIaQ9U26CgHn8ZM3m4Z8my0J-kFEWGh1bRw4aoNvp_beuoFtwflTpL9Bliql52vjavMFvYshbCbdIPDFVW7oGIpxZXFjR3yKq1jMAyaWxwyvlSGsj-DZsl6SAVyH1cDAQbAnzSCP-oEW2ozvI0qVGROOoebFt7jNTcMrG1iPGC293mXd8r8-LuQCDOzX4xshPWMaZ0MCgpkuyNJyvNYOcasGcWDBiZX-Fkpss3R55NwBO4isGWxlh_B_ZXq9rxGlLl2yoIjeSYLPPDFKJtYM_2a19sr_ei6e4CRESrJNOOfPyGDkxzBaRJhxn9ijdkDTOVT-mhbU9WnxppysPE83siSgiosvUx36tH8ZtmmhGlOsXiUy-sh0Gkf9VAitLfIeolAF63WfgHmA9TabI8wXl1dTZxb_ERfxoF1KYwvfhX1tVL9mTNlAl8uELKB5SInhoL4OdFQZg-JINUd6oSx2kBbA0Mz8UawKaE3ZEfIE8i5-UnxOp34JHUbl_h6aXG1EgUtOJiyeag4-SqTur3Dlzx_PJv6U_k-TVBASWm21Q1lQCqxmtw-ot4lHm9IF9helBY7kEMtdGQhDLUEfuByxMpZeSRkvPeL8DX7Cibi1foNH4cUBJjLdThYv1-Fg7xQ64rR8SJA7aVnSVLtfPrWt_dNixGem77PmAOCQttvSgZXHKNJ1HDXfqueRmsSj-0-dBSol8diU_fvoYabbDoAcwalsnR5MDnqSZZnLlhezdEHd7XTDQgbLaEcxNd47Grh5Y8PjqWMBcWoZlXI8dUVJ_QCGQSwDy-UK5npGV1RY3fiWAU_q_LrDiVLKSdiKKi48ZzOrf1WStfTkenPlDtBvonxub3iMIwH28xEW8LMVbnXNfIZl_sAqcbjHOsEE02wzNbvuDj1-Jdbv0gsEv5aDB8OZxlH0jrKWqLy4nUZcuQ_6L2mKw0a9aZ4NUk8JKdM4NMXfonTpECbNW7xTDmI7ZeWNo-bX4AdgeG_po0N_lONituU8_C_3kGovawXtojLJ9K2G-whdov9J1EAwrj0n9P_lQTzE0MXSA7MPiAMy87koipTni8tSWcSFUBHmaCfvTlqZkx9fG6Amn1OQYsrUsMkc6CAXc9-Qe7J2_agvdbdqomcmcOq1chhGe3XHi_sIwFwaXV7DJZBp1nHWqNygNRmcYZOrzXPbl6uPT6YOwnVGHWObyGtc2UF1N26aLuo7gGWz1Rrg9rv1DfGIVeaNsaZj_o7SJz72edo5NvYFUlE_7Fwww57CPD56VAkrnCncvKhIn8RzlMErqvXKO5FnzjgJwO48YR7oP5WshUiK0dBL98XViQY3F8g7SuO7g9AKawaJqBuFPSeo_p-UqD3Jxd0mNp_CMil4JbD2fkqUfYQ3wYf5jxzgdmR3eTXFGKSTdUcUUnqwDZTmfQNJGxGfPFwRpc_z8P_KzbiX0aSFdkSMUd87FHZZz478xO-LipvqZDhu4N_106WbUNf8fbSgKeGvEOlJQ3XYti95EGw4lb-BlLaKQwlA9xM1wDdEtHUjvGUIg5OXHBe0rhs1i_1DgwxM9LYd6BxG0sU6gU2l9MsP6ofRLZpSEvPbhiEaSeQ7U9DJQZMPp0-tQUL_0OuIbB6Wio_Kgp9_zxbWNwtlNVHd1SkCAwEByWy0RS60c65jmV2O7Pyx37QZc3MU2ehTypUnj5GAEV7Z0jIqrhLGe0jkLJQUVBFzmOITe19phzjcLrzftEzx36VE_tEjkd-sqKAI0YxejADLrVCYT35MRJlb3UHwifYwGSNB-ISFaNGesTNddqg_1ahZVXJ0HevldTtRTssfYqPLWzjexqnAWSFbkD8Ys3eu-nGuUHd1sbDdPeD60Hw5v7EQRE1yoqkM4QC3KHfSzX3fseY3VwS-8rlgZP_jCrxHrgrr71w85XadFYV0MRsLsFjNj_gxyrgZe3Cw2jAgZrbM9CpnlcSmwRARM59TJ46yulL_jVzFenZG8iw5BxvGO7cx_F3pMZfOoWiL8P84I_vZruoNZ66NMdrX7NLIUAue_fW5bLwOCJlZybUgS35px-GNE6z4guQ53q1yglzohOi_IEO_LUNzfzoNm-IXdVdUOaJNbEkdi2HbNDrDMT-xb1Opy33j48yN3P17_KQxKQbdn-3DgTlMN6NvJM3L3LWMdQqMRTZdDyLqEyB86LLrd2jhZPKEyGMCCVvVbYiAykgKVmZ9hcAWp_73KRMpc",
  "id": "rs_0446e5170a8d8d65016ab43bf0ecb887d097e66230e4c25881",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.216,\"left_z\":0.25},\"note\":\"The cap is still several centimeters from the nib, and its free end is a little left of the nib in the pen-side camera. I’m shifting the cap back in depth now, while there is clearance, to compensate for the sideways image shift that will occur as the arms approach.\"}",
  "call_id": "call_uSKSYU8ILDS7CBt0sWG6tcWv",
  "id": "fc_0446e5170a8d8d65016ab43bf4544c87d0ae159eebcb915671",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uSKSYU8ILDS7CBt0sWG6tcWv",
  "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]: [-0.308, 1.6016, 1.4212, -0.6468, 0.5823, 0.3119, 0.0847, 0.4904, 1.5158, 1.3075, -0.5171, -0.4477, -0.2852, 0.0894]\nstate[eef_state]: left_x=0.3788 left_y=-0.2187 left_z=0.2309 left_yaw=-0.9684 left_pitch=-0.1008 left_roll=-0.1718 left_gripper=0.0847 right_x=0.341 right_y=0.2728 right_z=0.2317 right_yaw=1.0124 right_pitch=-0.0839 right_roll=0.0651 right_gripper=0.0894\nstate[joint_eff]: [0.4718, -10.2496, 7.3504, 1.6777, 0.315, -0.0806, 0.8767, -0.8684, -9.5111, 7.0085, 1.6972, -0.232, -0.0562, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875c45046be22ba04b4dac05fa382f60dc93b6201af5ee5d2ae62019c1b942da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442420fea0e802ba173aa168cf38bf24fb91097d9bb1aef94fb9a7864c0fcab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389e212f3763a4b16836956ecc8fb5c9c3e16c507f9641bfa2d2eeb957f9fdd6",
      "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 · 3.633 s

