adhoc

completed
2026-09-23T22:39:22.605186+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-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
251.8 s
total steps
339
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe cap lies left of center and the pen lies farther right, both at roughly a 45-degree diagonal. I am moving each open gripper above its assigned object and matching yaw so the jaws will close across, rather than along, the object.
move_to
left_x0.4100left_y-0.2000left_z0.1600left_yaw0.7500left_gripper1.0000right_x0.4100right_y0.2800right_z0.1600right_yaw0.7500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.017, 0.7933, 0.6022, -0.3805, -0.0219, -0.0246, 0.9998, -0.0162, 0.7918, 0.6102, -0.3759, -0.0227, -0.0193, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0025 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.0028 right_z=0.1843 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5949, -1.4974, 10.5094, 1.7607, -0.0024, 0.0562, -0.0366, -0.7863, -1.306, 9.894, 1.7167, -0.0415, 0.0122, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.2,"left_z":0.16,"left_yaw":0.75,"left_gripper":1.0,"right_x":0.41,"right_y":0.28,"right_z":0.16,"right_yaw":0.75,"right_gripper":1.0},"note":"The cap lies left of center and the pen lies farther right, both at roughly a 45-degree diagonal. I am moving each open gripper above its assigned object and matching yaw so the jaws will close across, rather than along, the object."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteBoth objects are on their wrist-camera jaw columns, but the two arms crowd each other overhead and the right arm stopped short. I am parking the left arm so the right arm can approach the pen without arm-to-arm interference.
move_to
left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000right_x0.4100right_y0.2800right_z0.1600right_yaw0.7500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7769, 2.141, 1.8755, -1.2125, -0.9653, -1.4754, 0.9997, 0.4797, 1.6855, 1.0603, -0.0437, -0.1242, -0.0807, 0.999] state[eef_state]: left_x=0.4112 left_y=-0.1955 left_z=0.1581 left_yaw=0.7244 left_pitch=-0.0314 left_roll=-0.0058 left_gripper=0.9997 right_x=0.4111 right_y=0.2426 right_z=0.1275 right_yaw=0.6148 right_pitch=-0.1061 right_roll=0.0163 right_gripper=0.999 state[joint_eff]: [-1.1009, -9.4427, 7.241, 0.5104, -0.7595, 0.1148, -0.0415, 2.8923, -9.2239, 10.7282, 2.0879, -0.4908, -0.8425, -0.1099] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.41,"right_y":0.28,"right_z":0.16,"right_yaw":0.75,"right_gripper":1.0},"note":"Both objects are on their wrist-camera jaw columns, but the two arms crowd each other overhead and the right arm stopped short. I am parking the left arm so the right arm can approach the pen without arm-to-arm interference."})
tool
executing move_to over 18 steps (1.8s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteWith the left arm parked, the pen is centered between the right jaws; its silver writing tip points away from the robot and the intended grasp is on the barrel behind it. I am descending vertically to table level while preserving this alignment.
move_to
right_x0.4050right_y0.2730right_z0.0000right_yaw0.7500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0692, 0.8406, 0.6434, -0.4065, -0.1627, -0.1474, 0.9997, 0.5167, 1.7164, 1.2057, -0.1963, -0.1894, -0.1402, 0.9991] state[eef_state]: left_x=0.2988 left_y=0.0116 left_z=0.1809 left_yaw=0.1324 left_pitch=-0.0235 left_roll=-0.0215 left_gripper=0.9997 right_x=0.4049 right_y=0.2725 right_z=0.1477 right_yaw=0.7397 right_pitch=-0.1352 right_roll=0.0175 right_gripper=0.9991 state[joint_eff]: [0.2256, -1.8667, 7.0632, 1.707, -0.0171, 0.1343, -0.0415, 0.2393, -7.8974, 9.9897, 1.6435, -0.149, -0.0513, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.273,"right_z":0.0,"right_yaw":0.75,"right_gripper":1.0},"note":"With the left arm parked, the pen is centered between the right jaws; its silver writing tip points away from the robot and the intended grasp is on the barrel behind it. I am descending vertically to table level while preserving this alignment."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe descended right wrist view shows the pen barrel running centrally between the jaws, with the writing tip still clear ahead. I am closing the gripper to secure the barrel.
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]: [-0.0681, 0.8463, 0.6365, -0.4267, -0.1535, -0.1406, 0.9997, 0.5167, 1.9976, 0.944, 0.3222, -0.1925, -0.1509, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0105 left_z=0.1721 left_yaw=0.1224 left_pitch=-0.0567 left_roll=-0.0147 left_gripper=0.9997 right_x=0.4022 right_y=0.2715 right_z=0.0065 right_yaw=0.7488 right_pitch=-0.1584 right_roll=0.0168 right_gripper=0.9991 state[joint_eff]: [-0.1162, -2.0034, 7.8154, 1.8681, -0.1538, -0.0806, -0.0122, -0.3077, -7.5556, 4.3966, 1.4823, -0.1685, -0.0464, -0.105] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descended right wrist view shows the pen barrel running centrally between the jaws, with the writing tip still clear ahead. I am closing the gripper to secure the barrel."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe gripper settled at 0.042, just above the empty threshold and consistent with a thin pen barrel. I am lifting it nine centimetres to confirm the pen moves with the jaws and to create clearance.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4305, -0.1532, -0.1402, 0.9997, 0.5167, 2.014, 0.9409, 0.3588, -0.1925, -0.1608, 0.0417] state[eef_state]: left_x=0.2949 left_y=0.0105 left_z=0.1713 left_yaw=0.1219 left_pitch=-0.0604 left_roll=-0.0139 left_gripper=0.9997 right_x=0.4049 right_y=0.2731 right_z=0.0045 right_yaw=0.7535 right_pitch=-0.1415 right_roll=0.0052 right_gripper=0.0417 state[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.7411, -0.1245, -0.0122, -0.0122, -0.0889, -11.2205, 5.8188, 1.2332, -0.0611, 0.1636, 1.1893] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The gripper settled at 0.042, just above the empty threshold and consistent with a thin pen barrel. I am lifting it nine centimetres to confirm the pen moves with the jaws and to create clearance."})
tool
executing move_to over 6 steps (0.6s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe pen remains held and its tip is visible moving with the right jaws, confirming the grasp. I am stowing it high and farther right while bringing the left gripper over the cap, with extra separation to prevent the earlier arm crowding.
move_to
right_x0.4600right_y0.1800right_z0.2000right_yaw0.7500right_gripper0.0000left_x0.4300left_y-0.1700left_z0.1600left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4309, -0.1532, -0.1406, 0.9997, 0.5167, 1.8496, 1.0355, 0.0811, -0.1921, -0.1635, 0.0433] state[eef_state]: left_x=0.2948 left_y=0.0105 left_z=0.1713 left_yaw=0.1221 left_pitch=-0.0608 left_roll=-0.0141 left_gripper=0.9997 right_x=0.4037 right_y=0.2723 right_z=0.0661 right_yaw=0.7552 right_pitch=-0.1597 right_roll=0.0073 right_gripper=0.0433 state[joint_eff]: [-0.1299, -1.5658, 7.1043, 1.7167, -0.1245, -0.0366, -0.0122, -0.3761, -12.041, 8.1846, 1.619, -0.105, -0.0122, 1.033] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.18,"right_z":0.2,"right_yaw":0.75,"right_gripper":0.0,"left_x":0.43,"left_y":-0.17,"left_z":0.16,"left_yaw":0.75,"left_gripper":1.0},"note":"The pen remains held and its tip is visible moving with the right jaws, confirming the grasp. I am stowing it high and farther right while bringing the left gripper over the cap, with extra separation to prevent the earlier arm crowding."})
tool
executing move_to over 17 steps (1.7s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe cap is now very close to the left fingertips but sits about 2–3 cm left of the jaw column. I am shifting the left grasp point toward the arm's left to center the cap before descending.
move_to
left_y-0.1450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6884, 2.088, 1.7866, -1.0245, -0.8909, -1.3067, 0.9997, 0.2436, 1.7847, 1.4616, -0.5247, -0.3824, -0.3756, 0.0432] state[eef_state]: left_x=0.4341 left_y=-0.1746 left_z=0.1505 left_yaw=0.6995 left_pitch=-0.0849 left_roll=-0.0298 left_gripper=0.9997 right_x=0.4513 right_y=0.1838 right_z=0.1738 right_yaw=0.7626 right_pitch=-0.2128 right_roll=0.0195 right_gripper=0.0432 state[joint_eff]: [-0.4855, -11.9316, 7.5692, 0.105, -0.8083, -0.0073, -0.0415, -1.0188, -10.3316, 9.9214, 1.8632, -0.2173, 0.2076, 1.033] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.145},"note":"The cap is now very close to the left fingertips but sits about 2–3 cm left of the jaw column. I am shifting the left grasp point toward the arm's left to center the cap before descending."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe cap is centered, but its long axis is currently parallel to the jaw-closing direction, unlike the pen. I am rotating the left wrist about 90 degrees so the jaws can pinch across the cap and leave one end exposed for fitting.
move_to
left_x0.4300left_y-0.1450left_z0.1500left_yaw2.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6472, 2.0476, 1.6627, -0.9924, -0.8772, -1.2839, 0.9997, 0.2379, 1.7855, 1.4628, -0.5449, -0.3935, -0.3824, 0.0432] state[eef_state]: left_x=0.4238 left_y=-0.1455 left_z=0.1307 left_yaw=0.7299 left_pitch=-0.1079 left_roll=0.0366 left_gripper=0.9997 right_x=0.4482 right_y=0.182 right_z=0.1714 right_yaw=0.7717 right_pitch=-0.2256 right_roll=0.0321 right_gripper=0.0432 state[joint_eff]: [0.253, -14.2427, 6.6256, 1.033, -0.4713, 0.0952, -0.0122, 0.0889, -8.9504, 6.7487, 1.6337, -0.1001, 0.0073, 1.0281] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.145,"left_z":0.15,"left_yaw":2.3,"left_gripper":1.0},"note":"The cap is centered, but its long axis is currently parallel to the jaw-closing direction, unlike the pen. I am rotating the left wrist about 90 degrees so the jaws can pinch across the cap and leave one end exposed for fitting."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe positive 90-degree yaw was unreachable here—the readback barely rotated and the arm sagged instead. I am using the equivalent opposite 90-degree orientation, which gives the same cross-cap jaw alignment but should avoid that joint limit.
move_to
left_x0.4300left_y-0.1450left_z0.1600left_yaw-0.8000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6506, 2.2097, 1.8244, -1.0935, -0.8673, -1.4132, 0.9997, 0.2398, 1.7863, 1.4601, -0.5468, -0.3939, -0.3824, 0.0432] state[eef_state]: left_x=0.4369 left_y=-0.1587 left_z=0.1041 left_yaw=0.8072 left_pitch=-0.1296 left_roll=0.0356 left_gripper=0.9997 right_x=0.447 right_y=0.1828 right_z=0.1697 right_yaw=0.7745 right_pitch=-0.23 right_roll=0.0351 right_gripper=0.0432 state[joint_eff]: [-0.0205, -13.1761, 7.6513, 0.232, -0.7497, -0.0952, -0.0415, -0.4718, -9.5111, 6.9402, 1.4628, -0.2271, -0.0513, 1.0281] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.145,"left_z":0.16,"left_yaw":-0.8,"left_gripper":1.0},"note":"The positive 90-degree yaw was unreachable here—the readback barely rotated and the arm sagged instead. I am using the equivalent opposite 90-degree orientation, which gives the same cross-cap jaw alignment but should avoid that joint limit."})
tool
executing move_to over 11 steps (1.1s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe direct opposite-yaw command also drove the extended left arm into an awkward IK posture instead of rotating cleanly. I am resetting the left arm to its roomy home pose before setting the new wrist orientation and re-approaching the cap.
move_to
left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1806, 1.6661, 1.1728, -0.4747, 0.0277, -0.6155, 0.9997, 0.2398, 1.787, 1.4536, -0.5514, -0.3939, -0.3828, 0.0432] state[eef_state]: left_x=0.422 left_y=-0.0784 left_z=0.1086 left_yaw=0.1333 left_pitch=-0.4607 left_roll=-0.3957 left_gripper=0.9997 right_x=0.445 right_y=0.1823 right_z=0.1661 right_yaw=0.7762 right_pitch=-0.2402 right_roll=0.041 right_gripper=0.0432 state[joint_eff]: [0.5265, -13.6137, 8.9504, 2.0488, -0.1587, 0.2466, -0.0415, -0.3624, -9.4974, 7.2684, 1.3748, -0.1392, -0.0122, 1.0281] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.2,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The direct opposite-yaw command also drove the extended left arm into an awkward IK posture instead of rotating cleanly. I am resetting the left arm to its roomy home pose before setting the new wrist orientation and re-approaching the cap."})
tool
executing move_to over 16 steps (1.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe left arm is back near home with ample clearance, and the cap is unobstructed on the table. I am setting the desired cross-cap yaw here first, before extending toward it.
move_to
left_x0.3000left_y0.0000left_z0.2000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0368, 1.0107, 0.6765, -0.4576, -0.0216, -0.1101, 0.9997, 0.2398, 1.7916, 1.449, -0.561, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3043 left_y=-0.0038 left_z=0.1366 left_yaw=0.0276 left_pitch=-0.2211 left_roll=-0.058 left_gripper=0.9997 right_x=0.4426 right_y=0.1817 right_z=0.1608 right_yaw=0.7786 right_pitch=-0.2562 right_roll=0.0509 right_gripper=0.0475 state[joint_eff]: [0.1846, -1.1692, 7.747, 1.8584, -0.0659, 0.1783, -0.0415, -0.3624, -9.4154, 7.2821, 1.5165, -0.2369, -0.0659, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The left arm is back near home with ample clearance, and the cap is unobstructed on the table. I am setting the desired cross-cap yaw here first, before extending toward it."})
tool
executing move_to over 8 steps (0.8s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteAt home the left wrist reached about −0.62 rad, close enough to make the jaws nearly perpendicular to the cap. I am now extending with that established orientation to the previously measured cap position.
move_to
left_x0.4300left_y-0.1450left_z0.1600left_yaw-0.8000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.4648, 1.2423, 0.947, -0.7719, 0.7876, 0.8188, 0.9997, 0.2398, 1.7916, 1.4487, -0.5705, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3054 left_y=0.0171 left_z=0.1776 left_yaw=-0.6234 left_pitch=-0.0959 left_roll=-0.0645 left_gripper=0.9997 right_x=0.4408 right_y=0.1812 right_z=0.1592 right_yaw=0.7799 right_pitch=-0.2647 right_roll=0.0562 right_gripper=0.0475 state[joint_eff]: [0.1436, -4.9162, 8.6085, 0.9841, 0.6911, 0.2564, -0.0415, -0.3214, -9.4291, 6.735, 1.4872, -0.2369, -0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.145,"left_z":0.16,"left_yaw":-0.8,"left_gripper":1.0},"note":"At home the left wrist reached about −0.62 rad, close enough to make the jaws nearly perpendicular to the cap. I am now extending with that established orientation to the previously measured cap position."})
tool
executing move_to over 15 steps (1.5s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe re-approach worked: the cap is now vertical in the wrist view, so the jaws will close across it. The arm stopped about two centimetres short radially, so I am advancing slightly while keeping the cap near the jaw column.
move_to
left_x0.4500left_y-0.1500left_z0.1600left_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1242, 1.6535, 1.1507, -0.3878, 0.5358, 0.3969, 0.9997, 0.2398, 1.7916, 1.4487, -0.5713, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4111 left_y=-0.1386 left_z=0.1372 left_yaw=-0.8049 left_pitch=-0.1649 left_roll=-0.1185 left_gripper=0.9997 right_x=0.4407 right_y=0.1812 right_z=0.1591 right_yaw=0.7801 right_pitch=-0.2654 right_roll=0.0566 right_gripper=0.0475 state[joint_eff]: [-0.2393, -8.1299, 9.812, 1.7314, 0.2418, 0.0317, -0.0415, -0.335, -9.4564, 6.6667, 1.3065, -0.2418, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.15,"left_z":0.16,"left_yaw":-0.8},"note":"The re-approach worked: the cap is now vertical in the wrist view, so the jaws will close across it. The arm stopped about two centimetres short radially, so I am advancing slightly while keeping the cap near the jaw column."})
tool
executing move_to over 3 steps (0.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe cap is centered and its wider opening appears to trail toward the bottom of the wrist image, while the narrow closed end is visible just ahead. I am shifting about 1.5 cm along the cap axis so the jaws pinch nearer the closed end and leave the opening exposed for assembly.
move_to
left_x0.4650left_y-0.1650left_z0.1600left_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1383, 1.7695, 1.319, -0.4675, 0.5236, 0.3744, 0.9997, 0.2398, 1.7916, 1.4483, -0.5728, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4383 left_y=-0.1465 left_z=0.1411 left_yaw=-0.8009 left_pitch=-0.1938 left_roll=-0.145 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1588 right_yaw=0.7803 right_pitch=-0.267 right_roll=0.0576 right_gripper=0.0475 state[joint_eff]: [-0.4308, -9.8393, 9.1556, 1.3016, 0.232, -0.0464, -0.0122, -0.335, -9.4564, 6.694, 1.3553, -0.2369, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.165,"left_z":0.16,"left_yaw":-0.8},"note":"The cap is centered and its wider opening appears to trail toward the bottom of the wrist image, while the narrow closed end is visible just ahead. I am shifting about 1.5 cm along the cap axis so the jaws pinch nearer the closed end and leave the opening exposed for assembly."})
tool
executing move_to over 3 steps (0.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe closed end of the cap is now at the left grasp point, centered between the fingertips, with the rest of the cap trailing away from the intended pinch. I am descending vertically to table level for the grasp.
move_to
left_x0.4650left_y-0.1650left_z0.0000left_yaw-0.8000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1661, 1.8523, 1.4483, -0.5461, 0.4999, 0.3481, 0.9997, 0.2398, 1.792, 1.4471, -0.5716, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4532 left_y=-0.1582 left_z=0.1415 left_yaw=-0.8012 left_pitch=-0.2328 left_roll=-0.1684 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1583 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475 state[joint_eff]: [-0.4581, -9.9487, 9.7846, 1.3748, 0.2515, -0.0415, -0.0122, -0.3487, -9.3197, 6.7487, 1.2918, -0.2418, -0.0171, 1.0281] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.165,"left_z":0.0,"left_yaw":-0.8,"left_gripper":1.0},"note":"The closed end of the cap is now at the left grasp point, centered between the fingertips, with the rest of the cap trailing away from the intended pinch. I am descending vertically to table level for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe arm did not descend—the readback stayed at 14 cm because it was retaining an unintended pitched/rolled posture from the earlier IK detour. I am explicitly straightening pitch and roll while commanding the same table-level grasp point.
move_to
left_x0.4550left_y-0.1630left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1757, 1.8675, 1.4754, -0.5632, 0.4965, 0.3374, 0.9997, 0.2398, 1.7924, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4552 left_y=-0.1626 left_z=0.1424 left_yaw=-0.8031 left_pitch=-0.2397 left_roll=-0.1769 left_gripper=0.9997 right_x=0.4406 right_y=0.1812 right_z=0.1584 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [-0.3487, -10.3179, 9.6615, 1.3993, 0.2222, -0.0366, -0.0415, -0.3624, -9.0735, 6.7077, 1.3162, -0.2027, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.163,"left_z":0.0,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The arm did not descend—the readback stayed at 14 cm because it was retaining an unintended pitched/rolled posture from the earlier IK detour. I am explicitly straightening pitch and roll while commanding the same table-level grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteWith pitch and roll straightened, the left grasp point reached 5 mm above the table at the cap position. The cap is now hidden directly beneath the fingertips as expected, so I am closing the jaws across its closed end.
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]: [-0.1745, 2.048, 0.9314, 0.3958, 0.506, 0.3538, 0.9998, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4501 left_y=-0.1627 left_z=0.0046 left_yaw=-0.7985 left_pitch=-0.0443 left_roll=-0.0316 left_gripper=0.9998 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475 state[joint_eff]: [-0.1709, -7.9658, 4.2872, 0.8132, 0.1343, -0.0562, -0.0415, -0.335, -9.4701, 6.7077, 1.2723, -0.2418, -0.0757, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"With pitch and roll straightened, the left grasp point reached 5 mm above the table at the cap position. The cap is now hidden directly beneath the fingertips as expected, so I am closing the jaws across its closed end."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe left gripper closed to 0.009, confirming an empty grasp; shifting to the apparent closed end moved past the cap. I am reopening and lifting to the earlier centered pose so I can re-measure the cap and make one corrected attempt.
move_to
left_x0.4300left_y-0.1450left_z0.1500left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1749, 2.0609, 0.923, 0.4335, 0.5041, 0.3489, 0.0093, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4514 left_y=-0.1628 left_z=0.0023 left_yaw=-0.7943 left_pitch=-0.0317 left_roll=-0.0251 left_gripper=0.0093 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [-0.1299, -11.0017, 5.6137, 1.16, 0.2271, 0.0464, 0.7839, -0.3214, -9.4427, 6.6667, 1.3407, -0.2271, -0.0269, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.145,"left_z":0.15,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The left gripper closed to 0.009, confirming an empty grasp; shifting to the apparent closed end moved past the cap. I am reopening and lifting to the earlier centered pose so I can re-measure the cap and make one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteAt the restored pose the cap is clearly centered on the jaw column and spans the jaw convergence row; the failed grasp point was about two centimetres beyond it. I am descending at this exact centered position for the corrected attempt.
move_to
left_x0.4300left_y-0.1430left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1368, 1.6676, 0.9985, -0.0399, 0.5137, 0.3714, 0.9955, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4295 left_y=-0.1431 left_z=0.1242 left_yaw=-0.7759 left_pitch=-0.0317 left_roll=-0.0143 left_gripper=0.9955 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [0.335, -9.7436, 9.935, 1.5458, 0.3492, 0.0708, -0.1294, -0.3487, -9.3607, 6.7077, 1.3553, -0.2173, -0.0464, 1.0281] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.143,"left_z":0.0,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"At the restored pose the cap is clearly centered on the jaw column and spans the jaw convergence row; the failed grasp point was about two centimetres beyond it. I am descending at this exact centered position for the corrected attempt."})
tool
executing move_to over 9 steps (0.9s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteAt table level the cap lies centrally between the left fingertips, unlike the first attempt where it had disappeared past the jaws. I am closing now across the cap.
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]: [-0.1287, 1.99, 0.8024, 0.4767, 0.5297, 0.3847, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4288 left_y=-0.1419 left_z=0.0033 left_yaw=-0.7875 left_pitch=-0.0269 left_roll=-0.0128 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475 state[joint_eff]: [0.4034, -7.5966, 3.7675, 1.2772, 0.2027, 0.022, -0.1587, -0.294, -9.2376, 6.8991, 1.2869, -0.2515, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table level the cap lies centrally between the left fingertips, unlike the first attempt where it had disappeared past the jaws. I am closing now across the cap."})
tool
executing move_to over 10 steps (1.0s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe full close again read empty, and the cap vanished forward rather than staying between the jaws—consistent with a small rounded cap being squeezed out at full force. I am opening and moving slightly back and up to relocate it; the next grasp will stop near the cap’s diameter instead of fully closing.
move_to
left_x0.4000left_y-0.1200left_z0.1400left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1291, 1.9911, 0.8017, 0.5171, 0.5323, 0.3798, 0.0111, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4338 left_y=-0.1431 left_z=0.0097 left_yaw=-0.787 left_pitch=0.0046 left_roll=0.0053 left_gripper=0.0111 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [-0.1026, -8.6769, 5.1761, 1.2039, 0.1832, 0.0855, 0.4127, -0.2803, -9.2923, 6.6667, 1.3504, -0.2369, -0.0366, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.14,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The full close again read empty, and the cap vanished forward rather than staying between the jaws—consistent with a small rounded cap being squeezed out at full force. I am opening and moving slightly back and up to relocate it; the next grasp will stop near the cap’s diameter instead of fully closing."})
tool
executing move_to over 10 steps (1.0s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe cap is visible again near the lower center of the overhead view; the hard close ejected it several centimetres toward the left-arm base. In the wrist view it is down-right, so I am moving back radially to recenter it while retaining the correct cross-cap yaw.
move_to
left_x0.3600left_y-0.1400left_z0.1400left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.065, 1.5654, 0.8612, -0.0196, 0.5655, 0.4252, 0.9952, 0.2398, 1.7927, 1.4471, -0.5694, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.4017 left_y=-0.1174 left_z=0.1181 left_yaw=-0.7733 left_pitch=-0.0222 left_roll=-0.0057 left_gripper=0.9952 right_x=0.4408 right_y=0.1812 right_z=0.1583 right_yaw=0.7802 right_pitch=-0.266 right_roll=0.057 right_gripper=0.0475 state[joint_eff]: [0.4308, -8.6359, 9.3197, 1.6142, 0.3785, 0.0757, -0.0513, -0.2393, -9.4427, 6.8718, 1.4042, -0.1929, -0.0659, 1.0281] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.14,"left_z":0.14,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The cap is visible again near the lower center of the overhead view; the hard close ejected it several centimetres toward the left-arm base. In the wrist view it is down-right, so I am moving back radially to recenter it while retaining the correct cross-cap yaw."})
tool
executing move_to over 4 steps (0.4s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe cap is now at the jaw convergence row but about 1–2 cm to the right of the jaw column. I am making a small diagonal correction in the rotated wrist frame to center it precisely before the gentle grasp.
move_to
left_x0.3500left_y-0.1500left_z0.1400left_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1417, 1.4128, 0.7639, -0.0761, 0.5377, 0.3901, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.36 left_y=-0.1391 left_z=0.1255 left_yaw=-0.8098 left_pitch=-0.0348 left_roll=-0.0212 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [0.0205, -6.7487, 6.8171, 1.7949, 0.2125, -0.0855, -0.1538, -0.2256, -9.1692, 7.0359, 1.3993, -0.2418, -0.0415, 1.0281] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":0.14,"left_yaw":-0.8},"note":"The cap is now at the jaw convergence row but about 1–2 cm to the right of the jaw column. I am making a small diagonal correction in the rotated wrist frame to center it precisely before the gentle grasp."})
tool
executing move_to over 1 steps (0.1s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe one-step nudge barely moved the readback, so the cap remains right of center. I am making a slightly larger correction along the same diagonal to put the jaw column directly over it.
move_to
left_x0.3350left_y-0.1650left_z0.1400left_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1505, 1.3827, 0.7612, -0.0788, 0.5274, 0.3748, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3581 left_y=-0.1406 left_z=0.1341 left_yaw=-0.802 left_pitch=-0.0194 left_roll=-0.0133 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [0.0615, -6.3385, 6.5026, 1.6728, 0.1245, -0.0806, -0.1538, -0.3487, -9.2103, 6.7214, 1.3797, -0.2515, -0.0562, 1.0281] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.165,"left_z":0.14,"left_yaw":-0.8},"note":"The one-step nudge barely moved the readback, so the cap remains right of center. I am making a slightly larger correction along the same diagonal to put the jaw column directly over it."})
tool
executing move_to over 3 steps (0.3s)
step 231
top_cam
camera top_cam step 231
assistant
agent noteThe displaced cap is now precisely centered at the jaw convergence row. I am descending straight down at this corrected location, explicitly keeping the tool vertical.
move_to
left_x0.3470left_y-0.1510left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.197, 1.3712, 0.7612, -0.1253, 0.4927, 0.3408, 0.9985, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3475 left_y=-0.1509 left_z=0.1283 left_yaw=-0.8041 left_pitch=-0.0614 left_roll=-0.0433 left_gripper=0.9985 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475 state[joint_eff]: [0.0342, -7.2137, 7.2684, 1.536, 0.1294, -0.0269, -0.022, -0.3214, -9.1419, 6.8171, 1.3407, -0.2027, -0.0317, 1.0281] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.151,"left_z":0.0,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The displaced cap is now precisely centered at the jaw convergence row. I am descending straight down at this corrected location, explicitly keeping the tool vertical."})
tool
executing move_to over 9 steps (0.9s)
step 240
assistant
agent noteThe descent stopped at 9 cm without reaching table level, likely in an awkward local arm posture rather than at the small cap. I am changing the radial target slightly inward to let the IK unfold and continue the descent instead of repeating the stalled command.
move_to
left_x0.3400left_y-0.1510left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.197, 1.4418, 0.672, 0.0231, 0.4965, 0.3408, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3463 left_y=-0.1513 left_z=0.0934 left_yaw=-0.8074 left_pitch=-0.0694 left_roll=-0.052 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475 state[joint_eff]: [-0.2667, -0.212, 2.9333, 0.7497, 0.0855, -0.0659, -0.1538, -0.294, -9.4701, 6.6803, 1.3358, -0.2173, -0.0317, 1.0281] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.151,"left_z":0.0,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The descent stopped at 9 cm without reaching table level, likely in an awkward local arm posture rather than at the small cap. I am changing the radial target slightly inward to let the IK unfold and continue the descent instead of repeating the stalled command."})
tool
executing move_to over 7 steps (0.7s)
step 247
assistant
agent noteThe left gripper is now at table level and the cap is clearly visible between the open jaws, about a centimetre right of center. I am making a very small in-plane correction before closing gently to the cap’s diameter.
move_to
left_x0.3300left_y-0.1550left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1989, 1.7676, 0.4313, 0.6289, 0.4828, 0.3428, 0.9986, 0.2398, 1.7947, 1.4471, -0.5716, -0.3943, -0.3824, 0.0475] state[eef_state]: left_x=0.3366 left_y=-0.1479 left_z=-0.0005 left_yaw=-0.7984 left_pitch=-0.0422 left_roll=-0.0205 left_gripper=0.9986 right_x=0.4404 right_y=0.1812 right_z=0.1571 right_yaw=0.7808 right_pitch=-0.2695 right_roll=0.0598 right_gripper=0.0475 state[joint_eff]: [-0.8, -5.5179, 3.0974, 0.6911, 0.1832, -0.1197, -0.1538, -0.335, -9.5932, 6.6667, 1.3065, -0.2076, -0.022, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.155,"left_z":0.0,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The left gripper is now at table level and the cap is clearly visible between the open jaws, about a centimetre right of center. I am making a very small in-plane correction before closing gently to the cap’s diameter."})
tool
executing move_to over 2 steps (0.2s)
step 249
assistant
agent noteThe tiny command was mostly absorbed by controller tracking and the cap remains about one cap-width right of center. I am applying the measured one-centimetre diagonal correction so the rounded cap will not be squeezed sideways again.
move_to
left_x0.3200left_y-0.1700left_z0.0000left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2169, 1.7996, 0.3962, 0.746, 0.4698, 0.3321, 0.9987, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3352 left_y=-0.1521 left_z=-0.0014 left_yaw=-0.7997 left_pitch=-0.0052 left_roll=0.0053 left_gripper=0.9987 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475 state[joint_eff]: [-0.5265, -7.4735, 3.1658, 1.3504, 0.0513, -0.1734, -0.1538, -0.3077, -9.4701, 6.6803, 1.3358, -0.2173, -0.0464, 1.0281] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.17,"left_z":0.0,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The tiny command was mostly absorbed by controller tracking and the cap remains about one cap-width right of center. I am applying the measured one-centimetre diagonal correction so the rounded cap will not be squeezed sideways again."})
tool
executing move_to over 2 steps (0.2s)
step 251
assistant
agent noteThe cap is now exactly on the jaw centerline. Its visible diameter is about 7–8 mm, so I am closing only to a 6 mm gap—enough to grip it without the hard over-close that ejected it before.
move_to
left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2722, 1.7943, 0.3691, 0.7834, 0.4335, 0.3069, 0.9986, 0.2398, 1.7947, 1.4471, -0.5694, -0.3939, -0.3824, 0.0475] state[eef_state]: left_x=0.3259 left_y=-0.1643 left_z=-0.002 left_yaw=-0.8124 left_pitch=-0.0034 left_roll=0.011 left_gripper=0.9986 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7802 right_pitch=-0.2677 right_roll=0.0583 right_gripper=0.0475 state[joint_eff]: [-0.3761, -7.6786, 2.7692, 1.5409, 0.1587, -0.2076, -0.1538, -0.335, -9.4427, 6.7077, 1.3993, -0.2125, -0.0415, 1.0281] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.06},"note":"The cap is now exactly on the jaw centerline. Its visible diameter is about 7–8 mm, so I am closing only to a 6 mm gap—enough to grip it without the hard over-close that ejected it before."})
tool
executing move_to over 10 steps (1.0s)
step 261
assistant
agent noteThe left gripper stopped at 0.077 rather than reaching the 0.06 command, indicating contact around the cap, and the cap disappeared from its wrist view as a held object should. I am lifting eight centimetres to verify the grasp.
move_to
left_z0.0800left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3084, 1.7905, 0.3561, 0.807, 0.3988, 0.2676, 0.0766, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3824, 0.0475] state[eef_state]: left_x=0.3223 left_y=-0.1709 left_z=-0.0014 left_yaw=-0.7994 left_pitch=-0.0005 left_roll=0.0031 left_gripper=0.0766 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7803 right_pitch=-0.268 right_roll=0.0585 right_gripper=0.0475 state[joint_eff]: [-0.1162, -7.3641, 2.9197, 1.6337, 0.1636, -0.0024, 0.7448, -0.3624, -9.3744, 6.9128, 1.3504, -0.2125, -0.022, 1.0281] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"left_gripper":0.06},"note":"The left gripper stopped at 0.077 rather than reaching the 0.06 command, indicating contact around the cap, and the cap disappeared from its wrist view as a held object should. I am lifting eight centimetres to verify the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 267
assistant
agent noteThe cap has lifted with the left gripper and is no longer on the table, confirming the gentle grasp. I am moving it to a high, uncrowded pose before rotating it into line with the pen for insertion.
move_to
left_x0.3000left_y-0.1000left_z0.1800left_yaw-0.8000left_pitch0.0000left_roll0.0000left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3084, 1.4242, 0.4385, 0.3695, 0.3958, 0.263, 0.0616, 0.2398, 1.7947, 1.4471, -0.569, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3207 left_y=-0.1699 left_z=0.0675 left_yaw=-0.7945 left_pitch=0.0085 left_roll=0.006 left_gripper=0.0616 right_x=0.4409 right_y=0.1813 right_z=0.1575 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475 state[joint_eff]: [-0.0615, -6.2017, 8.8547, 1.619, 0.0806, 0.0171, 0.6569, -0.0068, -9.4427, 6.8718, 1.3993, -0.2222, -0.0659, 1.0281] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.18,"left_yaw":-0.8,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.06},"note":"The cap has lifted with the left gripper and is no longer on the table, confirming the gentle grasp. I am moving it to a high, uncrowded pose before rotating it into line with the pen for insertion."})
tool
executing move_to over 8 steps (0.8s)
step 275
assistant
agent noteBoth parts remain securely held with clear separation. I am rotating the cap in an intermediate step toward the orientation opposite the pen’s writing tip, avoiding a single large yaw move.
move_to
left_x0.3000left_y-0.1000left_z0.1800left_yaw-1.5000left_pitch0.0000left_roll0.0000left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0051, 1.0878, 0.6918, -0.329, 0.5915, 0.4408, 0.061, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.3084 left_y=-0.0965 left_z=0.1631 left_yaw=-0.7416 left_pitch=-0.0118 left_roll=-0.0064 left_gripper=0.061 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475 state[joint_eff]: [0.1162, -4.041, 9.6752, 1.5116, 0.4567, 0.1929, 0.0952, -0.3624, -9.2239, 6.7077, 1.3358, -0.2418, -0.0611, 1.0281] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.18,"left_yaw":-1.5,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.06},"note":"Both parts remain securely held with clear separation. I am rotating the cap in an intermediate step toward the orientation opposite the pen’s writing tip, avoiding a single large yaw move."})
tool
executing move_to over 5 steps (0.5s)
step 280
assistant
agent noteThe first rotation reached −1.21 rad while maintaining the cap grasp. I am continuing in a second moderate step toward the pen-opposed orientation.
move_to
left_x0.3000left_y-0.1000left_z0.1800left_yaw-2.2000left_pitch0.0000left_roll0.0000left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1547, 1.6512, 1.251, -1.0084, 0.9253, 1.1893, 0.061, 0.2398, 1.7973, 1.4441, -0.5747, -0.3939, -0.3824, 0.0475] state[eef_state]: left_x=0.3359 left_y=-0.0868 left_z=0.1611 left_yaw=-1.2128 left_pitch=-0.0695 left_roll=-0.1367 left_gripper=0.061 right_x=0.4394 right_y=0.1809 right_z=0.1543 right_yaw=0.7818 right_pitch=-0.2772 right_roll=0.0642 right_gripper=0.0475 state[joint_eff]: [-0.4581, -9.0872, 6.5299, 0.0269, 0.6569, 0.2076, 0.0904, -0.335, -9.4974, 6.8855, 1.3797, -0.2173, -0.0269, 1.0281] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.18,"left_yaw":-2.2,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.06},"note":"The first rotation reached −1.21 rad while maintaining the cap grasp. I am continuing in a second moderate step toward the pen-opposed orientation."})
tool
executing move_to over 7 steps (0.7s)
step 287
assistant
agent noteThe cap has reached −2.08 rad, nearly opposite the pen, but the arm drifted lower during rotation. I am completing the remaining yaw while restoring a high, central pose for the assembly approach.
move_to
left_x0.2800left_y-0.1500left_z0.2000left_yaw-2.4000left_pitch0.0000left_roll0.0000left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.205, 2.0037, 1.5364, -1.5421, 0.889, 2.0335, 0.061, 0.2398, 1.8, 1.4433, -0.5713, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.2657 left_y=-0.1917 left_z=0.1309 left_yaw=-2.0789 left_pitch=-0.0366 left_roll=-0.0581 left_gripper=0.061 right_x=0.4399 right_y=0.181 right_z=0.1533 right_yaw=0.782 right_pitch=-0.2772 right_roll=0.0639 right_gripper=0.0475 state[joint_eff]: [0.294, -10.7966, 6.9812, -0.6667, 0.5739, 0.1685, 0.0904, -0.3624, -9.4154, 6.7624, 1.3602, -0.2125, -0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.15,"left_z":0.2,"left_yaw":-2.4,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.06},"note":"The cap has reached −2.08 rad, nearly opposite the pen, but the arm drifted lower during rotation. I am completing the remaining yaw while restoring a high, central pose for the assembly approach."})
tool
executing move_to over 5 steps (0.5s)
step 292
assistant
agent noteThe left wrist’s feasible yaw settles near −2.16 rad; the exactly opposite pen direction is therefore about +0.98 rad. I am making that small adjustment on the right wrist and straightening its pitch/roll so the pen and cap axes are collinear at the same height.
move_to
right_x0.4400right_y0.1800right_z0.1800right_yaw0.9800right_pitch0.0000right_roll0.0000right_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]: [-0.2584, 2.0037, 1.5364, -1.5639, 0.8902, 2.0781, 0.061, 0.2398, 1.8, 1.4433, -0.5724, -0.3939, -0.3828, 0.0475] state[eef_state]: left_x=0.2517 left_y=-0.2048 left_z=0.1328 left_yaw=-2.1565 left_pitch=-0.028 left_roll=-0.0417 left_gripper=0.061 right_x=0.4397 right_y=0.181 right_z=0.1531 right_yaw=0.7822 right_pitch=-0.2781 right_roll=0.0646 right_gripper=0.0475 state[joint_eff]: [-0.4855, -10.6188, 6.612, -0.5446, 0.4908, 0.1294, 0.0904, -0.2256, -9.5111, 6.7077, 1.3016, -0.2564, -0.0708, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.18,"right_z":0.18,"right_yaw":0.98,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The left wrist’s feasible yaw settles near −2.16 rad; the exactly opposite pen direction is therefore about +0.98 rad. I am making that small adjustment on the right wrist and straightening its pitch/roll so the pen and cap axes are collinear at the same height."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteThe readbacks now differ by 3.10 rad, so the cap and pen axes are effectively opposite and collinear. I am moving the cap to a pre-insertion pose near the pen tip while keeping roughly 10 cm between the two grasp points.
move_to
left_x0.4700left_y-0.3700left_z0.1800left_yaw-2.1600left_pitch0.0000left_roll0.0000left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2584, 2.0037, 1.536, -1.5635, 0.8864, 2.0773, 0.0611, 0.1509, 1.7798, 1.2999, -0.3603, -0.6376, -0.5289, 0.0475] state[eef_state]: left_x=0.2515 left_y=-0.2044 left_z=0.1322 left_yaw=-2.1579 left_pitch=-0.0313 left_roll=-0.0434 left_gripper=0.0611 right_x=0.4397 right_y=0.1768 right_z=0.1526 right_yaw=0.9443 right_pitch=-0.0859 right_roll=0.0494 right_gripper=0.0475 state[joint_eff]: [-0.3624, -9.1009, 5.0393, -0.4957, 0.3639, -0.0269, -0.0122, -0.6632, -12.6154, 6.4615, 1.663, -0.5348, -0.0855, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.37,"left_z":0.18,"left_yaw":-2.16,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.06},"note":"The readbacks now differ by 3.10 rad, so the cap and pen axes are effectively opposite and collinear. I am moving the cap to a pre-insertion pose near the pen tip while keeping roughly 10 cm between the two grasp points."})
tool
executing move_to over 17 steps (1.7s)
step 319
assistant
agent noteThe left arm reached its yaw-limited forward position at x=0.36, so pushing it farther is not viable. I am instead bringing the pen backward along its own axis toward the stationary cap, stopping a few centimetres short so the right wrist camera can verify tip-to-opening alignment.