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

message 124 changed as sent

message 133 changed as sent

message 138 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3504, 1.7432, 1.4944, -0.6548, 0.6342, 0.4732, 0.08, 0.4969, 1.6344, 1.3159, -0.4564, -0.5488, -0.4145, 0.0875]\nstate[eef_state]: left_x=0.387 left_y=-0.2491 left_z=0.2032 left_yaw=-1.1401 left_pitch=-0.1195 left_roll=-0.1261 left_gripper=0.08 right_x=0.3465 right_y=0.2968 right_z=0.2014 right_yaw=1.1687 right_pitch=-0.0817 right_roll=0.0463 right_gripper=0.0875\nstate[joint_eff]: [-0.3077, -11.494, 7.1179, 1.3944, 0.2515, 0.0952, 1.0183, -0.6632, -10.4547, 7.7197, 1.6972, -0.1636, 0.0952, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2909, 1.5929, 1.4471, -0.6254, 0.5976, 0.3138, 0.0835, 0.4763, 1.4807, 1.3041, -0.5091, -0.4477, -0.2836, 0.0886]\nstate[eef_state]: left_x=0.3864 left_y=-0.2157 left_z=0.2492 left_yaw=-0.9609 left_pitch=-0.0497 left_roll=-0.1442 left_gripper=0.0835 right_x=0.3415 right_y=0.2663 right_z=0.2459 right_yaw=0.9962 right_pitch=-0.0495 right_roll=0.0466 right_gripper=0.0886\nstate[joint_eff]: [-0.9778, -6.4889, 9.2513, 1.3993, 0.1099, 0.0317, 0.8083, 0.7179, -5.5179, 9.388, 1.619, -0.1783, 0.0269, 0.0659]\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 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.308, 1.6016, 1.4212, -0.6468, 0.5823, 0.3119, 0.0847, 0.4904, 1.5158, 1.3075, -0.5171, -0.4477, -0.2852, 0.0894]\nstate[eef_state]: left_x=0.3788 left_y=-0.2187 left_z=0.2309 left_yaw=-0.9684 left_pitch=-0.1008 left_roll=-0.1718 left_gripper=0.0847 right_x=0.341 right_y=0.2728 right_z=0.2317 right_yaw=1.0124 right_pitch=-0.0839 right_roll=0.0651 right_gripper=0.0894\nstate[joint_eff]: [0.4718, -10.2496, 7.3504, 1.6777, 0.315, -0.0806, 0.8767, -0.8684, -9.5111, 7.0085, 1.6972, -0.232, -0.0562, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875c45046be22ba04b4dac05fa382f60dc93b6201af5ee5d2ae62019c1b942da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442420fea0e802ba173aa168cf38bf24fb91097d9bb1aef94fb9a7864c0fcab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389e212f3763a4b16836956ecc8fb5c9c3e16c507f9641bfa2d2eeb957f9fdd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43bf784e887d0a0e26b08a0f809d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.366,\"right_y\":0.273,\"right_z\":0.24},\"note\":\"The first depth shift changed the wrist projection in the opposite direction than expected: the cap mouth now appears right of the nib. I’m advancing the pen arm in x while the ends are apart, aiming to bring the cap mouth onto the nib’s image column.\"}",
  "call_id": "call_W7qnH8R6T61NaijD71Zwzp6D",
  "id": "fc_0446e5170a8d8d65016ab43bf9fc5087d08ba357011a9f149c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W7qnH8R6T61NaijD71Zwzp6D",
  "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]: [-0.3035, 1.5826, 1.4067, -0.6407, 0.5823, 0.3111, 0.0864, 0.4732, 1.565, 1.372, -0.5575, -0.458, -0.3046, 0.09]\nstate[eef_state]: left_x=0.3766 left_y=-0.216 left_z=0.2337 left_yaw=-0.9627 left_pitch=-0.0924 left_roll=-0.1658 left_gripper=0.0864 right_x=0.3523 right_y=0.2722 right_z=0.2322 right_yaw=1.015 right_pitch=-0.1013 right_roll=0.0684 right_gripper=0.09\nstate[joint_eff]: [0.0615, -9.8393, 6.9949, 1.5556, 0.3101, -0.0904, 0.525, -1.388, -6.8581, 8.6769, 1.4383, -0.2515, -0.0171, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921492b88ddad5f71f4f1143fe43407edaee5bb5d7f4007d52725dfabfeeda8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7500d80a6f496b6013250616ec3545cb80f2d1361f8471cb4994f88d1c8c8c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9b9e0d4b97cbcec978c2b407f7778e4aa700201d7d82c0d27e866e7cb1c273",
      "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 · 7.596 s

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

message 128 changed as sent

message 138 changed as sent

message 142 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.6062, 1.4178, -0.6193, 0.6155, 0.3546, 0.08, 0.4545, 1.4872, 1.2762, -0.4797, -0.4808, -0.3141, 0.0879]\nstate[eef_state]: left_x=0.3864 left_y=-0.2116 left_z=0.2341 left_yaw=-0.9821 left_pitch=-0.067 left_roll=-0.1442 left_gripper=0.08 right_x=0.3443 right_y=0.2632 right_z=0.2382 right_yaw=1.0172 right_pitch=-0.0421 right_roll=0.0421 right_gripper=0.0879\nstate[joint_eff]: [-0.5675, -9.347, 6.612, 1.6532, 0.3199, -0.0757, 0.9646, -0.4855, -8.253, 7.4462, 1.6435, 0.0171, 0.2711, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.308, 1.6016, 1.4212, -0.6468, 0.5823, 0.3119, 0.0847, 0.4904, 1.5158, 1.3075, -0.5171, -0.4477, -0.2852, 0.0894]\nstate[eef_state]: left_x=0.3788 left_y=-0.2187 left_z=0.2309 left_yaw=-0.9684 left_pitch=-0.1008 left_roll=-0.1718 left_gripper=0.0847 right_x=0.341 right_y=0.2728 right_z=0.2317 right_yaw=1.0124 right_pitch=-0.0839 right_roll=0.0651 right_gripper=0.0894\nstate[joint_eff]: [0.4718, -10.2496, 7.3504, 1.6777, 0.315, -0.0806, 0.8767, -0.8684, -9.5111, 7.0085, 1.6972, -0.232, -0.0562, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3035, 1.5826, 1.4067, -0.6407, 0.5823, 0.3111, 0.0864, 0.4732, 1.565, 1.372, -0.5575, -0.458, -0.3046, 0.09]\nstate[eef_state]: left_x=0.3766 left_y=-0.216 left_z=0.2337 left_yaw=-0.9627 left_pitch=-0.0924 left_roll=-0.1658 left_gripper=0.0864 right_x=0.3523 right_y=0.2722 right_z=0.2322 right_yaw=1.015 right_pitch=-0.1013 right_roll=0.0684 right_gripper=0.09\nstate[joint_eff]: [0.0615, -9.8393, 6.9949, 1.5556, 0.3101, -0.0904, 0.525, -1.388, -6.8581, 8.6769, 1.4383, -0.2515, -0.0171, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921492b88ddad5f71f4f1143fe43407edaee5bb5d7f4007d52725dfabfeeda8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7500d80a6f496b6013250616ec3545cb80f2d1361f8471cb4994f88d1c8c8c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9b9e0d4b97cbcec978c2b407f7778e4aa700201d7d82c0d27e866e7cb1c273",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDv-06P5fldx44BlI2bmmuukUQB0d56eOlGAqZbOgOodMqSgHVmXbqiC28UG6xIae7LQlu375XXJW7ppFpah25c_SL9Hbgr2_hGWBePRioQX7xECbLzoeTKjM8uiuQTAdBWSyLw915uMxzcUniyYZPembLS-P1Gh7OSDmwmrE8QwEj1mpgs7NMBJ7zIJ_QGPOY3u90iABb6das-8gsl2_jOuJoKOobhszL9sIuL_1n0puNbMgeGYG1u2AgCkZ-8NbUuBBncoDkJoJ4URwaM8HlHkDp7I8GI3u_cb8iko25eaOebEh7J9l7MwEmzVq8qbU4TKg7vjl3TC6AM8rShvR-L6yCNzwQpstzn4BB9ZqTdezq6AaYt0VjIYQZZC8ipC3PXKMZIpj9Ke758uj1Esge79y5pOVRxgt0a7JrbhYDn-Vu64VjRxBSauHihRGdve3ufB4tBrUC-pLGJXOtVIol6W-aaNPX7wIUS9zo_GjoOQCoV2OkFqpp2nhPH2tEfr0Nq4ogAxpEjk7wvCGjKruzZU0ShlgCXHJThDhT5t28Fy9IdLOUdrZQkhpE-1jl5xM_ftv8OVzXlrkAuswv6zCxd-Mr7ZJZvz38-ob1MWi8glK0O9uNEg3-U6xmPOu9ANkvQje-fnXBb041UTx4V0Yo6NmWAKNhIoPaEvyUHJlimoGhYNO2YxaJdsONuKFcQ0lxGi7Vf7wKzuEldg9wZFSTeLYM1STFOwBMPxq1_bxbLHhM4eFrbpqvabdQ_iiYoLbchqVsVpRKRSMGgK7A423eX4ThA09Wo1C9tUFUy6epLOAyzlBAYHyBfBq08h-jZOYs2gfLlOPelFdJfPGfAYcPz4y9gDjmVRUJ_Rk1Et1e0yJ_4zlWdoTAFZhyWlZfl3k8yyvNObawaybunpONu91Zx1XuDLGDUcTWCWQIyaLs1KH3i-ueQcpOqSWFdBOFwCBvwpKV0gUoJ4Q1FyoBK8ar5Bg27zcFK8PCh2ri2aQ1NP4OSO4EeKajpNPLAebD1iOh35cgOpU5eiC2ot8oACxFKmdxlWQEwB0IrRqcSgKbxrFH-YTie17nL5DGT8H-FRbx9ufoK6cA3S1dQEKtVCmdj_sIf88n3t5PLpOvU4zlRDEeKmjM0WxQ-Qu14j3Zwc09yq5JOVwfalQCGjz39m31FEPvPxq37VFPMw4_ENd5x1nGeaDZJb0uYp-n3Jgecep19viQapmUcYLS84Iy9tpcCMvGImjDNn3JQbDLiRE7Jn2UmILIuO_EzzutYqIiAfjpBYbpMF6cMT1X28Y415PTmbj_8cK2g8wr-sRMbq_uVZfcK6yooWou9WbJ45FOC_6OlKI1EnzvdlJYoSbZQuLPr845q6TOKIsAHAB9EZqXCw6xX28nuCgR9C_ApvuVaSAKneSAjR6ymwM4ARQ5elXEu9azh7-nq72fttxo46pROw218ufXvGIUqf0G-17FOZqoxJomWBrHkD6ZVQoMiQ3cBrHMvW6zqh_rO3nxxyxAaY0zHwB6II3bUww6C1b9TMFAjQzOBrbK-glbJ30_4XNLV0RF_UCq78ehoE3IdOy8WqMxBLkhpZ6BGGNj-NnZoBoQNzLunMXBBi8SknG9nhgoYqPZn31Z5QwvfweKlcDB9UQxd-fRwfksMPaLBB7Whb0PFPA0P6J6UAJjj4fhR-eX1w0YEW0h-vmaAG2mbGxSTnUWEwv73y9W0Qny7Yifr14i1AIfXeXwimabPXaHn7g3Qd_r2_UBV7lHltLw4lELsQxzTAGISfd6NUgP8zJsP_wp0RUOxzBLlMNglilPfx_4QJ2mkXvCR3RAzN1NIgRGd2MmXLxoqZ0P5jzE-YCivQehmFLEwR9jPV4GN62jHl4MyCov-Ll6vpKuaugwznbi9fbRzavh8-I9ibWw7LiQ9TN0UrIbQp1VaWAxNARyU5d7QpA56MHFkwrUmidh_PzQOIFdKz4Is8yel8cdh1t5kcJlnmFiDA8u5UrywwtIOSj3ZZsqjLJW_JaRp5YLTtg-PCwFU=",
  "id": "rs_0446e5170a8d8d65016ab43bfc601487d08ae659a0e7ff374f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.235,\"left_z\":0.245,\"right_y\":0.297,\"right_z\":0.245},\"note\":\"The pen nib is now centered on the cap-side wrist column, while the cap mouth appears left of the nib in the pen-side view. I’m bringing the arms inward by about two centimeters each, which should move the cap mouth toward the nib in both distance and lateral alignment.\"}",
  "call_id": "call_XMI96J8VJYa4IeqKbxNCeIZQ",
  "id": "fc_0446e5170a8d8d65016ab43bfdd68087d097badf2ec9498cb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XMI96J8VJYa4IeqKbxNCeIZQ",
  "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]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0891, 0.4931, 1.6112, 1.3987, -0.5701, -0.4454, -0.3031, 0.0909]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0891 right_x=0.3548 right_y=0.2811 right_z=0.2211 right_yaw=1.026 right_pitch=-0.1334 right_roll=0.0786 right_gripper=0.0909\nstate[joint_eff]: [-0.1026, -9.7436, 6.9128, 1.6239, 0.2369, -0.0952, 0.6716, 0.0752, -10.4684, 7.0906, 1.5067, -0.1587, 0.0855, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126e9956c18eda6d8ade12fd538927d78c6792c09919eb716ce467654d47a3f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdac1dfea16d1f3cec5b28a82d30977ed73ea1cfb33224aa674af8195d2b43b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c413a89d9985523b9fa021483dd459d9674000d6dc453933270bf276068fe4",
      "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 · 7.794 s