move_to
right_x0.3400right_y0.2200right_z0.1500right_yaw0.9400right_pitch0.0000right_roll0.0000right_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]: [-0.4976, 2.6209, 2.5557, -1.5879, 0.9611, 1.6489, 0.061, 0.1463, 1.7798, 1.2964, -0.3599, -0.6323, -0.5354, 0.0511] state[eef_state]: left_x=0.3571 left_y=-0.3547 left_z=0.1168 left_yaw=-2.1286 left_pitch=-0.0361 left_roll=-0.0099 left_gripper=0.061 right_x=0.4403 right_y=0.174 right_z=0.1509 right_yaw=0.9395 right_pitch=-0.0907 right_roll=0.0436 right_gripper=0.0511 state[joint_eff]: [-0.6496, -13.0256, 8.2803, 0.2515, 0.7839, -0.0952, 0.0904, 0.0342, -9.265, 7.1179, 1.37, -0.3639, 0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.22,"right_z":0.15,"right_yaw":0.94,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The left arm reached its yaw-limited forward position at x=0.36, so pushing it farther is not viable. I am instead bringing the pen backward along its own axis toward the stationary cap, stopping a few centimetres short so the right wrist camera can verify tip-to-opening alignment."})
tool
executing move_to over 8 steps (0.8s)
step 327
assistant
agent noteThe wrist views show the pen tip centered directly on the cap axis with only a small axial gap. Before inserting, I am correcting the left grasp height from 9 cm to match the pen’s 13 cm height, since the Cartesian readbacks reveal a vertical offset that the wrist view alone cannot.
move_to
left_x0.3700left_y-0.3470left_z0.1600left_yaw-2.1000left_pitch0.0000left_roll0.0000left_gripper0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4744, 2.6888, 2.5874, -1.578, 0.9436, 1.6424, 0.0611, 0.3416, 1.4513, 0.836, -0.1104, -0.5209, -0.3866, 0.051] state[eef_state]: left_x=0.3706 left_y=-0.347 left_z=0.0898 left_yaw=-2.1047 left_pitch=-0.0521 left_roll=-0.0426 left_gripper=0.0611 right_x=0.3371 right_y=0.217 right_z=0.1336 right_yaw=0.9668 right_pitch=-0.057 right_roll=0.0275 right_gripper=0.051 state[joint_eff]: [-0.3897, -14.6393, 7.1453, 0.1538, 0.6374, 0.1392, -0.0073, 0.1709, -7.5692, 7.2137, 2.0879, -0.1197, 0.1294, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.347,"left_z":0.16,"left_yaw":-2.1,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.06},"note":"The wrist views show the pen tip centered directly on the cap axis with only a small axial gap. Before inserting, I am correcting the left grasp height from 9 cm to match the pen’s 13 cm height, since the Cartesian readbacks reveal a vertical offset that the wrist view alone cannot."})
tool
executing move_to over 5 steps (0.5s)
step 332
assistant
agent noteThe left arm cannot raise in this extended yaw posture, so I will match heights in the reachable direction instead. I am lowering the pen grasp point from 12.6 cm to about the cap’s 9 cm height while preserving the excellent horizontal alignment.
move_to
right_x0.3350right_y0.2140right_z0.1000right_yaw0.9500right_pitch0.0000right_roll0.0000right_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]: [-0.4744, 2.6888, 2.5874, -1.5791, 0.9428, 1.6428, 0.061, 0.342, 1.4506, 0.8169, -0.1047, -0.5053, -0.3782, 0.051] state[eef_state]: left_x=0.3704 left_y=-0.3468 left_z=0.0898 left_yaw=-2.1051 left_pitch=-0.0527 left_roll=-0.0434 left_gripper=0.061 right_x=0.3352 right_y=0.2139 right_z=0.1263 right_yaw=0.9511 right_pitch=-0.0735 right_roll=0.0331 right_gripper=0.051 state[joint_eff]: [-0.2256, -14.5436, 7.0222, 0.2027, 0.569, 0.1148, 0.0904, -0.0889, -6.0376, 8.0205, 1.5165, -0.3834, -0.105, 1.0281] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.214,"right_z":0.1,"right_yaw":0.95,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The left arm cannot raise in this extended yaw posture, so I will match heights in the reachable direction instead. I am lowering the pen grasp point from 12.6 cm to about the cap’s 9 cm height while preserving the excellent horizontal alignment."})
tool
executing move_to over 3 steps (0.3s)
step 335
assistant
agent noteThe grasp heights now match within 1 cm, and the right camera shows the silver pen tip centered just under the cap opening with only about a centimetre gap. I am advancing the pen one centimetre along its axis for the initial insertion.
move_to
right_x0.3370right_y0.2250right_z0.1000right_yaw0.9500right_pitch0.0000right_roll0.0000right_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]: [-0.4763, 2.6808, 2.5603, -1.578, 0.9314, 1.639, 0.0611, 0.3412, 1.4746, 0.6884, 0.0578, -0.5083, -0.3771, 0.051] state[eef_state]: left_x=0.3671 left_y=-0.3448 left_z=0.0856 left_yaw=-2.1073 left_pitch=-0.0631 left_roll=-0.0651 left_gripper=0.0611 right_x=0.326 right_y=0.2108 right_z=0.0946 right_yaw=0.9517 right_pitch=-0.0643 right_roll=0.03 right_gripper=0.051 state[joint_eff]: [-0.0342, -14.2154, 6.5026, 0.1245, 0.525, -0.0464, -0.0024, -0.5675, -5.4632, 7.159, 2.0488, -0.3492, 0.0708, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.337,"right_y":0.225,"right_z":0.1,"right_yaw":0.95,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The grasp heights now match within 1 cm, and the right camera shows the silver pen tip centered just under the cap opening with only about a centimetre gap. I am advancing the pen one centimetre along its axis for the initial insertion."})
tool
executing move_to over 3 steps (0.3s)
step 338
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4763, 2.6808, 2.5511, -1.5787, 0.9199, 1.6386, 0.0611, 0.3653, 1.5021, 0.6598, 0.1543, -0.4969, -0.363, 0.051] state[eef_state]: left_x=0.3661 left_y=-0.343 left_z=0.082 left_yaw=-2.1094 left_pitch=-0.0738 left_roll=-0.0761 left_gripper=0.0611 right_x=0.3273 right_y=0.2191 right_z=0.0896 right_yaw=0.9581 right_pitch=-0.0354 right_roll=0.0126 right_gripper=0.051 state[joint_eff]: [-0.1436, -14.9265, 5.1897, 0.0904, 0.5006, -0.0464, -0.0122, 0.4308, -4.8205, 8.2667, 1.7411, -0.1001, 0.0708, 1.033] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [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 · 11.82 s
model
gpt-5.6-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]: [-0.017, 0.7933, 0.6022, -0.3805, -0.0219, -0.0246, 0.9998, -0.0162, 0.7918, 0.6102, -0.3759, -0.0227, -0.0193, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0025 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.0028 right_z=0.1843 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -1.4974, 10.5094, 1.7607, -0.0024, 0.0562, -0.0366, -0.7863, -1.306, 9.894, 1.7167, -0.0415, 0.0122, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3cb128e37d7f919d8a81689ea876a9870bad47a0d72e4d55fdffbd65585beb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0d855cad8217fbf3738bc9f859727fa73a512274464b5b87e8414f031ff454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d2c43abe72c8019de1733dd59666539c0320551c256c4572d71f84ae2ffe0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.643 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0439d9d669bb7433016ab455288c3087d09a772f18b65debd3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFUzBhZXFjjrYnzhE0Fw6SBuTqCLd014Rc4fvMPbiAD7PtaBJNF0EdAxQl0jslsP4AJiJmMoh9ppvTODPVDgJKqI_UfpmThCTi0XFhGhB8uj4C4wc32O3bMDRsH8Y3XOwju84spzXCx7ZlM7y3lzMvcwaBQou2dp71fubDmJzQCkzfkk27UxDwkOER04P2VtJAxbkWsHuFqQ_5bFaXTasd62pUx8MwoC5-DJK4L10Ge3QE5bA7tnMqPpV9RyEbGigr2kpXQ7HIPd-vRQ9RCnCUOH2-Dv-7cpxKtUfBPUCvXwyJz8LRqlmV1JemKzn0GsyswP8J8imHh1CAaX66tc3h_mXLpp_JKWIDUDo9wBfD-0IFLCqDsvNXbEQfv8UN_n3idLXBo-p5m5PVTXKcHfeVxXuj0C2c1nP6WJjDB4VAMvNVkeaYa7eVtiPXgh-JcCep4Odh7BJArMF0vPNcnw4bJB5xr1bNq4ZJfi7_EHZiZVs9grOv0HlZXAiNBHBFOfwoAHtJFWHZPe4Xf0KQVS7b94yKVe7qQ-hjHlMkZeqelDp8g4bix-hTVgnWaEoAC9eFPddf5rFkSXad7CEUd9mofz5MwCkI0uBFQ5zR4UDgVXHy2k4eqnw2TWzf31kBnjWGBA0vPoSOL7lulsCy0PxbBZuzOcGZWZGsVNFSXDT0_kieFpF-YvF0q63y_Ev7bPrrYu2PsEbD0s7eqEmkNL14aGseMTyW7QvT0hfXa1b9l7b7YARw114oufIhOcsJOgKFj4jDLwL_jy25qqjToAx_lwBALo5XAEIPQhgEWtU41UBq08AChjqojN1Usl0FyrtLHPtyJ0dca4LrrikX8fIbyqubEANZxEAh2do7KsIvOxX_W-W3A8LUs4hgQxRE_mISkEZFCmWNyJuzBU3NKpjpiXj53lS5lKMIhv5fNoeAUZQOibKPgQzm7Xl-j9UOApa08VWSAhLTA9NtsfUGKT_8Mb5WCfeLZtDmZ-s1d-y8_7SaNJHIT2eRZ-zsiqcAyhMweCPYYIsLoJZR1e2m-jzb-wChQUvPvctfsuyCIaXwWkPM4doern7KBBSNLHiERew99L8vf1iPrJvgBkpZBPU8EvoIZGXJ8xMje1jwJ4sF44Svvx6eNiB10knk9HStKoEKvWpaJ6bpgmGneR_2mjW8SC6VEcjWtMKb1S9hHaF7dUutrgvJgORwDHcabOh_HzvRrGx63CfyxYH2ZqVSAMLU31ZSyaWd25GODUOhdOSdnb40fZgtquL9QEqMLgi00mPdGw8btU_6NxLRn9H15Zxl7TOQWoQWkc6NOi3M_whKCDUGVlJ8JYuH3ZjeCTbitP5AEXS1nteyv6tyxWbi__Lgo9D-RP779C0oCaHNsF13PXTAZQ8LALfXiXoh-0nRrdGmKUxXDoBfNrhM2vIwIQUfLk5jVkw48ecMwyfHTzB5RgcGFYlJ7YngLZt44tQYS3j-uqyOvsKcs5dRavCMVDzGjO-dU8fB-BlHOjOT2_1CX9QuABO8Dv1lr5E2Y300X7tUlrSX-YLb2MpRWNczVQ2_8WyzirRpGBDsXj36iaGi2iTkU66yT1T3vPyTtU7z2eGrz16cVDvYsJq33iJEzTmgxVeiwlOpdVNrB0MFN8WRDKm0YLQiOTnxw4q1bmgAwifHxsmfSEcPVl19fg9SuXFwSKUExaHIKi_Sd5fYEYdD0fFHJkljsglBFyL1UWF8XU3ftY-HamYCJbA_EoXa8zRnpeJCndJ4DAHU9h2CFW-YNfQCpDno7h-SLF4Iyt-4Y8j4rOTSdiYjgfADcdLrBceJUg4hmCxUF0U80xVMb0A-S3Fm8RRVZwObgRhab1ylzT3cyvSpdi0MJaK5dL9H48AaLm70NdiwEKHnb0xzAihmCUjndJ3ZjE7hnWLr4rZeahCuWT2OiGZh8YGo49L1x1JA8hpcxdT0q4fnZa6CJEQOR2tR-pXdwmvVdG86KLuwvnJ_gk2n1rDg4CB86cjz8T7zZ7BxtFBDlOO0NLOHtGWu9vGu8SlVkP9Qt9Q6UIivll180fLr_uZtLbwZryQpBA2iDjjJHkgd_DhtlpiPDJpl3NyZMwYuMDuq4xhtIajUr1hEkiXTuSZFdOTrQKhuVrojClv5v9uAf0POAg9yQuDawnCA3nM7cXWBXucuYQzVaDljuK5Pb2nqLHj39_ZtSHTslf5U_M8PvK9X5SdyGsRXNRzdt1hvz99gGGhRx4d2yd-4jyrhFQe1VOx13Gymw1E9wYYOY_5tCF-cL6HN90g2KO5LGyOwhTOnFrkOSWlGg9MCn0arPGVrJr6-3K8bvv2ERC4_-wJ01z73YFJCiYyo9LsHcfgaQMBYdBepYDOv7UlklrvxYVLEB4Oi4Ru_EkunGAzNG2zIk0UVNNlnCPxDcH5A66kfP95Cy0uNVkFn2gxsE6tFngHh0I7OucnXNieQVbfNNL4kuUWRdDt5E0ZnTYL7gyOlXHYHpztsdeKAj8FEVORu7lSG_ipldPf0jqqZfXfGxTyzxYxW2LQotkA2LZ_yplRWnMeP7hd52AMFPOXKDgBXIpB1MLd5zY0RCBYJy-pMpgvfFwHHyOlVR39eV6FUDNrRQfJ9gtJsxTMZuVjsH7GkzWCc8tVpyXHkE38qvyW4HLk2jVkmb9GUBgm6ZvR27qXzorcbrQHgkJisGoKPm6GXZGYMkEDb3N7aX7OPrmZ5DnxqSM_1uF_J0-6xrsIw2iXiF9gtZ2UeQkxc_OjnuuUjTU9aPQP1BkGfvw68S4m_bUxzXkjbJ3AhwO9oGYR8KTe1PKLq9ODzqye60xhxV6jxTQhEru6WtsrhQkErl-rLTipqOqg-bE4wYi_7yWb_RCf7wlXElju-m_jYALgzN1eJbTuJREistpRTI3vZuFb7jqSV_VD9EFFOeshY7zQuw8wQ71tryW8KJNYJt5nq-gpv2dpi5KTis_9XZOIK0K_WEaGVa8JGGtISKT-p_C2dtA758a5cSUNXurnK8mfRGEo4EiUYQanMHWU_-FNtYB0N05jzCJWn8rVYnb3wxRbnfg29J5aqC1yUD6nwlAMJAYWDZyoQ_NkaBSKkdjlGnI6g==",
  "id": "rs_0439d9d669bb7433016ab4552e697087d0b70d02ce6f9d5162",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.2,\"left_z\":0.16,\"left_yaw\":0.75,\"left_gripper\":1.0,\"right_x\":0.41,\"right_y\":0.28,\"right_z\":0.16,\"right_yaw\":0.75,\"right_gripper\":1.0},\"note\":\"The cap lies left of center and the pen lies farther right, both at roughly a 45-degree diagonal. I am moving each open gripper above its assigned object and matching yaw so the jaws will close across, rather than along, the object.\"}",
  "call_id": "call_Si07NYcdH0X3lhgFtO8TRSkY",
  "id": "fc_0439d9d669bb7433016ab45532422c87d0957820a4911270fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Si07NYcdH0X3lhgFtO8TRSkY",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7769, 2.141, 1.8755, -1.2125, -0.9653, -1.4754, 0.9997, 0.4797, 1.6855, 1.0603, -0.0437, -0.1242, -0.0807, 0.999]\nstate[eef_state]: left_x=0.4112 left_y=-0.1955 left_z=0.1581 left_yaw=0.7244 left_pitch=-0.0314 left_roll=-0.0058 left_gripper=0.9997 right_x=0.4111 right_y=0.2426 right_z=0.1275 right_yaw=0.6148 right_pitch=-0.1061 right_roll=0.0163 right_gripper=0.999\nstate[joint_eff]: [-1.1009, -9.4427, 7.241, 0.5104, -0.7595, 0.1148, -0.0415, 2.8923, -9.2239, 10.7282, 2.0879, -0.4908, -0.8425, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1016fa96e39af056e3c752f0ec5afe66bdd577dc6dfd0ddec3193e0f664fe209",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3420c003c578e939bc2a6a352f26b74ddf6e4a343571cce047ed5eaa76cdce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302afa9562a82a5bc9f5286e12e9ffd375b638f13c1504b76d6fd4e59339ec13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.049 s
model
gpt-5.6-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]: [-0.017, 0.7933, 0.6022, -0.3805, -0.0219, -0.0246, 0.9998, -0.0162, 0.7918, 0.6102, -0.3759, -0.0227, -0.0193, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0025 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.0028 right_z=0.1843 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -1.4974, 10.5094, 1.7607, -0.0024, 0.0562, -0.0366, -0.7863, -1.306, 9.894, 1.7167, -0.0415, 0.0122, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7769, 2.141, 1.8755, -1.2125, -0.9653, -1.4754, 0.9997, 0.4797, 1.6855, 1.0603, -0.0437, -0.1242, -0.0807, 0.999]\nstate[eef_state]: left_x=0.4112 left_y=-0.1955 left_z=0.1581 left_yaw=0.7244 left_pitch=-0.0314 left_roll=-0.0058 left_gripper=0.9997 right_x=0.4111 right_y=0.2426 right_z=0.1275 right_yaw=0.6148 right_pitch=-0.1061 right_roll=0.0163 right_gripper=0.999\nstate[joint_eff]: [-1.1009, -9.4427, 7.241, 0.5104, -0.7595, 0.1148, -0.0415, 2.8923, -9.2239, 10.7282, 2.0879, -0.4908, -0.8425, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1016fa96e39af056e3c752f0ec5afe66bdd577dc6dfd0ddec3193e0f664fe209",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3420c003c578e939bc2a6a352f26b74ddf6e4a343571cce047ed5eaa76cdce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302afa9562a82a5bc9f5286e12e9ffd375b638f13c1504b76d6fd4e59339ec13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFU6zUup0xbkoK7it4djvG65f1Yt4KxaeHDpvByaZ5OgpEwY4ZJOJSIHyVrCzVHHqOSUjI9pRmXTqa5v4fNPzdmIjr8pK5_83daZ9DZ1Qo6FyqEN6Onjl_a81CcnvIdafnDrjNKIw9vXKHb1ss0-LXehdBWy3FdpYNYl1djLbNvueRb32Kaa5HEL1yOqPinLzM9PvPz9-IbMHZCi6TcV3zWmK643nNJbsegX4Qy8A_KVLRa-_BPsOe0snhE4N_Zjs6_jfdPRv4qkxgsPce9h8GtpJpJUFGz-zw_P7eKlL2sTNRfx_j5fajpCHfWx_N9ie130Fid4K_769Fbs9n6obUOKaxtlX-LOz7crFwAB6J2AxqKngz1Ta83sppGcnoh9itrOfwB-9WDSBToPItYCScXyw7W5DAwz3z9UzOeJSccCZ4Tlf4j6uxYB3GV9ThFEt1jzVkzD9ZBc66xsTGnWftySf27fhAkILcnQvgg_tD2Kq7qSlnVU3UxxMXBcxpU4SHk37xlpK8G8rmkUJK7jvM_0sw_GIEmBKHZ6z1I-yD5M8NdjitwSC2ZEccezDMeXS16Dc-SQpzZtUGbcMGqonijWOXClJcIgxTdsu57enf66T0zVaQbwtNe8LGBN0izFGtCK-rfFgbiT5FS1CzErHOoPBgAGP9X2qlx4F6FAd5DY2vjGD8M-ouRCi6t7WjZYROPvPlY8N_VYz1NLTBJdwVFw1iR1MxSu4YTdG-JJHsQx5w_bSc6gg-8c_P-81mQqKQnBQiqWXrNETSH5RyZyPgYeab68aCtAlt2NeTqoYd7vTrHmieyvxw-1FOcafQLhrNsBvbhRUgdgTO1zbvJlPYXJQnIJNCR7dyWUlRCJtmRy-se8vytZogJtXAh1drN3FSR8MjLJ_jzeYor5HceDyBKx6GDqHhxq7BnOK7QMMrWGODEIo8GuSFDmt6DCrQ6kO37I7VgxrXKwgZOflspA7z79bSb1EG2M7NuzEXC1Wowa0Jo5NCzM1PS1rxcrr-MjvJeilKtVwbeqsqZ4eg6T5xFP8mRgWBqfzHRZhCCOcj78_xrhRNxNjs4mQOeDgNOmBsyMWKDMlpm6cPOVY6mRh0Q5GT6nCXp9LPqdsRcRcdhxL1bZr_xmgNB8K5fNxX2w-9aH1ekIkfKy5Y2bt6pBF_dGoE0aYCE7x_y-sxXfXoYnoAlhPwH8WvZEWtPaz5n0zX3D1wo00NE2_V9XJQFymG_LZxaaQ3dP0vM-CJG3tqzZDQYS1sT7LjHG8BEUhBtywroFqnjam0KrkZ3jm6lyAuuUL0tgIMbAaxbf2d-53TlP5WLfCLd8EDfH8TLGQ0Nc6JrYDGZHEY7gQCctfUGMQjHKG7O20x4kYd7SZ9-2VzRJudJ2D-stHovXplia3yB91sc7bmdcZrWy0lpeSbn1QE6r7Vn5w8XVYs7c02wzARDO247fyDYaK1YhB6jGxJVRRWr4-DTY_uNlrR7MUeON8N-yFroJZ1phwpEoBumvb8ts9R674MtttX7TeD35laAKxbzRg8A27hbfhIAuKYN6_DR66WdY1Gu3Q-zG-dx9UuMQKFWGpDjRI9xD4qYTDfAkCV2SMVJ05SZO5T7-wqX8vOi93Yrqb0oI1PcGQ2SX_rl2HGTFX5hYav8xP4nMBuunn5Wk08J3NtuT87tlZQfsuQz6S1r-rlavh5Xc3oVYSVC2SyhfYxtJMdXbm4da4ySaEuPJUEULa42Vmo17zRp19tMjQBG6MF7zeMGeU7cxsVSm6lhAfqbIBY413jCkTi5_lPJ2VWBvJCnXNOiaXqFR5d2BAOVR8Ozr8hfHTsyrqlHtKVhOd3gC-mZt4dS8OVBn6pnRQsoxlug4Dqn50uImphrl9rKtjr8Hz71mBAM34NeR2aGc0ynz-6NRDXQKCDRV0FiMswbt9pAbraml9t3CYAbNkL90vz4JA3JIdsit2mJAI3ZtjkkNumTMGz4jdoU3uThevUsxKwcQxXD2Iwbh7E1bXHLBRyZutW7HMGu-gDsKzp2zqqVvf1o59_eqB29wmUi7bQD4UZZI1846YSYNwEmQBbM2J5e0Mc1HI8OJQ__OcgpNuvYH9A_8OjbrI4FPTG8q3COISv__UgdYKad0iLwxG6oYS9yRjJKs0deobQdmDWKQNCMiSXrkXJUOSnzJvUth5-JJX_OGaZTHXdAxruVEu7nCQ733WHQJryAqYjk4gEHGBXtXUsbMCS8fX6bT5naiqwiPRJ9Opc3SYXH9LRvpzBlNLrmefpxh-x18Uav5Skt9aIpgyDhJLM47SayTFuMfQWLkS1bdvNh2F4lsVCg7G6BmOElMAFsgTzNl9k8jH3VFSIj8g5LuXSBxpMTN9OQBQpJcCQvLJma4LO40YloojWH33HXiHeoQWPcPPa_Wcz-FQuYrs8LdbiObS2YiQHrKhToBvgy0Jvd-2CEcoidtO9QlYP2_IKOqtM8loxkAV-7oIhi4o-fFCGQfmbFMhzyi",
  "id": "rs_0439d9d669bb7433016ab45536e5bc87d0b80182a8089c7b40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.41,\"right_y\":0.28,\"right_z\":0.16,\"right_yaw\":0.75,\"right_gripper\":1.0},\"note\":\"Both objects are on their wrist-camera jaw columns, but the two arms crowd each other overhead and the right arm stopped short. I am parking the left arm so the right arm can approach the pen without arm-to-arm interference.\"}",
  "call_id": "call_Q2M4mQllfPaE6O5L0BZ2MZnl",
  "id": "fc_0439d9d669bb7433016ab4553965b887d0b5fe1723aa4f40cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q2M4mQllfPaE6O5L0BZ2MZnl",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0692, 0.8406, 0.6434, -0.4065, -0.1627, -0.1474, 0.9997, 0.5167, 1.7164, 1.2057, -0.1963, -0.1894, -0.1402, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=0.0116 left_z=0.1809 left_yaw=0.1324 left_pitch=-0.0235 left_roll=-0.0215 left_gripper=0.9997 right_x=0.4049 right_y=0.2725 right_z=0.1477 right_yaw=0.7397 right_pitch=-0.1352 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 7.0632, 1.707, -0.0171, 0.1343, -0.0415, 0.2393, -7.8974, 9.9897, 1.6435, -0.149, -0.0513, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec3aa69ebf3c338431abf8c8d1361f61b6ebd2ec1117e6ed21d6951b4627c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5ac13a85c06c68c0138bbdd6e3e10a1c62044480e25376d24c96133f4623f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae17b0816956556b7c0f97fa99a3b109ffa95912eafec560770d26c183cf24d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.612 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7769, 2.141, 1.8755, -1.2125, -0.9653, -1.4754, 0.9997, 0.4797, 1.6855, 1.0603, -0.0437, -0.1242, -0.0807, 0.999]\nstate[eef_state]: left_x=0.4112 left_y=-0.1955 left_z=0.1581 left_yaw=0.7244 left_pitch=-0.0314 left_roll=-0.0058 left_gripper=0.9997 right_x=0.4111 right_y=0.2426 right_z=0.1275 right_yaw=0.6148 right_pitch=-0.1061 right_roll=0.0163 right_gripper=0.999\nstate[joint_eff]: [-1.1009, -9.4427, 7.241, 0.5104, -0.7595, 0.1148, -0.0415, 2.8923, -9.2239, 10.7282, 2.0879, -0.4908, -0.8425, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0692, 0.8406, 0.6434, -0.4065, -0.1627, -0.1474, 0.9997, 0.5167, 1.7164, 1.2057, -0.1963, -0.1894, -0.1402, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=0.0116 left_z=0.1809 left_yaw=0.1324 left_pitch=-0.0235 left_roll=-0.0215 left_gripper=0.9997 right_x=0.4049 right_y=0.2725 right_z=0.1477 right_yaw=0.7397 right_pitch=-0.1352 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 7.0632, 1.707, -0.0171, 0.1343, -0.0415, 0.2393, -7.8974, 9.9897, 1.6435, -0.149, -0.0513, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec3aa69ebf3c338431abf8c8d1361f61b6ebd2ec1117e6ed21d6951b4627c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5ac13a85c06c68c0138bbdd6e3e10a1c62044480e25376d24c96133f4623f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae17b0816956556b7c0f97fa99a3b109ffa95912eafec560770d26c183cf24d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVBgXnzR3gRnIve0JRGVGUzK1AhUr_HOnjLz41B98UDntq23jyq4BFQqmNuGiyJwn-p38CGsFt0O6IJdNS2nZX67xMrZqIeG8737IIF8tdE8Sl8lGidv2qTjXM2e9ILwlJYyCb2uwwTssGKzRyi4pZ_ufPOsk9RXZyufgKGaVXSmTeH2WxiSdbKp6W6gii7jPN-tZmgrU9jalMzuyO42KcIqQ8RfEIwIbnYNMHAmOW58SgDaSYoLcEOVgZPdUy0n4Y2vlD3GsvfT-VXI8cB2NDgou6hCsjD9Vyi6MO3IGEuAe6tk-5Sl3G-fgESSQrbyZxe373yy4qQR_QssdsU_jBbe0pAR28Du_nW6ZRZR7pykS-Z5w1pvox3OVaBh-f1YgCSGte-zHTmFG_SHWhj9-U5JZ8etD_jzVqzbUi3cChPqdoPyuKQFbxVcmxvDkMIAtV74XYBdhS74tKFNMUIkaYf_XHjkxip0rOjFtBOXMsz1hPdmnuhoSIusyzboYQy5uVnkNkN1R8jXUGEmKa2PWAH0LeDAhPjOyNobgEngbE70Fma_YLMiz6cqyG0H4y_Pp6RESvci_axJDbA7xBapRfFX1Cv9FZTuGe8yVNdh579ovI__fcWf4R7nN8YOmOVqE9Tjv0rOJVAQ1a_5_rF7E-5xVIbWbDWncYX65ceL-d6Ifc-Qdnrox4dsKyEHXeYHL4hWBRzko3fzKZV6LsS2PPPVag7cnuK20QQWfdjKnvqN44ML-MH-67N1SUnfTnzxpxt_5durkCUp8iegb-iF4dgDbyuGCmZme6XgWOY7Ce95dVSP4mfFSWezseOlQzd2O13TsRNc0FH0YaSrqOQJtNWR4nj4d4YCF5t0pwU70_Au_DvlfcGoEjhrbte2CAPUJT4XICICpx-h7bj9nt-xJPWPj6JDKncVhs6LuCbHbfrN7AW4R9r3b7N2GR2Y12jtSJM6W1VnSqLBgdkxy0i__26KNDIGp3tOfSJuwSH-QHiEWfgpd3xl-QpJ8WGPalFFm5-R_iALXaL3pI0e9wrb3NTXTAB62oNWXhp99Xvc-nBhZKISO7CMbXbK9qovwSh08UjgZGWX2bTI9Cp4Ct_B4EN71beq3rOsQnxW5BKD3Rd0B8NYD6dkW4W3qksqMQMNpmtMdX9AJx7O-sg1uGJMYwZUarakWaVhnJF4xy_Ai0YEzWO-8-mmvFj6nEutx8EYtHFK_iayS2iHJnS5nG8QxtWutZX9DMc-4eMQ7tBhthp6qqlbRdASeiH4gW_41w1G7PAQ-EJd8l_lMhrIPdNVrrloJtg9iIHEp2YcyIzWRdmwTanR23f-yWopFZN1lXTS-Dr1DNaZbzfVCLewdQBHsSh5WkmDAitBDm0L1UaDegXQEQdyMaqGIye4849gA-g0Ryi2P36JXzeaXyJ1uHtJqyd8U5R6KPZM-OPpUZQUVkBBUoBHhee9iFkPPg2oxcW0pnisxKqeKkFRQpSUv2b6Fshjuis-xpUVO7xGDRyd5PhjyXIyfjlZ9j4uVrQBNo0zCns9mtKznIQhAQn33rN1Wlhae6UI1h9Tgvn-kiyn1-9GavAnLb2pgpZv7a3-6UrXHfx6MZEcxwEuz7UNIIUd0uyCPmbambyn2tvSvz6pmFk4OPGRBmPgonYMKfYV49cBM21LxvKXLqEALn-VMl9pEj0Dal_bwZ-LPjAlcvcj88ufKCO_JEOTrfi2rb1Wrc1j3K4KsSTz7XJ7dwsaRal43Oialg1mx9eRa1AR8neaBhmgFgKz5qMzV4Jk4nKWK4anxhk1zzwqLpIoMnzLCR0AhlKXUHQqc5_tc_2Pc4Iw9zOpSO3Bh0hsiTOg1uX3VjotHefwB-keCkZlKXux-QLcWyyCuSGRH7wO51Wphwh-HnqZdqicLxnnyPm_u4aAlvPGDg0DS04tsFgkRIsck3ncY8p4cloovpf8JT6CYS-ulzx0FsYzOPklxcYmzaO4zdC726KiMDUf4k_JeL8MqX1ACvP5JbgT3ScDyTbCMEZz8zRkQggGXoc9N-lAG6M6IfLRR0Y3FAJjKYyJDrtNd6xVmk3fyyrcO12JLY1H8VMoiFopFrKviEUAknfg0O_4AKjxhe6vm3tAksqriK2eIa9f3xBbT8G-HwWbj9bvyY2uAXFX4y8acBUGDHh4B0yG3A9Q0GbnEbY2-el8KA8Gj-TlriaEUQ4RnLN1vdw7G19Ci98ohHm8elv4AIeYJ6qVI4on1r01JGKsYYesv5ccjzW4JatbLKrV89nVeVQNU-vc8e-ECUw57tAhyY9XlcdlSVkvUyDRF4Din4FXbhc5zYA617ih0jXKRY4s8Ema3IrolyAQ-ZewBrqM0LVzZLZbWHDr9xnfY-KLmgUK1nKvUcbSiReD56kP-ORUh3_J3cnkHqbCxoX3cRsXnankFnV6AqtjbVlno9uteutKFgWKvNZnDbxlYMXu0UyF_ujdNx24s2zBwwqChFN7F-YA28rIrICZ-WmhDyxN374ya02fShjGwOtYLCZnZ20x6AdBZQjpbW8juCmalBUenRlngmwEF-fOCwByy03hCLK4GB4KFQeHcfnG12s2Gl1SVCx58d6-9YzlpwiLPlQeBH_W_I1_BRFCplHBhejGI--KJQ7fxAYsDleOLK6huUULROio-jAXvhzwB32hKd3yGDszLhcs2Ox5rg5ltT6djcrxiM_LWeFKz0cjsfAqaqBv4tcBR_32SqOXKYdrJ60aymyW2Q8eCfdJcRsCFDr8mvVSJISOTzlzgzCkw==",
  "id": "rs_0439d9d669bb7433016ab4553d2b2c87d0a3abb0c9eb0192d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.273,\"right_z\":0.0,\"right_yaw\":0.75,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the pen is centered between the right jaws; its silver writing tip points away from the robot and the intended grasp is on the barrel behind it. I am descending vertically to table level while preserving this alignment.\"}",
  "call_id": "call_ApkxbEaugDKutvtIMdrFfyxP",
  "id": "fc_0439d9d669bb7433016ab455402e1087d0a1d5dba279b6f1ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ApkxbEaugDKutvtIMdrFfyxP",
  "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]: [-0.0681, 0.8463, 0.6365, -0.4267, -0.1535, -0.1406, 0.9997, 0.5167, 1.9976, 0.944, 0.3222, -0.1925, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0105 left_z=0.1721 left_yaw=0.1224 left_pitch=-0.0567 left_roll=-0.0147 left_gripper=0.9997 right_x=0.4022 right_y=0.2715 right_z=0.0065 right_yaw=0.7488 right_pitch=-0.1584 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -2.0034, 7.8154, 1.8681, -0.1538, -0.0806, -0.0122, -0.3077, -7.5556, 4.3966, 1.4823, -0.1685, -0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bb828a5ad634455b788569ebd05778a6b3b54a4755342c63a6c920200190ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7da9153affb0c75a0189aa06431cfd7c5bb699b65b90668137d42662c93b3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33c7aa0e6d0c6111d4e0bc9aad1f362827c402326b6c5f6df81613c191254f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.446 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7933, 0.6022, -0.3805, -0.0219, -0.0246, 0.9998, -0.0162, 0.7918, 0.6102, -0.3759, -0.0227, -0.0193, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0025 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.0028 right_z=0.1843 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -1.4974, 10.5094, 1.7607, -0.0024, 0.0562, -0.0366, -0.7863, -1.306, 9.894, 1.7167, -0.0415, 0.0122, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0692, 0.8406, 0.6434, -0.4065, -0.1627, -0.1474, 0.9997, 0.5167, 1.7164, 1.2057, -0.1963, -0.1894, -0.1402, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=0.0116 left_z=0.1809 left_yaw=0.1324 left_pitch=-0.0235 left_roll=-0.0215 left_gripper=0.9997 right_x=0.4049 right_y=0.2725 right_z=0.1477 right_yaw=0.7397 right_pitch=-0.1352 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 7.0632, 1.707, -0.0171, 0.1343, -0.0415, 0.2393, -7.8974, 9.9897, 1.6435, -0.149, -0.0513, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4267, -0.1535, -0.1406, 0.9997, 0.5167, 1.9976, 0.944, 0.3222, -0.1925, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0105 left_z=0.1721 left_yaw=0.1224 left_pitch=-0.0567 left_roll=-0.0147 left_gripper=0.9997 right_x=0.4022 right_y=0.2715 right_z=0.0065 right_yaw=0.7488 right_pitch=-0.1584 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -2.0034, 7.8154, 1.8681, -0.1538, -0.0806, -0.0122, -0.3077, -7.5556, 4.3966, 1.4823, -0.1685, -0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bb828a5ad634455b788569ebd05778a6b3b54a4755342c63a6c920200190ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7da9153affb0c75a0189aa06431cfd7c5bb699b65b90668137d42662c93b3c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33c7aa0e6d0c6111d4e0bc9aad1f362827c402326b6c5f6df81613c191254f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVEJb4S6oRyKqopYcNUf7QU-5Gks7qLq-2c03OMywFNKfknCeknDaKPwehJLcOXdz72xjQ3j5a6Jm5PubnAt6IN79m6Q7GxBJ0jU3F5MYG3EqO7d-JxbUFVdFHMic4plGphaANsHaDmMOgps8zGAsdoVBmRA3LpCnJiAMIhOCRKPBZC3kagqTwuZkX-Y76avkJLoRgpTRXwdCwCs7xUYmzrCbLFO6iLqe1ZSIc2rE9Upw9z3iCVBZ3sYxCgbmJMxsHRnLYRX1ypSsYqikSJe8aKHDnboT981YQtA7K7cJc5LEm-yVc1-pnXby2W1KspVcRq_GJWf5WO4KgJz4Oq2QRelA0-aWdgJQ7K2mEuNRPqV9t5nlbDBlLs7GrXiRlnyIT9BgDKy_r0ZTkK8PIfqYzPowZRlYnH03k4kov-nseSbl2C7XAdPIUnsjs_fl3ub-hAAI4JK6lr0LTOrogiL9UpFynMq0sQPQZbF2oRxp_AmYTBnNFCCrcBNxHsDpSZiRY01T3iQjQChomUSZLhC3ISgHJ4eQnu3tWF2NfFaQRhs1b52VV3nM1-14r8eRBjivR7QkKJqI_MiR6hSYMZqhDqgrzU5DEeC8HUXN09By7NtPtRC295DvGTcN0_8dTF4N0pNpdpRj7H9rwifUbFpltB7x35HGaTaH1qi3IAdO8JObydvDUe-WdNrgCTMmZnG_Ct2hymaFlImc3aDiOWzHKa2aLiz8XCT1ZP0J_STH3-kUIjcrrbakcbGnAdIzOfEmZLfwUXLakjDWBr7bJuzBk4CLMMOLrqrWcayb7YkgcwixZ1M8O-zoD1Wb0LW9mgLir6-HMl16DK60o6Lviw-jna2GFgjGCnPom8Oe-EXpFxGfhWkTXpe2MWTVweyYXfJrZVYONw7Btkq_lhkdcUTn3SI4vM1JJhDhmW2eMZGMsyOvTxqbFbA0uWi-tGaA7vZdt8Wp_y5BAV2ZVL55VBrYC2wFHzwh66jbW6pQck4jzGWiqBJnlKAT0VIoc5mV7mg7FBjzW67xJdIDy5eTb1CVWBGk9eMUIBjUAioFEjl49NdNDNWNuuOJ12gKkX01RhtSN52agoOlZq__8PWBhY1gM05PjVqUrUe-VNAZ4hCkErH49criUxuTSILi2_BifhM8DeuPuG28ZOuAU6uS-eDx7acyaelIu9zGgVr7RnQowaCzS1pZGLQT5gNW7HCIeQklPq0DLCfX6NSRT7MB3N-Y2o3SS1AQRETmPAvgPMXsQ8iJEjmOoM1beyuWwy8yFoGiWuvSAyolDav58sT1RMzhJj41tAaFx84ke_orLprYvMuZPmCRKivGDQNm-E0vRANttp9eez9y2BQE-Q7mTUTY3hv9ykiPuwHoaCSRBoMPsA-q8=",
  "id": "rs_0439d9d669bb7433016ab45543412487d08af226b2811eb911",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descended right wrist view shows the pen barrel running centrally between the jaws, with the writing tip still clear ahead. I am closing the gripper to secure the barrel.\"}",
  "call_id": "call_24cXAHZUVT9XdzOUMbEzYzAW",
  "id": "fc_0439d9d669bb7433016ab45543c5c487d0b32b68155da2a8b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_24cXAHZUVT9XdzOUMbEzYzAW",