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

message 133 changed as sent

message 142 changed as sent

message 146 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2909, 1.5929, 1.4471, -0.6254, 0.5976, 0.3138, 0.0835, 0.4763, 1.4807, 1.3041, -0.5091, -0.4477, -0.2836, 0.0886]\nstate[eef_state]: left_x=0.3864 left_y=-0.2157 left_z=0.2492 left_yaw=-0.9609 left_pitch=-0.0497 left_roll=-0.1442 left_gripper=0.0835 right_x=0.3415 right_y=0.2663 right_z=0.2459 right_yaw=0.9962 right_pitch=-0.0495 right_roll=0.0466 right_gripper=0.0886\nstate[joint_eff]: [-0.9778, -6.4889, 9.2513, 1.3993, 0.1099, 0.0317, 0.8083, 0.7179, -5.5179, 9.388, 1.619, -0.1783, 0.0269, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3035, 1.5826, 1.4067, -0.6407, 0.5823, 0.3111, 0.0864, 0.4732, 1.565, 1.372, -0.5575, -0.458, -0.3046, 0.09]\nstate[eef_state]: left_x=0.3766 left_y=-0.216 left_z=0.2337 left_yaw=-0.9627 left_pitch=-0.0924 left_roll=-0.1658 left_gripper=0.0864 right_x=0.3523 right_y=0.2722 right_z=0.2322 right_yaw=1.015 right_pitch=-0.1013 right_roll=0.0684 right_gripper=0.09\nstate[joint_eff]: [0.0615, -9.8393, 6.9949, 1.5556, 0.3101, -0.0904, 0.525, -1.388, -6.8581, 8.6769, 1.4383, -0.2515, -0.0171, 0.0562]",
      "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]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0891, 0.4931, 1.6112, 1.3987, -0.5701, -0.4454, -0.3031, 0.0909]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0891 right_x=0.3548 right_y=0.2811 right_z=0.2211 right_yaw=1.026 right_pitch=-0.1334 right_roll=0.0786 right_gripper=0.0909\nstate[joint_eff]: [-0.1026, -9.7436, 6.9128, 1.6239, 0.2369, -0.0952, 0.6716, 0.0752, -10.4684, 7.0906, 1.5067, -0.1587, 0.0855, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126e9956c18eda6d8ade12fd538927d78c6792c09919eb716ce467654d47a3f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdac1dfea16d1f3cec5b28a82d30977ed73ea1cfb33224aa674af8195d2b43b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c413a89d9985523b9fa021483dd459d9674000d6dc453933270bf276068fe4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDwGYAF4tIBL_XvJj8Jv9brNLATtuz8po29YHVroYb6w4D6AlMtxjHbqD7c9nVxmOL30T80tQjdJvy0PqjbRqw2U6RPVJpa9aKUGS6fV6bFttlci7RS2IlkRGkqDUvMFUh2vopfiy0jMqrGjB0CYCGYl04O8gDImZ_zykzQPNj07uH5HiAYJXncQ5sUbbDOfSbWW3dsYqGXH_vve0DGjk4svzwi8z98CD-g0UlHQInBHeeO8xo-JvV_H2QvGIwIwxF_5uClKi12nlaxJt7jmTbqpjP3KA07RoXPWCUWz6a9SZx0I2BgeZq8JZUCCvJ9s5i0z8CfylLtnE4QRa4Zt4R4HLNXKkQ0VwTXYhvvOwqCYLk9uUnKD4QXJ7b5fG3SRfXAVd1gUel3LZdjzXVdAnpAQmnCpAbj0nsFnksWlvFEGR0Cu3UhyLM8_YpefdLOz__THJacy7WGOMjL_1Z3l40aIONB9ghecJKuVWUIH2zYTKbKVGenE7w8x_CKWFq3yzVlD2nSeIBNXEgCl8JHfHTVHMVNG_yCNNHeA4HR7IXkrqH948QySQrWP4r3NtMkzipBYTgfN0aa7usOuBumKu5EGYYRvQ84WyjXY9bv5Hx_sAgarWo2u_PPKXUO6DBmlvyBE4PpF38i04hz8iJnQvuWNslZ_MMyIWoiJ7rGIE_v5ivtdulP5bVjDbA9aCl-67_D3ezma7X7GiZsfXryTKXf7bX7VZaQ07M-m88Moteg8s2GWFQ0gUDS2Rx9P8SNGFKK9mELZsrQGAU_RX3eBnVHrs9BTzauKfo587rsGG1o2K2hty6eLMTr8V0b7YFfHXasuA3kZpEkfAPG2RN2DYaFMs5j2fbT1SlEF-LvdctYkYRw9sGLNSF7jA7ev64aHN04WGTQi4Yb3qo5ftilQpT_o9speP1RvYUBE46RkAdoTnfJVl7T4oS3Qn6W9W9M9T6NrmYYGrwXw9XJVZ-h_VUcPBY-7PUnZH4ZYA5g4oEg5AC0QVjOFjRV-0tCSeziZQk-ZC6FAxSvR4YSTq8Yx8MO9__Mj4ub6K2_MqJzKZ94wd3MNb3LIrK5Z6RMtdt3I6oSo41lelGElzxJn5kCyglNp98uTImmjl4dQc7-oxv9RWU1GyNob2kBzEF9fy0-8-f4mSuDMSeXXsa-eIGx34rEwV3UMRyZjl6cTkv947EIr4r4ZPlU8ZRSHREAeANJPvMMBm-5LkFm3RwkglnJ9eocZrNPZtpxW4kEwLbe_dO_L8Apl7I-kXlp901dgpgpXPRxyGsrDH_zTYcVv3Waa2UaM9I8sP06bJAIOcMjIq2ILeR4nTVXbVtClx9V7U3_AjTZGII6z0WBxy7-b8XTDiETpSgM-otZWrJLRCWy6oBhGSRJMPtfgP7ZAj91Jd6jX5TofDvfIiwtVlGJqy-oMcMMxSGSaQh7pZamAe06IFAwpuf1P3NcsUoGLUzAcvDgR-T6IcsmjKA5EXgSb4ySnVNXFxxt3dHwy8cNI9bDRVoiiG9UHfIPCZF0U-IsNKKOGS8m6DtQ4gYZGDNNolh88DXfbo-CEThf0DodVJjT0qpm94hMqefth1VjV_8l6dR5MZKtT3HR-RQfOF_qav7EYPBhqYIFMepDJhArItaZ99PFZaTTcmQyp07znxUvsZ4Lkp8xHH4nbAEb8wkYRMcmSqMCc50w3BEHDcmdFTa2vpunwTOK2xm4PZAw7g9WHH302VJgZ0aj1q9nO5steBlPR1R6Aeg51X3eTzDXwrRHYFYKzLGFXEgjIw_GdVtDGaAkbphGhQQZvhaElVDivcQPjSnh3_L6rgaA5uxpHg3bPoOeS2UWXkrZCsyD3vPqpHIVJ5Dj4hZK40-MFF5FocBDLzOE-2aLBdYfiVWW8VYAObxpU48xgk9w20JnanzgSglg63opkNNMnGQjKyXwccfpE0xM_S5N1CPM01UA7JYYf41l5a_GyAKV-Cnff6L72WGJhzB-aQj083fTDcUOshoGb9ztbOv5bCLaaaSP7vq8q3Ez1gsYLdue4ggFi-xab1MMG_rVkwTVNIKnQ3adgckT2Yntl7i_LehtBIv3xRtsaoak1HhaXoIQWCuu0KhOCXZ2QztU8HWBJkZ9g5cs-o0Vdr8a9vmWBcIFNepEBNhtoOezXnaagOUyomnHbguTltihnN0kRVX_o7G_onQsmVOQOrR5G2gtoKX90_hquucU0lpWAkvLxkVTNTH4SdsEwpsPWL8_c4zMQq7zNI6sO1dnosQ_6BeSZlTp-aOjth7WF_sc4m-xqybyD_ur4S-Foau-vKGXcVeslg4FeBUzOE0_Mjfgl7WsP4aho8lWM06V1_3ZIQFwYRt-eCd4KxGEbFG5bnm_XUgARClNuzE3EelWNyrsU28MMT1AYGGX7f_WzBfdESQNGhpQKpgY3mqwrSAgqWSKwFJcyP7ffAJ-6FqNW7uBlxdWO908-3dk-kOdjemdc6aDRYWy5Hve8G_NwfcOFN02ThuUQTzWLVdSNcLdCLBsuZCYXND6s5T-3w_u54qjEfaKEESiZgaMVA_ABbsXM2n9HapqUGqiJKhOqVazjbPLDdZruPA6jiFJeLOUH0TTcireS6Bb8wuMGXU9TTbfwjtftvblJ5jVLGhuyIO8sE6k9eEv4e_e39sXdq0s02-0ysYj4AYYD364PHKLNKsTdNckKM3bLvZ1-l4ukQa9EA-tjGqw8aM1Tdr9ZT4fUyij3ss-pVevrrv-Z0qTaOT0ry22YvGrB1oh7zr29Dw9oGpQQ_oUdsPw4IEEo1mKkbG15YlFRyLCFjKiQeDKTs-ETjIFCwYVy0X2B0L3Zbach32piCCmT7IL-4H_9N2y2BJSgiepf0It5ug9ckVSFwPaR_YLCIPKzc4bmQ4-48HTtZomjrjqUG3Imc_Jqifc5V5PyELOYA_nsNSGtro0HNMx0rWJ1Yc3uEv5_Oaf_LfXVkBd0slv54KtcJuzIbcFEmwTiyDH2QuklyXoo2izoOIxAzEsq9qRJMWmrLuJc1SdmMQVj3sCavbhJ8c2LycT6cbXJ0I7PhwWoL7ymSSzkHsQCC6f4LVAN9cFuRzUK3ExGEbIOpGK75X1T9OnBB3DygWcvfMrKHDviyJFwPPSyCZg18XhgXq95EjPEqdW04rYmKoWjmKqpCkTQRPgnJgmtQgD0mtthwzTz6zlNPJkgGzxUxXRJuAhjn_708a5LWKRkyt6uIOJ974kgKah7EuEp3R1zIE_NAVkdr1Muq24CbP__CY03ahSZ-C5rw03Lwt6Nsi9B6818oDQobuaQ6YfgYxdiQlZ3BhNDgL5FZRv0RwneAWqy5PPsBWl59CGoUp6FFWgCcYmHGM4t4PPw18xgDs_I7We1kQN5xWHi4rMd60qUY0APnDC1wbW6OjPJzblx4FPewlq-rbRDr4Y26iy6n6P59gJhMFPMXSbhJu6VXvPxkI2bHGq0ISW9m8_90rJtovmDIb2yjW3inDRY1vqIhetPt4JyRcf_X3zp_upevNRWoD1IAxRcg9sAruXQYOKx3ZW8EpjqLEXULrgeenJ-BJn_Kl0=",
  "id": "rs_0446e5170a8d8d65016ab43c00d64887d09161ba737adbee81",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDwGm_sQYX9tCsmDUHj0aJISm8rNKB44aS2d1C3glZc2Re1nZ-qxHfwR_vmKztC1vv7uAYJKArzDxBtQW00JBG6an8S_jsQXCOTJp6XDqpEBhr48rsK7NT_b9t-z_TaQpTTZJCsT1-QZsiRopbQyZZkxSY3T2pjo7FQbdIoOUHaZGhZiY5sSZkEoll_trrGCB8v3GguqYmum0XneLtQuFAKgmEZ3L9zHCddp--9tTCmMs0zbLXl301pAtT3_S3KyGyrUvHiUmgbrDU3uDzJzJpHes6_SYKPVIX_6MEOrM7o9zwzuS3FgxupS-fXmQsVTQwq3rNy4a-rBnry6LaTS3nOeKnj4UpnZ891CNEnSsLu7bwt8_aKRGL9S4pMtn3sd2v6Bi3zY7C25ofc1331AxWt2IRawNITsDOl8WY6_ZngKu67lpw3-Fy3EIwgTeQyP9gV27_-hitoZ1JzNF-r8bspE999tIaDsNvbSp5Vm-PQxckOiIuKdjBkQJ4bHD1_SqehJT2-0nz5657HWU2S7ucqpllCtuyxNvPUPslapj1dqcvpZQqQuCHbbtDubX235-OS13n-5CYrQ9qkZgp0q-ot3ZiZ8joFnzBEaqot_I6sYO0o3xSHn_E3dH2G0wUje3LRTK3OwVKc7UxnqhQT_cPq_X-xwNOvgyncNwHAPHUT5w1kC-T6y8-rzEkG6Sz0DzNSzOD2OkfRUkKTpjoymQKv_aSqI91GlgqBRYPYKkucrpFoeiCas2sx1UOZ234VqlXlNguygNRJ4kixS4R98AVec_30Cy7yOGJU55PbfgkiIM54Sc9PV9wwHT9s0ABSxCK5cJWZINpDTEjTRM-_qTi5u8ZdDCpZu35i7T5eZnCPTsBxknzrv_gFhAgr18H7qb2pb8VZ8zwNDce2aWJDZEZnAJNLakvMuz378CPwvdDglPacu-HhSoY0YsGi_7GDMk3uNe512eJKxtl1ad3CgEG2EIsS3lf-opHv33OBaG0J-cPx-A0DJHABJW9oJzK62zMl6LahiW4k5AQTBhgfztA63S8s904a0_SBmLCPLvDl9wvy9sSdhurML0qfY0WeO4Wm9npO_p6uJLMrAapEALfPwGXv9kNg1VtwtN0fUu6dsv2PlfEKoMFgNm7OBoaOkA1swzHqVL30frixvVwRyiuwNfC7VOAGo_LAo-KrbY9KFlZMMcDtXXq9_8JGyqhr_5jtIpEPlu_k86CjmquNTPneIScIcrW99k2nK2t1uqFDBfJMROaMWAI7qDubVhXTDhXCVJGjf5wCN8MfRoHhoDqnPh1EADiu-bkL1QquECVfJElqvY4cF6V2HQ0xghUdRPhm7ZYXZAe5_0q9ImWS1D06tert_vnOUJdF8s8kCuIhfuPY42_9KRq8JY1y46Jd43SqBPRzLx4J--znLUrxJWcTAn9TAnik81HFB-L2PY8k-GfRprHegcNwtKtF6tg-EVesRydDD8cFv95HszWVtRhdsBVYoxjj1BOZzpH7vck89Bo0erxyr_BmBm_WGiZTHEn9bvUj1to2vbv2w-TWI-9Bjc2aPv4uGDrGmF3NQwYqOi381BipPpsmA5zV1iISla7xd6ed5Z4bFouZNmjvG9nFbE9Bk23zSR-2dUqN05hyWLnZgFUcnvF-4Zo6aV2OhH_YN",
  "id": "rs_0446e5170a8d8d65016ab43c04d12887d096809013245a2fb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.312,\"right_z\":0.25,\"right_pitch\":-0.09},\"note\":\"The cap mouth still sits ahead and slightly left of the nib in the pen-side view, and the cap arm has stopped tracking inward. I’m advancing only the pen arm a few centimeters while raising it to match the cap arm’s measured height.\"}",
  "call_id": "call_XlHBchOG4GBGxlDsQqOatTyE",
  "id": "fc_0446e5170a8d8d65016ab43c05be1087d082d5b66952c35f42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XlHBchOG4GBGxlDsQqOatTyE",
  "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]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0892, 0.4988, 1.6112, 1.3987, -0.5697, -0.445, -0.3027, 0.0914]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0892 right_x=0.3533 right_y=0.2831 right_z=0.2211 right_yaw=1.0312 right_pitch=-0.1332 right_roll=0.0784 right_gripper=0.0914\nstate[joint_eff]: [0.0342, -9.7573, 6.9128, 1.5995, 0.2711, -0.1294, 0.7204, -0.4308, -10.4547, 7.2, 1.5409, -0.1783, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f404e121d8d68bd662e34aa46bfa06befd6d1a8a136447a2027bb74d07e25a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfe964d17d31b923365851808ea153144934d42d60585d0f2c200b73e5cb00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a88456088e5e37c8589d44c76383be24d3b0cc553cfade77f493951f1de7403",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.587 s