  "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]: [-0.0681, 0.8463, 0.6365, -0.4305, -0.1532, -0.1402, 0.9997, 0.5167, 2.014, 0.9409, 0.3588, -0.1925, -0.1608, 0.0417]\nstate[eef_state]: left_x=0.2949 left_y=0.0105 left_z=0.1713 left_yaw=0.1219 left_pitch=-0.0604 left_roll=-0.0139 left_gripper=0.9997 right_x=0.4049 right_y=0.2731 right_z=0.0045 right_yaw=0.7535 right_pitch=-0.1415 right_roll=0.0052 right_gripper=0.0417\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.7411, -0.1245, -0.0122, -0.0122, -0.0889, -11.2205, 5.8188, 1.2332, -0.0611, 0.1636, 1.1893]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e660ad8b966a61141186fd0ef1ed35ca16694b43fc857f046d3645e287afd71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00633ddafedff594b2caaa2c7016571150f7899e3cf8e4592ed2cb3484b78a64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f45076e6ec1c5eb394778bc6d6229246e5fecf44ab8096948e294dd6c9d9054",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 7.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7769, 2.141, 1.8755, -1.2125, -0.9653, -1.4754, 0.9997, 0.4797, 1.6855, 1.0603, -0.0437, -0.1242, -0.0807, 0.999]\nstate[eef_state]: left_x=0.4112 left_y=-0.1955 left_z=0.1581 left_yaw=0.7244 left_pitch=-0.0314 left_roll=-0.0058 left_gripper=0.9997 right_x=0.4111 right_y=0.2426 right_z=0.1275 right_yaw=0.6148 right_pitch=-0.1061 right_roll=0.0163 right_gripper=0.999\nstate[joint_eff]: [-1.1009, -9.4427, 7.241, 0.5104, -0.7595, 0.1148, -0.0415, 2.8923, -9.2239, 10.7282, 2.0879, -0.4908, -0.8425, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4267, -0.1535, -0.1406, 0.9997, 0.5167, 1.9976, 0.944, 0.3222, -0.1925, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0105 left_z=0.1721 left_yaw=0.1224 left_pitch=-0.0567 left_roll=-0.0147 left_gripper=0.9997 right_x=0.4022 right_y=0.2715 right_z=0.0065 right_yaw=0.7488 right_pitch=-0.1584 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -2.0034, 7.8154, 1.8681, -0.1538, -0.0806, -0.0122, -0.3077, -7.5556, 4.3966, 1.4823, -0.1685, -0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4305, -0.1532, -0.1402, 0.9997, 0.5167, 2.014, 0.9409, 0.3588, -0.1925, -0.1608, 0.0417]\nstate[eef_state]: left_x=0.2949 left_y=0.0105 left_z=0.1713 left_yaw=0.1219 left_pitch=-0.0604 left_roll=-0.0139 left_gripper=0.9997 right_x=0.4049 right_y=0.2731 right_z=0.0045 right_yaw=0.7535 right_pitch=-0.1415 right_roll=0.0052 right_gripper=0.0417\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.7411, -0.1245, -0.0122, -0.0122, -0.0889, -11.2205, 5.8188, 1.2332, -0.0611, 0.1636, 1.1893]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e660ad8b966a61141186fd0ef1ed35ca16694b43fc857f046d3645e287afd71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00633ddafedff594b2caaa2c7016571150f7899e3cf8e4592ed2cb3484b78a64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f45076e6ec1c5eb394778bc6d6229246e5fecf44ab8096948e294dd6c9d9054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVIuGOJljrFVglFfH3j4cvD0BL0LT2ddpbM8GstXbAMBiNoX07GnPxJZkkZMP-oVTj9s6deYNVQzWsBRdqBvwfjRd659zwPjSPr-aIeQscIViop5S6ETvG6Y1Kq06Yw_hFItM-GsUqqgPq0kFXZKpxzqS4KfhJF41vbE3qgBG1eZnVITQWH1taxSc9edaD0lu6EjaePm4oHRTPobss5D7QOIhQ5YIBTy-zpfUG7diSo2H2GumgXaaD3QZsOF9ChShu_lP2JEwiftj691hy8B_85i-gYkQA1DkjgmHlL1fzv0eaWbPpi1S1NwGmC1ZPKeQxb5L-pJvIABh7Dlf_dZc8q2zmyQaQ27voUNwFl66zqpNJHwAABQmZYO-l1vLnHmiLnM9oYzUs52d3VNUQjeWuIpuGih2VjtTL16tbLjSEN1i1z4APVUt6jPWOwTyFN6-O7dok61vFmfdKX_Ct6EsjZUn0Vw245jfCmyr6IgyNFZvMvh4WVYqbb5QofvmA9hduL0qgAkTtvFIZBeuhxPctixqqJE1Ln50mLKoQEnSp1zF71_qUBaWGCwMwquZ1qHTICb7wxY5r6l2f9nV2nw61Y7AYh1P9S1afZjX0yCEN_1nwXOKKNC_s0GTEhsyD2g56ZYciISnVChPtrJlGltJfGa6xPfg1oPX8DqD8Ua9QANQ8GxZ0J7-6tf2Bj2EEJHIuDdCf-Ykk2ysZ3oxi_tvRIOaJM8vvKVARyxnKwULopNqwEPCunMp5u6Pjk_7p3aInFLz3ZA-qiw1bsxfLF6LZKUCXHWaa-vI398jxWPehEZXiGfNkf5E3k9nMypxr8ZV6Wle2vxnr-of4i23FU5XUR0S56py5mrGBnm1104oxp-W-m3up6wM3DgnO_T16k7fuuyO4v42znmQV_IAPH-SR4EjKG6A-9ps5WjTjEcO6ocjrNIUnZdy8bPPC-U5dsJQW9OAodUsBuNXLsSg1mcV08M-Z8fjEOolm0uH24Oz4vNX6YODC4kp2T8oUTsiKfGECgie96WltuvStonAV0UTWDX_KsGLEC-KvvpjmU0DnWU-3c2ETtzgnoZ0ecA5UcPdsEfCOQa2few22XuJe5gsaMlmLyU_Nq2jGgMK5cyL32BaS3rqZ72zZc7UbtH2ExCyUPoQyqigCBCzat9Ba3g8vrpZhTFaHENwIYu48FzSr6yRG5JB6jAcCJBbASTZADU_24rhZrl2GbhX_OjPP80XGB69UTIdnZbUinHLax-lbskE016-qgJ9CW0jJuM1j6iJAJ5pTQ0_Iy9z2ZFuIHhvtuy4lXjOwd1gD8-iD6kIbGNcDK2YBTcJXKTvEgk0pWLQl_0si5-r0HMDaoWeblRgjs3Q==",
  "id": "rs_0439d9d669bb7433016ab45546dc2887d0ab325a3aa760dfdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper settled at 0.042, just above the empty threshold and consistent with a thin pen barrel. I am lifting it nine centimetres to confirm the pen moves with the jaws and to create clearance.\"}",
  "call_id": "call_PdwgqnV2xMBmhiAXZUa3wGrS",
  "id": "fc_0439d9d669bb7433016ab45547360087d0a13bd827d85c20d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PdwgqnV2xMBmhiAXZUa3wGrS",
  "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]: [-0.0681, 0.8463, 0.6365, -0.4309, -0.1532, -0.1406, 0.9997, 0.5167, 1.8496, 1.0355, 0.0811, -0.1921, -0.1635, 0.0433]\nstate[eef_state]: left_x=0.2948 left_y=0.0105 left_z=0.1713 left_yaw=0.1221 left_pitch=-0.0608 left_roll=-0.0141 left_gripper=0.9997 right_x=0.4037 right_y=0.2723 right_z=0.0661 right_yaw=0.7552 right_pitch=-0.1597 right_roll=0.0073 right_gripper=0.0433\nstate[joint_eff]: [-0.1299, -1.5658, 7.1043, 1.7167, -0.1245, -0.0366, -0.0122, -0.3761, -12.041, 8.1846, 1.619, -0.105, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275785690c081e83aa1bf523c4e29900ebc8f6a07b56cabc1ef182e17f84864b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc108fb9ff1c32357aa08547ecbbfd3bbf0be8006705f4e6eb600c83039e6dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63af6bef0e79244b9206ca97f9301afbf89d661466b3865ba0ecc5b2b5240178",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.326 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0692, 0.8406, 0.6434, -0.4065, -0.1627, -0.1474, 0.9997, 0.5167, 1.7164, 1.2057, -0.1963, -0.1894, -0.1402, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=0.0116 left_z=0.1809 left_yaw=0.1324 left_pitch=-0.0235 left_roll=-0.0215 left_gripper=0.9997 right_x=0.4049 right_y=0.2725 right_z=0.1477 right_yaw=0.7397 right_pitch=-0.1352 right_roll=0.0175 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 7.0632, 1.707, -0.0171, 0.1343, -0.0415, 0.2393, -7.8974, 9.9897, 1.6435, -0.149, -0.0513, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4305, -0.1532, -0.1402, 0.9997, 0.5167, 2.014, 0.9409, 0.3588, -0.1925, -0.1608, 0.0417]\nstate[eef_state]: left_x=0.2949 left_y=0.0105 left_z=0.1713 left_yaw=0.1219 left_pitch=-0.0604 left_roll=-0.0139 left_gripper=0.9997 right_x=0.4049 right_y=0.2731 right_z=0.0045 right_yaw=0.7535 right_pitch=-0.1415 right_roll=0.0052 right_gripper=0.0417\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.7411, -0.1245, -0.0122, -0.0122, -0.0889, -11.2205, 5.8188, 1.2332, -0.0611, 0.1636, 1.1893]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4309, -0.1532, -0.1406, 0.9997, 0.5167, 1.8496, 1.0355, 0.0811, -0.1921, -0.1635, 0.0433]\nstate[eef_state]: left_x=0.2948 left_y=0.0105 left_z=0.1713 left_yaw=0.1221 left_pitch=-0.0608 left_roll=-0.0141 left_gripper=0.9997 right_x=0.4037 right_y=0.2723 right_z=0.0661 right_yaw=0.7552 right_pitch=-0.1597 right_roll=0.0073 right_gripper=0.0433\nstate[joint_eff]: [-0.1299, -1.5658, 7.1043, 1.7167, -0.1245, -0.0366, -0.0122, -0.3761, -12.041, 8.1846, 1.619, -0.105, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275785690c081e83aa1bf523c4e29900ebc8f6a07b56cabc1ef182e17f84864b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc108fb9ff1c32357aa08547ecbbfd3bbf0be8006705f4e6eb600c83039e6dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63af6bef0e79244b9206ca97f9301afbf89d661466b3865ba0ecc5b2b5240178",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVQuc73_2BZxuw2mq0xnnNSgp1hxOhZ5N2NtDd31QqOlLXwbH_QIhc5FzlgPAQTSzoyK31zvixMJbByi_4f7Ificq7ovKnfRuXwAnZB7H_ttg0UrvkrhdRBJzQQgTdkiR06dkFb-wJUMSxuBmZjbJb5ImCBzGQ90OFuABLZ9wV6E8NorNPX1qCG-_SBl11HMbCQGF4gwAfGFiEfPzkAnvUivb_qo4W2Bk-GwsNrATwW1styl0IQaGlnGrTv_TbrvW4w51lZJjZoVk9UjBlBTx85sArY6ZeoNQ2xoPWrSwhG3yS9W92BQ_O9rtAykyedtNFuFdNpFyTc1GuRd51sPCzxsZoxzGO4wbOF7FCYWqix5llJuFpsJcbPNlSbs50n7vSyu6txplaDuU1MVqYtnQwSjEN4fdtBLLr25LvhE65coCyn2OUV5mwHs30VVTbo6txES6uK0peRRmYe9irT-KXEWCD73TdGc9Yc6U8rbNMGLK_j1jhk92zdX0jsDr89NLj_zOIWkqf9pHu1YMODrC_A_JRb5ibCF1EvYCwHdVefvmcjkiKl-0eLPU-bTheXGGNW7-hdaal8YHoE331e-W0rFNkMS-0FHMMNhC58Ci3orpuhPgqu21dIsqQQe6GDn2LPyOtddV-U9WXF4TwwG9dZsdkBni9UbQ69MO4ho9Dd0I2sC7BoX7hoc52I-ZyTLlsWwTPTMHFNTy1-NR1pNzjf5Ra1mqnUVEkk4fE7XOEFvx91LnvTWUBZPFVesrAM3JI7ed4t5PR_LRRTgyP3LrPYUJlc02JQsIaJUgGV7egQ8ecxFZD_-2Jl4cBNzJ0g6Vv1xJTeL0ofNKFPAWVEZbVbznm0Q_yVEc-mB_QMhHb_WUUVc0K1zdOr0GTPVKyd_GrodUcQPs0jpKfnE-ZoYc7IEiJs9BDFvfzbmzIjhn9DLC81J3R1aD1cG-CDv10dE7S9ncj8xs31pE48CDRg9W2S4Iui9oVS0SDkBZD8kqQJMQFzmR2rdYUyc68OY3dLK_nK9NUaojffFJAwqu8gVEgYoO7md-nN0SJBWp7DowaaYHJBIU8Yev6J4hc7lcS_8ssGxWcwUSZoVapa6xgZAwbrnfuzSSYXz69wVkXtBZPyLi0B5jYUN6sxp3vfkvQ4aUn-K2FOocUiZ0zmgChyWxbHWfVOp0AAPRlhrpKwQH_5gJF28ISH0uRNHL_VWOHJLUFLZDTdKwRSgoHhhUnOMRrHz51m7EoK-hKR-jIzu83Rs3btoeRaNB8n54wR3Sl0XEyupLkE2QJV0UvVUOwGMFBy1AlJKN-X8E-FyRc7xzQPWMCnspxupSoPlGRGQNlNWxxzhYXzXOyKvi__ykjLT2ZXuEX3hKP3KgvG-FaJoJtiV6Zlo3YBhHFtSMmTITfNMXCSwd31YzIqjAh7Bq07qqNrTID4aDLUkcsdtf3QRb6Rh3jw7cCMqzEUDB5r1vHq0TL27v4wUIGb6DM7vSF0lYVQVM0eFqJXt6qFbIVWTcGL5KaNdcmz0-VrCN253G-b9OIz95SaTliK3U-GMwFo7WW-ZnT6xICfXOYUBEw-blj05y1BG7__jzf1O02p07Ps6P5PHCmAocNkzR1t8r0J7xTNygZJb0AlQ5ret7BzH0xrgAh2sWttjm1C978ZsBC8LudOolXBqAtCCtMnzujkaA8PpuFSH6G4TPDK15AeQ6jdYYVLMJehxPiBRAmJgf_8i3AlDf7cAmP3j77Gk94A30nyAfY4rboi9X1cccsVGDxBqS2Q_Ec1UbG_KCkmLCUtfsohV3naERcB5lAYib9WqrsP0D6KBBxl-2W2MU2LO6_cYFVip9-tTDQM-CpGYEjfsC59rSQL1DrHw7PRW0sxUm6rGfaFM4My48uVMXWTsqDwtm3x2Pry0Wg7DuegqcfCKVhzQv8cDMhla_Gj-HL4rwUknRcNFxIgOljhykUbZV4Ip--XDk6OcQsaTDhqeGrBPf1ZqYtKoXqnAXSbcReCyVyMI5f0eZ9NeR8cOmCvLaFkxwMMSwzMw5TYuDUQsG_Ff3ns-upB2gpOu-8Q4bRy7GZcOBnjRCo0I6zWkUpdN2yw9O1BmkEtDtDBxuA3W6HedyxMFqgkv-y2T_gC7jtXtEsioKx50vNc62z1O-olO319X-o077jpUA98ZSxv0TSUmjcBXVL0TBSPiWk3XhXIUehR4zuE-_fIfAIe6ZaSUFs7-tDzPaoUO4Hbnm329OBPg2LWxh9TRpxuY4AzQx96CLBfobrbMnv8VIlf2fmiK5P2eOBM_o_J4YdDq6OycxfZeiIyVAYTIY4CVCtoO9AuLK3p7_3dAY0qendJV1tZkKJ1RXAbyuY-TcKTurDUZhjcsZeRQcrbSTVEq_uoeMc33h8WRfNNi4j08-PGofVWwegTvyMkzUxkigIIW0y77NoTzuyGfZH1mPV-pCf-JUHQkaXoFpkJOWo2kYEOzH_9gqrWZxq7ZVbLg9vMLltYwrffKbhcBSTchcj2g01yRUUDdcyXIEn-vw2EZK0ny5GRWLpXCXkS2B8ZMeVbtxfacGpVFHHFF_bIexOBOdQadPrsa81HIowsDm4NM2oTSAjmm0KLuyH2mwGlQErl2LOoexgwDmYNYoWlhP96k1yXG9jD9G-SmmKg2iJrXlWejG98QnK-mf8_LY4U8ysosvOaDlNuTZCgrKyjqOlvToqGmIuWEyhlA68OZ7FvB8nxqARvY5l4wEBbGOJHdUSmJItqOCR6Wmug-ky2bDMFLt-iMkVTmd-Iuw-n7Z3-dqQk7mis6kfiF1yVq8sNYCC_v2dZ7p_EV26ro1bGncmIKV_0rNlmhauZdrrwEVxuFAiGbZvHOFBihS7mEEaEDR2hsGNq_Vbsymt-SOHmhVutsMGPfFThUmczgwsqdHLp4C4MABIMZ9jE8l3iaKnlPJ85bXn8ws9MgO80Kdad1x5bWylXicV-kMSI3H3oOSc0br9lJRNhrSQrmnFqDgYv9mCGRp3476eSqsD0FBjeAx1o09lfjhPsp0cukKva_6q8ozGY3i3r3V1h2eh9nrvPQOWfBnbXDJBJxY-2wqiePbYbtAZnUN_PhIKTg6xypi3V1f0u7WJ50yES8QQGdvVyYOkhCvK96EufxtiT2uXnNo7GBRsFPcSMhCar71wZv8xENKlp8bllohsHFvnAVOORokJRssig6q8jJ8WzqhyqH8muo0HMYl3dqs2CtEPengxSgseRRxnE8F9rZq-vOYKsoZV_dgqyu0I7VF3HddX2lCHShmMfhu3UNjj5ik5pRSF09v89C8AMoIKShnNmFUJwvcD30ArrYE-AJc-UJ3KTVuOqlYpv2Gd0C_ggZZhV6ixvH7grqd5pgf84GQReWznhF3-wrQnRcZke8eHxFfaKAVcvO9NnGwot6IXVl-ChP7EAJH6fD0wQw6dWdPmiMKrbupBn6px7sUcIFwLX6uUg1Qd8OrrfqDymVq1UrBVFjI2RYxocb2u6lDd6OzV9jqdlssMKySf4NUF_tiYogsbkVqdsHrbx3IJ7i8Fpnp_Z68kpMsUB0TwY4soPab7zVCMlX3RNMJ8MuD2Or54oCUR5UpCWSBdUEk5qICTXk3yZju7ylyYYx_yieB1Eep03UTLZn9ScJFAL9xmn6IjLdIWMsA0HGlXwsiFOeQ5aBipXTlW2vw6HmJDZnZZHMqwHEZ3m_oa3OvV2wFovwzdRADugLAozna_cY66VC0rIz-793IHNg-cA30qeySNW2q4NxIskfiMzL2NP5cL_ZcPLYX6PqxWjcNK9BuTcVKFI2CPoYjSvQdujTaRTTtXfByPhhBB2XmHqhfYkF9EoO0r6dbuTK1DPZvjm4PgHW8gfGrTY7j71a2o4_LeS8Lsv6dW4wdVo1EPuCk1kTB7xj1ip",
  "id": "rs_0439d9d669bb7433016ab45549cd2087d0aec9aa031e657a42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.2,\"right_yaw\":0.75,\"right_gripper\":0.0,\"left_x\":0.43,\"left_y\":-0.17,\"left_z\":0.16,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"The pen remains held and its tip is visible moving with the right jaws, confirming the grasp. I am stowing it high and farther right while bringing the left gripper over the cap, with extra separation to prevent the earlier arm crowding.\"}",
  "call_id": "call_RRKEEuzckvVVYsbo03lnDdxS",
  "id": "fc_0439d9d669bb7433016ab4554f051487d0b4dba31e224f3a17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RRKEEuzckvVVYsbo03lnDdxS",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6884, 2.088, 1.7866, -1.0245, -0.8909, -1.3067, 0.9997, 0.2436, 1.7847, 1.4616, -0.5247, -0.3824, -0.3756, 0.0432]\nstate[eef_state]: left_x=0.4341 left_y=-0.1746 left_z=0.1505 left_yaw=0.6995 left_pitch=-0.0849 left_roll=-0.0298 left_gripper=0.9997 right_x=0.4513 right_y=0.1838 right_z=0.1738 right_yaw=0.7626 right_pitch=-0.2128 right_roll=0.0195 right_gripper=0.0432\nstate[joint_eff]: [-0.4855, -11.9316, 7.5692, 0.105, -0.8083, -0.0073, -0.0415, -1.0188, -10.3316, 9.9214, 1.8632, -0.2173, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc64601be5ca6acf838599c51bec23cf0cce760796c97ee91344470570b42d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8864b8076144f464198caac651dc5700cc140ca6b13e1a752a658c3e406ef5fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:633911c2d6222914e6a501862a2aea3b58342ff4acfdce48ca0314bbd63b2a23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4267, -0.1535, -0.1406, 0.9997, 0.5167, 1.9976, 0.944, 0.3222, -0.1925, -0.1509, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0105 left_z=0.1721 left_yaw=0.1224 left_pitch=-0.0567 left_roll=-0.0147 left_gripper=0.9997 right_x=0.4022 right_y=0.2715 right_z=0.0065 right_yaw=0.7488 right_pitch=-0.1584 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -2.0034, 7.8154, 1.8681, -0.1538, -0.0806, -0.0122, -0.3077, -7.5556, 4.3966, 1.4823, -0.1685, -0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4309, -0.1532, -0.1406, 0.9997, 0.5167, 1.8496, 1.0355, 0.0811, -0.1921, -0.1635, 0.0433]\nstate[eef_state]: left_x=0.2948 left_y=0.0105 left_z=0.1713 left_yaw=0.1221 left_pitch=-0.0608 left_roll=-0.0141 left_gripper=0.9997 right_x=0.4037 right_y=0.2723 right_z=0.0661 right_yaw=0.7552 right_pitch=-0.1597 right_roll=0.0073 right_gripper=0.0433\nstate[joint_eff]: [-0.1299, -1.5658, 7.1043, 1.7167, -0.1245, -0.0366, -0.0122, -0.3761, -12.041, 8.1846, 1.619, -0.105, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6884, 2.088, 1.7866, -1.0245, -0.8909, -1.3067, 0.9997, 0.2436, 1.7847, 1.4616, -0.5247, -0.3824, -0.3756, 0.0432]\nstate[eef_state]: left_x=0.4341 left_y=-0.1746 left_z=0.1505 left_yaw=0.6995 left_pitch=-0.0849 left_roll=-0.0298 left_gripper=0.9997 right_x=0.4513 right_y=0.1838 right_z=0.1738 right_yaw=0.7626 right_pitch=-0.2128 right_roll=0.0195 right_gripper=0.0432\nstate[joint_eff]: [-0.4855, -11.9316, 7.5692, 0.105, -0.8083, -0.0073, -0.0415, -1.0188, -10.3316, 9.9214, 1.8632, -0.2173, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc64601be5ca6acf838599c51bec23cf0cce760796c97ee91344470570b42d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8864b8076144f464198caac651dc5700cc140ca6b13e1a752a658c3e406ef5fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:633911c2d6222914e6a501862a2aea3b58342ff4acfdce48ca0314bbd63b2a23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFVVSLzoYHiPuMK8SV7Q1U_HW0OxH29L_Yb7X5s_oWWMv0VBBSVu6cgJLFkJJHZTfWN90mYcT_ann5agi22Ng-MLBxuuwsgQ49yFYTyk32mi1RTUFGVN2XDVb_nO9X4y4f9A1q-9y6vjeNCwK_bJbbhF9OKFKcbWk23TLc70_lz37dNFn6Rxo9_H2QfUSaBWebWLwA0CAoA-tpuzpz4AgKLiKEGfwcMsdTzDq0e7HUVhZcFZ_zS5JXzsIgcMTR8tTAc_QHNJx9f3_MlYuwLD--pBOmXUnshUqHMEYv7vxEsgM1Sr6Twy3wxmoymlXXj6IwgYNxwHshCo-fYVBPJBsSRzKPWvcbGp0D_O5FXeYcsWc83IMK4H_ZbI8BMWw7qi7dYEW1tEo6zHXOHaaDyzhLgzCHrHCDBSG8_daLIbeUKK4vlsOBpjV0b1xhJmD6qpzwrMPKrIJ5X94-g5yKhb4kaY4E_Kd6QV3zIC34HhPfKUJtMfaQhU3wL_DhFWqg-SjTWNozudGdgbGpFW4hF7GoqokXWYqLqh0uHlIfJR51_nPZclBlq2LSId9Pp1x5edDtqBoyjpwLbS23QLYedOy-DQFGJQlGeJPSkdiRgqTmhdGuKi_z8DAA5tOeuiEQU_ve5GkTB3zenn-cTT2ZuCfpR109hJ-h1iWIg39oQogRAAK3G22u-Ac95ExPxNAV1troAWG4dqjFgRtUmYTZPNJq66Ule1X8n0XQkRA6CBOjXRoHgkivDz4wiLzo1sWytnY458-X0GhqwW3er1R1TFtjqQijdLOtL56IEcTpKKLFE30NiCaAM6PQ03yjvVr20OxS_Pnxq8_C9vcZWfj8l_K1a0Uxg-g9MTraBtClDzQ67_1e8rHYUC0yNkHmI2lTZUx0VeEeUT5D-7wWvP5TF76lJszRRXoix8_c8GccfhtF8tYXb8i4MTSdRyQGEwwhw9ax6SlXWI-msZqlRBfbYP4YSN-OvMEACYeMjL-s7RIXydPazIacnhbpNBB7esnylBSMDSWCjC23wcGDoqAq7cblXoAZ4necybpdrvE-6swxYoN_1sI5GEN1gNAJK8Sx_UhFcWuWO1B5lKt3E3CIHuHrPQHXrywyEIhrkYWKPg0VL2xCtRXc6yVuZ40zzNohrnYZgo2shNbqToy1BNXXqzUlovL1Dk73WRNq93uupu8OdQUXH3-GZ4EKvA_Pnwojy2EwrzkolQ0R6zeS9oNhIk8lEC3xQP9hGSRHv0mWwESB8x9Xp8Qd-jw6D4cEE92vNQROnp0EuXcnQBzB6NE0C0eCW356oLGZPaKrbwtByKiueL6bcTrC1RzwG-VpkcYEAmKqnfIevnkFfknO_3g23xn7vuY1IV4mwfA2xKWyzFYtDg3cZMqmcB6ljVuAHneqtUF6phuD8KrmegVBtS5lpLcV3pLexF0oNC37cmCYi6WMSrhSgJy89ub3no8lu6FGeqMCOA50DBZydCa067y1Q0vqRPqK4_-faIlfiNI-qCYESTJSIsyIRdxjJR27ZnvRODqhjHZLTPpIPqtdkImiZfv2W2JXaqu84nwOgwgzBF1yDby71n5kFUTXd4DRdbUOE-JIlx9L0lc2-kAEKlNYD9M0RwCddYQL_r5lDjcarHzV2GN-2EjvTqdL-2GxBDxeZpyVocxI0zf137V9VHa660f0lGbyTC8e0DPIy33CdHkeAoCX9dj5Jb-urirhL949x101LmB-ZZVgRNQwayB8TIVE9zNdJmAjAP3CyUbmr798c7SRkmua41KzG9U_SoMwjZEzdNJUIfqAf-0t4H6tKTWAhec2vt3EP6Q0N5NEW4M5485PEbb4BAxf1is6Og6-xJHkgFC_6kcVoVzhEa_HAEHZ2ldQ==",
  "id": "rs_0439d9d669bb7433016ab45552c70887d0aad629567419353d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.145},\"note\":\"The cap is now very close to the left fingertips but sits about 2–3 cm left of the jaw column. I am shifting the left grasp point toward the arm's left to center the cap before descending.\"}",
  "call_id": "call_2bgN1WulZj5I8yzLhPzUhSWG",
  "id": "fc_0439d9d669bb7433016ab455544c6887d0be6b06045f348355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2bgN1WulZj5I8yzLhPzUhSWG",
  "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]: [-0.6472, 2.0476, 1.6627, -0.9924, -0.8772, -1.2839, 0.9997, 0.2379, 1.7855, 1.4628, -0.5449, -0.3935, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4238 left_y=-0.1455 left_z=0.1307 left_yaw=0.7299 left_pitch=-0.1079 left_roll=0.0366 left_gripper=0.9997 right_x=0.4482 right_y=0.182 right_z=0.1714 right_yaw=0.7717 right_pitch=-0.2256 right_roll=0.0321 right_gripper=0.0432\nstate[joint_eff]: [0.253, -14.2427, 6.6256, 1.033, -0.4713, 0.0952, -0.0122, 0.0889, -8.9504, 6.7487, 1.6337, -0.1001, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683ed7f4d2f232ad357bb10dab9e851aabe00ad41be1f958f83e359211e022ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e7126641cfc7c662e5eba4cf2051a62adfea85dd5d4ede2cca920973684d31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7edaf081504a7a14e0e451918c5d22d6415d01ff08a8d2dd6f7997765aaf8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.947 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4305, -0.1532, -0.1402, 0.9997, 0.5167, 2.014, 0.9409, 0.3588, -0.1925, -0.1608, 0.0417]\nstate[eef_state]: left_x=0.2949 left_y=0.0105 left_z=0.1713 left_yaw=0.1219 left_pitch=-0.0604 left_roll=-0.0139 left_gripper=0.9997 right_x=0.4049 right_y=0.2731 right_z=0.0045 right_yaw=0.7535 right_pitch=-0.1415 right_roll=0.0052 right_gripper=0.0417\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.7411, -0.1245, -0.0122, -0.0122, -0.0889, -11.2205, 5.8188, 1.2332, -0.0611, 0.1636, 1.1893]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6884, 2.088, 1.7866, -1.0245, -0.8909, -1.3067, 0.9997, 0.2436, 1.7847, 1.4616, -0.5247, -0.3824, -0.3756, 0.0432]\nstate[eef_state]: left_x=0.4341 left_y=-0.1746 left_z=0.1505 left_yaw=0.6995 left_pitch=-0.0849 left_roll=-0.0298 left_gripper=0.9997 right_x=0.4513 right_y=0.1838 right_z=0.1738 right_yaw=0.7626 right_pitch=-0.2128 right_roll=0.0195 right_gripper=0.0432\nstate[joint_eff]: [-0.4855, -11.9316, 7.5692, 0.105, -0.8083, -0.0073, -0.0415, -1.0188, -10.3316, 9.9214, 1.8632, -0.2173, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6472, 2.0476, 1.6627, -0.9924, -0.8772, -1.2839, 0.9997, 0.2379, 1.7855, 1.4628, -0.5449, -0.3935, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4238 left_y=-0.1455 left_z=0.1307 left_yaw=0.7299 left_pitch=-0.1079 left_roll=0.0366 left_gripper=0.9997 right_x=0.4482 right_y=0.182 right_z=0.1714 right_yaw=0.7717 right_pitch=-0.2256 right_roll=0.0321 right_gripper=0.0432\nstate[joint_eff]: [0.253, -14.2427, 6.6256, 1.033, -0.4713, 0.0952, -0.0122, 0.0889, -8.9504, 6.7487, 1.6337, -0.1001, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683ed7f4d2f232ad357bb10dab9e851aabe00ad41be1f958f83e359211e022ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e7126641cfc7c662e5eba4cf2051a62adfea85dd5d4ede2cca920973684d31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7edaf081504a7a14e0e451918c5d22d6415d01ff08a8d2dd6f7997765aaf8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVa2OqG8qE0P5TR55YF9ov8jL0wn2dvHh1krQUc2lmPS-I8PhM4k0p8R_slDEsUMZBiGz2DkHrFZuIu7ALGIVyVKm8Rhuk5nhUfy5lAaMgwf58kzasdTj4EqZ-1apNA4qu5hAvpKvgKOvfS0IdRNkY7N6KP_jqi2Nc3HvRBXPyMU_cZjLf3ym1Ouc1zPrXLUAA6IbiFB6FkMo9GWBZulEK-46jvMAP5tNrpkYsfPm_OztYbA-5y0j7CCYthDOte0BtPy5-_pOSSXIXK0SUTtgMJenzIi-cUVIQ_IHgL1dku6tgl5u8-F03RbTLqany0t_89--ydbDNU06PAaPFR9y0DLIwJsjfgjCvI9sYMmmrlGQngixuuSSmXL9RtLxq_bJuW0e0bSEtoxbiMSLRFEy3WxIc1gV5Q8pS7RcSIQ2jXnrAVvIOJZZ3VM_h6h1E_IN8oAegzcw2D0tU93oBIamW9ROXN6q4dK9jzmNbUxnYZLV-822xrvrR2XRzLIN27p3CKv61cfDBjGXvHI02Wc4b08rnfq2ggVueORldJJ-OqpVwOPJkxSyBqfdCWsRutbufSnPfYcU3grb2479FNYDEz045vYquuqjoX_Gv9qFlGBfVUcUJRzdqYmhxRR1zTevinbLUDsel6gnwp6dIzks_Ly0mlEXROgZxyMNJ8bmB2wUPvT4IftPRak-h4aaN4q_g-GUcEAoR323UZ0vDjHwov4af5pNnUjypFXKu0OmHoPh4jlXqEVsiiioL5uo7fzmkKjdL-vRDZmHTZ2I66TNkiAMFUEU-z4fYy_6kfzJyYKLhXU5TqYOSU5kr2vlZ3OtQsd74cntZyu67YIEk0kIpxaxE5oyfgciOq4FeSLXDHiS3cS26jEcfJeYAkZrLbhVydeHVSAcKptZzculokwQahLQxtG8wvrVJkqn4ninpCDbW_Ul7RN5VfPhsuWSomb3DdJZidC5oGacdkwByM7WU1tSSPgiRpubiF9pHEDzVugz_zqunaY4wnvjb1f8RClkdGa8Z2VNjT_FIf9cZoxVuSazDVnzxo8Q8P4-G5BNI1KPVfPZq1a-Ic_fHsgJN2rkPxUkwGkIC_0AdZ3iuN3tDCy3d-PKymDVlMvc0KkGKQkhog3i9QbtQ8rKmBzfO6jrcPo0gxVfOcdVyTTEN3Hz8ab2qIOwR3N00vPI0PLJ8KU-7snd-Q31WakrjckehkS0klwXCL9_hYpjnrXnuFyYJF973OSrSRx2Ochr75O99Lc-ep2DkrAwMhqQwmGOYbiCv1a66mhTV6gChadCf06tHUR6W-WvvWxEibHEnJZnj3J1p8VDsai1Ro7U-t1XCr0pNRD8R-O8Mbkcpb0Dtiy2LRJhYOdE00b_iLzmU3X4NMjcMYUH2s95mdafBvOQIX7FahhQAjw_OhApbW6cveEFqQAqfenD7hXD0FaAUxMoAF9g7NVk7qnnRPUNWnb3-kMZc5Gw3uKqE21_vayhcmVjVf4nXAALLtSnhaLrneCGlCrSrJ4e2bQ3gv0c4hITbuBaDmJQE9IPk0CdtDAe9HSeXVR-bkmPgCUhQhZ2_aNKGGPaIe8Lw90sNE3bVmrLvbPEXfehXzllLjWjx214ohOVtP8BQkxj7YZfw0j5fJzvq4kgI6YpyZ0EUGBZQLYiTy3trDDOwCQYUIJrR29hjySJsGODeIGjdklmu-248go-4D4Z9-EoEeUpTILQEE5LJNTlGyKOdf7pwco0gxehz0vAT30ed5_6mYyxqXm6RBcSn6gU2uOWoMd4z16ofWrRXasvDsphQoVg9WWVcTgFgebaJ6-XnfyiFKf4U1dJibWFuPORUJnGatwsypSpC9OBElHZ6kwoDapHod-W6iYZ7UYZnTpKafvuE3TjLUXd7w9XorxZIOjXzdHDn0IW0nVymRXD0flw79jId6MdJd0ac-NI5_-hhy2EwTHhy0D-c27VcW1ESVLZ4hWmwp0UtRRbX9Idy5BqvuFWmOVwUt9PVyE0ky4qWybpPN2elaaOGbQZYUKGjJwnKieyTkubX9yFQytMNFFIkyPba1mNVxisKD7KxX9T4cMThLECmiDqScFepl5TgQftUO_zw-wuBnTOP7Ln6wYu3kKnJ_XnzLG9qXpo_9GpRNA6gkC_TUzb-PHcAVdVchv5nLaNWe41feq65bQZepTxbywv2eozXVSVYDOCRHS4iOFEflgv_LP3CnppzlRZLu2vc-8Is9TTPl83E3T2g3kMD63jucnohvl9S5h6up5fDHmltcutYjSQBv28TK3_YzL8hdhlQ8rriAF3qJSW5A_qOfvYXckEEpgfVs2-uXOJRidV1pei6tMrOCyeudf66XiQyV4TisG5MZnR_7nrBAcN-VUM6tHjU--7OD1eTOxQK82dOrbbxb35ziOqERAAOntoPJ7w4rLqTMMJCgiLAsQugeL2NjuYtkPo1ekOe838kZ8benWGuMD1eU21aOdojWjrHdTYdbqyqwDrkC7QHVxWbcsTkrGv_3CeFMqc_ncZCXgHAT32ne6KmT9y3uponTj46vb9N25T0aIGZi1iGef9WSCaAp6T_D0eO3QydVR4-9raIatIfQGyub3E3h31Ix3fTB2CFFBMUQO85_f1BCg7-2VRPYwLvlWYCVgAHc0mWwlsDcA0LUBQXrxbbV0tjtgo8XqJErzmGVNb4i0ru8jtGJvSho9NI14B9nIiulYNb4aUHXpgT7aD2XjnRmfPK2-uTXEHv6PW90hRLMCtTcHjU73G-0efguIcvkosYPF52uggHeTY057sx4xhZXkagMghbxrJDKDnhvQSbrg5_AHVFlBPeJPPTRAY-prk3dPu32gYuQohyn3cwwYKEbGIMl3Bdf1nIbpGu7iPDPJkwEFni6sF0JSlV-0Vo_AjT-EExzxpCIOintuDR3KoK2jOMWDAw7wTzgg-7GA_iZTHoA8wKW7x7Jd4NPalFpYwR9UFWebnpTZU4iP3u2mUut-P-DbtuAh0qkJU3xkpAEC6TOvEBX7dJmZ0HPXEZhIQiVjVQUdeye-L_g8qvCbYt0hv93aoJq5pC446WBBW5lXtlgK-uY4xOCPQb53jtierGx6o3j4LGQBo1C4qxubE04nKkYBa-X_DxHreLFStCYAjJAQQSiUxSiIWxPy0OCt3eQFg==",
  "id": "rs_0439d9d669bb7433016ab45556954887d085a43d6ccd851005",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.145,\"left_z\":0.15,\"left_yaw\":2.3,\"left_gripper\":1.0},\"note\":\"The cap is centered, but its long axis is currently parallel to the jaw-closing direction, unlike the pen. I am rotating the left wrist about 90 degrees so the jaws can pinch across the cap and leave one end exposed for fitting.\"}",
  "call_id": "call_gH4mC4MPITfCM9QB8W6xaIAL",
  "id": "fc_0439d9d669bb7433016ab45559572087d0870db21fbba0e05d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gH4mC4MPITfCM9QB8W6xaIAL",
  "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]: [-0.6506, 2.2097, 1.8244, -1.0935, -0.8673, -1.4132, 0.9997, 0.2398, 1.7863, 1.4601, -0.5468, -0.3939, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4369 left_y=-0.1587 left_z=0.1041 left_yaw=0.8072 left_pitch=-0.1296 left_roll=0.0356 left_gripper=0.9997 right_x=0.447 right_y=0.1828 right_z=0.1697 right_yaw=0.7745 right_pitch=-0.23 right_roll=0.0351 right_gripper=0.0432\nstate[joint_eff]: [-0.0205, -13.1761, 7.6513, 0.232, -0.7497, -0.0952, -0.0415, -0.4718, -9.5111, 6.9402, 1.4628, -0.2271, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d7e44cf798a4aa5f624ae4a96288734a5fd0e4aed3e6a26be470769452003e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f900f930adefd46d83af00162fecf932fc22a681b3e12bd17e536aa1234e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e653737939ea68e8e8ebd5d43af3fff59529a13023be7cf6edc28b3f158b8f5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.958 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0681, 0.8463, 0.6365, -0.4309, -0.1532, -0.1406, 0.9997, 0.5167, 1.8496, 1.0355, 0.0811, -0.1921, -0.1635, 0.0433]\nstate[eef_state]: left_x=0.2948 left_y=0.0105 left_z=0.1713 left_yaw=0.1221 left_pitch=-0.0608 left_roll=-0.0141 left_gripper=0.9997 right_x=0.4037 right_y=0.2723 right_z=0.0661 right_yaw=0.7552 right_pitch=-0.1597 right_roll=0.0073 right_gripper=0.0433\nstate[joint_eff]: [-0.1299, -1.5658, 7.1043, 1.7167, -0.1245, -0.0366, -0.0122, -0.3761, -12.041, 8.1846, 1.619, -0.105, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6472, 2.0476, 1.6627, -0.9924, -0.8772, -1.2839, 0.9997, 0.2379, 1.7855, 1.4628, -0.5449, -0.3935, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4238 left_y=-0.1455 left_z=0.1307 left_yaw=0.7299 left_pitch=-0.1079 left_roll=0.0366 left_gripper=0.9997 right_x=0.4482 right_y=0.182 right_z=0.1714 right_yaw=0.7717 right_pitch=-0.2256 right_roll=0.0321 right_gripper=0.0432\nstate[joint_eff]: [0.253, -14.2427, 6.6256, 1.033, -0.4713, 0.0952, -0.0122, 0.0889, -8.9504, 6.7487, 1.6337, -0.1001, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6506, 2.2097, 1.8244, -1.0935, -0.8673, -1.4132, 0.9997, 0.2398, 1.7863, 1.4601, -0.5468, -0.3939, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4369 left_y=-0.1587 left_z=0.1041 left_yaw=0.8072 left_pitch=-0.1296 left_roll=0.0356 left_gripper=0.9997 right_x=0.447 right_y=0.1828 right_z=0.1697 right_yaw=0.7745 right_pitch=-0.23 right_roll=0.0351 right_gripper=0.0432\nstate[joint_eff]: [-0.0205, -13.1761, 7.6513, 0.232, -0.7497, -0.0952, -0.0415, -0.4718, -9.5111, 6.9402, 1.4628, -0.2271, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d7e44cf798a4aa5f624ae4a96288734a5fd0e4aed3e6a26be470769452003e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f900f930adefd46d83af00162fecf932fc22a681b3e12bd17e536aa1234e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e653737939ea68e8e8ebd5d43af3fff59529a13023be7cf6edc28b3f158b8f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVgbpez7hG91fTt7muqd_9aDPHAC9dgvluT1b4FUID6m_3SBF9HjWF9DkF2vnxyyKHkVm-XKWtC7UMYYWEgKoxzc0IFiNG1f_XRMsnSLqXcCMucb7EYf-w4HV13WXEHy9QpcFw501ZnJUHMRGIRxxsd7f0yW4woK2kl-gKriZdf9DtyzbdkDm4n7XSa8xk3qqmo9Ouy8cIWAj3AwTAj1pZnznk7vW3gcVDgk6vxph5RmOPah1qwaapF0akgFgB4qP7yqE4IFSu9cfqj7xpOXCPuImOhRnyoamgIr75uYoTJ6kXRpKZ4M2rhUTnBP5uGxwMx2TpZUv2Jwaz4_Enm8TgagcBEu7TGp5GnCrPrUHqoLQcv_M6PNJj-bel2icF0X6F_oHNPj1w8WI8OBXpDMqbq7Hhwpn5q35l0S-5ma4QXJoIXPUl-kxqgMYefqKxEUBGjetEDe-Fub1XMvxyyVrXYsYLM8uP_hn4TXDzxrEcZwvWJHYMbEWtWONWUpkGc7skKjmdyCd7rA9zNohzt1Zk9zepv8aN2IXWcgx0AZtYjoOf9s8cdjXDcsGKNdkoLqxpYE16dbOSQj_lIa66wsLgLpc48NGkwZKPAME2JRJ5VyC_x2bBR4pnw-2Roaow7WVXJIY6Rx2K7dZ6N0ohscu0UnVW1py8TBSq8SgNx3TfWj1_XhKPPoA3vnYr6ZM4L5SMvKHkuJ1GVzvF3ttDWVzrxyIjVdIv2C06esbCdMck8CHgSE0JknSfV6L2QHkktZIPhPA4yigaZAeaxdkwUPsz8CPCEpnuooNB5ELATRzjGwK82HlYP3MM409kuWtEd-Lv4eCkoGt_vkGox4X28YJnqZU1P0pidGxtfUP8U5XGObkqhla0aIvuTBpI46Ppb9eaHvUGKM7XKC0AgNA3BuxQhc6m2ChpCEh5FUvc-Rtv1-kbVy6q7irvbq8-ToDqTl7xErtLO6EiiZzmBnZBzFeWbeUAuk0eho3bqHdEknTUKirJH1yjlAZmQOh5hDu_askbEOsvyJWG_Loc8zQBUW_YMD4La0hFlTwKL7zAOOHM8SAM9TV7kVhYXYzLXjeU8xOg19ixvvrKY8NFsdaQVv40PYv0w4ISoENA9yH8FnGGfGl0Ne5hNYtY7OpkdnYu_V_gorXsAQCn3Ax0oBqoa41zf9j7PlfpDrc2N187c5elNGZMu5w7HunO56Wa6bUBqBiCbxbtGpQCYmD7PPPp3Tep9FrvxR_JUYNWG_D6Ryty2dWAOWaLvgLpxvbqlBA1l-N1WEKZRwNO73Offktd_xC6d-NynCFSYlPIEaJC_BDGHKzQ_usYmmV8T9eppyU5zWxinRVr4OF8NcmOitnRDz_bMHzKhw_506KfZz-6Kg2_31BFYQJiBGNa3bKoAyMO83JK4qSv4RvaszVGPxVg7wskEvPdLyalNqn_pF6cxMd6ewzbzZSjz7zKjm1-NYxiB2CVdK4T6-qEKFTYE8kYfy9l6UWfMxkLM_F3JP9UOI2pQj8Yp55BzNtQYG2pFbrsI28XRiVr66ogirtY2Rn0UvjS8vB3tPLh1hzR7z_hga0xwd1iaT4VwG0CogC8OPJ15x6yUXn__iwJFust5djYBse61hZChdqTJ59fZ4o6bfBNsWa-dEK7oFVWgNHULsHR_eQku3etwsxbgBlNU6lkDbtCltB6nG3Q_lyP10XsWNs0WI8agjtNYSTiNlU7fstonXDbUci5ppkOEcnNVBguFIJIxJP7qGJrooQWeb8LkKMtgw0n4Ab1QwKQ2QU802_kAsLtdYDoEpVUpOEUAR3EzoBl5R-87dM8FUoPGwnRq2aI46dLBaEwsLyIcOYuSemXKAbm7IcRXqOhR8kmQX--epv3enWW1UvBg8fW8L5h2vu60F9V0PC0kBgR0r0WUMFuBTfaezbZB___diZVQq1tTjSYYoFaIXafzbbxWYQ5_7c_lbnlSC--XzuvvOiTE_RapioKSClXmBZsrfyaQOVEslko5H11fKtBkQQL-jsv559sVpGy0iYC7t9r2TEa_khovXetxreSceUC0eaqghiO0V2AJClsO_D-8sF7z6eN9wdkUXHQhsNSNXIQGQ-qK14PaOQgMaz2uOEWKh_zjT-NV5ruxknfExqMoSVlCAD1mE7DQCuZ9rCmXT1f7aQaaQjCU5gAdCMVgDihRAomDrESt4oI4ApIcPjy8wylY8Fwvj-0Qs5f9Opaf6okwjxXJRJl6Hdg7pBuZ6W1mbf5ouWrw8Q5vdTwuD-34tDrgEntd47xOu5ZPs_lN8nSYW0IBVy62szXwtdpLoFUhFQY-YhNzX28FQLK-cpcl8JO7JQV0HCwxuZ4VlUMYi5StpQZzFogPwLhoiS2qxTtBdgEJInM8JmiP9E0-2p3TxWRZWsUzH6MpEtwa2e821qyrdKVMYTkkHqzeA9pRTcibfFoihCsvbnGTOg==",
  "id": "rs_0439d9d669bb7433016ab4555c3e4c87d0a2fe1d4584131826",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.145,\"left_z\":0.16,\"left_yaw\":-0.8,\"left_gripper\":1.0},\"note\":\"The positive 90-degree yaw was unreachable here—the readback barely rotated and the arm sagged instead. I am using the equivalent opposite 90-degree orientation, which gives the same cross-cap jaw alignment but should avoid that joint limit.\"}",
  "call_id": "call_J9jrYTfrdtgwk4kf0Vph074f",
  "id": "fc_0439d9d669bb7433016ab4555efd9487d087436e9714b5e21b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J9jrYTfrdtgwk4kf0Vph074f",
  "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]: [-0.1806, 1.6661, 1.1728, -0.4747, 0.0277, -0.6155, 0.9997, 0.2398, 1.787, 1.4536, -0.5514, -0.3939, -0.3828, 0.0432]\nstate[eef_state]: left_x=0.422 left_y=-0.0784 left_z=0.1086 left_yaw=0.1333 left_pitch=-0.4607 left_roll=-0.3957 left_gripper=0.9997 right_x=0.445 right_y=0.1823 right_z=0.1661 right_yaw=0.7762 right_pitch=-0.2402 right_roll=0.041 right_gripper=0.0432\nstate[joint_eff]: [0.5265, -13.6137, 8.9504, 2.0488, -0.1587, 0.2466, -0.0415, -0.3624, -9.4974, 7.2684, 1.3748, -0.1392, -0.0122, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12bdb31e84fb087212dca229de84a4e60808958b4088c7089f05ac080e0c7aa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75638988b645111bb9e825bdbd98bab080bddb1bfa425699793e5a98ee02975e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96f724a12266e6e386a34c5f15ee941675187935d6cd142fef436630c3b29e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.379 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6884, 2.088, 1.7866, -1.0245, -0.8909, -1.3067, 0.9997, 0.2436, 1.7847, 1.4616, -0.5247, -0.3824, -0.3756, 0.0432]\nstate[eef_state]: left_x=0.4341 left_y=-0.1746 left_z=0.1505 left_yaw=0.6995 left_pitch=-0.0849 left_roll=-0.0298 left_gripper=0.9997 right_x=0.4513 right_y=0.1838 right_z=0.1738 right_yaw=0.7626 right_pitch=-0.2128 right_roll=0.0195 right_gripper=0.0432\nstate[joint_eff]: [-0.4855, -11.9316, 7.5692, 0.105, -0.8083, -0.0073, -0.0415, -1.0188, -10.3316, 9.9214, 1.8632, -0.2173, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6506, 2.2097, 1.8244, -1.0935, -0.8673, -1.4132, 0.9997, 0.2398, 1.7863, 1.4601, -0.5468, -0.3939, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4369 left_y=-0.1587 left_z=0.1041 left_yaw=0.8072 left_pitch=-0.1296 left_roll=0.0356 left_gripper=0.9997 right_x=0.447 right_y=0.1828 right_z=0.1697 right_yaw=0.7745 right_pitch=-0.23 right_roll=0.0351 right_gripper=0.0432\nstate[joint_eff]: [-0.0205, -13.1761, 7.6513, 0.232, -0.7497, -0.0952, -0.0415, -0.4718, -9.5111, 6.9402, 1.4628, -0.2271, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1806, 1.6661, 1.1728, -0.4747, 0.0277, -0.6155, 0.9997, 0.2398, 1.787, 1.4536, -0.5514, -0.3939, -0.3828, 0.0432]\nstate[eef_state]: left_x=0.422 left_y=-0.0784 left_z=0.1086 left_yaw=0.1333 left_pitch=-0.4607 left_roll=-0.3957 left_gripper=0.9997 right_x=0.445 right_y=0.1823 right_z=0.1661 right_yaw=0.7762 right_pitch=-0.2402 right_roll=0.041 right_gripper=0.0432\nstate[joint_eff]: [0.5265, -13.6137, 8.9504, 2.0488, -0.1587, 0.2466, -0.0415, -0.3624, -9.4974, 7.2684, 1.3748, -0.1392, -0.0122, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12bdb31e84fb087212dca229de84a4e60808958b4088c7089f05ac080e0c7aa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75638988b645111bb9e825bdbd98bab080bddb1bfa425699793e5a98ee02975e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96f724a12266e6e386a34c5f15ee941675187935d6cd142fef436630c3b29e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFVmMdaiChLvA0kic7XFgjRIjbXvBNbLZKzJOPKWMgDoftbjuSFpQcmXdiJlj0x1VlbyC3fSyF4VOXp59CNO4T5bfV8bn5OPDjCqGbrT7vnIz79h5G02P6BrVvHR2sK1dXbWy-2MPoLX4OL4wWXE8azTb0se1UL2CqHxB9f0EP6uJL88o27n3q3e8ZLDmI55Cj2Fd5AXBq7pJHFK0j0RH5o2PeCNJickZ0gYFrLnsRHPx2WIBUCI4_dXs28G5dCELgR9eZucAxMHg6EwZXSAB3FYPwTblsuBJ1yF0k6aeifk4GGlN5Kr_-5nehfjSMfoJjNRGrC4hFDzfgqVwvsYiDpLsdEQjfn1MAJ5k-ryzf45LGbvZkViTWQFBcqY8Bd2QBHrQqdSDmgBNeNE9KCzuX8mvF4Q9UDyqZ9ayNNjlnvZ33aWc5C7u_6nukWbPKkv5ZbhGflL6Omk8GoW1H-0gOlwn1_ysgw6PhIpjnv1frMQyUysK6qu5cIaRKM0BaddZJNoX96lfDMXXvlXC9SdoDhxfIZWdSvwjItVJm5cuivVXfBv4bbQSC0hCa-gj0jph6EU5a-cr_byiRM3Yxup0XjW0CWkZ1ocaNy42KhuXN-MFv81mGT-swAmW8uWN_hJjgzMfbkzv0Ns_2TOElU2dsi3VAP1YNt5vZeoJd0j9wnIqrP8lSdWXoOdQdRosQosBAYhxRekuaF3zYLWJZlYEpGvFAYrejRFMB4NdI3a645pLVqD0eg3E0GPbUN1myD1LfDkUSF66f3Q6e4oH9_W4i7NdgaanQE0DShYVYiQKr78ZsFzXOCP0JspEn-u9qejrOhjlEda91Jf6maOwOuIRpQO02LSwzQtmNc58qDPBcFC9Tg1QC3dlUVP2h0_WYfgxOjomRfFnDpSroFlv-wVF-LftY5YVJ4dVdBeoPA3MQKmK0XMz6W-5fsYeWAr0kZQMTtqJm2pwO8_icONqkdssimxIkaJhXlae1o3GvLk7pvEQIP50isJqZCusg64_qxcBm0nv5LJJ-3G8TXePNiYpg3uimjQxOvx9mLG3EorpgI8vbTKslSYyDLtPGic-b9rLV4-pGiO_5sNtc7rCZnTPEaRRncY_57qjh75KFEImBNvZAVQ-dL2iyqD_HgQM1-h_X-GJRhsLx68dTKLQ5YnvSNLn2WqQwVZeJyKuomIyEw4ThZWauylwbQ1oDm9-_mdU-mm6l7IuuBsI5iTwkj3W09S_7FiFIUtCApX2nnsOBzSYTfjK3iEAQwPhmsdcoIk-Sfke2QP8rQ1Tx2xTAjcmK-k7MliUVY5bt8HpKXxesxfnaJaKd0FsBhZIR_fJvHPKquhGW_DNE-jcxglBSMlxGR8q7adaAQelYfCH0HyTO7W1J2h6g4yziqHljP3nyq-O71ZPhsNxZTpI3OoDO2g3QUd0WE_wAoX2sFP22nwnk6gq2Qn02c-0ug9-uqo-Z4__olKL4K9WczPFdS-q5W5X21xMoDAjPCBJMhK0uaYxwKC5VMLjdEEBKaBCFnWON0GmwvhzH3HbXgy0osWJd_JfpG5ehNWg7Jb7p6yMoqgtgarZI5tSCrb8jUDBh5bBuIBzRI4_geB0iCg67gKqshrIavwbnI6hJIAJfDZj7qeMepBO1AJ5fhXZscXiNyWXk8gYFxTghhgcG5LBVOBc44yJz0a1-KS0bmBQDX4C63W5ePt4IaLf5uD7U_RtJUVGaROtPnD9cl7lHCpAnYbbuk6pr0H_SKgXL0Cj72-oTKiJZ3Jvy5fU_qaOihEqN9ybYxxtJr33-d2uN7sB871gq-bL1SfK806dkW1MmiAI-7yKi3iNwE9rGdMUTcsL-cpbZ5I0fYVf6lZcJ0M8KEfDl_Eypw20Wdf1yj9j_FIkR5wZ7DWNKhT3p6Q3lvc7Oc5D-AGe6ivjNF7vydWofbjipAQ2PbRJLWpUls2ssdNAg0XVx32AfrI_rScpurmgcD6Xja0g5KGlQR-LhFESPKzw1H-g7ff7AM7ocaIxGAm0tkHFLGXPDrp1-96Q3ElcP3a60g06n8P1LZiYd_SfYDKwZyj6qprK2ECA2ef97hLq3qJ_Aqjiai_vb1bOE0PWPZwiEnQAOe2H88VrQLMLFSMbw2_8i-OmcdxrhPrwF0VWZpSG9VSSD9Jtxbi5w93-S8SKu7PtQWzIr8RzLmG3PWYzNXjWGyiiLX_HLJ5WssWw8i5C2ZVXhYE39r3BPlkM6lbQLIxfn-35gcgwqczxz1kKJP7UsgJCWr4K_Elp66ZpIwGLzqoOtldyJRp2gDv2BljbpBNkG02fAUfnp3pzg-jjs0pNTJLxvvUcxCH7JE2Wum-uB2gR7jc0X2wcIByi9MfCzUhHruyyP_iJbE5O0wlWDTktsRsV-kLCW-TQbM-g2Vc3yFhLnRsXJN750SW_WUq14k_BV4sbFzfZvsBL55XL2bbT3WzEcA0OX36X7DQAVU4I8j3ZGA6Zganh9pxl9ktIb25JchNJIwJB_R95T5J7gWLTXGMdEB0qrOXtoh4vehWHzA-hei50Bm1FUY02MxF6fwKb1RYmJSJ4yjM9XrY9y2JbWb-Z32n8nk5asIwylkYzDdyRj0NNsXvQWfJ2oK6C5HIoGudBcmg1wmfrm5aj9bA-brPQEtHG74TfrCUn-2rUQyraVX5edmOq759wfVEiTEOJ5RbNQ6QXwisfWdZ8d3kmZhjeQ1zWmzmj6MTeRsc3pnNU7k=",
  "id": "rs_0439d9d669bb7433016ab45562485087d09375e0b8c3046fff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The direct opposite-yaw command also drove the extended left arm into an awkward IK posture instead of rotating cleanly. I am resetting the left arm to its roomy home pose before setting the new wrist orientation and re-approaching the cap.\"}",
  "call_id": "call_ZLAUK6TShKju5ky7pi39mF9M",
  "id": "fc_0439d9d669bb7433016ab45564e48087d0beb20f13e564564f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZLAUK6TShKju5ky7pi39mF9M",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0368, 1.0107, 0.6765, -0.4576, -0.0216, -0.1101, 0.9997, 0.2398, 1.7916, 1.449, -0.561, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3043 left_y=-0.0038 left_z=0.1366 left_yaw=0.0276 left_pitch=-0.2211 left_roll=-0.058 left_gripper=0.9997 right_x=0.4426 right_y=0.1817 right_z=0.1608 right_yaw=0.7786 right_pitch=-0.2562 right_roll=0.0509 right_gripper=0.0475\nstate[joint_eff]: [0.1846, -1.1692, 7.747, 1.8584, -0.0659, 0.1783, -0.0415, -0.3624, -9.4154, 7.2821, 1.5165, -0.2369, -0.0659, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074f1eeec2629303af4be3b9249c18546bbb9d3cc574111c4d282d3ebca19d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f05311ed065b9cdfabb0683f11311484730f678887ac97841afb7df419dc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade5b6d3945554c4df39c6b68a04da63996f35f6571a26a8b620cdb83e5fa5b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.501 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6472, 2.0476, 1.6627, -0.9924, -0.8772, -1.2839, 0.9997, 0.2379, 1.7855, 1.4628, -0.5449, -0.3935, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4238 left_y=-0.1455 left_z=0.1307 left_yaw=0.7299 left_pitch=-0.1079 left_roll=0.0366 left_gripper=0.9997 right_x=0.4482 right_y=0.182 right_z=0.1714 right_yaw=0.7717 right_pitch=-0.2256 right_roll=0.0321 right_gripper=0.0432\nstate[joint_eff]: [0.253, -14.2427, 6.6256, 1.033, -0.4713, 0.0952, -0.0122, 0.0889, -8.9504, 6.7487, 1.6337, -0.1001, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1806, 1.6661, 1.1728, -0.4747, 0.0277, -0.6155, 0.9997, 0.2398, 1.787, 1.4536, -0.5514, -0.3939, -0.3828, 0.0432]\nstate[eef_state]: left_x=0.422 left_y=-0.0784 left_z=0.1086 left_yaw=0.1333 left_pitch=-0.4607 left_roll=-0.3957 left_gripper=0.9997 right_x=0.445 right_y=0.1823 right_z=0.1661 right_yaw=0.7762 right_pitch=-0.2402 right_roll=0.041 right_gripper=0.0432\nstate[joint_eff]: [0.5265, -13.6137, 8.9504, 2.0488, -0.1587, 0.2466, -0.0415, -0.3624, -9.4974, 7.2684, 1.3748, -0.1392, -0.0122, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0368, 1.0107, 0.6765, -0.4576, -0.0216, -0.1101, 0.9997, 0.2398, 1.7916, 1.449, -0.561, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3043 left_y=-0.0038 left_z=0.1366 left_yaw=0.0276 left_pitch=-0.2211 left_roll=-0.058 left_gripper=0.9997 right_x=0.4426 right_y=0.1817 right_z=0.1608 right_yaw=0.7786 right_pitch=-0.2562 right_roll=0.0509 right_gripper=0.0475\nstate[joint_eff]: [0.1846, -1.1692, 7.747, 1.8584, -0.0659, 0.1783, -0.0415, -0.3624, -9.4154, 7.2821, 1.5165, -0.2369, -0.0659, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074f1eeec2629303af4be3b9249c18546bbb9d3cc574111c4d282d3ebca19d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f05311ed065b9cdfabb0683f11311484730f678887ac97841afb7df419dc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade5b6d3945554c4df39c6b68a04da63996f35f6571a26a8b620cdb83e5fa5b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVqcaHD3OXoDVLcXozCaNvGBAR86IRbgTSVm0O80SBxYHE3bhO8c8nmFYXfsciN3iYHq3cPjNEmotgpH16qZPz31J_nGby4m9cRvo0zsS3xEtL2rRJBxCqb5GCmANq5ULJgSC88hE4g90rEeBtWwRib2zXha3i8zKT2buWAH_82EcImEVs1tqTJjSKoY6kiudnp_EmO42C-4KI1PjjMNX_xRKw6QSrGgjTnq6UB5IVYHZ7z-tMUQ5aUKralKxfQ1oza37S4tF1jh9Bh6Woi0plhQw-5NDUJM3QR7FSReBdSEMKbriIwNgkPz8eBNCGbFijWl2Vi6Fua6tBFm9Qiu2CcdGVL4YFteqK7OmINb07L_Npmze3uARoko-8WM-vRWgt5K7LgkoZm9HFaE-PQWxjkNy2GAVLozTMrQwTBDDoMYUHHC8ax27ve2LsMxUFubot2h54c9MIddtoPJ7Ct9Ex4kdx_DxzTUpF_ItA1_aUTkt2Ixrn1XzSt4IC3BlvXN9oDb0cgXTqLqbJ9N6q45478NQlYj3439a2egRtyAo6Gm4r89WRIc18mLO7QWEHawPT1MF_V3RoFVA-dUxa6ywda-MZlI7wFu8Bfri4cCk98IQGo5KcYE70_iNTSWGbb1L-kK8y1MAFNJ_c6eqAQK9VE2xh5TzbF5aRM8W5AIhg_nz0tUT7EKL95wtqs9v_wPT4JasfxUI2sAafVEgQfJI5PtOEZPyde-OdVDjKGkHlMF-EL-hfCW-ivYLXkpz63gbH5-WzGL0cJ4nsfjC9oNH4ueXzkDY-JsWPoCKjpEVjYdZ8aiboZvLiFa_UAqOVzgg9CFaPo-hhFhCKKIaAkLjrJBPzBdXwVjOwtSkNPEb5rKNcAcsyUjhHMHAXv7EESozAnY53c7V5J7prCMn08Ds523IvEYGmlA-dnVoQRp72g8f53wLFx2RAUnJ18P-RGnBCgs2vy3pZ9jHC5Sbsd4bmiwIbsHmPOCZzekLqOFQF9pW--_2PE1e5vS3q5DzqrhdoqwE2g-bFud27Nl5KlJif951AAjXi-BJ0QxoekB2oV5M4VXJ9cxdaHKVTlEvgc04dztOZP6_Zu6CL1UUobDkuKBNuuujc9qwqHz4kjdEl7FdhMeyVzlvuSvcwXbHURsarsR9rO3PyaWNdbRt0bgjzqBqcuMtpiA7McmFxtQolZC-zhq6f32eCmzetogDm6dGRswCsmY3A1sKPzNrF1-ac3si7Vihc7bKPRv6y12HG-UFF50gjKDjHxBHuiMAiZuqIUaytrJg4O25CV8B2KmggYTvE44AhxyBCVshjKcTQJkdGh6-myukpUH0-iG6BKXzPo",
  "id": "rs_0439d9d669bb7433016ab45569a42887d0838955848d0f58b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The left arm is back near home with ample clearance, and the cap is unobstructed on the table. I am setting the desired cross-cap yaw here first, before extending toward it.\"}",
  "call_id": "call_Y2B98oHnEF82itwSqguR2tp6",
  "id": "fc_0439d9d669bb7433016ab4556a170c87d08ea631bfb0c40f61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y2B98oHnEF82itwSqguR2tp6",
  "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]: [0.4648, 1.2423, 0.947, -0.7719, 0.7876, 0.8188, 0.9997, 0.2398, 1.7916, 1.4487, -0.5705, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3054 left_y=0.0171 left_z=0.1776 left_yaw=-0.6234 left_pitch=-0.0959 left_roll=-0.0645 left_gripper=0.9997 right_x=0.4408 right_y=0.1812 right_z=0.1592 right_yaw=0.7799 right_pitch=-0.2647 right_roll=0.0562 right_gripper=0.0475\nstate[joint_eff]: [0.1436, -4.9162, 8.6085, 0.9841, 0.6911, 0.2564, -0.0415, -0.3214, -9.4291, 6.735, 1.4872, -0.2369, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2d244c0f9b302be68b7146ce7320dd24ad2a02145e83cdc9fdeec66fdf988f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02721e7882769ccd775a08d4f2360702a1c15f8788d969cec07cf2d43eca3997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10202607b5a31c6fcf0fb29db6a4e8c03bd37e177a2d7a99c7284661707c4c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6506, 2.2097, 1.8244, -1.0935, -0.8673, -1.4132, 0.9997, 0.2398, 1.7863, 1.4601, -0.5468, -0.3939, -0.3824, 0.0432]\nstate[eef_state]: left_x=0.4369 left_y=-0.1587 left_z=0.1041 left_yaw=0.8072 left_pitch=-0.1296 left_roll=0.0356 left_gripper=0.9997 right_x=0.447 right_y=0.1828 right_z=0.1697 right_yaw=0.7745 right_pitch=-0.23 right_roll=0.0351 right_gripper=0.0432\nstate[joint_eff]: [-0.0205, -13.1761, 7.6513, 0.232, -0.7497, -0.0952, -0.0415, -0.4718, -9.5111, 6.9402, 1.4628, -0.2271, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0368, 1.0107, 0.6765, -0.4576, -0.0216, -0.1101, 0.9997, 0.2398, 1.7916, 1.449, -0.561, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3043 left_y=-0.0038 left_z=0.1366 left_yaw=0.0276 left_pitch=-0.2211 left_roll=-0.058 left_gripper=0.9997 right_x=0.4426 right_y=0.1817 right_z=0.1608 right_yaw=0.7786 right_pitch=-0.2562 right_roll=0.0509 right_gripper=0.0475\nstate[joint_eff]: [0.1846, -1.1692, 7.747, 1.8584, -0.0659, 0.1783, -0.0415, -0.3624, -9.4154, 7.2821, 1.5165, -0.2369, -0.0659, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4648, 1.2423, 0.947, -0.7719, 0.7876, 0.8188, 0.9997, 0.2398, 1.7916, 1.4487, -0.5705, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3054 left_y=0.0171 left_z=0.1776 left_yaw=-0.6234 left_pitch=-0.0959 left_roll=-0.0645 left_gripper=0.9997 right_x=0.4408 right_y=0.1812 right_z=0.1592 right_yaw=0.7799 right_pitch=-0.2647 right_roll=0.0562 right_gripper=0.0475\nstate[joint_eff]: [0.1436, -4.9162, 8.6085, 0.9841, 0.6911, 0.2564, -0.0415, -0.3214, -9.4291, 6.735, 1.4872, -0.2369, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2d244c0f9b302be68b7146ce7320dd24ad2a02145e83cdc9fdeec66fdf988f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02721e7882769ccd775a08d4f2360702a1c15f8788d969cec07cf2d43eca3997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10202607b5a31c6fcf0fb29db6a4e8c03bd37e177a2d7a99c7284661707c4c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVua8YPSVh7suVv8e3sCX4uMI5Uc4bWfkm6JQfmu7OEEtvBHNz5LrRBzdmXrLXhGuQwxO1T18yZ934NDCr_e_qOntkO8awUNhzTXDfrTmFXVG1CvN7Ntt8CTinCFWtpmP77Ry1veXU39ve59MIeP3K43xDzybF-E_gCGi_JRz93ATz0mw3Erb3KJrc1_jp1N6h3iyEE6-d6KVEnHH7BaEjL-dLGOoxjuKdgkrEbYbAIfi3ZqrkPknU4Qv6Fc-dUuxB-4twaG7hPmXc7Z066bmKhoM_cnqz71tTMJY1vLaDid8SmxWI6sb1k8JXYLJPXqqqULXvTdI9WMkt9zv1lXqtQDQC454xiLneNEtwHVZzC4HEZ0fof7Ck1OvYndFkx6s5NbH0anDtxD2DTNnBMA3riJbuE2FI0PiQgH9iJdl6yRjaO6PeP_raI2eyBCAPd2f6ZvzicTKkKpxSIwkkQIO55jJVMsj1Wn9SPc6hBEhPLaju2yvLZ0SCAErtf34IXPa2hctTAjQTGc-T25OzJ7iUtHj0qtTAupF8QdqbcDvRSp05q2K3Gu7e3Msjw1VjvigJuDHAE8MLwsLp2dMpLcIqN7tXjV8vydPzhlKTFoYryBMP_MH2QVExLXUJ-iaVDbGZZMul0ER7vzg224N4joujbj0PN2oW_dbmeg-lWfWG1SGzGYadpgbcKYqd43CaMpOta2zrEwFPwINNU4TskZzFYnlqwMLQI-iS16trIozbAptSBmUc0b2RkGcbnc4an9dvN1LL_EAAnpuAcdBjul5iT6rbuLbBy7T1xja8Yy4vUDt3mB1SGw3uyB5cIjtQv0-uyqaNKshUVR8qjNq9kWnv5wVAsGqjoem6P_MYFQToKuLkOAagX9hRptGNu-q5nSzDpp-cc2CLpAgkZSrR38eyKgXowbfn1XmosEW2a0FHWxBOdXOAysV3oPMDYMwISa1meLhxht06KOcqjQJR86E8xV7s6w5foq4AHzZSl4T6zACqbUe6PU65aLDE8YUlrNA2BxAhGiK2akq4tzvrkcF7121BYPk7BRbjBzA3py2zc2CUOi_jdkUrf0dMANl0qiaE-kbC5KTZK-uYHnsDGGbo6ewttOQizgHVW6gnfa9UPXW1SB-UnKpKQx7NoU06g5yMPlpyVTkFKv0Hd7akWjrs4Q5-sBPnPmasFvksHmN6h5LpNoUL7_8x0ShKhBgS7_g7kyjEzR0Vep2mGGDJUWMpykYQNWfR0isSTprjoFpBIpjVmFq3F1VMY6zZnKvz8vj81HhHcRAA57BmWgbwR-iQMxSBaT64uguGALnIGBVMf4A9_SPw8uVBVcx5jH7uPUQgXV_d8KMgJtOs7qkFmZdKs525aVlmv7ZMC4zapRn-0-mPANv5Bdku98MvBSGin2-E5AJ7HTftxHgfq1IsMwnmruw==",
  "id": "rs_0439d9d669bb7433016ab4556cd4e487d088e35b8777e57718",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.145,\"left_z\":0.16,\"left_yaw\":-0.8,\"left_gripper\":1.0},\"note\":\"At home the left wrist reached about −0.62 rad, close enough to make the jaws nearly perpendicular to the cap. I am now extending with that established orientation to the previously measured cap position.\"}",
  "call_id": "call_daH9cDVF8YGHIVV1TZv4XRjL",
  "id": "fc_0439d9d669bb7433016ab4556d5d3487d081fe5aa148926b32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_daH9cDVF8YGHIVV1TZv4XRjL",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1242, 1.6535, 1.1507, -0.3878, 0.5358, 0.3969, 0.9997, 0.2398, 1.7916, 1.4487, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4111 left_y=-0.1386 left_z=0.1372 left_yaw=-0.8049 left_pitch=-0.1649 left_roll=-0.1185 left_gripper=0.9997 right_x=0.4407 right_y=0.1812 right_z=0.1591 right_yaw=0.7801 right_pitch=-0.2654 right_roll=0.0566 right_gripper=0.0475\nstate[joint_eff]: [-0.2393, -8.1299, 9.812, 1.7314, 0.2418, 0.0317, -0.0415, -0.335, -9.4564, 6.6667, 1.3065, -0.2418, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019df1c632089466bd4f3a03d8a98806b455ec5ce856def10c500b3d4a0a40ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e307783a02fe49fa50e507839b6e935c82ff6aa2b3ec8300c263d15db76ebc3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650b4f9560742f02a45b61dea9070d3a8c9a8625f10fb2033be6fccbd19dc53b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 11.17 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1806, 1.6661, 1.1728, -0.4747, 0.0277, -0.6155, 0.9997, 0.2398, 1.787, 1.4536, -0.5514, -0.3939, -0.3828, 0.0432]\nstate[eef_state]: left_x=0.422 left_y=-0.0784 left_z=0.1086 left_yaw=0.1333 left_pitch=-0.4607 left_roll=-0.3957 left_gripper=0.9997 right_x=0.445 right_y=0.1823 right_z=0.1661 right_yaw=0.7762 right_pitch=-0.2402 right_roll=0.041 right_gripper=0.0432\nstate[joint_eff]: [0.5265, -13.6137, 8.9504, 2.0488, -0.1587, 0.2466, -0.0415, -0.3624, -9.4974, 7.2684, 1.3748, -0.1392, -0.0122, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4648, 1.2423, 0.947, -0.7719, 0.7876, 0.8188, 0.9997, 0.2398, 1.7916, 1.4487, -0.5705, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3054 left_y=0.0171 left_z=0.1776 left_yaw=-0.6234 left_pitch=-0.0959 left_roll=-0.0645 left_gripper=0.9997 right_x=0.4408 right_y=0.1812 right_z=0.1592 right_yaw=0.7799 right_pitch=-0.2647 right_roll=0.0562 right_gripper=0.0475\nstate[joint_eff]: [0.1436, -4.9162, 8.6085, 0.9841, 0.6911, 0.2564, -0.0415, -0.3214, -9.4291, 6.735, 1.4872, -0.2369, -0.0513, 1.0281]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1242, 1.6535, 1.1507, -0.3878, 0.5358, 0.3969, 0.9997, 0.2398, 1.7916, 1.4487, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4111 left_y=-0.1386 left_z=0.1372 left_yaw=-0.8049 left_pitch=-0.1649 left_roll=-0.1185 left_gripper=0.9997 right_x=0.4407 right_y=0.1812 right_z=0.1591 right_yaw=0.7801 right_pitch=-0.2654 right_roll=0.0566 right_gripper=0.0475\nstate[joint_eff]: [-0.2393, -8.1299, 9.812, 1.7314, 0.2418, 0.0317, -0.0415, -0.335, -9.4564, 6.6667, 1.3065, -0.2418, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019df1c632089466bd4f3a03d8a98806b455ec5ce856def10c500b3d4a0a40ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e307783a02fe49fa50e507839b6e935c82ff6aa2b3ec8300c263d15db76ebc3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650b4f9560742f02a45b61dea9070d3a8c9a8625f10fb2033be6fccbd19dc53b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFV2fWGRV-9RzBQI6DqgLfuxoRJ7igmHHqzUxt2FgWcNrGQN5PnQwQASC2SUuHXVZ_1jRVmYeOVeEzPwZADYxEQRPbLELGyknjvK-sS7c_nx-VmDunpgAe7DFV1EGsrWdGd04RTloibPZsRVIWqeFvjY5nNp6uSSpb3oedAOy91C4Xtpy3qMyZx9SnrtHPD_NiIszt6bS2LmrSbHcKagsdOCGjeE3ni9vrd5fVyw0YxUlhSS4bacLZjMjKBGOa_vzCADOxRZvqqdp4iijT9XEdotBaphJNDHlJIlzI4ui-Q-86ApaA2Ue9S0YYmosNW5hZmvzPOgu99NhzlwLGCsbKcgjatzQygRvCxc_ihEPcNjVEAbTVyalB6MRStDJeLPwp6diHNbrEiAM-I2PKfCD33F75KFgNhMiHY6NF7Q-lSC-zsLfd3SA457baAf3ihODmhi6SggDSjC9i6cZYoYE3FjIHF2z3AE2OuH_U1ic9UZeYOrSNA2uuRnw0snFB-oluheHlg5BsZgyyAhmOZQUiak0MKG9XnBIhJBSVbqMrmrQqeWQgHDGPXrtj7L40wpk2yI9LWxwpW838GvEN1QqBCsnVan1NbLgPcccxDBvholTkCmfPyo7vomJ_ungn1kuFDeHbLLDw8wmLEqVHU4GWZwJKzFMBDCCiQb7zj5tIjJtjAP_SaHd7tkyyVphMRIjgMG_zUSkY_w6xkUdqeNVB0IoWEmdKoGx3thFmxA5f1zPl10aAH53NTCbX5XsCntT-be4u8cKD0HT3753fxuw4EFAkfeCCsIISsthhMnkhw83rW7UKj0AAokh2ADxGn2CTa1vbf1hZ-odpWo8tDA9nqZVHs5DMalnCb_unjw1RYrBqfUL9jT3hrlAo0sdS6dtgyFEmsG73qqaSMImOYiWDrRAnDfCLoeg-gTPYVO4qujVJeFQnojvwvZ4PvAazUCLDSaNLlmHC1dQ-uomId1elbFojYFr2TFcOSWIbNKZ16CNCL2rsuYnQISi1CGX9pyGXKcaQrrjAKowWqG6_u0y3ZCG8o4oaktGQRBna8OcGPCJ1tld0efP7olV4A6cYhyZo6tWqRe-fnYBLChmdUttgsellIWqWZwMFum5u9hFjQYaj8V8EX1pDARUV_KWrm1w5A0mf2cphtDRfxkDyU9wP3FyEZwFFR62bihuXAHsSgsF-EMd7rlOaYZkPHwtWe07iImT6ugbB05oDDudeq6JqMUcz0ZaUnhUB9gq9OvyR7UVf--UJKuLzz5ynaXwXzuZwEM-Ze3TxEw3BIcl0CkbPBehJ_lojDPPahjFq3K1oOMOMJ5zQr8DN6TemVB9gOdY4nqmnxVFshc5f7wBiXeJHYZCs-bu8fgRrAHjagHZydPpZQwdXoH5jAKDCB8v1bFGdM6oyJ9eRshocHIv5cq5QQHIGLc7f7RVXZFzp_WufwhuIIqGQaY3VDN7CYJxes_N1y3CvRL_zPf_fszh3pTwBNmq4q9v5000RamLUVY-Ncs4d85OeQykfLNKCBNjU5bLUpgww9rVeJrCrCEv-X1qTsFly2cR9oW63jVsNSkfqVsABjdw5kmoBsv44GuGW2_a7H3QmIhiA8EW5JVNDDNzIhJHzETjF_MfxYm0Qe-ed5u8q4JK3ur8NyvgWG3-VLmrlvF3vT42qpWT5nhXRUpCAml9ZI9WUiM8Ji2TonuzwndvYxqjjW0sJS81hGu3PWP5ntue11ZnRCEodgsuBdD1kodfbzoFfelSRMRcsZeCWV3ZftAFy81DerZw4egFiWNoZVebEvXC0mm6aEnD3rR-vEDj5fpk3T5zAQllqM5_Dy5kGFScW0Pwe_CTD9G_-py5B5yTUu71U7MY6KYLoROuwt2xivnizuQvEqgOWW3bgQNfUgKiW2DzRvsCFdiaUIMki74-nBh-zhN_LatltM8KbQF08CjwIECidfFBsS5zw7crZe0E8h4sF_KNpNlSe0t6f4OsbO6B1RVf3sQIOPCwXIswrM3rQrDwQ9sopypCLVFJBIyU9yVLAb9iSZZqRVLes4rsP2_czq2anycLp4qIHqqz5k8CiCv_Iw72hvgxD2us0s3bDEwU9uJTXLQ9siAtH6nirnGGeI-GkdRLw2IN2lqu1TbrNajUWlsu5mF7QeCmTzmVFCxPu0NZ2-kM4xIn8_nvhxgpPe5Vi9DtW-hp67cTZNSQhJnI06tO_tU3GN2cXM0quiHmlnCSO8OGWBm7ZXEuETY585z_3EkxkUNfFrVGsQBeEQxW8cGk5zL5SeVdRZvA_lmuBB-hYM5xcjcM4kSojPQjtUYkgbwE_dwgPjaKoT5Lcd7vfrxm5JzI7pkb1j4jlz6dkNJPhEPd58rVwdvztBmT17qvpGmcK95ceQExPdum_z_w3mlyA9_uhHRVz9IAe702Mk1N5La2owut4yqBXTBlQfC5kGJ786w46P6ovdAqgSRbXLffL5cuHEGmqpcVO1crjqbWZcwJ6NS1oYHrTNyD3M1utaFGLtQ09u9Ubr7Yg-AE3fJGhkLmryXNnFLq8c5mh6FjQy3g1Z-K7x3zEc3JkJRX-OyAi1K1QMn8L3xzQW-TvVbQd4gp7BuYsESCz0dRbjBCHD4EFWxac5NdwCbKad1vVwchUvi6WsnThbWFeZnPsEiVnyi4ad-pec0UDdTMAecdyf3NjF10PPYFg1trNk6SkxvnjaBSfNWmO7QlN7tCWp7WdeGwt8hzc7VX5MBjnqmuTLeJnV2NJsOOodaRDIJ_j8PCi-wlBZlKwQawJLh_bDfGJc4JftsB5QK0zmUKxOFxaX4obmCRTHqA1lm-k0YqpLRes20pV7ROoPWueOwaI86-NJ3fu2FtTwPPHJx1-nbEoPlZHnp6ZWoF8BDf44niddofngokt5U4GOvayqwEEcXeZ5nU2btZszHmjxX4dl5RCpADeDE6LxAVmxAdJtZ56DkfaJ9OCbkOjbqx0H3yNTZ2oN77j84h2NNjJeLYQWF9AEgsxH3NTLvPoCEa4MwUyjbpgLnQwwaupF_nl96unaWdnYWSQSs9wLEP2pJZu454NMAwHNAkYbPUBlrXY5HSZxcwdcA3Dv_2vzXSUV8mvNXj8j8I5NoUzzeEggaaP-FKCZOmANEgdQj3IJ2Wc2ivGPXpjfD3IcMFVwtm1uLrnjG-OCq0xcjLVsJ9sGHfFt4jWQigDQREfAk5h5ac0-M5UtZrfKUBuoTUsP71WSAWM5AzWcEqFMI2gH6RNl9C-4xj1Zhndyq4RfXTist2ASGVf2t_gePDOkUV6-j4l_fXUjeh2aOTBoeaHl6jnQ3Kyy7OPGoBd0qzw6piO2iXHMBBuoiRnnnFC5ZHCA3o4Ry2RZjjF72fwbgpkbWVE3j7KycHK8E6-g-xOKqWmRK2PljYkLHkZ0AbiKt_3m3re4YJxtEggvnOWpkxRqKgWdbO5Yqk9RSoMkfMtLbQUTd0EB2hjFUUeYLMX58-xpmfinzzKWpm5iBfAETgGr2MiHnFjOKNn4ktTmzn5YlX5EhY31bO5RuLYg52Xkrww==",
  "id": "rs_0439d9d669bb7433016ab45570bdf887d084267f76e6707597",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.15,\"left_z\":0.16,\"left_yaw\":-0.8},\"note\":\"The re-approach worked: the cap is now vertical in the wrist view, so the jaws will close across it. The arm stopped about two centimetres short radially, so I am advancing slightly while keeping the cap near the jaw column.\"}",
  "call_id": "call_CePSE8SrDAdVIo6MCHrw50zY",
  "id": "fc_0439d9d669bb7433016ab45575d91887d0833b4774debf5367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CePSE8SrDAdVIo6MCHrw50zY",