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

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.308, 1.6016, 1.4212, -0.6468, 0.5823, 0.3119, 0.0847, 0.4904, 1.5158, 1.3075, -0.5171, -0.4477, -0.2852, 0.0894]\nstate[eef_state]: left_x=0.3788 left_y=-0.2187 left_z=0.2309 left_yaw=-0.9684 left_pitch=-0.1008 left_roll=-0.1718 left_gripper=0.0847 right_x=0.341 right_y=0.2728 right_z=0.2317 right_yaw=1.0124 right_pitch=-0.0839 right_roll=0.0651 right_gripper=0.0894\nstate[joint_eff]: [0.4718, -10.2496, 7.3504, 1.6777, 0.315, -0.0806, 0.8767, -0.8684, -9.5111, 7.0085, 1.6972, -0.232, -0.0562, 0.0659]",
      "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]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0891, 0.4931, 1.6112, 1.3987, -0.5701, -0.4454, -0.3031, 0.0909]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0891 right_x=0.3548 right_y=0.2811 right_z=0.2211 right_yaw=1.026 right_pitch=-0.1334 right_roll=0.0786 right_gripper=0.0909\nstate[joint_eff]: [-0.1026, -9.7436, 6.9128, 1.6239, 0.2369, -0.0952, 0.6716, 0.0752, -10.4684, 7.0906, 1.5067, -0.1587, 0.0855, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0892, 0.4988, 1.6112, 1.3987, -0.5697, -0.445, -0.3027, 0.0914]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0892 right_x=0.3533 right_y=0.2831 right_z=0.2211 right_yaw=1.0312 right_pitch=-0.1332 right_roll=0.0784 right_gripper=0.0914\nstate[joint_eff]: [0.0342, -9.7573, 6.9128, 1.5995, 0.2711, -0.1294, 0.7204, -0.4308, -10.4547, 7.2, 1.5409, -0.1783, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f404e121d8d68bd662e34aa46bfa06befd6d1a8a136447a2027bb74d07e25a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfe964d17d31b923365851808ea153144934d42d60585d0f2c200b73e5cb00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a88456088e5e37c8589d44c76383be24d3b0cc553cfade77f493951f1de7403",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43c09875487d089c8b2deeedd7df6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.22,\"left_z\":0.31,\"left_yaw\":-0.65,\"left_pitch\":0,\"right_x\":0.31,\"right_y\":0.28,\"right_z\":0.31,\"right_yaw\":0.65,\"right_pitch\":0},\"note\":\"The pen arm is also stalling near the current close pose, with the ends still apart. I’m moving both wrists to a higher, less extended posture with reduced yaw so there is room to make a final controlled approach.\"}",
  "call_id": "call_HK3RD7Uqws9uqtinjMOB6fO9",
  "id": "fc_0446e5170a8d8d65016ab43c0d6e2087d0a90e0fbc866d2b3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HK3RD7Uqws9uqtinjMOB6fO9",
  "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]: [-0.4927, 1.3163, 1.3445, -0.6399, 0.297, 0.0025, 0.0897, 0.4988, 1.6066, 1.3987, -0.5716, -0.4454, -0.3027, 0.0922]\nstate[eef_state]: left_x=0.3231 left_y=-0.228 left_z=0.2973 left_yaw=-0.7541 left_pitch=-0.0182 left_roll=-0.1582 left_gripper=0.0897 right_x=0.3525 right_y=0.2828 right_z=0.2228 right_yaw=1.0313 right_pitch=-0.1307 right_roll=0.0773 right_gripper=0.0922\nstate[joint_eff]: [-0.3487, -4.8479, 9.0735, 1.707, -0.0415, -0.0513, 0.7546, -0.3487, -9.8667, 7.0906, 1.5995, -0.188, 0.105, 0.0708]\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,$blob:02ff692be009879fea7d9d6a072667594ddde9c5b6516f4eb3998512ab9df3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb32d253673c0513b0735a843d297237a1424ccd372de1870ae6984133d7ea24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce6d338514d12a86e1f754c56cd0d93e4e8ab5fe289b771d2a29e94ba1a41feb",
      "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 · 4.909 s