  "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]: [-0.1383, 1.7695, 1.319, -0.4675, 0.5236, 0.3744, 0.9997, 0.2398, 1.7916, 1.4483, -0.5728, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4383 left_y=-0.1465 left_z=0.1411 left_yaw=-0.8009 left_pitch=-0.1938 left_roll=-0.145 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1588 right_yaw=0.7803 right_pitch=-0.267 right_roll=0.0576 right_gripper=0.0475\nstate[joint_eff]: [-0.4308, -9.8393, 9.1556, 1.3016, 0.232, -0.0464, -0.0122, -0.335, -9.4564, 6.694, 1.3553, -0.2369, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75f499291ccdcf29f6a4bba7a716c338257cbca8cb29ee3895149955e497ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:822ff7ce83debb19ac20865f2c3572f208ade0229a24b738020097feb3859c73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39019be4d8ce1b18d12f959a6aa53062a939129c24942c146a1b48fcfccf9f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.136 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0368, 1.0107, 0.6765, -0.4576, -0.0216, -0.1101, 0.9997, 0.2398, 1.7916, 1.449, -0.561, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3043 left_y=-0.0038 left_z=0.1366 left_yaw=0.0276 left_pitch=-0.2211 left_roll=-0.058 left_gripper=0.9997 right_x=0.4426 right_y=0.1817 right_z=0.1608 right_yaw=0.7786 right_pitch=-0.2562 right_roll=0.0509 right_gripper=0.0475\nstate[joint_eff]: [0.1846, -1.1692, 7.747, 1.8584, -0.0659, 0.1783, -0.0415, -0.3624, -9.4154, 7.2821, 1.5165, -0.2369, -0.0659, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1242, 1.6535, 1.1507, -0.3878, 0.5358, 0.3969, 0.9997, 0.2398, 1.7916, 1.4487, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4111 left_y=-0.1386 left_z=0.1372 left_yaw=-0.8049 left_pitch=-0.1649 left_roll=-0.1185 left_gripper=0.9997 right_x=0.4407 right_y=0.1812 right_z=0.1591 right_yaw=0.7801 right_pitch=-0.2654 right_roll=0.0566 right_gripper=0.0475\nstate[joint_eff]: [-0.2393, -8.1299, 9.812, 1.7314, 0.2418, 0.0317, -0.0415, -0.335, -9.4564, 6.6667, 1.3065, -0.2418, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1383, 1.7695, 1.319, -0.4675, 0.5236, 0.3744, 0.9997, 0.2398, 1.7916, 1.4483, -0.5728, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4383 left_y=-0.1465 left_z=0.1411 left_yaw=-0.8009 left_pitch=-0.1938 left_roll=-0.145 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1588 right_yaw=0.7803 right_pitch=-0.267 right_roll=0.0576 right_gripper=0.0475\nstate[joint_eff]: [-0.4308, -9.8393, 9.1556, 1.3016, 0.232, -0.0464, -0.0122, -0.335, -9.4564, 6.694, 1.3553, -0.2369, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75f499291ccdcf29f6a4bba7a716c338257cbca8cb29ee3895149955e497ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:822ff7ce83debb19ac20865f2c3572f208ade0229a24b738020097feb3859c73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39019be4d8ce1b18d12f959a6aa53062a939129c24942c146a1b48fcfccf9f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWCC8f0l4IJ3IXbNxQgMF63G_JczZON_NXoNzLQWouWUMJ0oTNMQwaaJZBauLU_fGWDC7JtgrFZ2v7tr6SuA1Fcp0RhHGyxW25rUiPsYLruYSJAoIshBTLRZ3vjaYOr3l0_UXkZ_fBy8LISQ-7O2WZRWIrQNwbik4P9HfDAZDPgsMMMRkApt7D3Z4hbC0cKcFIaXxXrR_Gf63vhCI6D_y_3l1aXurc96KW4GiKHWiwnyMycLF2EQDN88AMysokbUaVmQHASPqoEwAf2Y1-eqreHfrVGWAdFnncc7g2Y-VJj5xD53rayBFZb5mqaFFrGfq98n4AAdB4qRu1ez9FYjva0r6UV4eQdwJ9Djf1TsdyZkA9m61FkPEyP9n7TnJnknln9oQpynbjmdv85NHpvGKjtn_fV65jT6tuLJBWo424kGI2e9nDYMBk8ZDQLJLw-jgQiBuHthbqwTRhtAqHaEdBHbsvEiZmW5YfWNsndz-IVQ_GDAK6enq9Kby_fHjgzSsEzfXjuGDMGF-R0DSO91kAddwsWgyJlYBmF9ANjfZqMUAVA4yw8IiNEqMqX-y_1Q13t3McZQVOaDQ9eFSHBZRdgeN8jUpdBSmf7DRMzpUYkWyQIyMAo-DDFjLD5gjyWwa-b6lSAjnvVyb72ieM8TZfzA4B7t9hSv_mpsJudx8RlaGC3b_0f6yrNz6RpadBX2g2dB3FA9Uy45MSN5meE6wsxYSA3Z9S_At7dqUXx0dXf078gs0U2-oMAFwUMmGMtPfGhkdmTi625Ck4hhSp2edlXcJayKDvCj3h8XZnlsCgTzms8Gr58yavbh-S4js19cewveyaERYjDXtina_ZtKOlevf5auV8_z373WtOA38tArv2igMQ9Avo5WI19_YlYLmUPdRQ4umf6QVD0WO2SBSVEGToftGr_6XzBEQ6uxYkvP2auZeo4tl5sZeWaFHGYoo3qCsRbmDU9FJ2oldGYTUMxhDUBY50jxDtn8u0Jz5QZQwnw3bIbBZAzZASZYglc9Q-Knq9tmCshif46_GL7h9Yg5qudhdl-EtHMGsC0oh7nVDfxZ4Rahg1GNK1IIfP9Heu6llD2mSi582zzxhqm1DZvt4Z15cbBK_DEzxIDJ-P0OPrBuU0yBbLz0zdHG7caraC9gNVNAz5H2LzOJ_MvSO3wM2W_7FvAfhT3VxF8sjSA-xYgYc5dkORpAsvr4zvsTeTX5P0PFCyLDDhvPYMCBDNmpDDlwxMNwanWhiGy2V1j0_Gz1GUeVnTnb2LcGTKOXkTG7B3ptPrGE0gxhy3jDGBuozI_G8eTdgKk8vdjVV3tWFrJM3riqfFKjHGoXEPNrxMLjNjy3DVACXgBApEbncDPnU7vROEqoNp1TX0cri7ZJoo96rkOQn4TGms63OFD6ryiuR5Iv7DIl8AihJUqUDuinULiqnoEVBCXx6fTpaSqcj09QStlrF4DIDW6Xj6IXYnMof_OM0UR_BQKVxwqn9-cLHrvFidkiU1D2gqeTFGza-G83saNuXwanY82lYxw0JyiGuKTXqImLyPag9T82IwgMg_w-74bgqfUgiLKmQZacJSy9wxxQQndJBIfBGqvvd1gxY0Hat83Oc_TbVbRoxNZS9R5LcjTcTX_2BVgUpR5oOIEqRvmvCfCeuc_1o3R-_oT4Ht_ZMGkL3r9igs5xJW3sWaXUqJLrAHsppxmnr0YJvPqhClpMPp_vaYd0cB9AmIhzR3UqgId6QGb90wP2ypvxnTbDh5mz67wSQyCb7bIoV8BVvM9cXCo03Mpl3sMGeXCcnAxdYGhcx8fPjju__djB3mLwzTHvspk_t8uX0ngVrx2OSDr2a0fCs0-c_daxDj2ZIZsGAgH2QmM8aG-sNnSG-mSnPiQkXiV46TWLO5A67hhX7a9O4I_PAWMhh4FriDaBkxO5bBjEXM7aZrTopwyHX_fhpQ1YX6SQeeXI9B_HSALm9mF0K4qgQWLtsnu9Qk3qX2vohWFbAGaOixhXoMKu2p9HN1Z5ygMfhbv695c_lrmOl2C6iy3UgOFL7Ch1s3D3Z18opScxX9BoGK_W5ceQm1sIU-NcXk4grrGNsrGJaVkPF61dANPzVKKFO_MX3S9HyFgnOBFbKSG31EZxRNeedZUIfLY4tHAkjXD_sRqYT0nFSQpDlhd-bCt6QbOmW5q-e49oh01jC4k8sRdPlNIp-85KUPfalank94tKl_dd8TUNfCWAi3D_-ozgb-U3jdsh0-oQJ2YfArsQwsIgJxp3DXAUJOBDDTdJp_pyfAa_q3RQNRlm2miiOBJ1DfC6TYVxcGsTTSXCab6ZdGNUSC30y7K8AXQXChwVpHAtRbLliUqSn9Fm3R0hqVitanM-BtUHfsQinPrpFVBPLAI58hRUJ2JP_fCJ_UubB1qaGaHDZD8nFfkzcNaX8ZuvLYm38l7wY2xQeHQoULxg-EOOr1ZsUwvfTPOJEp_luap4utEWxnOuFNtb4kr3ijeegBwsTDzHy8devJLZ8d0vHCGyR2mzI9w4m1nmu7A10veJb40aNwUCou16NpssVrCb0Nff3bdzTNKUNK2p3NZ1_IJg0Mr7uilo7krokwQLpHRcpUhHW4roTgWwUrzriWWb6KNO8VHkrexZMnpDMNsFhsq_-Dc44GgC2b-styWsSh-tbLO5qT2w0RycKOCQUSmHpjYZgqaHgkjQBj-x1l77jwq2ME49OvVjj39bR2bKJGLwZCwNCetDnoUkaSp7udKP_GfoQRO498wTD7qTjqr3CcFBoKuNtA3sEcBzCh7Zs1KEs9D_v-DAAR024Ut7ls1uJlVbQmZYeyW6pGf-VGSqm9n4E6G93kAZou5vse_pHIUi9-UmZcyOLRyiTBGOrCnMEjvxlR_XG5lnKAuqTOTFZTA2EbMjnXK8SY-K4s0ar8-hdrgSNkA8aryFrL5IenALrtLuQlJLDuneKK8kPDQ2npnvy4i44vj2R1kdwlbpScMM14d__6JoICET7RHtWDyPU47jn08u_GTfL51N3JA5CeGbIchES6g-uEjDg4AF_o56KFrKP1zo2srDmrEGsEDt-5Xfj7YPd2ZrmfjEzbTi39DPKAlw-IPAqmjv-IkqwlasIohihzmQUBQTTj9H67wyQQbTyRMdmG4li6yQdZ8AZ07wdhYfl-u6IZKE4XQfS69DgB3zGVxkIKYbpGAmBZC7Lg6kVu6pBRlczqIY2nluoUeSEAUAT5IjQU6iNG70n9k4MF4p57tyYi2uc_zOkmuc-WzYKH5J8SuqmnEHeQInxeF4YaXN7v9toZIQ_R-LnO2pvMGuRSGHA2tizRcESJabXZbolORJhMDt7rhU0IDnHZL5rktd_-lUX-MAhPvP0UF_Pt0ZkuE5XbaHQDxihbL7m8kU1kyDnLEpivNl-a_1cwo1T6xOjD0k8WRYzjP4oPlXxYg6zR6NNYz30ZNhf1G8RfwwjCJd6pwrKiosMZjDKok_6KKlGVgTWHZB8UtlpNSFb3fK6uNGZ-HCKJlsN5-jtqS1snQx_l--aju6O38wGyizs3pzgS9CTi2u7d61jZercFhECqBlllgnjzVKAAYZABcCeitrT1K13vse3mHm08q2pkkctcHRg3Cf09Fa80EwVKkHKfkSGQt0PqdBEU3bpiYa36JSDjXYALD6NTy2IUAT6FUO0uoWqSjh1518BXATzHsWLQuvU4kgv-_l505FI10aXD5k8uJwAqWdy_s-2pH4fs9Me8chNgzEM9zeaOAWHqloklOqgYBpbSXhSdyzAhTeWZhQkW50L7xtxx7_z_VMoLzbckF819_jpzJBSDZARIB0M8MtFSn0ojk6iQZJZWtZjY5W-w-W_i6aLFsNdbEUGv_78eORb66aympMT0Uelvx9BailLDIDgTJU_qxFum1s3tWZJnkw4pfB6kWhuRw0NYfBY4QgazT75YS48COnp-iCKGp23ygddpK2YEzuhL7s14o5ibiXiHfujBghxymFPmcDFbHGesNB3w_DVp5jMEG1cg6j9nKNslWOU9j0Is-Mv1fBVqm7XQlQNWFXSxDJGImzG7jexweA7vdE-CMWbPMq6UxxiISXTOuy-R7IyF_GwrlZsalTF_enIg1jh2ztXoXTWp4-m86rudJvnCkXovRVkyKJQ6xU2qmeAzZnGOeHEzZFQkx4jLfoaFQhF6xEB4gz1O0cWkQc5YZ8abyGjgOud49mH3Vw5C0q3w9zAYfasnF68IafkyqFMylJEVWC1qySxWvSwDABgFmongpLNgtBeRe5RRcXvzhGScACqwWpjNH",
  "id": "rs_0439d9d669bb7433016ab455780a4c87d0b60a8819d2545ca3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWCUhXKbphly5B1TtMEiq01Rz3zSLdMViLpXbiUF5L_PIOzgYsGED5T2QgRdimKZKSPDyAvI9LuACoSho6Gho5yRjZwTAOPgV1RE-wEcYOEUm2J7TgC6hMY9goHTZroi3SJBEBFj-liFKZOmXkTzoDXH-MnEsAHw4sa_nFRV49Y9B5_j_G293rHRhNnUNrFQz5DYZt5sPWaU-Fn-HzKlTo4IWCK2mJ6hFSZ9GR7BwbDujRK2Z2LJ0p_jr-XERgHn_rB0rax036CMyqHTveQ0l4Esdr9UNcWSyhXCwUiywkJCoAHGpwS9yBg2_fesgbSqs20s-WZR3btmdHORPdSVJhe_YO2vgMOEhK4nfGmk8mutl_yoCkVn4d64L4NEt2POvnI6c76C4nhyynnkUlM5ZztnsqIgpu7WRNNzYOpcg0zPkLJGDWLqUQCpultW8pqO1B2TfDBIm9acQU7bulplqC1a_k2dJtdklaqKXNyiKkws2rPnchYps5jxg0PDjkgGFQm_hlAxyr-T04A9mtiZ7YEFBtrpZ8K3IxxV4iAD51viJjZukJRjH2bj682P7H-R52RcSsA_Q4S2rmf1NRlDkVLjk4XMqNhdM4RBMlOUDsqgMHgaeaYoZ4L3TcDwmeiiXndaQMPBBbXwidh-Or6bUc67TOURdn8MkkG_JuhTiMKLQmKAyDX_52shatCjzNpltF3D-5nMvnrt8BB5VxImtTBJ88OlVkS52yB_bmbyqba92TqP-8cu1UH5cHf01ayvB1utXSJmKJRSasFLRx3rgNXCofVuI9rwxrsnBnKQsO9-_qBEDVokVjSMtbsZhJhDm4qu8CxFnRzqCI7WvkIPcco5_pwjcN4m1ze1PSJGjL1lOr1qCsfMyNITG0_9iw9WDs5nOK3BLSvhrLidLNWFwQgAE4EXUX6rIzBIVJRQKmmjBdrxylTerMPMeDY8pEZ8tSuLMzj9na-3wM_QWKfd6xtTlcBrT3ZysKkyiwaVDfDhvRAh-m4rHDONC3AKdHMedvgvo9P_hZ7BaEHCnGHA7Eu4--1AKEd2sCgT5X5LoHIOoWgGKxhxhchUl6TT9ENLGKLPOY0rF1QXkGbd5JniWxIzCuZlNJoVphvnYjoncGTiBqa9gsBFvjv_V5pSXKFM9PKBYVWTr2Qxg49VwEc83VsgvbB_N-Fzawb100GwTGOsaTG0_IhcCYpwrBQ_GadBW2AnU2Ki7jRdTD5MoUU6q1s82biGhBM894dyVQgf1ZMqHnGfXioTZxY3pjVFLQqPFL5NmzpemUPKW1ez6alqNXz7ln6nAbDN5Cq4UwccogjwKAxDjCGHDscQDxC6xUulPftVpSgWa3SZYduhj6-Vt18DqUfYdfsNEKejNaSQk4oy_g7HPFx9re3wcboF0eTshXcGkECbaPn_QYZmB7EPSZC05kxlQIrUKt5BDCRYJWlwvgXOeql0-0YCPGb6JIPZmiNRk0ANAbcs8mESoCPWZWPx4fuGI6jTS_HQIvoYDdlTZP5UvtiP8FHM_nXUesBlY6s8vwFgQJtUeThrYWprPYzu8Gy4K_fgCZ8dX944Wc0Uz9QO2SQQpdWf249T_B3UxLSJBzIaIZ91sZ7dKMAE3vanhJKIMjyVzTnoWFNsTmc9RaYwCUFf-jbUlp-vuIUgRYelufQQKtTKPd0v_jzoAR7allqk_RLpBc-rR3w15x1PT5OpbdmBseQ-w7f9jGioyLhieGO2l5xCZnULJ1cjJXYzZLDERXCOhNqLwBsBSglw6Oq-kUTceF-wvmg7qnA2_Yg-7BNFA6Y3OOHqA9kgxjA7WHqMhHfawo9JMvC84iEGFQVBg_Wo4846IhlHqFhFzbHhxasdmNdL-zlEQ-WcsD9p25jd4piAZIhF9xgoyKOJwLGRt4n6GEqZ2Rp1ujpt8DNTXUaJZ7CuODdRgxEt5ppsUSloQZ49s27hJ1mw71cTJA=",
  "id": "rs_0439d9d669bb7433016ab455804f9487d0992236f91f325a1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.165,\"left_z\":0.16,\"left_yaw\":-0.8},\"note\":\"The cap is centered and its wider opening appears to trail toward the bottom of the wrist image, while the narrow closed end is visible just ahead. I am shifting about 1.5 cm along the cap axis so the jaws pinch nearer the closed end and leave the opening exposed for assembly.\"}",
  "call_id": "call_9FAi1YAbmH2O3O30AwMgSk5D",
  "id": "fc_0439d9d669bb7433016ab45581166887d0bbd9e099b14abf41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9FAi1YAbmH2O3O30AwMgSk5D",
  "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]: [-0.1661, 1.8523, 1.4483, -0.5461, 0.4999, 0.3481, 0.9997, 0.2398, 1.792, 1.4471, -0.5716, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4532 left_y=-0.1582 left_z=0.1415 left_yaw=-0.8012 left_pitch=-0.2328 left_roll=-0.1684 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1583 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.9487, 9.7846, 1.3748, 0.2515, -0.0415, -0.0122, -0.3487, -9.3197, 6.7487, 1.2918, -0.2418, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec4579fcb63b48583a57d85381c4c69ea9a9a29d9712d337a6af680ec1b3484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a952e7bf29268c4d58ca3dc275e63f522fdd4f9c285f62d077af3a00e279e9a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8404eb5100206c1f716c698c6939f5fb8f6a9b294a4ef5350eef93d3111efb8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 4.209 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.4648, 1.2423, 0.947, -0.7719, 0.7876, 0.8188, 0.9997, 0.2398, 1.7916, 1.4487, -0.5705, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3054 left_y=0.0171 left_z=0.1776 left_yaw=-0.6234 left_pitch=-0.0959 left_roll=-0.0645 left_gripper=0.9997 right_x=0.4408 right_y=0.1812 right_z=0.1592 right_yaw=0.7799 right_pitch=-0.2647 right_roll=0.0562 right_gripper=0.0475\nstate[joint_eff]: [0.1436, -4.9162, 8.6085, 0.9841, 0.6911, 0.2564, -0.0415, -0.3214, -9.4291, 6.735, 1.4872, -0.2369, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1383, 1.7695, 1.319, -0.4675, 0.5236, 0.3744, 0.9997, 0.2398, 1.7916, 1.4483, -0.5728, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4383 left_y=-0.1465 left_z=0.1411 left_yaw=-0.8009 left_pitch=-0.1938 left_roll=-0.145 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1588 right_yaw=0.7803 right_pitch=-0.267 right_roll=0.0576 right_gripper=0.0475\nstate[joint_eff]: [-0.4308, -9.8393, 9.1556, 1.3016, 0.232, -0.0464, -0.0122, -0.335, -9.4564, 6.694, 1.3553, -0.2369, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.8523, 1.4483, -0.5461, 0.4999, 0.3481, 0.9997, 0.2398, 1.792, 1.4471, -0.5716, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4532 left_y=-0.1582 left_z=0.1415 left_yaw=-0.8012 left_pitch=-0.2328 left_roll=-0.1684 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1583 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.9487, 9.7846, 1.3748, 0.2515, -0.0415, -0.0122, -0.3487, -9.3197, 6.7487, 1.2918, -0.2418, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec4579fcb63b48583a57d85381c4c69ea9a9a29d9712d337a6af680ec1b3484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a952e7bf29268c4d58ca3dc275e63f522fdd4f9c285f62d077af3a00e279e9a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8404eb5100206c1f716c698c6939f5fb8f6a9b294a4ef5350eef93d3111efb8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWFJcGr_tpE17UlXL45-5hLWaSaQ5WeBEwW1qYS4yOIj6tV866vhagqUTa8DK0fNG03fzvedg9IA2E4Go_0nF9Oud-T5W-jqvvZnhpeEEqzGwKQB-NkoWxAgzTTmn0r5XiEk-wXvDam1_2clmbgYxfwyRCPg4m4kg62f3bZBSay73vP9iPWJNuvZuEthzDZk8LoUi5UyKDj9PLuru-Z7F2uQBQv2TkNPjUcfTt7VnNGRLrBm6-49I3OCJjqKvA2xqkUqtqtqwnGbTVb90Spf_qUWp3ZHw9VgCCZM5VP2ZU3zmB7XXL8X5yX0sbdeMH9cTSt5_1C6iEcdUesow7sc4xgX0ZzvKQ5U46F_an8R8mbn-3c_9jVxQ4pk6RCUElv40RAYUfKRProcniJyG6JP51ex0DIt53_hOdSXF5JUwc4_H3-YtOquUWSOPKvZqeQigCYOmNEnjDXHlulWnj06PqwP3Izj7BxnvCF4ojMY3o8NW1fOiwt12kGWQ5aHCaiI43V2_UsuOScwkEdENbD959KfMsKbBtfz_tt5O5MA0KYpC5NeveKrgVWJBgTdwr1lqIb77hEwIIj09JFmDnIVkLi0BHUBX0ey7VgA3ZgaWKmxMplmVIyrHkoeuOHa9fp4O2VgUNTFATDoDvGQAN6q_AOOhTNEjW-2XArOWgacbkJABSix3iK-CtRGrnMu4iNlRXNs9YTACefH8rLF6-lFB89OzdEi8QUu5fdJtJmQVM-QmyA2kNajAzMRUCSpZaINaI26OjXfjyIMxzYw41XgCiumeJ7-TRheioElkABxDoPti_MkP52H4f3yMuvzx0IXJ7HQuHzG2Vx7mLa4Kd4EVElV4vYHchVF6k1aWqJ6zCyeauZBaoF0vZA0wJu5HYoHDXbIvJJsgDXUSMRauFwipB93-xeXqycNR5C6LyIszi66pxnddnI4w7-_34BGEDEdbhn-cuD26dk5uLWTakWi_-qnD9LzRNxj26IFfXEc49sLFvyKeAZG5CypshapfKLMNtmBSJZdJbKbMiz9j3Oxx-zmj3lBq86Z63Fw_G2ida9TVHt1SAmv7DncKHR8eJwsp0JtZIkPENeldHV1XNsBxxvJQ5MoPZ1BqOZsIypiEdn26W2Ot4HOJqxrkPV0uc_-6SkePGqzZ8KH4tC_3ZUHX-jxGXljuNTgy4-MJXFrEpcWJaDM3mGf9JvyttPEEDoXEZTBa_Ot67TcLfTKVqc3B6kLjLxpKEVWNJAknKhjBNMl344OJl5qlZmFh47Lj8zukms8rHrfX1GS4KE8AOyTKHs-jYVq5sapZbxPYghMGKjo9BafTKa6NW8XmsB01bnfS1Sjip3dxetoX6XDh_6mnjKRg==",
  "id": "rs_0439d9d669bb7433016ab455840bb087d0936397e7f6460efe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.165,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_gripper\":1.0},\"note\":\"The closed end of the cap is now at the left grasp point, centered between the fingertips, with the rest of the cap trailing away from the intended pinch. I am descending vertically to table level for the grasp.\"}",
  "call_id": "call_GxWmYihM1OLqi2RUT7tCjbeY",
  "id": "fc_0439d9d669bb7433016ab455846b5887d0bbb825b860949d03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GxWmYihM1OLqi2RUT7tCjbeY",
  "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]: [-0.1757, 1.8675, 1.4754, -0.5632, 0.4965, 0.3374, 0.9997, 0.2398, 1.7924, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4552 left_y=-0.1626 left_z=0.1424 left_yaw=-0.8031 left_pitch=-0.2397 left_roll=-0.1769 left_gripper=0.9997 right_x=0.4406 right_y=0.1812 right_z=0.1584 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.3487, -10.3179, 9.6615, 1.3993, 0.2222, -0.0366, -0.0415, -0.3624, -9.0735, 6.7077, 1.3162, -0.2027, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7556182f793990b004b662164f1a765e7db726d90452d86d8025db039b7366",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39ed630a4ccbf2edbb374c929eb0db3eee3123139ff3f7a2d2887ff3f18d9f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f830f6be182ca625652d08c647164bd8e8732704aff96d4a94be8111f6e3b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.64 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1242, 1.6535, 1.1507, -0.3878, 0.5358, 0.3969, 0.9997, 0.2398, 1.7916, 1.4487, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4111 left_y=-0.1386 left_z=0.1372 left_yaw=-0.8049 left_pitch=-0.1649 left_roll=-0.1185 left_gripper=0.9997 right_x=0.4407 right_y=0.1812 right_z=0.1591 right_yaw=0.7801 right_pitch=-0.2654 right_roll=0.0566 right_gripper=0.0475\nstate[joint_eff]: [-0.2393, -8.1299, 9.812, 1.7314, 0.2418, 0.0317, -0.0415, -0.335, -9.4564, 6.6667, 1.3065, -0.2418, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.8523, 1.4483, -0.5461, 0.4999, 0.3481, 0.9997, 0.2398, 1.792, 1.4471, -0.5716, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4532 left_y=-0.1582 left_z=0.1415 left_yaw=-0.8012 left_pitch=-0.2328 left_roll=-0.1684 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1583 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.9487, 9.7846, 1.3748, 0.2515, -0.0415, -0.0122, -0.3487, -9.3197, 6.7487, 1.2918, -0.2418, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1757, 1.8675, 1.4754, -0.5632, 0.4965, 0.3374, 0.9997, 0.2398, 1.7924, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4552 left_y=-0.1626 left_z=0.1424 left_yaw=-0.8031 left_pitch=-0.2397 left_roll=-0.1769 left_gripper=0.9997 right_x=0.4406 right_y=0.1812 right_z=0.1584 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.3487, -10.3179, 9.6615, 1.3993, 0.2222, -0.0366, -0.0415, -0.3624, -9.0735, 6.7077, 1.3162, -0.2027, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7556182f793990b004b662164f1a765e7db726d90452d86d8025db039b7366",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39ed630a4ccbf2edbb374c929eb0db3eee3123139ff3f7a2d2887ff3f18d9f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f830f6be182ca625652d08c647164bd8e8732704aff96d4a94be8111f6e3b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWK7LaI979i-QWsBz41jMGoZAohqsrifM1BVrWxqcTtZloqgi1kM7dxdz40hr1qRvi1oiy4eoYRwE9ponnrVCKbIrB7CxWdXc806dUhgcKfPjo0lTh78PPA3jFglOWW7YJGT4-jCz1mj3cKKR87hwH-LSr6TQ7QkA2IVfzEeJQia8xcthzCtceEEXEmLmiwD434tCLrJt9x40jT3jixEIOgC_OV5AwGndelk-ZpoVZ2Tj0IPOndWuGWcxC-QlcuYG6tjOrbzcfibXUZ-GXuSw4gAG31gqp7icW9eEfV4sac4rMUrGb2HqGp28foNx2o9Tq8vkRTAP03ujghKe1QDw4A6VOrdhPsN0Q8IAkkzYnvVbxZNwOqnAPg7Dg2rbMTfKGAkNDSIrKxxktPrFvcspVNEo2WDSfGaDhOB3FfbaTGoLg9APNzHgYJfPt65UQWRjRLtDqII211rYT1u-SQge9ek9wYWuSFue8TS0nhTwUAxlgQdGjjwMb9SYSkIdVJMOYPRKUQDvA0iRCZ01X6bNDeLro5hXOueT2kIuVesC2Gqhg9hWDVQxiLlYUWKgXxMrq9EETofGKdjIQvudlbLomsGnK_XtHnPxaCGgmQ-yLJ1OeaqbaiRNpi3ah32DZQxEAWKgjoIsUSvlFUzah3uBs4LhrUpBP3GYORfVbUq-sUhBYwYAKhUr3F1E7mKCFmSbtY61A3scaCi6wMLm6NIUFvMdoiebENQ35tDR2VecC_eYbc5gAASfW9BoYfva6ffxWDAbgNrWbenPKPUrcXMtQzDBsagyb-S2_gWDp6OgFsVow2FF2ixuOIKUcy4Mm5GPdOLPPzsC_eH9mIyItKbLjoVxM-i_6P37vzeeadnj906POENDWWSVcDncksFmn7S56zUQ_j-55u8-ujNLKjco37hoksQzZAFhVoHddLlG9CxxtEHF7mWzu4Jchmc8kDS-PVdZAZUoOhZ1bq3xc6SJGFU94zoWRq1I1x4H9NTNuY0CkBhZzCZRZHIec2IHa5zhEYrv61l3I7duJoSWN26NI7NkDLFgBeKdd_NW7rp5OrRryXxwD0KaR51X9zB9Xlz1GpnQC1CTBBsWjG5koih8AOP0hGnxUGT8stMDgWfTi_feZmza2mlLiML3MTYlteQikzCvYxZkXNl_9Cq5rQErO8j9V6WWiokV3j2risHMEyinrZJ0Gp7WuFk3HHz7hpVUthMOZpzx9RcwoHpDHKs3kHt3aM_c2A3vz8Vsnq3TZrg0kF1zdddjXuGSDaaTdvnIjOXIQVJTRm3B_cyqXG6ScGGwVQsB9SYZDXZQbQYMg7UHWpBMyMn5ZfM10UAhpRSd0ieyfEwGF5200P4lOxY5QZnX2I9fm9ya2JfE4lRX6V0LnliwUA77hhFXMz-VV9Wfqv-S_egHU6ChAVA0BQqpzU-Jqq47_9ybC9QWyb1wtfu_t2mc5m2R9CDEs2yKYHB7TF08FJqIEFMjYlqvEwVQKtNahdrGrKEKNulmCoZBhDofkWrOZE8e8x2NtsIoa_L6rpHLAiFUvykBP3hBWS7VvRwrUaOyJGOmlyCBo4yJp3T9XB-tzwWS5py4JpiV4aDg8-FWzQPeK0OSJU80nwykwtzcenq0xRHqA5GyneM-YrdYHBnoMJrzV1MAZGY8QgbdC-PcFJu5OQCO3K-ghtw8EtHctKVUal6TRr1yAvvrwEm1ZKVIX-8hxwH8-8rAcgdtSR4BW0ULybm5RGmGcgIaKvO0ChqiGR1kABidog6LdFUBsZPKIYgZu_G4tHvUDUAnnu3SyBot-xjgnzHYlvbWZZLpvxyKwV9ZakjA1iZ-wBfLU2bcb1n-GXPRliJiBBGXVSvtS6jkoKa3fwciqQTKy_sS9XbF4pZn8R6L3zwVg0yjxvEbbBaENBAS9RSQG3iJ8G6FUrp8A7NG8Aw529ilF4O1mzmRL4Tn2Mad5tfmMTr4oXIr91r0lUasD5HXa98Fl98wyEAdnzxd9m3fKe12nZ--vJDy_NOlAlE6EyUL2s4-p3rdhE7Tdto_aGYq510fwg8YlF-jtd_0RMCiBEZLZXSi32Fft6qsNxHY1gAg5HllHAi_V1E95tHCKU8yDy0WZv4YBFp8I3VWyJD8m2opzxFWAQoRKHEQk-Ur0s8ik6WoAP5TslzE4ZAttJReQx3eZn",
  "id": "rs_0439d9d669bb7433016ab45587be0887d09a77e915edb1e97d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.163,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The arm did not descend—the readback stayed at 14 cm because it was retaining an unintended pitched/rolled posture from the earlier IK detour. I am explicitly straightening pitch and roll while commanding the same table-level grasp point.\"}",
  "call_id": "call_TiAowMFnKAgVauh9WD2ZXGRZ",
  "id": "fc_0439d9d669bb7433016ab45589bcb887d09e1bca96002ff96b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TiAowMFnKAgVauh9WD2ZXGRZ",
  "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]: [-0.1745, 2.048, 0.9314, 0.3958, 0.506, 0.3538, 0.9998, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4501 left_y=-0.1627 left_z=0.0046 left_yaw=-0.7985 left_pitch=-0.0443 left_roll=-0.0316 left_gripper=0.9998 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.1709, -7.9658, 4.2872, 0.8132, 0.1343, -0.0562, -0.0415, -0.335, -9.4701, 6.7077, 1.2723, -0.2418, -0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd0c23f806329fa564b2fb25fed3827ebf01fb18b855ce9605da977e27481e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b5faae9aaee24422efa0c637c7cc70368544ebca4c1cbdcc7fc8334f86876c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75425c95ae8dde45d33ce2a47b35c7ab7461346058add1bea3441315f3bcf451",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.567 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1383, 1.7695, 1.319, -0.4675, 0.5236, 0.3744, 0.9997, 0.2398, 1.7916, 1.4483, -0.5728, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4383 left_y=-0.1465 left_z=0.1411 left_yaw=-0.8009 left_pitch=-0.1938 left_roll=-0.145 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1588 right_yaw=0.7803 right_pitch=-0.267 right_roll=0.0576 right_gripper=0.0475\nstate[joint_eff]: [-0.4308, -9.8393, 9.1556, 1.3016, 0.232, -0.0464, -0.0122, -0.335, -9.4564, 6.694, 1.3553, -0.2369, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1757, 1.8675, 1.4754, -0.5632, 0.4965, 0.3374, 0.9997, 0.2398, 1.7924, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4552 left_y=-0.1626 left_z=0.1424 left_yaw=-0.8031 left_pitch=-0.2397 left_roll=-0.1769 left_gripper=0.9997 right_x=0.4406 right_y=0.1812 right_z=0.1584 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.3487, -10.3179, 9.6615, 1.3993, 0.2222, -0.0366, -0.0415, -0.3624, -9.0735, 6.7077, 1.3162, -0.2027, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1745, 2.048, 0.9314, 0.3958, 0.506, 0.3538, 0.9998, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4501 left_y=-0.1627 left_z=0.0046 left_yaw=-0.7985 left_pitch=-0.0443 left_roll=-0.0316 left_gripper=0.9998 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.1709, -7.9658, 4.2872, 0.8132, 0.1343, -0.0562, -0.0415, -0.335, -9.4701, 6.7077, 1.2723, -0.2418, -0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd0c23f806329fa564b2fb25fed3827ebf01fb18b855ce9605da977e27481e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b5faae9aaee24422efa0c637c7cc70368544ebca4c1cbdcc7fc8334f86876c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75425c95ae8dde45d33ce2a47b35c7ab7461346058add1bea3441315f3bcf451",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWODCNhtOmyuHqY_tGpHHUsOTNMMKAGsclFsVqiAbOInwU3EqmyxDNvWEzq3b-4b1pZ3N1VzCChH60vjTDJU_tNI1XtSlowo1aTvWgITss5J-96Qwyhnsy58S-9E-r9io3sVdTW2OGFyX1_KNz5LaeWptVN_uXvdTDJKAx9fV9ha2VKQFGtP4mUvrieCo48LDia63CQUyZbG7HHir18f1MHDN9-CWyJ-8wV4bZXugBQgQ0sglvROnN8KnNlhkuI5sRFCuYZvVlEfPjVSYmwm_ij9x5VdJoVHbJ4ent5H9m4HSQGMN6sbB1qtbD-PFrNNpIuVXHHu6SqB8fiY8Ubhh3YD6iqC0MjEQpyB7SQaoSKmRkcdNWe5tu_H4D5KIahKbo6mWjXVh_u47s3NzTmk7FZ_szGM499j5Jlsg47NmnSOUovbduS8rfrLwQPBd27co9eDtph6KIiNDiJVybtQa45RlYIny0DQK67HRvaE5VbJcHwf2jlDDbtcjcfPW-9CykXsrMX62NZqJCQRBgZkKST7B3CtLoaEMyiNkHCZegEVtTfx4-wc4nL0aYJYXm7PJbvMYhOFetyuLv4p2uJ9mxO5eFpPtCFg9i5u6mUoscmccwuTwcGfsTHMUBW8PbruELH__55_Cf9aJzWKwPKP5Bf5JRpqU8_iCtXl_fu0QrZ1uzlSj4kr2RsqpHWPY7a2RC4dyUe1PlwXLuFk3qfbr29aDtD4flpfwnOAidMKoCyxeo3uUo1jLgh_KPoPpSQhk2vD8aStInk_IicJoYFcGOOYaDNWjlVlHRmAyenpxQF7Kt0Gc3ETQC3Xlw_yrlRQkuJbqpLMu5f-re5cL3SkJBTCB4Os3MMGh5yD8yP8vP-v6AoyHTlOsgsiu8zxBUT2sGtG4wGPEtnPRZn4TY7x5FPhBg0W84Me6gxb0cgWGyO9TwFHnQWE1H18LKlq4rs5Nbjco-RS4c69z_YS6rt-7x7uS8aoFlhKJ585HDfMpqprXK4hGDia5VCRNlQnKhpo9sdNG8PkQU1F_QOffq20FrsPmr5uoUukLIRLuiDYzYgrTsX-yp1wZ-GPoAJwlTus9oD7x26yPKu58i1FcwA-k3Wp3IsqxEAONNVHmtuTwvsYIjkw1dCy5WTHTkNrqOlN4bqW2X7FIAMPYFsN8KRIiU1fNn1lXtNV1ahwrTTpEwKBCCRORea3lJN2U4hjqPMIYFDIArxp3f4VYxKw8VmmuwO-K6BHPY5Frydznckhp0K7sBZXIPRL3A155kB_nGIdKXPgGWhuuq5HOUXvVF68L4vSb4I81cL482Jb2c6HWCbykk=",
  "id": "rs_0439d9d669bb7433016ab4558d2f8087d0bca17939f05c32f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"With pitch and roll straightened, the left grasp point reached 5 mm above the table at the cap position. The cap is now hidden directly beneath the fingertips as expected, so I am closing the jaws across its closed end.\"}",
  "call_id": "call_2CPLU6inw56Bk3UJxXxW4F3L",
  "id": "fc_0439d9d669bb7433016ab4558d728487d08fb747d3e4bfe69a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2CPLU6inw56Bk3UJxXxW4F3L",
  "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]: [-0.1749, 2.0609, 0.923, 0.4335, 0.5041, 0.3489, 0.0093, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4514 left_y=-0.1628 left_z=0.0023 left_yaw=-0.7943 left_pitch=-0.0317 left_roll=-0.0251 left_gripper=0.0093 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1299, -11.0017, 5.6137, 1.16, 0.2271, 0.0464, 0.7839, -0.3214, -9.4427, 6.6667, 1.3407, -0.2271, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c710e97028a359a89d3fd30703f2e0c6822d7529eb29695e474867e18210bba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1574c3505935dcb5d729ed6ad12c09332ff0949e57f11a67d999496d39ad37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50aad0da4e2faaf0ef3ae43391f807918df5e64f7d5529ec6f491790d71fe10d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 5.02 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1661, 1.8523, 1.4483, -0.5461, 0.4999, 0.3481, 0.9997, 0.2398, 1.792, 1.4471, -0.5716, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4532 left_y=-0.1582 left_z=0.1415 left_yaw=-0.8012 left_pitch=-0.2328 left_roll=-0.1684 left_gripper=0.9997 right_x=0.4403 right_y=0.1811 right_z=0.1583 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.9487, 9.7846, 1.3748, 0.2515, -0.0415, -0.0122, -0.3487, -9.3197, 6.7487, 1.2918, -0.2418, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1745, 2.048, 0.9314, 0.3958, 0.506, 0.3538, 0.9998, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4501 left_y=-0.1627 left_z=0.0046 left_yaw=-0.7985 left_pitch=-0.0443 left_roll=-0.0316 left_gripper=0.9998 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.1709, -7.9658, 4.2872, 0.8132, 0.1343, -0.0562, -0.0415, -0.335, -9.4701, 6.7077, 1.2723, -0.2418, -0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1749, 2.0609, 0.923, 0.4335, 0.5041, 0.3489, 0.0093, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4514 left_y=-0.1628 left_z=0.0023 left_yaw=-0.7943 left_pitch=-0.0317 left_roll=-0.0251 left_gripper=0.0093 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1299, -11.0017, 5.6137, 1.16, 0.2271, 0.0464, 0.7839, -0.3214, -9.4427, 6.6667, 1.3407, -0.2271, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c710e97028a359a89d3fd30703f2e0c6822d7529eb29695e474867e18210bba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1574c3505935dcb5d729ed6ad12c09332ff0949e57f11a67d999496d39ad37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50aad0da4e2faaf0ef3ae43391f807918df5e64f7d5529ec6f491790d71fe10d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWSdqrZYwhdicDCzBLC-DpLxVgj8KRFKWrUwOILLwha_nn-w_OydAAnOJ36A8P1sg1-xayB1QqkSS07jdkktuvWFJTZzXu4n4s7sG0XQyFVgf9CwPRjPel_SeJYAWnS2tyknkLHk1Q1BY1GAQWGzuUZnA4qhPcBP5u2wkxx75CStpOnmZaOanTEtF_VPwbDH3vLmDhxv6DXThrV0SA-raKuRqeXN3LzdWxwc4e4Kq3dktbO2dOFmfLgjmOwB_fDd2CZM8J7jZ5Q9XNF7dX5inp7zHltDn31XMmtoSClr8SI6unTuZVUaXce-txD_5FdKXWnAV5QhQKm6qSloA3O5S_zbrmmMCV88ZoVEOHOMxRS6SxGdnTmih-ZkyzwXlOWTuyL2SpaammeEiItvelgU4I7-TNs2ehDkwdRSN_Ejxl_XPyEw6zf6umzZkXPqDJeeBO1AviqLXK5z55IpfNnT7JZOPMKRbx4sk6nr8tvdWA2TuD3Mjc4VzUUi3zbGG7vgm0F41px-ygQoBue8so4j7lrhjvUQf12piVGkrhca4oe_JLtAinAxAcpE-KSiNsC7tdoexapkH4d62WNjrMaJWpUE6oF3X0J0b9f01hyUBTTXsJeWOPATB4Drki8TxLZGcOWI3JJ3qTQ8Xfm1xKve-ukw-g2xPpsIzOI6iNUWn5PQhGEJ67lzpMTLUAULI1dd5WA_OuG8tR4KIkQmI3rlEGZXZ3UEpGRsS7EPlkl7SMH6857_Otjmsnt9GLbyejYorC_pEI2PzT2ZW91ZfFZDiyxL6mbDfy-FY2V5oY_qbZFFQvI4AUPY2vWCKbpJ9cDI8grnicEQ4LwsJwF7SdhUuIMtLZrZWYdT1NN-gAMfvkrNaKhgLhotcTraXHEGJwLNj07szw688k6pwPbhXRSqHSLs1ICsUp5o_y4Obc-XfBs6VLAB16VdYyZlx1gMRIAzyj3KgSaH-kOsGvQ5znQsUCMxcmtET6srPvoO9hFnFqrvSvyCXmECln5f2KC1ayhzqX5ZPgmJhYvVJ1ao_HyD-wodezMNULOnJa12y7TmXdl6n1F3hi9CPpLqGQ9iAXvlXlKUxaQYxqisgKF4baK0_t-uHWpJZK38UIuigLKidJBcJU0KFg7mbByIvL-jHWTMcHNXxZ2THmTuPSEtuSGLbr52ayNDXK5ypuhGylbOdAqlVjR7puYyVlJDoJxm9Uw-m-Zy_dUVQmuGSTJ5uuspR0210WP3lpT7JiyKqFjE-7zFzNp27JZ59Pq9f3CQvORJL38ogNOZ6ZgNOeyyjEuGHGx5gJ-h1A6kJYJBcCQmnoQ2S50hajK6LhOrwNai1klX7sCu8--YYS-Ij0L2NpBviEQ_z5yxd9DEEPW9wekqUMAUn1xiwaYlfdM7vJYcQZN5LDoBfbIJcgFsW41jZa7eTmfZCvt8BOXhTTQSJTvBksqEgF0xnkW_8uIIxx0CN0cJNeq3isRJfukhPI3DjfuUUT6Dinyc4hiNpWql41dr1atbYzKRuIh5d2eOpcfIQZwezUmrhYL8MwTyEY9loa-pR6AHOfPuhTsdFg1vdJlSSU46Yix3kPwbRPkC-9GWpRSs9gzDwdsxwuSw3jQGBOqOHp9--dx4mjBWq28RA7xqJwkTHLsqC8t49555bKoHUJlf2_LNjfBVJHNFeYXz3h33FfVXJW_QLNra1RennX-TyTG3Xn7gcQVHFlkh2cPOTT87KXjIZDpenSYe-AxjIxW-FlQolVi31HoZp34Tpzg2uzz49J6F9S4A1tq_gQysHFxmdTL9UDnj6SAXS8rKBkPiUxrxi-N1-iQiADMjRuJXjJhG2p03zIoXRiZhKG1s41_x7Ih47rx6LuX70I4tTmIGNQlp5S6t1snRT1MWpVx8mpFT7Tshp4ebqOMh7j7TM9_R5RzchgQmwDym_zDFacDSukHWA==",
  "id": "rs_0439d9d669bb7433016ab45590250c87d0b87ac5ad4bd638c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.145,\"left_z\":0.15,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The left gripper closed to 0.009, confirming an empty grasp; shifting to the apparent closed end moved past the cap. I am reopening and lifting to the earlier centered pose so I can re-measure the cap and make one corrected attempt.\"}",
  "call_id": "call_AVoIm6dMKGUipXq4JAZV7K48",
  "id": "fc_0439d9d669bb7433016ab45591e7f887d0b31d91756808a2cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AVoIm6dMKGUipXq4JAZV7K48",
  "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]: [-0.1368, 1.6676, 0.9985, -0.0399, 0.5137, 0.3714, 0.9955, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4295 left_y=-0.1431 left_z=0.1242 left_yaw=-0.7759 left_pitch=-0.0317 left_roll=-0.0143 left_gripper=0.9955 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.335, -9.7436, 9.935, 1.5458, 0.3492, 0.0708, -0.1294, -0.3487, -9.3607, 6.7077, 1.3553, -0.2173, -0.0464, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44574f862c668d1a1a23588fbc8d6729856f3d54dbffa632bf083bc53122a014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c66f46dcacfd2657173d08faf6269ed8abe88238947bb30c32b13b640f4743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1900d5b703c242fe94f8fb58138915b0c0a8d42657b07583fc2955bff1e4402",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 1.968 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1757, 1.8675, 1.4754, -0.5632, 0.4965, 0.3374, 0.9997, 0.2398, 1.7924, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4552 left_y=-0.1626 left_z=0.1424 left_yaw=-0.8031 left_pitch=-0.2397 left_roll=-0.1769 left_gripper=0.9997 right_x=0.4406 right_y=0.1812 right_z=0.1584 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.3487, -10.3179, 9.6615, 1.3993, 0.2222, -0.0366, -0.0415, -0.3624, -9.0735, 6.7077, 1.3162, -0.2027, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1749, 2.0609, 0.923, 0.4335, 0.5041, 0.3489, 0.0093, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4514 left_y=-0.1628 left_z=0.0023 left_yaw=-0.7943 left_pitch=-0.0317 left_roll=-0.0251 left_gripper=0.0093 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1299, -11.0017, 5.6137, 1.16, 0.2271, 0.0464, 0.7839, -0.3214, -9.4427, 6.6667, 1.3407, -0.2271, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1368, 1.6676, 0.9985, -0.0399, 0.5137, 0.3714, 0.9955, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4295 left_y=-0.1431 left_z=0.1242 left_yaw=-0.7759 left_pitch=-0.0317 left_roll=-0.0143 left_gripper=0.9955 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.335, -9.7436, 9.935, 1.5458, 0.3492, 0.0708, -0.1294, -0.3487, -9.3607, 6.7077, 1.3553, -0.2173, -0.0464, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44574f862c668d1a1a23588fbc8d6729856f3d54dbffa632bf083bc53122a014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c66f46dcacfd2657173d08faf6269ed8abe88238947bb30c32b13b640f4743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1900d5b703c242fe94f8fb58138915b0c0a8d42657b07583fc2955bff1e4402",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWYFGNxJuMwg5g-k5mWJNAbW2Qd--rEz_ZoNs0cF4zbuWxG1_tQHV2QCS5VLJb7IDRZp-00XBnDIMwoFvoY8deQ8sPmq6PxH_XGyozuvY0gRNv-A-K8TM2oO4zFkoCE7ikgZBexnyANAJYR4ihZPD58dgA9E9XlKlOXoJpmG47Cg2uW_RsbiDT79KRzysFPw5zc0rSBg0oVWWDxsYpil5umaerHsFm8T_P7Kfco_Ow_OuzBnWliIy9Ios8PLOn4fVCjYpsrBGThM0oQSSO9q5NlCdJ2TWfyzuLOpcshnPZAkCwn_mAxhyr5W3Yl6yPfVsTP1EFnRwtiU1RnEwxoaXNP3-vl1LoW8mPoX1RduZ1A2_uymtYEubIEdbOFeEErkLuwfLhOEu0Tuh7dzwQGIjOSAzC1XZh4tNcWrsTefrC-irs_dxIqo20LCeEowwuxRQtVS9q3mufWUWUWgmrkH-QM6GDR9FF-sHVWRBXubDgPIJBAS1jGyvYsehvDCXismbEHFJMVDnqL6snQheUNdxpjD3UGKlpQjCSlEEYJ7IxETp5U5alUrbIN8TOxFpd7wmPbwwGe6msd7__HrFE6HxAy8fPoFlLa0MkUNi0WIwGvn3rj8VUL2RrC0TzhgeCvoeBVxIuTkFrkapO6UO0NtqOn4xEKxGeOa4mTZfCpPqokFk8zPhLx5uBlHXQFSvR6ju3k83i0ZsfJYUX_cPcS0Ln4bqz0L6JrMJFDD5eVi4ObIq9tl1IpGVwIHCl1x41MkrcO0FQhtBPr0eucTA0EOg5-OtsPFzS8_fZhygrr5HUL59I4LhfAPM2wKPATMcnUos70dk5wkL2oqw3Hf5gH-B4zlY5C8j7OFSVgzKSuZnteMW1B4k92LKDjVl09y0s22QxhadfgyrPfOdckS8y-_Au5mAtv66qF_vQToKLbryG9T4Dj-D_yuJ56I-bvSsf2y1nsVstA-T6tTDBwbnaAruDDKdrxgeuJEV-KCt92A236HC7IWzvEuZLnZWVwba65PUcpsBbQab_uvLXmE-Wz8zUlrZyVoJcNDHTDoS5JkQkV08XRZFVoAwa80yyY4hdWBwUOvyCGudv0iZQqDhjDCS_V0YeZnOp6WaWhBQ9dRy_CY9sP8kOq0z06fDn_SqjNNwzvLtl7p9LdqDD2D8xxpO2SKJ7mFo2Dm0T-gHOf_baYNeh2B39yi0BOqsd3LMSdg5QORnvFBWSEd8Vtp9fFM5E5OjntT10Ce5_OkQU9l679KdYsh85wYz1Dn4vnDX4EBV9R8j9klHXyRCCskFOqdE65xHZWPEXWuoS5Af3SIRfVCi91ccc2fDBivx7KKUugT--I5POuePR7rE6lqW4tcDBQH-SUaqV2ClGn0SFv4XikzQs9zoL37I1QsPg2bKM5jPyYsDS3aluHGpcj7EHJRkWFfjCt4cx0ouH49kW3j2Gjw-P1NhTAh_dzzXSlfsODYkJhuV3NrFAeG8mbHJTSK2Rh-1qDu12TDKvQsfAwq49J0J5vdSF5jQDBZVqIbWcxl-NynRt-FxloIWf3aoEvryBZ113s699f5hQ3Q-uYBwHItZbF25xAJr1ZeT5Eso4HK_zbrFeJ2SGIY3_gM9uDKawTNdb6-QlD93vW9wn8m-mBgy3HrlDGJMQSW4gmZMzTlIdEc5YH-vtVpsWc4-6NQolBGDbGMnR6JgzQMaXx7OOMFhKzFC-ntTJsAh58z8WN2baSBUSjIpPbdPhyS_sHFJMZ4pDA59tV5TTy5x8Qq0hkm3qJjQhbn8XvN7NXEb7-4saXBHRCmVC9CNxH_N-eTWr-Wojo9J2g2DZ9bjcBVNMHj1pbKZZbadE3-YbOWKXErG3kK0PjuJ7m3LtLFfJHS_qqbuBzwN6_LDcWaL29ldJpBjy9xunSOcAuhchIW3eOhkhffIlNFUGsO2T5Xugvlncx3ZgsdXxBK3HvoB3EjRHzYmtyXT81rAfW_g1fD0E3GrV1aFQMSqNR9bLNNoPwi1gOJ9B4Lkijumw7-HDlqYufSX5cOgLSm1VvZOymUCVkk9bA7xRuH8FITMYB9bimnEL0pZpMBeMCf6V4Fv0KdEgbl7xKIfB7ZrDr_OZ_VWkYOlz6j7KTEe_JqA08hw56UTDQxhxmfP4s9zUVsBBkkJwFwdi4jPPTFC-mqdY1znfO2PlH_RgJxZI5b6GFsdX4QS3nvgjq0ZC8EZwg46QpsYkn6jCB17WWhVGEsSgcCbRZHEYwNSPyINwcyRUKracxQi4a1aEjF-rQjkQoU4vGzeZXTVbmlkfTyFGNeNtfu5gU3wf_eQSxjMttcV-olNqZgoq62zAGL_AdL6uK4U8yxo60RAM=",
  "id": "rs_0439d9d669bb7433016ab45594ce1887d08a9d0d63d71cf4e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.143,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"At the restored pose the cap is clearly centered on the jaw column and spans the jaw convergence row; the failed grasp point was about two centimetres beyond it. I am descending at this exact centered position for the corrected attempt.\"}",
  "call_id": "call_YqSBotWj2xklkTAV2YxnOKDl",
  "id": "fc_0439d9d669bb7433016ab45597a32c87d08eda7b353e3db762",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YqSBotWj2xklkTAV2YxnOKDl",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1287, 1.99, 0.8024, 0.4767, 0.5297, 0.3847, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4288 left_y=-0.1419 left_z=0.0033 left_yaw=-0.7875 left_pitch=-0.0269 left_roll=-0.0128 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [0.4034, -7.5966, 3.7675, 1.2772, 0.2027, 0.022, -0.1587, -0.294, -9.2376, 6.8991, 1.2869, -0.2515, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23da5460ec17e0e729ce69da1f444f9eaede1f97a4be6f5a10b23a82f1d506a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c2d2d48e02d391a36d242fcf29fea13e4844e21472c60631fb971963b437e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1a8e7db39036fb34329391830d7f6077e8e391d8aab31e264066e69e7c299f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.845 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1745, 2.048, 0.9314, 0.3958, 0.506, 0.3538, 0.9998, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4501 left_y=-0.1627 left_z=0.0046 left_yaw=-0.7985 left_pitch=-0.0443 left_roll=-0.0316 left_gripper=0.9998 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.1709, -7.9658, 4.2872, 0.8132, 0.1343, -0.0562, -0.0415, -0.335, -9.4701, 6.7077, 1.2723, -0.2418, -0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1368, 1.6676, 0.9985, -0.0399, 0.5137, 0.3714, 0.9955, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4295 left_y=-0.1431 left_z=0.1242 left_yaw=-0.7759 left_pitch=-0.0317 left_roll=-0.0143 left_gripper=0.9955 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.335, -9.7436, 9.935, 1.5458, 0.3492, 0.0708, -0.1294, -0.3487, -9.3607, 6.7077, 1.3553, -0.2173, -0.0464, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1287, 1.99, 0.8024, 0.4767, 0.5297, 0.3847, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4288 left_y=-0.1419 left_z=0.0033 left_yaw=-0.7875 left_pitch=-0.0269 left_roll=-0.0128 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [0.4034, -7.5966, 3.7675, 1.2772, 0.2027, 0.022, -0.1587, -0.294, -9.2376, 6.8991, 1.2869, -0.2515, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23da5460ec17e0e729ce69da1f444f9eaede1f97a4be6f5a10b23a82f1d506a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c2d2d48e02d391a36d242fcf29fea13e4844e21472c60631fb971963b437e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1a8e7db39036fb34329391830d7f6077e8e391d8aab31e264066e69e7c299f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWbChQLIc07Y-kBcJEvfLQRygPpZ8vd8yNLGEsolcGFPec78iW2uyBJxdpKl1j4tIFPQOYyK9tIfQ3XMIlLsUmgNChF7STvPlrulYBwpHV4iOtPMgzqK3LVtBbUTD7qUhpB3a4Nk8_Fk1oxuQehFnrk3NtyVN3BOjulMBLMCD0lnL-QzmefRDsljkz00e-AzvcUAWu_uhAQwCVTzi_u2tRGHIHyPKnLk8Oe790RkPipACXXCZylM8Yg19gxNGE27ySsfGTEzt09BEmyLx9pWunpECHZeAwHgsF_wDk4Jfoy54lDHFUuoG7-2ew27CHc_A0pfRbm9NtkTqUGVQeGIKojqUhIXdzAVRWxvN-SKjOc1yChUMPGz-IDJKV8DS4wjIY7TRjhkCUTmj5HQy641jC-9Oboc49wU6XOj7ayTCtUc3fbBG4YZWbCRZneWFozoUiNI4VWSS3XLej96ZqK418Ibgg-3u4HUDRtjlI5tsxbYhQ3DKgUsfqb54oOVQYFFYD4mF1aZ71NxUVBSd3cv2MkKj5ivAYwMZjMpoyKRTi4DaR2NwrPbdnxLZ8jOCtYeKEDVOSoPI4DYpNGGhPcR7Dnfwpnbll7T80oFLUVlN5f1ToNLkOGvRxqFiN2bmeqShm-6f0wqVo-IphpW8VJzv5iD3_G2gRyMTFxWnx18aAt-Am5nBfdBh4Z0U_povl_7mVyPyu4dW4_nCH9zkQZSyV04ty0s_YOS16AiIIev4pT6WXdu_P4wbNk31IW5SRS0sJ2bq-Gu7JJSGmNvEqj2KzOv4rbIhpnYiP6bwH1J8bsIka41nDXzyBT94mch_QQ8Ptl27zSL3IKsS19Fb4eRW-jezTnDplmYGlj1VaQMHU3cgSkoMjHX3V6YuF6YrTqRYF7Ju3cwjjRzZs4C4YlN8clQsPzwmkPmnOK3AR-y5i0SXvEomRCqa2B1XiZtiNUXJPDl0tsUxSTMF2HF8LFGeoThYpym08wZygTCm1naV04TnKWmrkq1xBhBHxARYLxbJyDlPKo6-VIpXgOVwjTqLHlI5V2BNmLTAqFGDz8qa69TYNrmJ-7c_HyU2iMeC0_nxy3mUD_pdAuc8T3yXicKNj9Rk-gg9kH9JkRZIQdkyHn315kr_BP4QsyUMhtb-aoJa0yALvgV7sPt5TwRkLwi-q7nwF7G9XVcR9kYZjjISK-gWw025sEWBNqoUERP-rk_QSmsN0bjTllBeUH_zS8YwcPxt7dknINBHQLc0verTrwX7_IGJAl7HKnkZemzoNAhzBntIKcr6U8NjHkkdC6degY5g3JWq1jRvaWF2jwZ354TSOYSBR-FqVCapt-TMRb7so_-M0tGRstcCO_pxvQU5iKkA==",
  "id": "rs_0439d9d669bb7433016ab4559a7b5087d098e22d6eab21b22c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level the cap lies centrally between the left fingertips, unlike the first attempt where it had disappeared past the jaws. I am closing now across the cap.\"}",
  "call_id": "call_d3cdPskLcnRQB9fkIfjgp6VB",
  "id": "fc_0439d9d669bb7433016ab4559acba487d096c2fd92b006c768",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d3cdPskLcnRQB9fkIfjgp6VB",
  "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]: [-0.1291, 1.9911, 0.8017, 0.5171, 0.5323, 0.3798, 0.0111, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4338 left_y=-0.1431 left_z=0.0097 left_yaw=-0.787 left_pitch=0.0046 left_roll=0.0053 left_gripper=0.0111 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1026, -8.6769, 5.1761, 1.2039, 0.1832, 0.0855, 0.4127, -0.2803, -9.2923, 6.6667, 1.3504, -0.2369, -0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd79750dbeb0066e27c6f13e839503c833dffc35abb6a788a9576a184ddbb843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5d3e079e7468fd063064cfc58f8172507239a02dc5ca01a94dfb2001ad19e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bf144b4cca94d9c3c47fed674032c193cad4d8b37c4980583386cfec65d9c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 8.031 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1749, 2.0609, 0.923, 0.4335, 0.5041, 0.3489, 0.0093, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4514 left_y=-0.1628 left_z=0.0023 left_yaw=-0.7943 left_pitch=-0.0317 left_roll=-0.0251 left_gripper=0.0093 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1299, -11.0017, 5.6137, 1.16, 0.2271, 0.0464, 0.7839, -0.3214, -9.4427, 6.6667, 1.3407, -0.2271, -0.0269, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1287, 1.99, 0.8024, 0.4767, 0.5297, 0.3847, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4288 left_y=-0.1419 left_z=0.0033 left_yaw=-0.7875 left_pitch=-0.0269 left_roll=-0.0128 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [0.4034, -7.5966, 3.7675, 1.2772, 0.2027, 0.022, -0.1587, -0.294, -9.2376, 6.8991, 1.2869, -0.2515, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1291, 1.9911, 0.8017, 0.5171, 0.5323, 0.3798, 0.0111, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4338 left_y=-0.1431 left_z=0.0097 left_yaw=-0.787 left_pitch=0.0046 left_roll=0.0053 left_gripper=0.0111 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1026, -8.6769, 5.1761, 1.2039, 0.1832, 0.0855, 0.4127, -0.2803, -9.2923, 6.6667, 1.3504, -0.2369, -0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd79750dbeb0066e27c6f13e839503c833dffc35abb6a788a9576a184ddbb843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5d3e079e7468fd063064cfc58f8172507239a02dc5ca01a94dfb2001ad19e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bf144b4cca94d9c3c47fed674032c193cad4d8b37c4980583386cfec65d9c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWjuBT15bbJdITfki0cLO_LkyQTE0xGXXzWw97U1rmz3gDfKT3_L0WyBUBza9J8HiZqm4TjE5HjDkoprmzlaOMB4aiK6hcq_h27DATgqD_izAofdvEfAdPMEgi4h2sH2UYgRSlEoUAd3QtSge3ky27rh_Idf-y_BNlQGungtqDkWJWpnzLXuCQjNoYXK8sp5NiU7sQKVfrnjlfBdmT7ARQACkvx7QtQZc-dtP-vXJn0i6K_ZCxLFfRFvD3J9XeTtfzUgEQMB68aqaVGpg-Ck0JIYS_PRAr824jls9O0zmRaP0-U9Ju_-VeZUFrISsEuRxQ9OPG64U4_Q3GyeHN7OCQkB18Fz3iCydZkTTJsRI6jnhdpCRxxcm6g0dBJeMyjoWJ8m_mxZEJ1zVRRTgVSPNPpzxKTFJHcmmWLZC9XWn-p11aR9tftpRNg4tAC6or18Ndhjxao3WZqA7q_bVIc2FHmRxwwTqEop7Mfk_JAQIomuIwOcoAW-pOpklYJNoO5heyEskksk50SNhV4GMnCQ7mY0YlClUUVD4AdTg11kaJ5gzKjUdnuwAdDDXAQK9dDYDCuEh-JS5f-nJCpFQzc07uxJ2PQABgFRJU0J2jkLi9k4h7c9deNMOwx5YcfklrYO0_hDmEQDjibJqNNkxBICPCMcqAAPMdHTFaJdnmdcFI873lQ-4EQbfhZ5EhogEcU-E08N-_LIrDiu7RZcnYVizda6u0CEoxV9qOfkXIwELsE9Dw3NKk-QZGMEvetWyTIzBpdSKl2L3eXJZ9eoG7mew7gYYgV43XVK9fVRTEtETCTB0Tce-ZEqDSv4JnC2A7H4HyDfRyEEWyTWJjdm_zq3vdvsV4ka760XyyB1XF1warpynaSTUSrn03mthbzxLHm5pUSsMeElMekZ2kYPgdlf4oxs8VDCRwHdGTVnffz9Mr0mrXoRjfYCkGNgyR0WYAshCi69eTL2mm5ofbvthLd-95bLJx3iZEbRCzahuZJsMsmg5sx_VFhU7BslQX6hag0hMCczvEYd5pzHwIRgSrXVuB9vCMVZ0CgaOAj5J5SIxcXjaADdtYKSaR92nUO513P1iuFsaYBN7U3taGKAJ1VVL0SHfvA59lCBuDJsHFYbhtSGsv5xB85ehDv_IEH1ZqJ4shitjHgtYpLyqREWNDJYvwVKIYEnXaGusY49Qre3pOihQMojfXSGMvZu2wuy0yGdsBDSS9oDddeM9BOKeQ3XFtU2qc5YwcW39pgrosLnzuGK0MmCw1p5s-nDDDp97kz0T-N6RUrPE6fk4ssJuOBxwWhKIweDiX0bBk2CItqcXiyD8wzjAvN7fqQOO1b3Hx9M8FB1XGd0QPUsxWpOMynKgS-MTbNReUB9sk99BWD7N74V7M27gMD42O1fk6juowSnDGzLPV51zIDC-TPKhqVV-CrU8YxWu3p_8QExwgCYeV2OnbMixgPxiet3Dt4G5h_W9IGOx6uCejxqwRn5NwRA1qy1kSVWVi0aHuDaOokTu9skSQdw94C2s8r_Q9a6cEPa_q7Ha_s3MM9dbr-7JEGKGcUgM3MBNjdhV6tBrPYyHgdh1gJx8jtES-9UOWaF3DqWa8m_3QtktMAjWovmgmAnk1Lm-dA37IUlIgs3H9OnZvlGQgS9j3Jpo3bjVK3E7_RGNTjbmQg9gq68sTrgzMsApCvg1yD4toDB3_0-6Qjhzw0vHtRopJGUsGBj5nNQFbt2HKvIIHudZbZLBZSQGdh9f-VxqKqGrmDoBQguFO-x769dmd-NOjFJk1knIknCzZ9CfWJgdGwfLTT4r5NczCIFCs3S-acVO53Lg0oiYtn42CATlccKSqnPuZHPC_6z50MW3P-lxWENsBuU9NhkMSgrFjbSp9iKgyPnwY-vMjyxWfv9By_xFzdnKoo1nF0H9ho3E6HoPTIcJFzKnfDrgk7Qc24-2PS_yJVlebxTLRjLl1dwneUEr38hajyCIj49237GeFLPMKBvU446aS3z422wDf01fpTka9-zo-CpBR7DT5JKcWD73n3X2fKQg8Ds9TqY68ey41fJyHpAhAHWgP4SiUllhPkD206daSwmwjWmn-hFYBrKjM31lqPRKcC6oxLn5yQJ5h0_oXcx9W6pjKETaxAPj3ihFtJODVexchG756G4JwXXFW78RVm-SRuM_GN4GzogJCbY653uBEmroY25BtybDC6-TYylDqB9nfLPWG5CVL3c9npodcBY1yEjJV_JtpFw4FTarqrQ-suU9Gt1VYRjWtCnvgucuEItIuS42OnXEtvdylH1kkYn71zdBvr5oy43vh59DX4gFrk8aNtdlAcbZYLEUwSe_UKqDuWCZAm-Ze1J3AsbWbP0BsDmLaMi7WsMAxqP9_tD9j8H4e7oNnZNVR7mYoUBajGpN_9Qpo8nnRGoNEWOlPa9Ye3Bdsl3mxSOoT5FpKtJv76233ORuXCz14fBRzvePXGXEJ3Wwqz2c1mFK1X0ACSJL6vCvf12fhaAqHhpdK0Px7Kkm7ce0Dpdl0J9xHHA1c7CxF1XyF6Swl7clxDeXJZ2-ZhyIavP8qvYJ-PZy1sIQ1MHF7z4AZOUg74m9ZN9N81Rt-DLl9QhMezF4AFF-z3E1A59IT4TrU3b6oPgk6zQwzW220eovFqZAhp3UtsQTZaDUEwGXD2rupIZdX1zMZaiIb5esc_N7uzUW6K_GY3m8StbCr-7kfU7EhToWcI41NywdfBiRoHrAwbe72G5Dt5DBQMNEZHmO3SGwrSpvSK1JUO58dkET81ZP8Z5M5zvusk1rfVFRyFXj0HQUMhs2UvfxJX4bvusTtNrTDJYkkGX5kkE9OVlXh5Tz0wrJQFb_MX9HFq5AMPloFaXb4F6p3wbafGRDDBmMrdZODEEf0L1atKDYmQ7S5xhT2cfjZl4qlHNpKOZyIeWTygJZrSFDj2g7TmQb_rgyfFtc0FllKH5UzCvsVU1uZcFbhcS3Q735GZC-gwxAglI0nMQbinDOCkLXLlqZhAvsXkITGLxHw3jJN1pIuNHTrjV4Rm9wZTnq2QEfK60gmtwXIeu7IH3OLjiMjP9hYwV6AZiYqN0MqMHtKEPY87e0yYVH0OLjpa7bYK8lYv_wY6mEWY_N165O6SdYP7JsEuRrIWBsiOkXOcrOgQXdJjpMKFKYonopAoFBBECiwzfGw_eF0srTMG358AFrrSa6etlZ_5Wz-q02q-_CIeuNge_O4lNTZ6ePzq25K8db3U5odP7JmDhK4A3d8oJicGeVFu3XKyFGRkb-8jYYqTvFx6yPr18LQzvr3uHdRjvjIPCfsFycKQ7IW57ZeeA7pJDhUAeDBJtKYoEQlR8cGH784xyIHvd5RJAhkHPMlCBzTI6Nl3-wMFnpcSCkc4Zk2VBjvlsa1nd40ZwWfl0bTreYz2C4IqsaUUc7ShzZEqMJZmwTA17D9HdRyDBhPAOIqI7IFsQkNFARb96nhp8li_xXfY37QEskTB4oYDxLJURs4ORP-wSWtj-qgxeXsQCQmoVnrvy016O_CG54QFDBs_khuKKsv7EkdhPcZfL97ZTc-iMN1XDrpk5_0usW7EGiqcKYUse5tz9PITEW64DfEzmV22gxmn8LKfLXkz8gneOWSdEXDAWzl1LIF77kiQWSgGi94bUm9_733VD0ITABb4mBO529cso-rBOBA823mig0G5GsMZBa99yUoHzJ0i2gghOiG3VY_WJ-zW-ce75p_UgDWnOIlg6asUmaalQbP-MswxEsOHDsWEEHVFyVgVEAaX8icyCP7ZGMTKEOAJt8hGtdyh0l4NygZVjq-xvqKYBrUWoWhLzvc=",
  "id": "rs_0439d9d669bb7433016ab4559d922087d0971afdc06c8ad969",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.14,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The full close again read empty, and the cap vanished forward rather than staying between the jaws—consistent with a small rounded cap being squeezed out at full force. I am opening and moving slightly back and up to relocate it; the next grasp will stop near the cap’s diameter instead of fully closing.\"}",
  "call_id": "call_IWpPLl6ysgbxzajVOkKWrRSG",
  "id": "fc_0439d9d669bb7433016ab455a1edd087d081856ed3359d669b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IWpPLl6ysgbxzajVOkKWrRSG",
  "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]: [-0.065, 1.5654, 0.8612, -0.0196, 0.5655, 0.4252, 0.9952, 0.2398, 1.7927, 1.4471, -0.5694, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4017 left_y=-0.1174 left_z=0.1181 left_yaw=-0.7733 left_pitch=-0.0222 left_roll=-0.0057 left_gripper=0.9952 right_x=0.4408 right_y=0.1812 right_z=0.1583 right_yaw=0.7802 right_pitch=-0.266 right_roll=0.057 right_gripper=0.0475\nstate[joint_eff]: [0.4308, -8.6359, 9.3197, 1.6142, 0.3785, 0.0757, -0.0513, -0.2393, -9.4427, 6.8718, 1.4042, -0.1929, -0.0659, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410a7fae99058386d8d311d6b7889e35acb66f6bda7b27c640de01661ce957b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11115a3d8dc64781b3fd1930a8d9cc2ee15267c85207f1b396f95d0836e3d521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266088368b50fa97b237a0ec757eefce54d16829a23e594ee825ea8ed059e4f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.549 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1368, 1.6676, 0.9985, -0.0399, 0.5137, 0.3714, 0.9955, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4295 left_y=-0.1431 left_z=0.1242 left_yaw=-0.7759 left_pitch=-0.0317 left_roll=-0.0143 left_gripper=0.9955 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.335, -9.7436, 9.935, 1.5458, 0.3492, 0.0708, -0.1294, -0.3487, -9.3607, 6.7077, 1.3553, -0.2173, -0.0464, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1291, 1.9911, 0.8017, 0.5171, 0.5323, 0.3798, 0.0111, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4338 left_y=-0.1431 left_z=0.0097 left_yaw=-0.787 left_pitch=0.0046 left_roll=0.0053 left_gripper=0.0111 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1026, -8.6769, 5.1761, 1.2039, 0.1832, 0.0855, 0.4127, -0.2803, -9.2923, 6.6667, 1.3504, -0.2369, -0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.065, 1.5654, 0.8612, -0.0196, 0.5655, 0.4252, 0.9952, 0.2398, 1.7927, 1.4471, -0.5694, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4017 left_y=-0.1174 left_z=0.1181 left_yaw=-0.7733 left_pitch=-0.0222 left_roll=-0.0057 left_gripper=0.9952 right_x=0.4408 right_y=0.1812 right_z=0.1583 right_yaw=0.7802 right_pitch=-0.266 right_roll=0.057 right_gripper=0.0475\nstate[joint_eff]: [0.4308, -8.6359, 9.3197, 1.6142, 0.3785, 0.0757, -0.0513, -0.2393, -9.4427, 6.8718, 1.4042, -0.1929, -0.0659, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410a7fae99058386d8d311d6b7889e35acb66f6bda7b27c640de01661ce957b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11115a3d8dc64781b3fd1930a8d9cc2ee15267c85207f1b396f95d0836e3d521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266088368b50fa97b237a0ec757eefce54d16829a23e594ee825ea8ed059e4f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0439d9d669bb7433016ab455a5c6ec87d088b72cdcdf9558c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.14,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The cap is visible again near the lower center of the overhead view; the hard close ejected it several centimetres toward the left-arm base. In the wrist view it is down-right, so I am moving back radially to recenter it while retaining the correct cross-cap yaw.\"}",
  "call_id": "call_RUVIwjHCErDcNarKuq1kU3fW",
  "id": "fc_0439d9d669bb7433016ab455aa889887d080bda57a2df036f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RUVIwjHCErDcNarKuq1kU3fW",
  "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]: [-0.1417, 1.4128, 0.7639, -0.0761, 0.5377, 0.3901, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.36 left_y=-0.1391 left_z=0.1255 left_yaw=-0.8098 left_pitch=-0.0348 left_roll=-0.0212 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0205, -6.7487, 6.8171, 1.7949, 0.2125, -0.0855, -0.1538, -0.2256, -9.1692, 7.0359, 1.3993, -0.2418, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b32b2b9076ff9d7257533724c20ef6eb42af1c830ca8e00d8428ab056f28151c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9131c458b467bb141edaeb6f28a370361e36d3beea40c60621e7250c4d3d9c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1f62d7044c0b133e700946f2de78dbacbe7fb2680d817586d5c22993c130fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.221 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1287, 1.99, 0.8024, 0.4767, 0.5297, 0.3847, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4288 left_y=-0.1419 left_z=0.0033 left_yaw=-0.7875 left_pitch=-0.0269 left_roll=-0.0128 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [0.4034, -7.5966, 3.7675, 1.2772, 0.2027, 0.022, -0.1587, -0.294, -9.2376, 6.8991, 1.2869, -0.2515, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.065, 1.5654, 0.8612, -0.0196, 0.5655, 0.4252, 0.9952, 0.2398, 1.7927, 1.4471, -0.5694, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4017 left_y=-0.1174 left_z=0.1181 left_yaw=-0.7733 left_pitch=-0.0222 left_roll=-0.0057 left_gripper=0.9952 right_x=0.4408 right_y=0.1812 right_z=0.1583 right_yaw=0.7802 right_pitch=-0.266 right_roll=0.057 right_gripper=0.0475\nstate[joint_eff]: [0.4308, -8.6359, 9.3197, 1.6142, 0.3785, 0.0757, -0.0513, -0.2393, -9.4427, 6.8718, 1.4042, -0.1929, -0.0659, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1417, 1.4128, 0.7639, -0.0761, 0.5377, 0.3901, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.36 left_y=-0.1391 left_z=0.1255 left_yaw=-0.8098 left_pitch=-0.0348 left_roll=-0.0212 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0205, -6.7487, 6.8171, 1.7949, 0.2125, -0.0855, -0.1538, -0.2256, -9.1692, 7.0359, 1.3993, -0.2418, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b32b2b9076ff9d7257533724c20ef6eb42af1c830ca8e00d8428ab056f28151c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9131c458b467bb141edaeb6f28a370361e36d3beea40c60621e7250c4d3d9c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1f62d7044c0b133e700946f2de78dbacbe7fb2680d817586d5c22993c130fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWwXfCF1-R0pMktRphVX99NtzHnX2BRAE3tU9veeZEbnTEYPXcU8n5mQ2-FLuHRBaOyeZk_PTk8agOziaXWPZYw9exH7KrZhtlMXNQdeduWmytnd8sgKupLqXHxhPBaNAFqfZQrOpMzzfWN0Swel_syQgtulrH_Rv9l-zi71u2_wFnc3Cmla5KJbsQ1DAEOI1ROrvWzFmuim2iXz3DIWC7kKh_hEPseWv3ZPOXh0gR6WygTa6JCw11gci65lSdaTifghae_R2HPzkKbItBeAcUHZsnLP587B73MASesc0ETy-a9tuPcaWffrGWVB-eUUJD1c9E97PuxR3sdjx12wTxUdaUODDj80wSh6y4nNu5OYGDoEBdEbHOlpXvrvYtBm8o9b7if4weQ57hNcNSTzww4dFldRZpEnoLh_hTE0z7uBCdGCKMyklEOpwLNXTwJgMfiHeG4MbNE8uJXUQgmAq-G_F_BAS2vDr1KY6q7Yuli4191jmRoaBZk2qM3LdWXI3DWx1Lo0sYrRemGOzdCOe2yXQA-gbp2iCnDAndO-O69NnrDp8-500ivzxZllpQmLsF1Cz3p9lbWhPvKtbUCBPpD2D7MuVyfz99iD9O3k4vfJRvs3dc8OgaMyOsfNqTqSh6dSWZQL_k7YaXtZBZS1c-ltWKNymNaOLdDwMGIShIEvTl1__Oc5kJ-xFSdL0XT55meclR0kUECeJfgpjWt-8YPIZPOoM2hzO7M1O-UK7x9HjXAz1L9Zp7DVkoX_xb7uc-7uEumfiqOapbpKIKl-nFgC4HBtbhPF_Py6XpotvOl4gBONL_RLnvv4dxS4C69AHRQcR5EjVY-rcHCIAgLgobbleIYz2ThIUGNVKrCrjEQnjNZiJpzOM70EsLRMtNT8QkKx_XMjBMuJYsiFMrXTJKf6Hy91LWgKhOOq4N5oV312-9qjAtDhiW9nj-6JFEJKN-pRT04Y8amgsdKsa4pA6mr5dekZAHBVGRmAXu_oIIdg8CGByxCpRI7Tk4KPV7X7EbLYHm_Bne4iA5qJPKvulpQl5oWUGptdoWz9410BLU07fi9kFr-eJ0bkMSV0S3INL3sIm4i57S3Z5sX3pk9P3F3VcVqoc5XYMAeJfoIg8BnbX512xI6dXYZfYLYXr7M6G6PeQCb1ZcWlTyKckIRfpLYGMHtmEqyRlpfDjhXw3guKP4OXcDjdDzOXQkNTQcfMSdVshi7v3ECtg1SOjrrDuz7e5bK9XQf4Y6lV8itGqI-tTbdPMu2d1dAyLqySfq3xBCMWoyKOKNyFdAmwT8QUjDlIobt7HPFPlkogm9D787wJH64TqFUEK-k1VAEeBCoNrshgSqvY1OIQum9PHWrHQmN0SKIDD52QercNou1-v6Uj8Np2nyYKvq99almuW7gQcnqiQLSvVnQURIGcg_aqdo0GG2ceueB-G8wFqhO5bf05IkKAsRTp-v1PDaWfuHK-3a_Cig3mMUduIXoCYh31qhD1m2pPC6jFQe4yP5DOfgCS6SyIpKmeAEs1ifkOs2XJk3cW1G1uq2LdznyEnws1Z3PuBPSkKr4yHBlfAT60SSJ9Fj7fgQUU3NRdwqsGV9ycAlrMhMFrndf50Cc4xKyz327XZgRsFJXRh15meRh8-R2GgdWvT6S1EjUdpW5BsAyD5ldZcTBdpZ5qe98XJQ_vPymS9wm3PaaSDAKpCSEqtL9ViRLrfkiSDxAjkPAE9rDJWcx",
  "id": "rs_0439d9d669bb7433016ab455ae0f7087d09abfbceb463a1a31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.14,\"left_yaw\":-0.8},\"note\":\"The cap is now at the jaw convergence row but about 1–2 cm to the right of the jaw column. I am making a small diagonal correction in the rotated wrist frame to center it precisely before the gentle grasp.\"}",