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

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3035, 1.5826, 1.4067, -0.6407, 0.5823, 0.3111, 0.0864, 0.4732, 1.565, 1.372, -0.5575, -0.458, -0.3046, 0.09]\nstate[eef_state]: left_x=0.3766 left_y=-0.216 left_z=0.2337 left_yaw=-0.9627 left_pitch=-0.0924 left_roll=-0.1658 left_gripper=0.0864 right_x=0.3523 right_y=0.2722 right_z=0.2322 right_yaw=1.015 right_pitch=-0.1013 right_roll=0.0684 right_gripper=0.09\nstate[joint_eff]: [0.0615, -9.8393, 6.9949, 1.5556, 0.3101, -0.0904, 0.525, -1.388, -6.8581, 8.6769, 1.4383, -0.2515, -0.0171, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0892, 0.4988, 1.6112, 1.3987, -0.5697, -0.445, -0.3027, 0.0914]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0892 right_x=0.3533 right_y=0.2831 right_z=0.2211 right_yaw=1.0312 right_pitch=-0.1332 right_roll=0.0784 right_gripper=0.0914\nstate[joint_eff]: [0.0342, -9.7573, 6.9128, 1.5995, 0.2711, -0.1294, 0.7204, -0.4308, -10.4547, 7.2, 1.5409, -0.1783, 0.1148, 0.0464]",
      "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]: [-0.4927, 1.3163, 1.3445, -0.6399, 0.297, 0.0025, 0.0897, 0.4988, 1.6066, 1.3987, -0.5716, -0.4454, -0.3027, 0.0922]\nstate[eef_state]: left_x=0.3231 left_y=-0.228 left_z=0.2973 left_yaw=-0.7541 left_pitch=-0.0182 left_roll=-0.1582 left_gripper=0.0897 right_x=0.3525 right_y=0.2828 right_z=0.2228 right_yaw=1.0313 right_pitch=-0.1307 right_roll=0.0773 right_gripper=0.0922\nstate[joint_eff]: [-0.3487, -4.8479, 9.0735, 1.707, -0.0415, -0.0513, 0.7546, -0.3487, -9.8667, 7.0906, 1.5995, -0.188, 0.105, 0.0708]\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,$blob:02ff692be009879fea7d9d6a072667594ddde9c5b6516f4eb3998512ab9df3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb32d253673c0513b0735a843d297237a1424ccd372de1870ae6984133d7ea24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce6d338514d12a86e1f754c56cd0d93e4e8ab5fe289b771d2a29e94ba1a41feb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDwUccUlNdABdYrrU9NBN55c0AQzj3iMH9Vjr6qs44-CFq2Mf21hI0anrLmTJ0iICxi4CHdNBiDkN_fpmz9VsCwwUTzltr7Ja2Z-P7ceQgAsoYEG0oq5rLe8qv0nr6CsjOjOGpg-jHFOiYusbjnvoAuPUOdj9qygHJurANJFdAZ9b80rr0UmE6W0e0XRyxfemKgrIFjfXgalF8jexHQCYTYfVRgOZLhn07MsBqzYU7OD-H0E_jBXmS-PhY-DaZyvlAICAgMNrZn3tfYt7uGn1BBZC3KmReJnVWNrKoBkyykk7sDqM8KvDFk4Z9LTPdKAb4K_oXgZWCPcNB5Um2HSkSJdDmnd2IbUY_Cv7Ozcj8Tzi5J9E8VEJ1RcfwUZpycXZM44JjdOPst-4h5qF6qddKdfFBqxbwctrRkdG9Mw4a-AFCiSHkX2A7g7ZjhpeZjGb7A2_pIH59SpxKgXH7kNgBXFqmNsM8uhKS-fs6n4A0bxetGIUz5GfmSY34KnGWoCYpJC2a7a69zfx3rLkJYiMvG8CUX2TAK9OM9CCr99aNDf0eHgUedsVm3OAYT0hQxaUKjnOVOGyaDykWujtpioglAcrcujKk-bX-ehgVUNywYw5fgi6CQBAj7-6kJFpXZYHw7fF5EB7xh8q4_ze1Cg6p4FxCtqMSeWWaroZvoaTrdydfyTu8STc-vQyR6b5m0URYUH1kyDYJ8MgTd6ucUr7IhprhUTRkS8AXRTeoF2znofLpHYa2Q0Mm77tnZd0xMlFHZsrQ2XQXANAdLXP0SLI96s63jVCbxvahBfFT1JlZ9cOuUgdsBsMXO1CoSqOppCQsRkxF89mrtSzzJ2N6ErTc-xavkFOPHEXTr7cQgU8oHuTLXRXpJoSVLR8q2TK9m_ErDcfzdRy0GJxCDOgtroBjwMuNV5G85dSN9Gk1DsYcYdFSfh05Gd7_m-KIKdLQDWY8SlhA-ZBC0mX1aW9sFOaFGzDhMCauyKB2PnldecrvRkcKJk6sH-YscQVohXYObYwA94a-pDQJlK0DTOusI3hno15aiT3SHKCHv0p8EsXkMIilGt3ou0zhET9Ue3VXt_LzEqG6NPKn7p-_QPh_xNoHRa5eQgpcG_NqPi71frDI6E8Ur6unBLhbNEZLdonXh_tG5u8Zlw_xWmb-d6AqtR4QGKQol8mLm703RO-GDWtWuVc9bY-ZSoDRBc0ulv5sQe2dqzmaEP-mJTQUKDXtn4Io3FPXZUvww93q0kyZY8Bw2yR2Tugx3YQf56HqEAxfiBuC_VK4Q49BGjFdMAOb0uEF6RnjoMO0CZleInZ-pPq1GevGKlEclYTNl1KPa9SENugNIfoYz96tueM016MJxNDFs_CPBaPkcVkHHv_cIZHMJnoE-1oRzJKVLP8WiCqX9cnjVAsAjz7BAYuvPOgpk_baZb5P19NZ2sr1JrjCuJnVTykwjLyT36XugY5DqLqWb7hDBlNjB5kUFpckjRkhMM5GbsqWWgldeAUZNyRLmcUD6B2uqmtZmI0azl8BbDC01EM7rZSs_s_mDXVP88V-fYbMptKSYQohKj_LjHqI07I4LCVucWnK13x8qCuDblwVXOrvJNwse9YedGV3zsAfi92LXjQsOyRasr_6VOJXuWihbZIAyYuXyeuYZC7Bx8YhOjVhXTU-PmJ-jVXcR-wUHXxGCMyDep42XO0TBYWm6e3QOAAOA=",
  "id": "rs_0446e5170a8d8d65016ab43c1192b887d0b9ba525fae90abfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.28,\"right_z\":0.31,\"right_yaw\":0.65,\"right_pitch\":0.2},\"note\":\"The cap arm reached the higher, retracted pose, but the pen arm stayed put. With the cap now out of its path, I’m pitching the pen tool forward and raising that arm to free its motion as well.\"}",
  "call_id": "call_OTMEj5ojOUC9ddosy2PdqkM4",
  "id": "fc_0446e5170a8d8d65016ab43c1310e487d0bb83c77aa694ea1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OTMEj5ojOUC9ddosy2PdqkM4",
  "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]: [-0.4973, 1.3174, 1.343, -0.654, 0.2779, -0.0174, 0.0909, 0.7296, 1.2835, 1.1419, -0.3145, -0.0326, 0.0479, 0.0928]\nstate[eef_state]: left_x=0.3226 left_y=-0.2262 left_z=0.2929 left_yaw=-0.7324 left_pitch=-0.0388 left_roll=-0.1679 left_gripper=0.0909 right_x=0.3052 right_y=0.2855 right_z=0.2816 right_yaw=0.7266 right_pitch=0.1019 right_roll=0.0584 right_gripper=0.0928\nstate[joint_eff]: [0.1983, -5.2308, 6.8444, 1.8486, 0.3053, 0.1783, 0.6178, 0.4855, -6.8718, 7.3504, 2.3028, 0.1783, 0.2564, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b5a212dcac916cfe2cca20286c8895b6694aebf6f4501d02c0dd2b764dbb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead7b84521c22982d9a09d03445b2c979c08a6cda2511c706e5958649c895291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84719b698dc991bfb681d1fccd91711659fc8f2905229ec578b36a15ec5d9a6a",
      "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 · 5.649 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]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0891, 0.4931, 1.6112, 1.3987, -0.5701, -0.4454, -0.3031, 0.0909]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0891 right_x=0.3548 right_y=0.2811 right_z=0.2211 right_yaw=1.026 right_pitch=-0.1334 right_roll=0.0786 right_gripper=0.0909\nstate[joint_eff]: [-0.1026, -9.7436, 6.9128, 1.6239, 0.2369, -0.0952, 0.6716, 0.0752, -10.4684, 7.0906, 1.5067, -0.1587, 0.0855, 0.0757]",
      "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]: [-0.4927, 1.3163, 1.3445, -0.6399, 0.297, 0.0025, 0.0897, 0.4988, 1.6066, 1.3987, -0.5716, -0.4454, -0.3027, 0.0922]\nstate[eef_state]: left_x=0.3231 left_y=-0.228 left_z=0.2973 left_yaw=-0.7541 left_pitch=-0.0182 left_roll=-0.1582 left_gripper=0.0897 right_x=0.3525 right_y=0.2828 right_z=0.2228 right_yaw=1.0313 right_pitch=-0.1307 right_roll=0.0773 right_gripper=0.0922\nstate[joint_eff]: [-0.3487, -4.8479, 9.0735, 1.707, -0.0415, -0.0513, 0.7546, -0.3487, -9.8667, 7.0906, 1.5995, -0.188, 0.105, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4973, 1.3174, 1.343, -0.654, 0.2779, -0.0174, 0.0909, 0.7296, 1.2835, 1.1419, -0.3145, -0.0326, 0.0479, 0.0928]\nstate[eef_state]: left_x=0.3226 left_y=-0.2262 left_z=0.2929 left_yaw=-0.7324 left_pitch=-0.0388 left_roll=-0.1679 left_gripper=0.0909 right_x=0.3052 right_y=0.2855 right_z=0.2816 right_yaw=0.7266 right_pitch=0.1019 right_roll=0.0584 right_gripper=0.0928\nstate[joint_eff]: [0.1983, -5.2308, 6.8444, 1.8486, 0.3053, 0.1783, 0.6178, 0.4855, -6.8718, 7.3504, 2.3028, 0.1783, 0.2564, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b5a212dcac916cfe2cca20286c8895b6694aebf6f4501d02c0dd2b764dbb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead7b84521c22982d9a09d03445b2c979c08a6cda2511c706e5958649c895291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84719b698dc991bfb681d1fccd91711659fc8f2905229ec578b36a15ec5d9a6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDwaqYz6e0BgH4qHIqpQXwk5nA3yu7yxYdptWonosmEfdf97WwKr-rnMqPNwc8YlZqV9r4Pic1twSENehvuAcUJiCy13eFeINmqF9TEPMdiDWiDtWcyoGKsMBfj0_yIso8AJgK7VJsQhN1gkIhwTA1_dxWY_qhadzLE5rG2aZuFNLNQOIPZxLz9rSduh0bZJXV9GlsY3A7vmKk3hLZEXsmd1K4KIdTNGWiktDNjXnRzYM_iThmWz0kz8-iLeDEVfVOi5DBs8dc0EeF4rDuDKypw8rGofckGr_9WsUJoH9dIwMZoEcdWpwkx0HsZfbLjPMvp9vLOf91778uPErLoYtLqWnMG93PT5jvae36boDuKPawPriGVa4IY3GiFEmCYAi7fR2honcN9nB9OX5Bvh4x1UGTobF-a4eYHgdwOlXlfyKH4vpLq2GEElU_8Z-YJ-sacek4PKM5aOZo4qY0MdJvscNU90Rw3Zz_Hxvm9Uwd9jox3zZOc-fHfVg7JUAuzawS7KjZxtWlKLEHGR5QPg59EPSj5ShbWq7wPrjz5XpgJyifAVDYROWua0at33z7YMrjef13CGVD-aXQYvbmwfXEe9fNLYoktj0431PCi4mRL9vRNlRL-77xD299LPYlA6et9d2Y08CEu04H0rp8bywrQsaSk0QHP8mu74EfyraSEI7B8fgOH0oHHwuQNBzaU3kezoyernf1E8kVo3tBi2c8X99puNozvva-wrHDWFfgZEhvXb_MMYz9E1BhHen5Mc0HGvIWDR2WeoGCZz3_bgY9tK29rWzSiwlDh524rDNvZgXeDciPHkWLiXPSY6RFiLGJR0AONVlwhcPzhiXwtldxfgks-L3yLjAaM4dgf075xrnoTkXD_Qxs1jeoYTokqeijWD4_q2_4dUb8znfDOlAlzyj--Ev85KFmaXG6FKXxEcIzv1Q8YopMb0VQZNHE32iIxcWZZBAjUjJcuOJUr6Z34MngtP4MRoxOuHLiM3INPEfPquoA50FujcRl8ruLsj74tkIAKOMKVwrw5HpK7eFxsI93RVis8L7NXuOgHyAbm8Da3uMoKv7DkjNtG5AGVtcumVFLSI8UQJYMzGD3CbRPSlet9vMJyen7ehrObp0JAXuaMg2ax6vJtVEzxHlQy0RYCCuKaZVTKFhTjwB4ZosojwEcXuM65LUrCtSlGIjgwKq9bqtZjxkjEEwD7rByEY3HyJaOcEDPBWd7k7KESMOXk6FY1WMk_ROraSesj3pvam_4fl0sQWDVn4Dt0HnijMk2xrNg7aWy0AuymYXArXCrCR-nZVap6WhnRKY7pW4p-xLqtS7_f1z01xd5qXM-DY7OK9UWTMV8DeZvR0X5CjijX42-Hj6k4wV5iyFh8cqdnoVlwqi5wdj_HcsXKQ25QG0cnlXa6pstLorN3oR9s-7-FG-b1KE_YlGPc3XTNQdc4cyArN-n8_Jogf6QASLyES2Wm3IlCvDAQmBmP71cAL5Pt0gurKpzcoAYiBo5NpCY25H9iwAOzjRGKOEMRLOcmNNK5ZFg0JyDXgn41ba_ip3k4L1IdbEZ48hEtZUzlN9cLHmAT3fcoSx16SPDg7TMg-ECKpHJTlzvgOFnxU81BWpS8MWLF4KSJYzFfAQTZsT6sRCSVCAZ2Tx7q0fO4n9FbPvZqBxwYrXq_MdTiBXFJxwv9cNQLK2Q1ft4s-Y8QokJQTIFxMLy8rS0Vf0epdkf36Rojk6oQ5VLe1gdJdF59FPbSLB8VOyJGG9ma4e4GN_re67Cmk4w5sDq1uk1AZlF7PI42f3OzoN5iye-mJoG7PiicpdsT1_HNpMaHKXIb6POlZQ0O43DB9xescPNSmpma3b65Y25yca5MpXLEg0FXPEZDupetZOXxLd-5qQvrKeXnYn4J9SOkRfemH6p8O7yteNaEZFz0VU5onKR3BQ9af-xtIm9Xdt5yb3EhoAj4UVMdqvsMWVVEeNNIdZJy9JiZQdBsF7jcdJSNfKyRYkJQw9_kz6fEV4FgTQu4TfSMwWzWsUhbBhVx7ycCLFByGnsF_vAnis90Ege3pnmzDfx31H0mXLAYFshC2P8s151cqFPjfZvGG0zpW0LZ1-7NKk3DJr7eGSJVG1c1t1HWBIsfE6lsnXYWdfR-v1EsNoABoVL5Kh0ZIUz7tplespzRyN7MQKGLqztlp1hHOkEt3ENWshq3M_orbXPfFG2VdUlBE44CFkzU8WxzVyZmHdQ_KwjE2g2fy4-ZDJ0puPPcNlI_IcFQfHBTtSy8Pdmpc0YjDJExs8hCx-LXjXSHND1sqLcm7DIrYW40SkL_9Q-EuiQ06grrQ9Zd1pCCfLgboWKpc1vPeaT9FAYj9fo-Nv7ZKKizXk4Og6cN_0QjjjPErIqVjDhfSKykazwdUts1rhklCpqu4rCnwsh5tud2kdzeKzAootcojraxZDT2HBIAswl75BnrkwYzpgbw6cClEDESntWvA6zCePXENo2EtqyYxH04SZqv85PUh9yr8JLuTolyZaeGa_Q==",
  "id": "rs_0446e5170a8d8d65016ab43c17133887d0b6c89a05ad34c649",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.238,\"left_z\":0.32,\"left_yaw\":-1.18,\"left_pitch\":0.05,\"right_y\":0.299,\"right_z\":0.32,\"right_yaw\":1.18,\"right_pitch\":0.05},\"note\":\"Both grippers are now moving freely at the higher, shorter reach, and the pen and cap remain held. I’m rotating their free ends toward each other again and closing only part of the gap while matching their pitch and height.\"}",
  "call_id": "call_sFzg5NxEoBtqHs3ELsTGAr8A",
  "id": "fc_0446e5170a8d8d65016ab43c19885487d0a2a188e4b6fa9d1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sFzg5NxEoBtqHs3ELsTGAr8A",
  "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]: [-0.3439, 1.4803, 1.5211, -0.7837, 0.5858, 0.218, 0.0921, 0.5632, 1.4586, 1.4322, -0.5602, -0.3344, -0.1848, 0.0929]\nstate[eef_state]: left_x=0.3436 left_y=-0.223 left_z=0.298 left_yaw=-0.9532 left_pitch=-0.0403 left_roll=-0.1991 left_gripper=0.0921 right_x=0.3344 right_y=0.284 right_z=0.2969 right_yaw=0.9373 right_pitch=0.0084 right_roll=0.0257 right_gripper=0.0929\nstate[joint_eff]: [-1.0735, -7.5556, 8.8137, 1.2088, 0.5983, 0.2808, 0.5788, -0.1436, -8.3214, 9.0462, 1.956, -0.0317, 0.4615, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef1b584c6b6fd09bd8e2bdb356dc77490a198333dd8708d26261fc8a3dac12b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82d4b08c00727a7ec44e6c0db5018d721ad0a25cd04596725a9b12ec60f8bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d13ccee503007d95ab60ea2538e4fd2fdf17463543780b99091a912df37ee7",
      "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 · 21.58 s