  "call_id": "call_cJvPNHKtNvxany0ZXEGnxgTn",
  "id": "fc_0439d9d669bb7433016ab455af2fbc87d084f46cd2ed70eef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cJvPNHKtNvxany0ZXEGnxgTn",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1505, 1.3827, 0.7612, -0.0788, 0.5274, 0.3748, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3581 left_y=-0.1406 left_z=0.1341 left_yaw=-0.802 left_pitch=-0.0194 left_roll=-0.0133 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0615, -6.3385, 6.5026, 1.6728, 0.1245, -0.0806, -0.1538, -0.3487, -9.2103, 6.7214, 1.3797, -0.2515, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2e99822f52cb27501f457c7b5e25e3a4cf227dbdb12755f82e6e5c28a78a07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7309aa26862c87e944913b38ee7d1e7b30c9f159e8f19598ddf027df558cef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad0e9ddf5680b46cec92bbd4198282bc20244468ddf8c86d1199be40271bffd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.089 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1291, 1.9911, 0.8017, 0.5171, 0.5323, 0.3798, 0.0111, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4338 left_y=-0.1431 left_z=0.0097 left_yaw=-0.787 left_pitch=0.0046 left_roll=0.0053 left_gripper=0.0111 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [-0.1026, -8.6769, 5.1761, 1.2039, 0.1832, 0.0855, 0.4127, -0.2803, -9.2923, 6.6667, 1.3504, -0.2369, -0.0366, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1417, 1.4128, 0.7639, -0.0761, 0.5377, 0.3901, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.36 left_y=-0.1391 left_z=0.1255 left_yaw=-0.8098 left_pitch=-0.0348 left_roll=-0.0212 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0205, -6.7487, 6.8171, 1.7949, 0.2125, -0.0855, -0.1538, -0.2256, -9.1692, 7.0359, 1.3993, -0.2418, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1505, 1.3827, 0.7612, -0.0788, 0.5274, 0.3748, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3581 left_y=-0.1406 left_z=0.1341 left_yaw=-0.802 left_pitch=-0.0194 left_roll=-0.0133 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0615, -6.3385, 6.5026, 1.6728, 0.1245, -0.0806, -0.1538, -0.3487, -9.2103, 6.7214, 1.3797, -0.2515, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2e99822f52cb27501f457c7b5e25e3a4cf227dbdb12755f82e6e5c28a78a07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7309aa26862c87e944913b38ee7d1e7b30c9f159e8f19598ddf027df558cef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad0e9ddf5680b46cec92bbd4198282bc20244468ddf8c86d1199be40271bffd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWzLpCpZJC9NV6tX5E6bHnr6n3siyFF7UOvsDjdNxd5kzmbYPankzWqboe9PTuC03gtj08AO7SiAXVN3r1sDvRhWzGx3KlHfkmfXD4aGVRxNwsU4pa8uaJSdgpxP0xUk9TtLj5lZDGbIITAcJz3-1nNRD-mUVmAuaz4FcaRg55iamrclFlnn9ENnc-01mfWqkXdrhmIzckHLMVxaNc3QKC4yumqCWQzrpaE1Y5TMmDiPgVXA7qtTBcM6lSwDYM0S6eTEBGA7urAzFTMAr-H-YGcQ6fqOM1z6P4mnWvmQiBt4FbvWI7qFXsQ9QfK-znufFtc0KLZT3lw_stPb_uJ6eOd4yCmszqLTPM3i31YAtjssFD_jc5k3x67CafLaSArGmG7gztnUirrJPnZtDGvBMXa2aTwT6PQYEvQ4j5SlNVuA6Jh31EkOIDARQekMhNsXaHyBxtksxPQR5Lu8smRIwP5MWRDzF4pC73owRp66HTsFDZ3ZXsFX7dp7lRtJgW3x7CGZybFKGBYGBHP015kY0ca9VbALqinpPoX0c6qwiHC0KvrIZ5gVbVpzz5MOK-LDNNTdrRwzvEmIQru7PCyz_EGUPj5kBs3CwfEYcgy6u6VqL021cMjHvbQy495pyB08I-xX80mvNvPTQfntCy3xZBB-tGR7QUbmItuWgLSlg6U6UhXq4Ft0XwlbanmVZ0zEaTMSkZ9SWVvmG4VRfgEMq3r3L--hETN1dQTfNgTnzEZ3IdxNFoMGhNd4CkSlTk3IkSkoKrvQaYQsbnp6o_BqGmDL4j-cBt8Q-2XhCy2fNdFei6cMqg-yxwQTfKdnUW9HU0sHaFaPxy5Cxt_kL4LZVzoPXz0Xk2Rq5BgLx5d2qx5tAaMr-8a8K50VWAt52B7E4U-xEWndYFGcq-oMM9KsBs2zYW-S4dP_uigFdfB7UPJqq6Rp-owRuS3lJdYBToR1JILGcInTwgQJ6WbB_dUtDbjUAI1NmYE-gpXn9vLhBw2Ar69KCsKg-Ma9mlvb8tka0d4rm2mPEqaSRp7x71cvZ9ZyecOhJmbh5_tOJWNb9Im4QpX56h3Nw4N21VtnFcCkZQj-lAfEU6Gc--0BQ4bODM_l20w78HS7qFnySTBdD9Af5rNB-eL5WOYWii8_Wy5Zj4UkmvtUuaJ_djuhV3dRpwO9Tump2OCv8qR5rg0ETTcpRH7HWGhd-HaqppCX4dKLrPtqXHJYRvEY2wZxvNIQB0FJkksHLgzE0r2Iw9w6ALzCmdOpyQhvN3jHruji0iNloNlUvJRc4PibUq_zhzjdAwUXel92_HUcKwYZoLbnGuaUiGG_BsVMonIy0to4Y0nXuYUJNFAH1aVoW3T7qlHni3bYhdxcVJVkOGw4hREvqDl-brQ2Fpf95xNc-EJcOprhuRA6Yr-r_mX0IHz-_hjUdvbRKuNw1Z8_jvt2QwHmP6IVhNgPVT3vtlslMtGHUjijZvBmhvQo6zLad9Oj2REtjN0IsSOFFlkITF24-u6OTLeIKEU5NKxOuSBinpxmEhr20jolnTtNBF5fvOgoYBoRsBiN4_bREQ7YCei8cd_xyQxPAS2q52SmqKC7FVwbgMX2mGx4VqM8DdY1vgS4kdhxBY5EeoSysCnD7U1AMil1wcFpQZu-xawrV6aGXEe8_QGSc9L9HqzFeGLMpafmVJYY06YrABMg1AY8fOgBlcI9BgFRSrbfEKuPJQZUTMImbC--W5e8icUSYlw2A-Lw6IZd5OX1Q==",
  "id": "rs_0439d9d669bb7433016ab455b153bc87d0ba9bf5873aa19d14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.165,\"left_z\":0.14,\"left_yaw\":-0.8},\"note\":\"The one-step nudge barely moved the readback, so the cap remains right of center. I am making a slightly larger correction along the same diagonal to put the jaw column directly over it.\"}",
  "call_id": "call_L47ICbi1yU0EcN1kwVWnn4nu",
  "id": "fc_0439d9d669bb7433016ab455b28a1487d0b595bb1655d8d8fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L47ICbi1yU0EcN1kwVWnn4nu",
  "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]: [-0.197, 1.3712, 0.7612, -0.1253, 0.4927, 0.3408, 0.9985, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3475 left_y=-0.1509 left_z=0.1283 left_yaw=-0.8041 left_pitch=-0.0614 left_roll=-0.0433 left_gripper=0.9985 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0342, -7.2137, 7.2684, 1.536, 0.1294, -0.0269, -0.022, -0.3214, -9.1419, 6.8171, 1.3407, -0.2027, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa5d33e6253b79579034f17ac8a0a7bafe8527842acc204b4a90fdccac7d1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42680b7e4156c5a2e3a60b2a0d13ffd493ce983861e6b0c8481bec4138c9647c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1d2caf81c7940a08db8ac1c38ec9134101c84339bbdf4d5f9402ef1b0f09b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 10.85 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.065, 1.5654, 0.8612, -0.0196, 0.5655, 0.4252, 0.9952, 0.2398, 1.7927, 1.4471, -0.5694, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.4017 left_y=-0.1174 left_z=0.1181 left_yaw=-0.7733 left_pitch=-0.0222 left_roll=-0.0057 left_gripper=0.9952 right_x=0.4408 right_y=0.1812 right_z=0.1583 right_yaw=0.7802 right_pitch=-0.266 right_roll=0.057 right_gripper=0.0475\nstate[joint_eff]: [0.4308, -8.6359, 9.3197, 1.6142, 0.3785, 0.0757, -0.0513, -0.2393, -9.4427, 6.8718, 1.4042, -0.1929, -0.0659, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1505, 1.3827, 0.7612, -0.0788, 0.5274, 0.3748, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3581 left_y=-0.1406 left_z=0.1341 left_yaw=-0.802 left_pitch=-0.0194 left_roll=-0.0133 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0615, -6.3385, 6.5026, 1.6728, 0.1245, -0.0806, -0.1538, -0.3487, -9.2103, 6.7214, 1.3797, -0.2515, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.3712, 0.7612, -0.1253, 0.4927, 0.3408, 0.9985, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3475 left_y=-0.1509 left_z=0.1283 left_yaw=-0.8041 left_pitch=-0.0614 left_roll=-0.0433 left_gripper=0.9985 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0342, -7.2137, 7.2684, 1.536, 0.1294, -0.0269, -0.022, -0.3214, -9.1419, 6.8171, 1.3407, -0.2027, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa5d33e6253b79579034f17ac8a0a7bafe8527842acc204b4a90fdccac7d1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42680b7e4156c5a2e3a60b2a0d13ffd493ce983861e6b0c8481bec4138c9647c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1d2caf81c7940a08db8ac1c38ec9134101c84339bbdf4d5f9402ef1b0f09b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFW1_zFou2pTajslcvgbOR7ZoZikgdEyGGlUnn693MpQuPBoa_lMPbpn8WkaJo94GWcZFrRep8dntQuigkfYETYhPkLG_ZdnpOTlLJIW9teunPIHOmExoxFJqxxcY6Blv_o_zBf_WAvpCq645CgvvsTz-5LzbVh-J1Cdvpdd3jKSolFT7x2ldBpfJJFx1JMWdpiU0roKa0A2KLob4RPGql-YbYzRDSN59QVP60LG0Sjdn8mk-d3UF8j4zG16rGKvlfH91n6p3gvj343nqvjBKSoIpC99GAorKEls6eFKGWf06Pb-4OnOAIO34gU0z62deEb9bjMjmOQOGDdzjISk-_XPZVoCcvcotDjRnax8RN8azvk-ULEb8iLAUS7qcECtehYnmG9Y0-QCvOblOij0hJqW4-V8hbMQ621GCWSQWoTaoNv-2Z19SAQNhDz3ro2ZWdaso_DwR87KsqndJxVkzyj-td1MFZgx37a8IFPsbKl8WI8ukizX5By_ffneBmPjJO1W2NugllY_IH1pb2rqoksvuHZVmu2DHNNc3gpJ6tIi60qmVZbbqzOwEac1aEHWceQfj75NcsoDg8oQxHFj2jlYS6uvOCvllzhvxZ-fRVSKT52LzwOAX1IYRxpzsfnM1WkdXqMafUz57Ngh_HJsoIglWoKBGb2lo_Kh4xm94mrH3b1FUfioWbvj21X-ZFc0MCEd2sytKB0NA_m14aqm-nraQ4X05Vb8ms1r1walTjBrGA_wr0Wig71B3pSTZitLSUgMpnRrj5NujHisPq9crBu2nGku6xiOcASADWaMVHzKNIO_gDnEKCKBKDmHRx7RyMW2xxDAxHFT3-b8QaLVxq1VU_UfBXIloaiRZ1GhgZIHqS9ftF27BCZm7drsFLMo4QmYoNL26IBksCRD6r3phRswxe99qujI03f3ekOm7fabGth53-1lt7XMWpcuKfSQQQOafMmKsDmioERsEnF-XW_nPRL7Qbdp5rMWzIqgXn8CgGKs-0ogb-klZnj_CB9IwbgEM24PQW5HKTWrHpo06LBnVjxROIxJ8SGlfZCInEPLT1FKrewsNJfUQ5Jxt4jTMEFygPRIA1Ja3AINlRbxeC-1pwmgV98PzK7Ku-yr3-xMJfM20jJhzD3Jg2_U3U3Jl9yf9yub9u3NL5Q174_GgwF30rJpgY513AhLI9zWt8PpfQwTTKbqj9lh6ujYbbEVRotpM5MTNsaJfFAzqbV5tqJzkb1Lsjsn0Ts_GFlGziv3CrKXWtdVvoVeLhgcUS_451T4sJD-8pGZC8bhUm5YaTdhlN3Hr10JR4jAbOAtSliXawE=",
  "id": "rs_0439d9d669bb7433016ab455b48d4887d0b694f63beb0cde14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.151,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The displaced cap is now precisely centered at the jaw convergence row. I am descending straight down at this corrected location, explicitly keeping the tool vertical.\"}",
  "call_id": "call_417Cb4PpP3XtUm5QY5603R1g",
  "id": "fc_0439d9d669bb7433016ab455b4d50887d09aaa4712b465ff3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_417Cb4PpP3XtUm5QY5603R1g",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.4418, 0.672, 0.0231, 0.4965, 0.3408, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3463 left_y=-0.1513 left_z=0.0934 left_yaw=-0.8074 left_pitch=-0.0694 left_roll=-0.052 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.2667, -0.212, 2.9333, 0.7497, 0.0855, -0.0659, -0.1538, -0.294, -9.4701, 6.6803, 1.3358, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a0f3800436425db87bb5045ec67613347be8f201d7006c6f454225254b7013",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70847c0e887ac8dda962f524183e267d88192a9f33a2b4e0dd85a099ce46dae2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8163308979e567c7d9bdaffa342ed7784ed93a39643514a33a6584826c373700",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.348 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1417, 1.4128, 0.7639, -0.0761, 0.5377, 0.3901, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.36 left_y=-0.1391 left_z=0.1255 left_yaw=-0.8098 left_pitch=-0.0348 left_roll=-0.0212 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0205, -6.7487, 6.8171, 1.7949, 0.2125, -0.0855, -0.1538, -0.2256, -9.1692, 7.0359, 1.3993, -0.2418, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.3712, 0.7612, -0.1253, 0.4927, 0.3408, 0.9985, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3475 left_y=-0.1509 left_z=0.1283 left_yaw=-0.8041 left_pitch=-0.0614 left_roll=-0.0433 left_gripper=0.9985 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0342, -7.2137, 7.2684, 1.536, 0.1294, -0.0269, -0.022, -0.3214, -9.1419, 6.8171, 1.3407, -0.2027, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.4418, 0.672, 0.0231, 0.4965, 0.3408, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3463 left_y=-0.1513 left_z=0.0934 left_yaw=-0.8074 left_pitch=-0.0694 left_roll=-0.052 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.2667, -0.212, 2.9333, 0.7497, 0.0855, -0.0659, -0.1538, -0.294, -9.4701, 6.6803, 1.3358, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a0f3800436425db87bb5045ec67613347be8f201d7006c6f454225254b7013",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70847c0e887ac8dda962f524183e267d88192a9f33a2b4e0dd85a099ce46dae2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8163308979e567c7d9bdaffa342ed7784ed93a39643514a33a6584826c373700",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXBvydyz_XllWBqXuCW97hxiUDWnynBuskdp4zkxxbMpYSNlj5pr2CrB-IoBc5WEiQW4ZaGxNeYEFVj18CcTvMs9RRBQbEQZnL84faJQ_gSlP9yXOeSm0B_jFwCuM9lgpwBVuniOrMWUrEm9OS8PLQuIdzZWPUwPupaMgOK8WrKL0KVvSHKzdPFZmDxOGH0GHOlZubQuMsX_3pKyQCe6gDX1JAo_e0q87Juc6YCxfl2jEXyu9B_UNEoZoF1L9naAN9UauPmfvF_9CFhCLU4gNpuCt6X9Nl-m68Dn-C4jraeNhL212Ki1n_kjpCJ1cQhoEk6L6QdRXtTncVjT6c7JL-kljTp-Fpyw66iBGRtbksS0Qu_Tz-L5zeEWQnmlC-M98TVpp2z_E5k7dWsKNQW8QMbsKA1glkeYEicQcq7mx8NkoMWsofBO2jwrfdKDm73bSr4S_xjCEviXlOs1k-OJ5YIGdrY1mAv-DXg01eGf5cKJpmGW6ChafHZ08-nGNXkXF9sAXIjI0ApOqAJWgdgTC6IIQLCvRmwbNW167Z7ZwvI7glZtqK32ejyHsMHDlhFWHUVfhwdh6nkc-ZyNQKshM7fyRiCIwu9l7D4OwWe_gafKjPkLDg6ts0GXVv-SFlN7B0PdKZVRwsAI4B8rPrIhePPglPoyVGED6XKd_2gI3LRoS4afbvCq6fLHxt4IjAutxkdPQopOcawiDWoApAnBEopqQCmA8SQY4fOojDxgZAzkIPHwuOxJr1iT-qfLN5POx7hCgfpcXdKw-V477WUX4Lv1gxpzU-si4lUo9qZSwbElT3sC2ZWHsL2Qbx8q8ONkw-pHdBtt-Palv3mrsEKLlqptTBqPj6fMNOl9-jyNRu4mSoE2UHCGMgl8zrKW1fCfDT-Fumlx-yFZV-EW4IGvaq-W9yh7G13h0DTPXW1YVqlwpiyuUPI8GNTrQHqIFI1n_0nFX5vRdBQSNfAyuxIjFPTHCXKq15HY_xE48WUPgTR4a2KYC2qWlu8FHSp0Wr2ntWGPzqIF03nVq5UgcPKZC9YF2C_yOERsBqGWt4xJyNHXV0kFUH4PRFc5erCOLo0bODkmgkLc8BOGYQ6eeBaeYnFl1YeW46DqONlCZ4lpKFru_crSf9HNnUMLNCq1unkkWo5MbNdTrAfsPx-V5bOPJsNSbh2LZBratsE34VhH4gIks-8Iq9XUfNLX-0G2RwREQ9IbGG3Pf1s0AkN9-Umb3q_ZqBFQyzI7AMLtAQ8u6J53f15ogqYjBwQ30SwQvZG-6Ru0MSb6uoW-A8BFBg7DN42gQvfb0c3mSV9gf5AiImjkLSiufoitq8LRsfiL3XjFEbkewGnWGW_GKiSg77ZnzlHSFAMsIAu1NtPHcqWxYBNKjsCk3i7qXXopgB7pAJHzCBvx1sKORyXZPUOWuQcdZyqxAm_FAzziTLdMhbACOzcan5ci3CzGjIUVCZng-DWDZkcnu8U0TZ0zwPSilChRbQbbY46pkNkKTPhVqUPdwd8YqhJXJj6vAeyz9QY8uLFNT1FVboG05CScWto0waRAvJt6vwgo5mR0TofIn0tXSSUKsQ9kyOVmtMY83NMl1Ofb1JdyfqL9RoscCyHiYxbhSEZ1o-EZUH6k5zhs-jFfHIwuOpAQGd0T8aWX4R8i-2AVBMMvjZ4SmfBgPUiOtcWrHyb-qjiFi4-il8H0xRKS0gRGqepZw10X525cwOrOynkHMlBhh-S6uaSaoUbJq7OeHUwDComsL6aqXTZ15-AAxqgRaWBIDqnH8zO5dH3-bwlKrrFlnyN9t4xVCiHQXlaNru9P5GLGbAKZK4-0w5yI3QwQfIDMbvyW3QgtEU1yca9aKKlLg5NsSzd20_5kwc9uBrmtDPCKOCP47xuAqAoIqLSClRXn-aunHmWfLhcGhK3ak8oiaCs_AVWIgbJD9GA5CvurdAbRjwRhXkkMhYeNlm_mJbpbnFRCopNe_pNFZbP_7ucK5FKW6XJOaKBArJrQibhpQgNcPPvaYkAZqSpzzrCRpEH207tY7W7J69KphvC85utMAH7JZ54fOCmSwodLFfW8Jovmli6nf9Bubl9LDIttTWGNjRv3P1OUnIfcm-qmgY6984UVDslyp4jr6PSwrRI0fuX6mrOZcf9orxCLye_VqpBUPKONhj0UdZ0c4VMvNllaPdbwxSuFH4RNxLMOxEr2qG207W8ijwCGHALNi3C3ub2NYZwo5N-MSrPCBlm-gd9t6KhFi5qgX9bynoy9grLy3dEG9WOz2bsHTez0zvfSSQS9tZFvIb_9u711C0gF5bT_C5twnh9m3oXxh1t1DxiDGSRVC-8aXvUiSACamNq0IpMvnnF-3UxeH4Ji8q4iGdkNkW3f-FgXIngCm9JCaDMDpBB3tZk6UsQQreKvyhG-EwbVkVHzKll-NEgIv-oGO_5sz3wJVI1lZSGwGoNe4qOYL8rpxo2K_Koew0eGMxzKp3dm1hKbRDqI7C0jVdSH74FKyPHDTUZjc1DG4-ENi-tW70d2vXVgpTpd5nBDzerIvPKRCHYowr6gOAMvargK6xjRoYt0tf-CLbxzKlhO3JuOi1Qe2jnA9s3TMLUHq252c56zz2psynnqz6FydCHD0fT2nkQUyYQVpSYjyCfZkL-UOJ13jg4L0Xxeat_TVkR5j8X09dGA1q1Xlo3MGPXWp7-be0AKrPYyJGW3EbADMhiNF7zjmcZllRe2QyZ2dQPmeh4KU7bm1bowkMKE2JVSrZbzgUfdbeMfzolJm44B9vbQzriNLxegh0Gnb2mxVBjaJDiaVG9iWDoTH9cL-TgO6fBNIOa1Zb0WabYysXTWsCNlqAlDxxebHNKuAzk1c4VKv_xLewGneQaMCMXuiSy8IbbdyDLIKnGObF2_4mdfzCs2EVlz9HJ0SP__vFWbxTHKjKrwgVnKiVm3Sw2IXr9yBJOKFcbO3wytIihXXUNzDhaQJwutOdoHCtIlKJG6oqF-p1_munQ6S_kmu0uXUKICzPQ-7aXVac60s4AQxX1376XDJX3r6_7_aG67jr2XOXYW3n8kWWhvUVHvOFa44bBn7xa_ywHZaeGzVRBRoQBwRi5JjQ8Xkreq-oHyMEppOcv763YvbQzUuhFenu3BMlMK4bp35eaKuAorTRETcULdnRFEoqoyJ69IEfm5SpuZGUM0pRdbWbOoW8sKVzpjbtOoMgbucdNZMjKqpViDcIK9PLypZvVcF_oxGEendDKN7vH9QGVsbzjO3hoYs1B-Yl6gHHBClC7bZpsWSnghKAlnQhhaggWOKJktH5tHAzm4gH5wYJLfDyWzW0Z_bEoIZS7f1PTYZbhrQiiZTT9ecM67PwScc-QNRRZ6IAGnHbFm-hH0WmNdX8K2Ef4IdiKwy2wgGk82KWIrUhzetGajdRBiYQ1_Bi9jEQorZoTA0QmT2XfuBKPlLuwNfdl9Pg6RCgYVgVcOPTxgg4EF17N97ilBNOGn758CM6ZOS1Q2kanDAPbxwlWq0DpuEBYyM50RjWawzX29JlyKsbX_ntcr5XYRSlD0zKpDIXWMkazkkOe1M5jckBywhlwJrqcR4O2clCF6qnaoUPAkwctvGt_i_6qElgHdAYzQVUincS0p_3eRdgE6pa7g1O-oHebFM27ctABazDPf7WrtO7N3BHY0-SL-xW6TGlV41Ie6PG3z6dacRy0dAbD4TZyCUMHuoDBlmFYWRd59IQ9jYGgwd7GPYCROT3jWxLrok-SeuetGp2PyFW5YNNWBi0R20w4aog_dfgyCtmmL7YdxpkUMAOf-yk2B43OwrzzAmEoIiFBMf9LjFaOXdIOyBdivOOE3_nXPPM6DBpZguhAtLuub8MU0pnft7ShHts09bzfa_SqbNYmefliTg5IXGr5yeBwMKU5n_pA-SkCPAqSEYmBg4oqQ8W6w_XfBrW4_eZJteePi8Mg9BQBZBWVfF9FuPOxq928Y9B3rXFM6OWX_P7tDXYpvWPPw29HSmh3kX_7saKTt_Crdd_Es7Wvxyn3dYjVVwTQq6y7XW5I_COvfEJ1Pzlp7DUudMn2X4eICtHysML1u7jbvX2m5LQxbNA8SxSkUGgmw2BTtNEm7tyEyQYa0tW9xzbwXz8jsL_hIyXdUTDBQuVn7BJERigd-UTDd25G0Ud3DvlzgYrqS_4-_cCrMznUPCEHj7TAtOeSvqUzUgcfuDAhG83aJTI=",
  "id": "rs_0439d9d669bb7433016ab455b7a83887d0b44cb78951279394",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXBjVRvvUhLirNb2B6OE49M-PkxT7rF3SSmrrBalps0KtDOrtdOC0f-8YmIxUnnL-566JsQAReV9Lh-tFaPwzUfolTT2zEU-k-8EA1OJ3Nei6kkGO3FZ-b-WLetlbx1x-0K3RD3vb03K1zg7phkU38cwvnVO06lhuBQvNS8_OPTsheaZ-a5e3gFh-kLChQWBrEp2IM0qL-hKHVIfGZ7oeQ1ViQNP3BfkoNkZSnLFCRoEG4_0B7h4s287FaIv84eDti2XAWw6CrC124UBlopfD6yP1qNQLgSZsZ52Cv-CSN-h0TdO4B0b5uQSfdsi9lkyL_pTyVtwg-SFaYNBl9pqtkXGvzqse-0ot_x6Y2h-PKUY571V5Ffo5YtI2ZiqOOeSI7XAndWtd4PO5JisjUZzm4zF0aEvLHw4G0JuhnogZFGJHsmGncxIJ4haeySzWpk0Frkh9LQU47DHwxmuGjQQKG4Secyc-Z2q0rnBXxB7X4aY_cl9wlUmXugyUtIOF3FQp-zToZm_9gbrVal3EbT6XUWRPsUps0TXXB_M8OCMGS53HMrhu1lZMuf246CWTLNkpo0OXy7klP4ICttDdkRCp2yMINEmpymMvlLhH2aS_MKVL6bGm71CVDR_78XWkQLWArQ-Lb9fErpKryaNgbEegbfTYLlYQ63RzD9rueNfmtrfsRUIKqwsBKHA-brUc6swYrxoiIHHqE4NinxTUpO_HPNPKJYBSyGkckA1-_tk2wxOHh_-fTivb3qjR6SeRCwxSFnpjm_AT9SnM7qSJ4SGHZZi1oi3ZgjObPmUlHLGpb7XAlUpeqOC7dZuQBlEVK3nm_iE13bGcdMM3C_p4Nyxzo6LiETvit4JAWbZZaG1w0KbNo6bmgWJPVRptzYEaubrjIwEXDbrRYsYqk6VpYOknwbLQae3VU7Ftu7_GKvtgEzDcOo1321JQG8FOY-pyp2-KrDRqpCtDCVzlo_2VnxsKEo_7bFKw8Z3G_owzRvC2kocKkbnx8f4IbiEmF7NsgZNb4dRdiK1IV2e6nxfgACE-uqelnDUswoXUfvdTq-D-xYLgP3xBEw1BVXvb2WbU4y4JCWfZYONAZM_2-kaHUxaOELZvTPeOOiYBIy5rBa8ua_HdX8aoqWtrNyfY2plKyy8J7Zr04aofT3WDg1rF6Cd8UPDCWBBz9hkzTINzh5x6mOuL1MR20nP7BEWGk_xmVgvk-GyksJOAa4bnywmNMul5KXVyx2Gcuzq-Q4nuM5yMuYG-VkduBgYGylDS3S5WVERMYlGL78YZOOvKqtbauj-nOKoWjXL_v4nI9fPstOEmIhfWC56OWa2ABqeNowCPC_7L7DHZ92Vyo-9Oc24SLbYOp5SSJmLe8jo3DpIIOpUrBa0PWcse23QVXKGceRwAXWvg6-dAu_eNKhcOTRmI1XcqQSVvAGszteAHNCEWpC8nGVPavSkU4m-NoZoNyjXibJUeEEGkqgrYe20PXoyfyrW3rFkr_oFB8Nd3iu-zQsSpuJD9-AWvbeQSUIerav9wzq_PtA5yugAGsdVwgngdaWAIWChhHnMx0j_oMiWsSjkysUlMnle3FFe_rvUyEUIDK8snUBdWjjlLBaKaP1l5CmXG2lYgT2dzOaG94XOPrJQItd6y-DRemh_Hh7EsCylkaEmegko__J19lgfbgNoVd5UrTJ_pLUWVfuNpohkgAoHx7YfhnBjkpDpc7C2o7krhtGzWm7jrxjaG_FdDSpv1vXBli23nJHcm9dgWXvxubyDYetIyqTgdP9SPcppv0Bo7WrBXLPRgRay565i_1G-VfEMpZzMKgn4mzEBXlsFW0c9sY__GEkBTK2e2gRoNEvQFHrZgyhLShQML6dIs4iW-3B5xoOINHNEstP0yGAHuGDgtZ3nhmDM_p3mmrp8FsX7OsyUqP0fhpZNKcpc2xVie-5ZHamu8pIkT_N-0WdnqMcEdJP3VOavCEHu0lAZcgYtOe3YS1796Mm-W59OAsZDpNM4HyxKG-uCnRLb8DtCfYyYoeOzSqO7PxziZ8QDsQAnPjHilx4COIufRHKOc8rVekVNatwfs_5P8_MKjSnWpiZjLFmD-UEwCfS9sp0qNfddK9ryhhcaCaDG7ycXAUetgqmStZ8bnQQpV4-3zxV-Es3m04I7oZF_ynii3OkGRSG8qmEc2_khMKpZaA4ES0EKcBlNpSi7po1PIzw_hP0XHPL9APJUpwINWjJFWDY88Sqr0GeqPJSNrOtGEA7xMzWHpiK5QInzTkULOCX1hw7vHhFJv6TvndFQ7lq9ZMbhaCz0oHgcGUWZdqiWYRApRzXkYYaIEIN0aww0Y1QqoRacS7ldDRDH-8GSFoo-CKzPNA1DND0no25c-8JRJJNnGWFbuiiLhFeyc-kvW3AixZ9fwZW1ZZdiVkhIVPv4UDCWcGqtnUJ16pu6Frv1wNj-VJPgjVFJCKyIyhFew-XvYFSBK0r7qZM3CuQaoGkqkw_7aXZEe_464vlpLo9L4M1-pkkD9Jg4nbvbkiV179WvwHtUPcm9rfh7XDOtZru47FDSvlO_vmoLZIuK0ppIuuMgJCB2mk2EMXDDW_RBC1H47oKTDn8z6NuV6x4YpqgGN9OH53zkY0fuAEq9av4iBqpl2IU7OI1fygrGgR0ZmrTktcVIEbUuM2uc2hhq0iR4SVIt9sFEd7hYejS",
  "id": "rs_0439d9d669bb7433016ab455bcb48c87d085b4bb4bd134004d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.151,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The descent stopped at 9 cm without reaching table level, likely in an awkward local arm posture rather than at the small cap. I am changing the radial target slightly inward to let the IK unfold and continue the descent instead of repeating the stalled command.\"}",
  "call_id": "call_10S5SJclVl27KvpuL7zzyJQR",
  "id": "fc_0439d9d669bb7433016ab455bfd0f087d09477d135b4e361dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_10S5SJclVl27KvpuL7zzyJQR",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1989, 1.7676, 0.4313, 0.6289, 0.4828, 0.3428, 0.9986, 0.2398, 1.7947, 1.4471, -0.5716, -0.3943, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3366 left_y=-0.1479 left_z=-0.0005 left_yaw=-0.7984 left_pitch=-0.0422 left_roll=-0.0205 left_gripper=0.9986 right_x=0.4404 right_y=0.1812 right_z=0.1571 right_yaw=0.7808 right_pitch=-0.2695 right_roll=0.0598 right_gripper=0.0475\nstate[joint_eff]: [-0.8, -5.5179, 3.0974, 0.6911, 0.1832, -0.1197, -0.1538, -0.335, -9.5932, 6.6667, 1.3065, -0.2076, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee331b1f3265065a4d0d5d90b256a3bb5a1b9a4eb7306c06a6a262513d7ab972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f310c56412a77ee775812cd222b026a9c789a847b34c1245093ad6d51ad8640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5d0e8a6ac89edb36c4bd53edccc17654bcbb2f0c79da9bdb5c1655922ca1c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.781 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1505, 1.3827, 0.7612, -0.0788, 0.5274, 0.3748, 0.9986, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3581 left_y=-0.1406 left_z=0.1341 left_yaw=-0.802 left_pitch=-0.0194 left_roll=-0.0133 left_gripper=0.9986 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0615, -6.3385, 6.5026, 1.6728, 0.1245, -0.0806, -0.1538, -0.3487, -9.2103, 6.7214, 1.3797, -0.2515, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.4418, 0.672, 0.0231, 0.4965, 0.3408, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3463 left_y=-0.1513 left_z=0.0934 left_yaw=-0.8074 left_pitch=-0.0694 left_roll=-0.052 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.2667, -0.212, 2.9333, 0.7497, 0.0855, -0.0659, -0.1538, -0.294, -9.4701, 6.6803, 1.3358, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1989, 1.7676, 0.4313, 0.6289, 0.4828, 0.3428, 0.9986, 0.2398, 1.7947, 1.4471, -0.5716, -0.3943, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3366 left_y=-0.1479 left_z=-0.0005 left_yaw=-0.7984 left_pitch=-0.0422 left_roll=-0.0205 left_gripper=0.9986 right_x=0.4404 right_y=0.1812 right_z=0.1571 right_yaw=0.7808 right_pitch=-0.2695 right_roll=0.0598 right_gripper=0.0475\nstate[joint_eff]: [-0.8, -5.5179, 3.0974, 0.6911, 0.1832, -0.1197, -0.1538, -0.335, -9.5932, 6.6667, 1.3065, -0.2076, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee331b1f3265065a4d0d5d90b256a3bb5a1b9a4eb7306c06a6a262513d7ab972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f310c56412a77ee775812cd222b026a9c789a847b34c1245093ad6d51ad8640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5d0e8a6ac89edb36c4bd53edccc17654bcbb2f0c79da9bdb5c1655922ca1c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXG4higzQfSi0cA5vawgO41vi21Qh2EkEoaXPvVUhcrFlDLbS5uKSi6F91kvQCBEXSeEG8ARGV9be6D0wpQ3txtHDcwk1MF7St61ackbSfmjmpXlYAX6fYwY3FwxNMI5nmZ0OBr7gFCfl1cRj2uU4pkq9NDmDZOaj6AK7gr3-x3lLcIVpwKx3uxxudpLWFEOPkmfAKiIBbeY6no_flmj2fD2uhWKDbu8Q4DLQru_mxgpcXJyopE4nerfl6_yhv_he00LpZneWStTDOnF8wNY_a_kZDctFf7OxfVFyiNUsoNbxd5h-gLmYjibLWModXC-iW2LpYBVbNKgarz2whECB79GSALWaxwsipPb5af1Yt-7IqEetwoyUccDzOztKhOq4oeH-rxLHmXv7qlpZ4k7Xe2rsa49wbQcL3VvTnx8oU0hUKaQUsKnFuDtZ1ndH-NrBZQBRGtpuqW1hEWGGOagOZ14baIVnDbXFchI9ruSqLyXuzx5tMzKphDZYQUbzhM_MKchqHE2700ILzxjsf9qi7kHpE6_95xHRYFJuJCZEOcQmTr4BFdM90Z-GcStpqgnpBZrMaemfdn4S5NGvkvtodFodOQ2V3PZjPQMdGwylNf9wK-XsMo9nnpyV3uBn7mVHV6DPEj3TpRs4p799UYHPSp8TB68lxT25iCEfL5rs_PgnMs_-pww-_2VeVz1fYrPVaOmXF29hnO62WS3EejhfoMf5TCzcHQ9SQfXH_rr2fNUUDvaQGRdnL6P5wZtySEd0z5s548xLOnf2CPOhjSNp8IchSO6t-UF4MmcKl5uqvWcGBvQAdBzVSGkZqpKZArLF2dE4eVgiTOTubdCnsU46q87Sv58F7duwcXvc8a1L6o_Lpklqb9NkHsvyc0hgidZdl-IHYp4xaragSZIivDkbMzUgP29MFXAocOoXfuUMzeupLHqD9Cc46fsaA-fLxxxk7dvHlszTJA1shMKgDSYHs-W87y6Dd5XUlgyFYW4G0k5WAAxgXpPQrqkb-POQ16Pv6w4xvtU2Wd7XPKqCsZd2GbFCI9PZL4kzLhnh9uwft7nX7Z3cjBnvpQmE51CjILckQNt-ZmFsEsNbQsdpjFcCnG0lQtmc_uRoXa7zbgFQ0uYDFMSgmvWpId8_y54K_3kwAkuxO-LERRPZ7c_gDY7LtkChhLAJaUzWWYm_L_vtQ0ECQvxIwsPWA59FqVWYddz5Qa1pUb7aVxKAvN60J5xFJcp-6Lg2IZ4cJNjqNZX4pv2d63Rwl5KfXvOJE4TFSjtybaAA7a8zNnLeTt2MoNHwAbZrcXBV3dEDm0JAaFblbWDJ0R1Rvzvkn8nU0xX3sx4XjHqi5veREvg6APfbWKs22FNRdJEMXMBYfiNcQC2OHxzP0uI2gq4z0Jch78QB5mbp7QPMLDNWEGz3BUwu8seg2NK--_5lbB53tC82wvsUeJjlL-Z7i2QfRUhmuTHewkLrprJ_Il0COaM8dFIubrSKYYFsBvZ1PgYYX_0F0IHlBaVTZg5-WmKJPQEuWtgt1LXyT-j9VUwAdNfpymomAjCm-gKo2kPAu0afn_ItS6AlaEAe9pLppW9EA72QZirLCTmOmoG7Lh976Mjdfxatl3QlxhKmCRdWzgW_IcgNxrOVD6yeBMFPkv9Z2Hr1Urscu9WREHQBdv9SOf_lplfNwwP6iLF_TI8YFWGffaI8fwBMVEyOiOWApW7Z455Pai9TDNvX9IYxtFsy77xlTue7Go37dmxjAw5CkbzCuMuKGvRBxHJCAY6qs0CekIl1MXd_Bpw3Svg04g94k_AnPwEVLklKORmNLWOuiHYGDFOKcoosaBAqliui0hjII8jTO7YUclP1UE6lIXGfnK8Rbd_jukRQ2OqPo0fE62tQYSaXs09SI4QONKkqwEXv40rF8j6XSxoSp5Okd7Ce6QowlYUiWSk5ZXfw3NtA_Gtl4tmenWyLDbiS9vjCZCNfY3ih-_ERbG0OeTcI93c-59heHBTLsssvTyjyY46M1oivvMm2T2gOlogWNvXQdTsHTtUU7n_UfMPnYxMGb-U_QPMreTSRaK0w_w_1HRDgzW10r4l-S6vRmc9Q7aor_ZfxQSf3hskbW886Ap_Mk-pbXHr9Sw3VCE5pIZySa3VUJiahScy88WGt3IlK3sg35TG4yMa_3fGFbIlOxEo4upOLOr9tt9MtGM8QyBVg==",
  "id": "rs_0439d9d669bb7433016ab455c329b087d086b11d605bdec05a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.155,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The left gripper is now at table level and the cap is clearly visible between the open jaws, about a centimetre right of center. I am making a very small in-plane correction before closing gently to the cap’s diameter.\"}",
  "call_id": "call_qmEA3n3jQHepNJT59c5GPP3Q",
  "id": "fc_0439d9d669bb7433016ab455c51bf887d0b035af614f399ff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qmEA3n3jQHepNJT59c5GPP3Q",