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

message 151 changed as sent

message 159 changed as sent

message 163 changed as sent

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3035, 1.581, 1.4059, -0.6395, 0.5823, 0.3111, 0.0892, 0.4988, 1.6112, 1.3987, -0.5697, -0.445, -0.3027, 0.0914]\nstate[eef_state]: left_x=0.3765 left_y=-0.2159 left_z=0.2342 left_yaw=-0.9626 left_pitch=-0.0909 left_roll=-0.1646 left_gripper=0.0892 right_x=0.3533 right_y=0.2831 right_z=0.2211 right_yaw=1.0312 right_pitch=-0.1332 right_roll=0.0784 right_gripper=0.0914\nstate[joint_eff]: [0.0342, -9.7573, 6.9128, 1.5995, 0.2711, -0.1294, 0.7204, -0.4308, -10.4547, 7.2, 1.5409, -0.1783, 0.1148, 0.0464]",
      "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]: [-0.4973, 1.3174, 1.343, -0.654, 0.2779, -0.0174, 0.0909, 0.7296, 1.2835, 1.1419, -0.3145, -0.0326, 0.0479, 0.0928]\nstate[eef_state]: left_x=0.3226 left_y=-0.2262 left_z=0.2929 left_yaw=-0.7324 left_pitch=-0.0388 left_roll=-0.1679 left_gripper=0.0909 right_x=0.3052 right_y=0.2855 right_z=0.2816 right_yaw=0.7266 right_pitch=0.1019 right_roll=0.0584 right_gripper=0.0928\nstate[joint_eff]: [0.1983, -5.2308, 6.8444, 1.8486, 0.3053, 0.1783, 0.6178, 0.4855, -6.8718, 7.3504, 2.3028, 0.1783, 0.2564, 0.0464]\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]: [-0.3439, 1.4803, 1.5211, -0.7837, 0.5858, 0.218, 0.0921, 0.5632, 1.4586, 1.4322, -0.5602, -0.3344, -0.1848, 0.0929]\nstate[eef_state]: left_x=0.3436 left_y=-0.223 left_z=0.298 left_yaw=-0.9532 left_pitch=-0.0403 left_roll=-0.1991 left_gripper=0.0921 right_x=0.3344 right_y=0.284 right_z=0.2969 right_yaw=0.9373 right_pitch=0.0084 right_roll=0.0257 right_gripper=0.0929\nstate[joint_eff]: [-1.0735, -7.5556, 8.8137, 1.2088, 0.5983, 0.2808, 0.5788, -0.1436, -8.3214, 9.0462, 1.956, -0.0317, 0.4615, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef1b584c6b6fd09bd8e2bdb356dc77490a198333dd8708d26261fc8a3dac12b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82d4b08c00727a7ec44e6c0db5018d721ad0a25cd04596725a9b12ec60f8bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d13ccee503007d95ab60ea2538e4fd2fdf17463543780b99091a912df37ee7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43c1c121c87d08c74c8d933c4137a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.248,\"left_z\":0.32,\"left_yaw\":-1.05,\"right_x\":0.33,\"right_y\":0.31,\"right_z\":0.32,\"right_yaw\":1.05},\"note\":\"At the higher pose the grippers are level; the cap mouth lies left of the nib in the pen-side wrist view, as expected with a remaining axial gap. I’m closing most of that gap in a modest two-arm move without trying to force the pieces together yet.\"}",
  "call_id": "call_B7Axo84roddbI0aAAbmslNGc",
  "id": "fc_0446e5170a8d8d65016ab43c1ee1d487d093794307a12015f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B7Axo84roddbI0aAAbmslNGc",
  "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]: [-0.3836, 1.5639, 1.6451, -0.9016, 0.651, 0.2787, 0.0922, 0.5732, 1.4963, 1.4807, -0.651, -0.4133, -0.2474, 0.0929]\nstate[eef_state]: left_x=0.3333 left_y=-0.2461 left_z=0.3018 left_yaw=-1.0758 left_pitch=-0.0673 left_roll=-0.2333 left_gripper=0.0922 right_x=0.3197 right_y=0.2951 right_z=0.2882 right_yaw=1.0458 right_pitch=-0.0441 right_roll=0.0484 right_gripper=0.0929\nstate[joint_eff]: [-0.253, -6.8718, 9.5795, 1.5263, 0.1978, 0.1294, 0.6325, 0.1436, -7.9248, 7.159, 2.1123, 0.0464, 0.2857, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59170586d7e6fec59b43df7ad72bd41c71d4f916b2ad12597937a8bc1c94335f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dfc0a795df20ad73fc56a281935ae42315e68fbcd49ba5f8201c9b830110b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a03f92d43ad954473c4c77329ba066cf1c2be9825500291fb94fcc61f1c5cd",
      "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 · 7.02 s

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

message 155 changed as sent

message 163 changed as sent

message 167 changed as sent

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]: [-0.4927, 1.3163, 1.3445, -0.6399, 0.297, 0.0025, 0.0897, 0.4988, 1.6066, 1.3987, -0.5716, -0.4454, -0.3027, 0.0922]\nstate[eef_state]: left_x=0.3231 left_y=-0.228 left_z=0.2973 left_yaw=-0.7541 left_pitch=-0.0182 left_roll=-0.1582 left_gripper=0.0897 right_x=0.3525 right_y=0.2828 right_z=0.2228 right_yaw=1.0313 right_pitch=-0.1307 right_roll=0.0773 right_gripper=0.0922\nstate[joint_eff]: [-0.3487, -4.8479, 9.0735, 1.707, -0.0415, -0.0513, 0.7546, -0.3487, -9.8667, 7.0906, 1.5995, -0.188, 0.105, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "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]: [-0.3439, 1.4803, 1.5211, -0.7837, 0.5858, 0.218, 0.0921, 0.5632, 1.4586, 1.4322, -0.5602, -0.3344, -0.1848, 0.0929]\nstate[eef_state]: left_x=0.3436 left_y=-0.223 left_z=0.298 left_yaw=-0.9532 left_pitch=-0.0403 left_roll=-0.1991 left_gripper=0.0921 right_x=0.3344 right_y=0.284 right_z=0.2969 right_yaw=0.9373 right_pitch=0.0084 right_roll=0.0257 right_gripper=0.0929\nstate[joint_eff]: [-1.0735, -7.5556, 8.8137, 1.2088, 0.5983, 0.2808, 0.5788, -0.1436, -8.3214, 9.0462, 1.956, -0.0317, 0.4615, -0.0024]\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 167 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3836, 1.5639, 1.6451, -0.9016, 0.651, 0.2787, 0.0922, 0.5732, 1.4963, 1.4807, -0.651, -0.4133, -0.2474, 0.0929]\nstate[eef_state]: left_x=0.3333 left_y=-0.2461 left_z=0.3018 left_yaw=-1.0758 left_pitch=-0.0673 left_roll=-0.2333 left_gripper=0.0922 right_x=0.3197 right_y=0.2951 right_z=0.2882 right_yaw=1.0458 right_pitch=-0.0441 right_roll=0.0484 right_gripper=0.0929\nstate[joint_eff]: [-0.253, -6.8718, 9.5795, 1.5263, 0.1978, 0.1294, 0.6325, 0.1436, -7.9248, 7.159, 2.1123, 0.0464, 0.2857, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59170586d7e6fec59b43df7ad72bd41c71d4f916b2ad12597937a8bc1c94335f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dfc0a795df20ad73fc56a281935ae42315e68fbcd49ba5f8201c9b830110b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a03f92d43ad954473c4c77329ba066cf1c2be9825500291fb94fcc61f1c5cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0446e5170a8d8d65016ab43c2205d087d09b8e8bca5f22e929",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0446e5170a8d8d65016ab43c25d3c087d09b22846f099f30dd",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0446e5170a8d8d65016ab43c2ae59087d0a53d00371c62d3dc",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0446e5170a8d8d65016ab43c2f6e0887d08e81c827d1fa70a0",
  "summary": [],
  "type": "reasoning"
}

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{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.275,\"right_z\":0.32,\"right_pitch\":0},\"note\":\"The close views show the gold pen nib left of the cap’s jaw column, so pushing inward now would miss the opening. I’m drawing the pen arm back and slightly outward to correct that cross-axis offset before the final fitting move.\"}",
  "call_id": "call_MHYOlQEukUWZg7CYQgRtV29g",
  "id": "fc_0446e5170a8d8d65016ab43c352fcc87d0bc73688c95c9359b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MHYOlQEukUWZg7CYQgRtV29g",
  "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]: [-0.3935, 1.5711, 1.6672, -0.9066, 0.609, 0.2516, 0.0953, 0.5785, 1.4963, 1.4776, -0.6468, -0.3664, -0.2348, 0.0929]\nstate[eef_state]: left_x=0.338 left_y=-0.2458 left_z=0.3036 left_yaw=-1.0404 left_pitch=-0.0817 left_roll=-0.2249 left_gripper=0.0953 right_x=0.3246 right_y=0.2919 right_z=0.2857 right_yaw=1.0062 right_pitch=-0.056 right_roll=0.0321 right_gripper=0.0929\nstate[joint_eff]: [-0.1026, -7.1179, 9.5385, 1.4969, 0.3687, -0.0122, 0.3053, -0.3487, -7.8564, 7.4051, 2.1416, -0.0952, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62764b5d4194c1b7732bfb7f76adb3adfbd20a503428f68cd889d9a70e3425ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ab3525e04f181b18118e90d679cb2e77766560dac329d5e950e7fcfc13c3be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfeaa1aa5f0cf0027143227c9ddb62f5dbf8d1406820c665bc9d6acd3c84ada2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]