  "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]: [-0.2169, 1.7996, 0.3962, 0.746, 0.4698, 0.3321, 0.9987, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3352 left_y=-0.1521 left_z=-0.0014 left_yaw=-0.7997 left_pitch=-0.0052 left_roll=0.0053 left_gripper=0.9987 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [-0.5265, -7.4735, 3.1658, 1.3504, 0.0513, -0.1734, -0.1538, -0.3077, -9.4701, 6.6803, 1.3358, -0.2173, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0fa8c1f3404ae2f9dd77e20d41443c21f26388793a81a0068e33da25b82e430",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c272c4b71efee8d3c2bbbe3d56bef3b2fc0b0ba9e2eea1c72d1b1325d19684fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790463b7eefdedaea69efc089717df5cc60a26a5bec3e42f2c948f54de6b8d4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.843 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.3712, 0.7612, -0.1253, 0.4927, 0.3408, 0.9985, 0.2398, 1.7927, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3475 left_y=-0.1509 left_z=0.1283 left_yaw=-0.8041 left_pitch=-0.0614 left_roll=-0.0433 left_gripper=0.9985 right_x=0.4407 right_y=0.1812 right_z=0.1582 right_yaw=0.7802 right_pitch=-0.2664 right_roll=0.0572 right_gripper=0.0475\nstate[joint_eff]: [0.0342, -7.2137, 7.2684, 1.536, 0.1294, -0.0269, -0.022, -0.3214, -9.1419, 6.8171, 1.3407, -0.2027, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1989, 1.7676, 0.4313, 0.6289, 0.4828, 0.3428, 0.9986, 0.2398, 1.7947, 1.4471, -0.5716, -0.3943, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3366 left_y=-0.1479 left_z=-0.0005 left_yaw=-0.7984 left_pitch=-0.0422 left_roll=-0.0205 left_gripper=0.9986 right_x=0.4404 right_y=0.1812 right_z=0.1571 right_yaw=0.7808 right_pitch=-0.2695 right_roll=0.0598 right_gripper=0.0475\nstate[joint_eff]: [-0.8, -5.5179, 3.0974, 0.6911, 0.1832, -0.1197, -0.1538, -0.335, -9.5932, 6.6667, 1.3065, -0.2076, -0.022, 1.0281]\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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2169, 1.7996, 0.3962, 0.746, 0.4698, 0.3321, 0.9987, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3352 left_y=-0.1521 left_z=-0.0014 left_yaw=-0.7997 left_pitch=-0.0052 left_roll=0.0053 left_gripper=0.9987 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [-0.5265, -7.4735, 3.1658, 1.3504, 0.0513, -0.1734, -0.1538, -0.3077, -9.4701, 6.6803, 1.3358, -0.2173, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0fa8c1f3404ae2f9dd77e20d41443c21f26388793a81a0068e33da25b82e430",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c272c4b71efee8d3c2bbbe3d56bef3b2fc0b0ba9e2eea1c72d1b1325d19684fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790463b7eefdedaea69efc089717df5cc60a26a5bec3e42f2c948f54de6b8d4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXKesev9QFZuPQIpkRR82vOMyQcz9FVLiSgMgP6mzNGQ5Fefngyzhy-JoUJigKH95MBmolEWduaTIf3bz8LpikLLW0316nDbZaMCAzT1aN4pJJ0nvj9m6we2mLYFHBfMPppeF5qf1Ivuh20wiS6G220JmIxJ-H16Rc1xafzlxGBJkSREWIUMPWK_OiW5Zg3jB8NR5sKcMTpBlKuQAH2_R8_UG9XVIXHm0aFjd6yuGJllErYLsgJ8mAxhCg1VOLrr5x9y_ZV8eFHO6Ignr_KpG7-XwzS8TDYLWrlLRPisK5qtEzLxMQQBy3kl69rbc5hw29PvQk0Yw1KXLl7mv0gMnGxADxndVcK4Q2MD5RgZZAm48KzorwE_y_Ha34IQghajg3Lt28ezdC1ipVLU4XsXvdrBU_m2n1ZpxQO-xJRmXtwSTp2ZIPkGTuKwZyTzp8708FBqjt97FaCB1YCYuRurPsYrNdUzHqH-OSpRYALmlO-oyqqAkmKRJ3ymcqzbst0eeDKfxlqFLWew-zcd1YlgFklRqyhH_4Jp8dS0QjRe2qRDWpoK2eavncEMc4l_dfDnOqPinG9c156cPqTPWcDQ5bqQh2c9RvxCuKCh_95vKbbgkk4vLU-KwMNO6tYtyUhqc6BOrCGsuYGImxA8BHuLNsULofvkZzKSuUHW9aZ3XuUPhB3TZe6WkTSwqqTn2hXL5frI_b2lXMhHSt-UM8J4lYyu831T1D_14coDo1BF84WT6GbZ8FeLZ-2HuZdXxgdgLAA1LRWuRDWZkcVe_G6_HpI67JtCOllELaykHs2agR7zTDGcxQBR6Vcb2hSNwXzFwC088XFAkFAwxRCH-rBfZoUyj-SfLiw5eOD38NFGnfJNBZWGIrKxV5N7sLLDbwAqGsRhgG_9qi2mcfKGQU9fsm_LVOpLhXHWzhnq8V0hehF-XQ7guViae5bXiOcN94rXsE7LUXUJF6r23N-qukVSyJEScPS1VUGkUokVeshUzFnD9Jig6N1U8A1JI_iBEHtIjbh90GWF24lcrEYd-2q8loQ6C3dihsg3_UIrDxySYRXgvIam225PSqWNeb30yEI4URuDETL7p3aTCCuQ9LTU5MS1z5Hp1G1YbpcNB_D2kSjowS--CRn-2XRZ8iRJECxEqC7uG0XPjHtBxvZyRuVHqMiO2_Cekh0_v6Lkewids6QezHmC7i6Ivka0XMK7-QXuEYrWtNovYSXOvw2wlWoZOWjj37ZxwYboK9Yu-ganye4TsiV56a8wCCWSv58eJZANINjkWde1zek5RNpt10NZ9jaw0kfS4gz0NAcLJn8jxuahgtaOvRxNtL-5FeQH9hzgPMg6G16DJXGLlIeOtz2OVZMAMoA5OHEGH7B5YkcKwTILa11zgLHVCc-Itabs4ITb94Gc4stJNtT6-B_z-Y18h41Wv7xQlZa6bp8eAZxpIPXl6lhDvCH9qOuQqAzstKMv80x_2AHTEVNC8EZDNjqeqaH-sI_b-ar8lvQWVxS7FdQtP9ZuwOvAhi-p0sHs8rYGswmterlHF6XHTpcNsxokqsjh-grVRV7TbqRbh6J4TrSqcJifYE-x0Zk4bv_3lHMc49RqiqD04jdCjFypSduS1XmHnQoR6PNt9l4LxZaz4mGUmuof44PwzU0Vi-LDgsM7gJWUdgoz604JhB-aFfvZ5etFl4pGx9Q2Vcz7nmEjoG4H_NblWqdgkZgTfZPCvKjWD-s1hsgPwLGu0zV8Kru1iPv17hK5wo2HEg2-kuCPtwPISAvGFHLVOJdJ9uaGUhNj2H4AcD2Ku-SXUPZcIktSFeBBsKJvPdc1Vc7PTMV0RAr7I7eW-quCZyaWCIX8_A3xGBL",
  "id": "rs_0439d9d669bb7433016ab455c7b2bc87d087b09afe56f4ecfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.17,\"left_z\":0.0,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The tiny command was mostly absorbed by controller tracking and the cap remains about one cap-width right of center. I am applying the measured one-centimetre diagonal correction so the rounded cap will not be squeezed sideways again.\"}",
  "call_id": "call_qRa632vrawcZf5YUJyKjqXeG",
  "id": "fc_0439d9d669bb7433016ab455c8ec7c87d0b8febb8bc3814fd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qRa632vrawcZf5YUJyKjqXeG",
  "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]: [-0.2722, 1.7943, 0.3691, 0.7834, 0.4335, 0.3069, 0.9986, 0.2398, 1.7947, 1.4471, -0.5694, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3259 left_y=-0.1643 left_z=-0.002 left_yaw=-0.8124 left_pitch=-0.0034 left_roll=0.011 left_gripper=0.9986 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7802 right_pitch=-0.2677 right_roll=0.0583 right_gripper=0.0475\nstate[joint_eff]: [-0.3761, -7.6786, 2.7692, 1.5409, 0.1587, -0.2076, -0.1538, -0.335, -9.4427, 6.7077, 1.3993, -0.2125, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7f510c4224a5043bd06e8f95f77c6215fbe90e68496afc216653c180efda0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2555cd35d55fcb523b11b61f17e42c59a354fdc4d291699a08f44a57077949",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2787ed7ca929be532f3b0ddc619daf65ffac3092666c027f65dd134dd1f04a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.957 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 1.4418, 0.672, 0.0231, 0.4965, 0.3408, 0.9986, 0.2398, 1.7927, 1.4471, -0.5701, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3463 left_y=-0.1513 left_z=0.0934 left_yaw=-0.8074 left_pitch=-0.0694 left_roll=-0.052 left_gripper=0.9986 right_x=0.4406 right_y=0.1812 right_z=0.1582 right_yaw=0.7803 right_pitch=-0.2667 right_roll=0.0574 right_gripper=0.0475\nstate[joint_eff]: [-0.2667, -0.212, 2.9333, 0.7497, 0.0855, -0.0659, -0.1538, -0.294, -9.4701, 6.6803, 1.3358, -0.2173, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2169, 1.7996, 0.3962, 0.746, 0.4698, 0.3321, 0.9987, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3352 left_y=-0.1521 left_z=-0.0014 left_yaw=-0.7997 left_pitch=-0.0052 left_roll=0.0053 left_gripper=0.9987 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [-0.5265, -7.4735, 3.1658, 1.3504, 0.0513, -0.1734, -0.1538, -0.3077, -9.4701, 6.6803, 1.3358, -0.2173, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2722, 1.7943, 0.3691, 0.7834, 0.4335, 0.3069, 0.9986, 0.2398, 1.7947, 1.4471, -0.5694, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3259 left_y=-0.1643 left_z=-0.002 left_yaw=-0.8124 left_pitch=-0.0034 left_roll=0.011 left_gripper=0.9986 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7802 right_pitch=-0.2677 right_roll=0.0583 right_gripper=0.0475\nstate[joint_eff]: [-0.3761, -7.6786, 2.7692, 1.5409, 0.1587, -0.2076, -0.1538, -0.335, -9.4427, 6.7077, 1.3993, -0.2125, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7f510c4224a5043bd06e8f95f77c6215fbe90e68496afc216653c180efda0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2555cd35d55fcb523b11b61f17e42c59a354fdc4d291699a08f44a57077949",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2787ed7ca929be532f3b0ddc619daf65ffac3092666c027f65dd134dd1f04a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXNqCV2rsZ12t9_r0GcfiS1tGGzixWMv4PwkgcYFcfmuyDHkrCqhOUIHtWE8uBDi_9SYBcImkdmRQIIu8ePMoZt3fsnulZE_mXBfREIZeGX6cPZO3qMH1EBgoSxiSL75MufIkq64u2x0uYhPKgX-mKosqwS1blZaDjnaU52rHVg3sOKLjH0fGJ6dVqHKxjZRQWQ0k__UiF1QhiR4zkU_6an_-fVN7dLhogScGo_Ckl8Z49cGAF8E6zJ-sTmyYbL0vqpOFUCFiNni2_UrdskOw_r9InGp3IOPvzjS-DxxCuFlG8K2lwxZ3cxIH8C7srOqOEPhhQ2Mzov4gYYDCdpKANRlqYjlugPOSVY91FO-9yAvMXJOS0AZI18JKAjM6bJSqK8CqRVCXUq-43IUiAgc5qUiIPRmR_qyhl0yHZikuMv2UC04JBNjxD14igq4JHQQg_Zp9Zgvnsmac7BvQbRw0KXK4nCYV74Ie1LK9GvjQ1ICh6-v1g_dw-E9FZroImyfzXpyhSBziIdd6vHwRxj1S95HALKDWRLbTyFvJddVBV514LuByz0QcilR6UrqrRQ2sKE8_W8HVt5oIk9mUQY8MWzwFIkCGS7wZH3VsNNx_3oAxwU3bRhXG1ezgBBfNGdPSzhG5Cofe8-FEWWt2ix-D_kdq950ozR3utyx6v1mSKrlva-rgg_0fJNk1074bnDrzBitC05nRtMGPkar68bUje5F7XfTjR72ZalGUKX737j-51wUd20UkYqcCVevqIQB5OdLSqQrpPr95ZFM24ifOfJNBLiDpHW2XiM8PW0I0m4HJxOm2h3EUXarQ01KpBwX6QGkzo0BQLEuzrry-72P8-lYgpnYxzO69zDZpK62oL7BT-j5VG2zFG8tla9lcObTWDNBBjlKqPJ8rZIzRSjEaPyw9ylPpxm3Q54oea8l5RDPnsQqycKLSLUH1C3aMqE_fA20fElBXiC53A3Rbb1L4lrS-hXNHBi_4NJtb9Jo-V08P2R1sCcz0fFrM7zzNC9JDAsRbtHhRjwOh0mI77omidq-c8i7YZzEAgFWyhfELx_4GeV9SIqFsSrryc3aJNFMz8MXtiyuiMFLuilqEGF8CW_cf_ABVhNinV5eiRNVG479PUKlS2Px_NT1od9zGx8veHWy4f5Lburjj9F9vElWz3mBt0kI8blhep7vUEH4gU_eRP26r2TyGjRGVq2Nqm-YdSq6K1J0zgkK5_xH0FOwdHAADiNZfBMlevRx5-csAHGql5S7VEfhtOBYyYti1C2E46jYvfaVbm3dHz4Da5nry5ad-ZMbZGXEkyc2CZPb4a6FG9yy60dqU2Onw-qOC6VtGMhud_H2zy9TjiLbjmNr6qwB9kAkq-YzP0tbrPxDbNdLRy4b20Zzjl_9vWDhLTaICo4uz2123HL5DqY9h67uepJjAC0aPyI8QL2KbpkwDDV4bm1HkdEhXa_ADbHamrcO785SbiwwLYLufb-es9NJTmFeYXCKChGD9G6fawJsG4T0ynDNtcXUbScYj6_3YRwJUUB1jjZlWrR2v6DiqjnrYH1CmhkrXm54KUV4FW_mVwYQOk1c1i_8nL1n_VGfJUKe4oUJRcAx05bwD7F_-jQd-IbAK89Vi2BtBuCAR4ldRV_RQw=",
  "id": "rs_0439d9d669bb7433016ab455cb7e3c87d08393e4e55f306b34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.06},\"note\":\"The cap is now exactly on the jaw centerline. Its visible diameter is about 7–8 mm, so I am closing only to a 6 mm gap—enough to grip it without the hard over-close that ejected it before.\"}",
  "call_id": "call_iG6Q9ydOeSWVy2gxIKBejQUc",
  "id": "fc_0439d9d669bb7433016ab455cc454c87d08cf8958d5ab0d6d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iG6Q9ydOeSWVy2gxIKBejQUc",
  "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]: [-0.3084, 1.7905, 0.3561, 0.807, 0.3988, 0.2676, 0.0766, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3223 left_y=-0.1709 left_z=-0.0014 left_yaw=-0.7994 left_pitch=-0.0005 left_roll=0.0031 left_gripper=0.0766 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7803 right_pitch=-0.268 right_roll=0.0585 right_gripper=0.0475\nstate[joint_eff]: [-0.1162, -7.3641, 2.9197, 1.6337, 0.1636, -0.0024, 0.7448, -0.3624, -9.3744, 6.9128, 1.3504, -0.2125, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6225b5a952a4679a531a10d0bf6b6d1f959154300e7cbe837e4fd286a018ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca730e5613a0dd7f4e2eebf1f8ff1b5692d96ad0f88d5692cd818e42f999a485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4923b0388d8bfa786bb44e66219e4364aadaac5881ce9315daad190766eaff81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 19.04 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1989, 1.7676, 0.4313, 0.6289, 0.4828, 0.3428, 0.9986, 0.2398, 1.7947, 1.4471, -0.5716, -0.3943, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3366 left_y=-0.1479 left_z=-0.0005 left_yaw=-0.7984 left_pitch=-0.0422 left_roll=-0.0205 left_gripper=0.9986 right_x=0.4404 right_y=0.1812 right_z=0.1571 right_yaw=0.7808 right_pitch=-0.2695 right_roll=0.0598 right_gripper=0.0475\nstate[joint_eff]: [-0.8, -5.5179, 3.0974, 0.6911, 0.1832, -0.1197, -0.1538, -0.335, -9.5932, 6.6667, 1.3065, -0.2076, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2722, 1.7943, 0.3691, 0.7834, 0.4335, 0.3069, 0.9986, 0.2398, 1.7947, 1.4471, -0.5694, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3259 left_y=-0.1643 left_z=-0.002 left_yaw=-0.8124 left_pitch=-0.0034 left_roll=0.011 left_gripper=0.9986 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7802 right_pitch=-0.2677 right_roll=0.0583 right_gripper=0.0475\nstate[joint_eff]: [-0.3761, -7.6786, 2.7692, 1.5409, 0.1587, -0.2076, -0.1538, -0.335, -9.4427, 6.7077, 1.3993, -0.2125, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3084, 1.7905, 0.3561, 0.807, 0.3988, 0.2676, 0.0766, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3223 left_y=-0.1709 left_z=-0.0014 left_yaw=-0.7994 left_pitch=-0.0005 left_roll=0.0031 left_gripper=0.0766 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7803 right_pitch=-0.268 right_roll=0.0585 right_gripper=0.0475\nstate[joint_eff]: [-0.1162, -7.3641, 2.9197, 1.6337, 0.1636, -0.0024, 0.7448, -0.3624, -9.3744, 6.9128, 1.3504, -0.2125, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6225b5a952a4679a531a10d0bf6b6d1f959154300e7cbe837e4fd286a018ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca730e5613a0dd7f4e2eebf1f8ff1b5692d96ad0f88d5692cd818e42f999a485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4923b0388d8bfa786bb44e66219e4364aadaac5881ce9315daad190766eaff81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXRS7GVvW8u4L8j82wvRkWOZ1EInPe9blISHgIv3_NcxQJvRKfeGqHjQCtKgQmnEKcwFvFtLI43-L6Lvn9qCz8dt3BvB1aq3rih9IOy9sKZOBUDaJgYjr7-lO4y6SRBdX1OkQSXbSCiiItrBOUlAJAyQRdqsxzRZBX7DCVHmDDouy3ah1zDY1hac0jZr4afkDIeDtT4hAZCgIcqHle5UpPbBi1pTqaUeRKSrYKHMfsgnDlsRM_2LH_DAZiZ1s8AsJfBWRTUcp6C1EaFjQPRRz2TqWohGiApvqhL-PwwUccfYlA7Ad013d6ZHsB3Iw7KYA1r8e00xgVMn68PwPqD66rIIJWmcwWZW5CEgOOVVZTRSXu6p_eX85kDfCWtMRzGA9HHQFYkYKBK0IB97K09ar-1wcx1Hzpw1NFsJ8BVNJBZvYmnEvhA0kwQKx2m4Ivw47FS8-0ey1zJ6TgVHdEOhe5G7qI3k5bT-OkTEmRczcA63UWgsqFf_DClNDwGXsroyyY4RJhyjeK0zuAlmw9v_iEq39qqVSU5nzKRoQVdLgZAHRm9lcyCqNJyNH8t03fsIAArR29PnKymAZdl_laQxG_FPJYtC4_Hjw615kH8KnQ2L1m6ln_lr-lfxQ6kyIZIfYOjAQueKEaLjeh6f_NjsfsWU70wWfg3sd0Zsq4MP2UIKspKmdPUxee0hq0K6ia8liV9cy7dosjOQzsnDHWbvjNil-iiMB3matdZTipoGdAdF6uB5aWl9s3YvTR1p6MAtQ4G0IyXdUx3muYNfgRVv2Enh2fr7JHIveMta2Abuj4dEpT5i2i7p96qaoR5vUHW4EMh27wARPZKFIpt9ZbieC9fLmUlYbWFatxPiiwxz4iaTCDo6zN1IkAf4H538j-jFrRQ5jGFcZ-ZBGw3JTNlDeDtQVRUaWaUv-RUfP6y3RHgMTwXBf4Li4Nj_d8CuiVnbC4RWD5YeqVpDesS57h3NvmUmDOOXYjp0ynMI_6JYxuVUzV8QZwIhRejAykWAs08yfpcYWDilEJskn_FQAw-J20Yeqv9JjlMo57naFxtHu40vmRaPYhIDHzRvnbRgsNZFwYe12FJ-0fX7YnQ0xvNeC5IptX2enEwpy9d7KX9e6acZiD3JWJaw_8MDOZ4ajxxfpaYZr26jm-pMJvm6yYdT2pvoaTAxUrPwv7gqyaEdmez5rAB-Od6i06zlahzYEP5U8923W242sAPTBX4jz89Agqm3v1cBv9wMp-ERB0BQWruQCwGPaegay1qHO3XzlrY07JablbxnLTNaSQXhPKciw6vL0AQUC2apltjbFcRG3LhWDJawlgmH2TLslGzwqgtwtjKwNeFBXo4UzIxSnLlQ97McAKC-ilz9Cl5d4emTnoKdtHsRNG9023gxqQ2PMrQOwKK",
  "id": "rs_0439d9d669bb7433016ab455cf94c087d08ea66a172cf481cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_gripper\":0.06},\"note\":\"The left gripper stopped at 0.077 rather than reaching the 0.06 command, indicating contact around the cap, and the cap disappeared from its wrist view as a held object should. I am lifting eight centimetres to verify the grasp.\"}",
  "call_id": "call_W2OUSKZoZS5EpAU6lJp7cFxu",
  "id": "fc_0439d9d669bb7433016ab455d01d5c87d0b2ee15514818c0be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W2OUSKZoZS5EpAU6lJp7cFxu",
  "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]: [-0.3084, 1.4242, 0.4385, 0.3695, 0.3958, 0.263, 0.0616, 0.2398, 1.7947, 1.4471, -0.569, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3207 left_y=-0.1699 left_z=0.0675 left_yaw=-0.7945 left_pitch=0.0085 left_roll=0.006 left_gripper=0.0616 right_x=0.4409 right_y=0.1813 right_z=0.1575 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.0615, -6.2017, 8.8547, 1.619, 0.0806, 0.0171, 0.6569, -0.0068, -9.4427, 6.8718, 1.3993, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356803a4cfe6080545ebb36d52bc23ddd9ca56a8f36137d74e81a99cccf21cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca7dc9c904bbe27f5841876c67522427bb4c0d988acf0cc2317cc16b2144fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3f0e3d0694e58254f92661fa20228705fab87840ba618ad2962534e931fc70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.798 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2169, 1.7996, 0.3962, 0.746, 0.4698, 0.3321, 0.9987, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3352 left_y=-0.1521 left_z=-0.0014 left_yaw=-0.7997 left_pitch=-0.0052 left_roll=0.0053 left_gripper=0.9987 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [-0.5265, -7.4735, 3.1658, 1.3504, 0.0513, -0.1734, -0.1538, -0.3077, -9.4701, 6.6803, 1.3358, -0.2173, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3084, 1.7905, 0.3561, 0.807, 0.3988, 0.2676, 0.0766, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3223 left_y=-0.1709 left_z=-0.0014 left_yaw=-0.7994 left_pitch=-0.0005 left_roll=0.0031 left_gripper=0.0766 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7803 right_pitch=-0.268 right_roll=0.0585 right_gripper=0.0475\nstate[joint_eff]: [-0.1162, -7.3641, 2.9197, 1.6337, 0.1636, -0.0024, 0.7448, -0.3624, -9.3744, 6.9128, 1.3504, -0.2125, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3084, 1.4242, 0.4385, 0.3695, 0.3958, 0.263, 0.0616, 0.2398, 1.7947, 1.4471, -0.569, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3207 left_y=-0.1699 left_z=0.0675 left_yaw=-0.7945 left_pitch=0.0085 left_roll=0.006 left_gripper=0.0616 right_x=0.4409 right_y=0.1813 right_z=0.1575 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.0615, -6.2017, 8.8547, 1.619, 0.0806, 0.0171, 0.6569, -0.0068, -9.4427, 6.8718, 1.3993, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356803a4cfe6080545ebb36d52bc23ddd9ca56a8f36137d74e81a99cccf21cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca7dc9c904bbe27f5841876c67522427bb4c0d988acf0cc2317cc16b2144fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3f0e3d0694e58254f92661fa20228705fab87840ba618ad2962534e931fc70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_0439d9d669bb7433016ab455d2b35087d0ac5a6e6a9396899d",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0439d9d669bb7433016ab455d7ffb087d0aa3f43e6523acaf9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXkQ0gKScRZP4bti63NIEJ0WIpCNRabU5Xs-DjsCJkVhiOuubi_uNQ-SJrpRSdd8TWnuUFXSW56dAYewkGIx9MU2Od1MUkEEQvNo68gF4Px_CRSeTBQ9IEVQqM49A4RDLJUd0rGSkJI4bHlpcgnb4f1jhlb77RHWB4IpXbmesH49IkxE_hm8MJqoj1_4qhM50ubfCLazlLrU18xRXFGFOg0GTJHIrP41x-6kYwWykuTxRtJmLm1P3ErrevoO6so82h0hkWUGhL6afIf7p2LcdwMiud0kyFEZY0NPtZ4SETPJzcduADfg8glS3tOg8wfGti_Ot4HTtL1ETzV8excFOQ6vLgudgBgBY94YnQxBd-UjziS-FAbVsOX7GuPKyagfqRsW33x_bUsGO2-P4nDTtWyeO8K7f6x-CdgqL_6SiAydITQrFnISHb81wexuApVgjbUsFQaDGMg3vs0FQBYDkakqxRDBr6FV1QjKm2bJvnP-H7kEkSaCBzzZK-yApXuG-8FAehO6F5Mnvdf8ho4zZO7CLwLt19Y3n8eIuS6cDgApgj0OoTloRPShiU9A6QRiBzrxoUvmX8TbMk2PIP1s1vt4-9bSHT0DYa3uhJcaYtdDVVD2H-LRo-egCh8UdUjtzqoY82u7DfJFx4RtMR7ddaN-_QXKs7NmQpSEl6_fEXT1GCRFG9dJlZQbNzPJU5_omHcVTiMfnRh_lfZfwWYusbmjZFu_9jn19VdEgxNWEqWJywAryQHTHQGQI_C_xp7tF8Zn9CqOdiypRYcz2O0V1xZSbReiUWf7qjgyngfnKEEdZ9Sw3E1ZxRWd3eCff-GFn5tk0CfHgJVBZQnHM27_iWqId5VOr-7DTRRaGQ8pU98IFIyOJ4VqAf7j3mXTGg_HdtHaU1pwVQll0EsisYDNnpcwJbpnJPs7efW0N6y4-IyDyTXgeVjBa2xGZc6An1CY_-aul8qdUsxKvlmmZsRhhiStmOjOc0hb1FHSbOFZR4g9WEEUrWar50oCh_rM8iW0dCu8ES6sF8BEyrOcq5Jk97lCrJ16Ori3DnCMlJNJwI0TW9N67VkSgwJph_YS1-1OHw54TAWK1Rt6nDPyArOCdt-Ua4RGnkufpwb3iZ5LqSJeSt01-8y0slqQ6v6gK0fZwO6gZGjhY-58pRmS84l_4HWE-ngcGwQ6SY4OgcBL-Aj4bvwkYJBBgSBeJGmQA-kEZ4gIaIYFmnJKvXMDBbTqpyPmrtBTPNiyKB57W_xTiG6sDwBCpEEuK0MC8l8UlGmobahTD_sFTD1WGAvj5bmX6N5MuLRpPFTEDBoT9t68c-5JBqgLam2u5UJn1ju5Iq1uEU1c8Ze9x2B4LGaaY7TQIxoVF3GuiHXNsof5xr_b7npcUc5JU4Peasu0B97xVfMBRPPCn8btA-bhpfx55Vu1VVNJ5BB_kCmcYUGTu8OSevQScbU9D1DGMe0seczhdqTrWePpXei893LsvsGjHH5T_pZtyu7EfNjIFp2p1hKmfK2YAo5dEol12QKsZGu0XKQdK9vdSSmwfl8thhXsAJYD75DfEK8Q6XH8oZeBlyctNORPRfIlZmDFznL_29GADTMXZPvl6Mb0xyLEzHiU50wvfYYq5voy0m2s5MlmX_OqiKwdEbWgUCzpeCXVGLILcvsSm5HHLkGNGYlllko_Y4Pcy57RBqr7BbJAEY5MQsbirAr1nMaAzEkgjJnxLQiWeuzJq8RQa-way_x6cBKmoigbgc2z0z8XK7YYH7y5r29ze6EwiJ5qZCA4Fd--5M-yS28Y8GwAL6XfiGICmU6V_LxMCmHCdBwg69r_pNIe4bQGDo3wRfPwkt3jchTxIN67AkIDzZfJOELU9aY4pCh7VI_srwkuHtm_CliSsaeEAnBAlH9KDFGaD4w13nNMweNja--qNagJFci9hZnLPomCIBhshzR6K_Ru-KawHPi_l9SFp5GAoC0AwanZQnr54FHJgCTy1VEUOVO9OAAVC9n010dE4rVE7NrcFA8aYtSFbjPRZpPO1-cTU85Xc7YUDbflx6x4p_IkqCWNfKpDd68Fd3B_XVCUVo5e6HAtr1Kq0IA7XrxV21Wi4ijfXFsqvAwF_btJxm15ov4KTF89Dr5fk4EBoLqikwH-_x5wwHGloMsRwfaaScrKUALWtW5fNm2n30tAzkc1V7aF6b2GPhqk7bAQ6HaaqR_OlkFD9Y4vJs5pFkP-NQL9WvrdfNdpeL5gxQnMveihp71Rg8EUySyQ8pI8QWjSNlieI_Xe7CQe-bk0KhQfGY2Iggi5uj5TTuuFf6V8VS3KvHJAjBIEmrI8wAQLcnhl6kRZu58gyQEvEf0M4QkPlv3yjZW7aVFU99IzO_qtg60pDgTsG20nnhfdPKz2wGkRxMV0lZ0Dv0Yvt5ByreL4qJ6NicTGXugDMAV2aO4eNGb1hb1pG1weD43XYpfRoGVQ_jrbvJb7HoXFYB_UFg4c2RfV9y4MY2DrW1nU-PC-0vqTNstZyrxL4rrjNXvhZtLCWzT5SWC4sgz7Ps93k_SDEadpdZaob4IdNlcaMvBd3Fl6yVvG-iK8VTD1W1PKOurKUp1W61ofGwGWaSUWFj9tWi8cm-VyGFYtMud0XiyUkv9uOp07ZGip6Wz8t6HRqK20CZMsU0Fw7hh3olHcm17qLFvRRR9VfHYMIX-1ani_2abk1av7yzLLIvqLkq6_FiIyFtxS-3vSwtC4CNE1dg9kCrjXyHX6wgTJ_c_TJ4V_ooDNGMWLTPJa1ZI7-d4xe0o1XdV7NzwJ7Bs5Y0rtzbLNrODZKyI5-jtdlaSUBNHUq0bki_EPW3sGzPDelk4-O7BftmU3THJRDxnesOjukeoyjKNNYjs1n5bFgqSQylB1plSDr_dfcKYnCGghdwf8IJcMhBw0yvdury4cSsrHW6-d9Nysfgypslg73Y_v9rsIhPEkb2TKCj-3FFKKi-gz2Y6NRnLj9IZmK46RmPPd9pv2FKeYjLaFs5Qbs_8kiJ1UndNPWaXVEXYw5xFbw3wv1Pl5bTPKWHE8WXKMMnkpIgUplZc2nOTAfvyyulyNr5PXTowF1fUjdgJBzb35805yDn1VLLyd2bYzbUXPrxl_kPfHcxeQ_EB_kQu8TaIzDSZ0wSBXlhotCaAcx16gmkduIL8nfunZgzHGmQtYqIlfSNc9vs8Bf6M7q3EfPvhqqfJuunYXZeOMFgkPLm8YucOFGSuf5Gj4VRImFYyGQLok8BQdlCpOlEf3YanvGL-K-bVR__SuJBLKEGkWpk4B7E0PC7x_krmh_li5b7FpMC4rnOxQbciIHB2DtusHLTxaY9pIqvaHmcYYbPQOybKLVYxWkyCofQtbsjr2HoFPjjlVRAdyyuWb-Gs8S2isDai_23UvAcJnpyMhrKtTQm-m0RD1BaeGolOKnpUbuBbkH66_Vj_KAhk1pHqQg_BT0E4EEr6cGk0LMvRf1FWHbBJUWCF5OAwtm-DJ0t3VrcYPglcIedUCpzw8XbTOWDxizyF8_QWDONb4YfonueD547dnQ4DUPlwIeJ2mqpSWByMwEhESyiQ5-Y_959y6WKk46Y09XeEjGNiytwhH17gqm_vU4FFkqp89mR6fchCnl89lPAZtJbt0JgB96UOnpA4eY6mJlfWXD4OSF2w5Qfs7iUt4VCe_Ujs_bIYOTqn5_-vAzoIC9OYqCZsk2UIstViZEFI_xwsk_6jJBZpy8NLHBy6K6DSohGtPpyn6FA1jHnQChNz71mwDXL94h5N2v4tJVmSTNE7g7o_xXDhXn4HIq4Bbqu5DBOMIxWd9aP6ToGUcSRJnS9ggfNCQuOMJ8U05c5xo6ln0wggIw7hGlaXgAA1WAwbLvfzECWGGIO5LqM81o7_ZTPnFwDxjVVDbeomdOSrAi1-9Nq6fg4UeLpXkOGGXTo9HPj7rNF-XSounZ28n-7SnbScvSX0-fhVabu-CktOPkosxavOlXqW1jFc8i8ErcvaCKLa2g==",
  "id": "rs_0439d9d669bb7433016ab455dd994887d0aa7f4db33ad27d8e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXkHyUA8VWKnQ5W_ZD9lC1ADRNimns3WSeMNaJ4YCwwnZgbeozGab2jAkusucewBaSJTCZSeqLig6Oc2-K5RKHCadhFaGrwnIbju82NhG8d27dWzeej3fh5UgXo65-5f4aG2M0mD9Z0C21D3DouIc4UiMoiWsDvrS4dcaZG7d0CwhynYBY-0FGFKbEdvMUOdvH144-DWmlS2E7XvGHUW_vUijBNXRZJZcXao-_MyLw6rQ8UsLulErHkXWM00B2DBi_2yUQd-9jw1m0j74BxjuESeWW630y7LGpvB0CVlVcunp0bKYa495gyYVFewclkE4OlESjnBXnv7j1kCj9NtYw8S1X-Y5qQZNZA5FDkorrmnTP8Of00I8ckFoFUWKNtWg-vXtndltX1ulIU2bwN_-Iavn0URQqS3eV0KqIU4ACucJe8MuLWPHmUpH-UIGYGrZICY53utcm74_h0tuOn89QsNhF2QpG-ExA_4wUVCqokHZo-14GVTTS5wz7-HAIHCMuX2WMDpdRW88NlIvaaeKDFb9utTXYImZcNgj7uJBDXl9dBAevZwXRRPvihcHB2arKZT-klUgLiuGvII_0qPhzLQnEKzFa-aYXfwikpEk0EGf1oOGiXig3HLiAvrfDWFK4MlRzEV-uJQnTliUFGvs3ukFjnijk-fpC8KsUVd-R6wiyJWyyGGn_lsH-p1UraH9A8olV1unefXKdaJ9BuZfJYEM25zphk5W8DqJzk0aynzyGFaVWdODehXZxFMsYCj0h4cqu8PcgbHUGHh81Rxm-2UHO5r1Lb5pmvf7NaJzl-2CVAAFWBGQfciHjJj2q4mrHbEDaHJF-oRpLnoyIhNMzS9tjkBrTXwVLTIm5qXHtj8bpt7jQRugdW9Wqi4usq7y6xnqe3wdj_hFatoBYkVj0Q0utgZrk-5AqPVm4pAQVXXMCPREk4kU2h2DX_heme8hgBn31Zbs4SO2h_fN_Eq54B2p_lVUtjfWnBKclHoOfo05VCI68F9u-sOhY-Vfa2Sm6YkK23F0h3xYg7NH4HLRmMi_jDO2LA9IFcrEEWQVLxw-h7UH8J7hIXMhh1-PaBm_aeWnSifWFxKFk6_AR0gjIl2ehaE8E3a879pgLv2Ub73UUFZ1GbmildlgsSRfmSQvLWdaziHAUaI6YVMz97OuHSWitWxPnaN9uf-lcv1lia-vf5Fo7vevdwT1OwstEe5AHUkiv7XjCsZ_G1bVUTLBFWFKeo4Rwnwvqm0CYr2EL1qbZKvcrrdrXXZsECKmdAlVVd-4usiiG38n6wq4pLx11DLUFdSHVT8OjQ1adD_w1ZYdtlVUydH7XFyBfEYfcyJxdDtvAzaNUFDqPlm_7M2q4jjYZjNbzfSyFjmttxKfKxWmo=",
  "id": "rs_0439d9d669bb7433016ab455e3300087d091c1c35df8a174f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.18,\"left_yaw\":-0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.06},\"note\":\"The cap has lifted with the left gripper and is no longer on the table, confirming the gentle grasp. I am moving it to a high, uncrowded pose before rotating it into line with the pen for insertion.\"}",
  "call_id": "call_XGbqweISNTvgOkg1iVChz9H0",
  "id": "fc_0439d9d669bb7433016ab455e3a0a887d0a5588dc542be6c97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XGbqweISNTvgOkg1iVChz9H0",
  "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]: [-0.0051, 1.0878, 0.6918, -0.329, 0.5915, 0.4408, 0.061, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3084 left_y=-0.0965 left_z=0.1631 left_yaw=-0.7416 left_pitch=-0.0118 left_roll=-0.0064 left_gripper=0.061 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [0.1162, -4.041, 9.6752, 1.5116, 0.4567, 0.1929, 0.0952, -0.3624, -9.2239, 6.7077, 1.3358, -0.2418, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1efaae3d4ae64709f4d61ddd3f850e3678fc36c075a8621ca53bb87169595f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cecd04b66d7e4acfedc5da4450398bd75f33594454a80d69db7394aae19f9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa4c9ab8f58d6490fb7d38e252b62ad18efce625afc30ec6c0084749ac15bee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.395 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 132 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2722, 1.7943, 0.3691, 0.7834, 0.4335, 0.3069, 0.9986, 0.2398, 1.7947, 1.4471, -0.5694, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3259 left_y=-0.1643 left_z=-0.002 left_yaw=-0.8124 left_pitch=-0.0034 left_roll=0.011 left_gripper=0.9986 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7802 right_pitch=-0.2677 right_roll=0.0583 right_gripper=0.0475\nstate[joint_eff]: [-0.3761, -7.6786, 2.7692, 1.5409, 0.1587, -0.2076, -0.1538, -0.335, -9.4427, 6.7077, 1.3993, -0.2125, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3084, 1.4242, 0.4385, 0.3695, 0.3958, 0.263, 0.0616, 0.2398, 1.7947, 1.4471, -0.569, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3207 left_y=-0.1699 left_z=0.0675 left_yaw=-0.7945 left_pitch=0.0085 left_roll=0.006 left_gripper=0.0616 right_x=0.4409 right_y=0.1813 right_z=0.1575 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.0615, -6.2017, 8.8547, 1.619, 0.0806, 0.0171, 0.6569, -0.0068, -9.4427, 6.8718, 1.3993, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0051, 1.0878, 0.6918, -0.329, 0.5915, 0.4408, 0.061, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3084 left_y=-0.0965 left_z=0.1631 left_yaw=-0.7416 left_pitch=-0.0118 left_roll=-0.0064 left_gripper=0.061 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [0.1162, -4.041, 9.6752, 1.5116, 0.4567, 0.1929, 0.0952, -0.3624, -9.2239, 6.7077, 1.3358, -0.2418, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1efaae3d4ae64709f4d61ddd3f850e3678fc36c075a8621ca53bb87169595f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cecd04b66d7e4acfedc5da4450398bd75f33594454a80d69db7394aae19f9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa4c9ab8f58d6490fb7d38e252b62ad18efce625afc30ec6c0084749ac15bee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXoR1sDD6pccZzQD0naRcRzK9Oaw-S08V33rFXAt9skgSWo6TXrv0wMeT-5QgAUJV8UeJpjKQegUuVo3lvaKlZQU0bJdatYyXNF-S0L89J8a5yaaIMdGtK4fF6O8hzJH5BQkMp9E-qqGt07IyMpSJdJ6o-Rp7yu8_LogwWJCsx0BNaBV46xYihyKbMpZpcRHZR-3KHZEOYwfdlClu9UYhNcSz5cRZh8qHKgilqrT67kjqKrrIx9-PL-n45jXSjsK1e5A4w0CB1ebGwc-EOFYiI-VgYHtksP3Wwpf0ACCMtoNWOIl89nQIMxHL3kRshswVg13WPAWpwvVvfhdjocwxpPEfpeWOY-AtpVqq9_CHcku6n891MC4VbxwIizJ70VLtcjIqetMabIeISlSdETFMTiP2kva5yfZNnjfR8WUG0zeYTLgG3WSaXfaADkJSWn3ZlN-DqwUILtVTuKGMPYbesn07hjSZnyHlT1RO-mIe9YSDvA3h2LS8A34ikguK6zE7k1Ng5cEIXEQq-s5zNJqs-oErzYmd5DTk27kE578WK1EmyGcIhjwWCoVS5BDS_PcBjC-cxpJSPzkDYV4OPAuN9uq3TejnooNp95hd2soPLesXbg0Lqh5MuJVjDvf1nKzHw0VlRTCJJXQWpqSZ8lr11re1fQRZWabHHzE_ytlYILddde8201O2_MXZF28dzcos2EV22L2ZLIyp7HIyZhaLQywZgvELlpM2de5sR7gVCylpu-eB1x5UFe2O9nwYNzVtobmMruhb6VHojUfkDZtghS-geJXfgmhny8zhFqlam2vukV6P_4fM0sj-fGhW7C0eDXJE6reAwG1jhPUniiEq-GgWIdzf_1Rlls3BZ3hgvbd6QF3uUI3rwuQ3kNElVALnk06DC_GZBvlbp95kFAwrgF5sYdiQ53bAclUBnA6HXQGhaFWbAiJT3NCxyI5Y0Ya9aOQRyWgWLpfYfjbIQbjIpJq4sUqUVqZxBDpnPNeaMSvpwPWG07YzHjc3GzGQbp7dcRs2OSpOWsagQnBlsIMMF3RXkUBlL2wNFrJVxgVQDHwX91I8qPBU7U9W979PN-CQrce9tZpdtnfprEBPNXEnavJfEdbUqaZIXGvnqNFL9JF0TXwO7tCX_6HjlX0lyjDyDKdYzsi8kFvTkZ-g73qigRnZ5YfuGpM4r3RTL56j_ZAQXfBQL8qPM7_1ySMEPCuQY-Ba2KINk1lLbRXYnl4aojpfpYOJUzc0LrRvTFQxRDWRxTZbVFn23djzHiD94fzxgFH1wutwfAMUaSDsshhYkiJ8IW8g2-ff8obVx_0eT4acL8dyWepxUUExqLrjBGFrFIzFxXwx5PxfBGKS4XEm2Khg==",
  "id": "rs_0439d9d669bb7433016ab455e69c5887d0b2b732f8e2a6d631",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.18,\"left_yaw\":-1.5,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.06},\"note\":\"Both parts remain securely held with clear separation. I am rotating the cap in an intermediate step toward the orientation opposite the pen’s writing tip, avoiding a single large yaw move.\"}",
  "call_id": "call_ALInzMkJMlQbQ5JaiWa0MN5S",
  "id": "fc_0439d9d669bb7433016ab455e7316887d08fd3af1c6e1b2d53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ALInzMkJMlQbQ5JaiWa0MN5S",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1547, 1.6512, 1.251, -1.0084, 0.9253, 1.1893, 0.061, 0.2398, 1.7973, 1.4441, -0.5747, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3359 left_y=-0.0868 left_z=0.1611 left_yaw=-1.2128 left_pitch=-0.0695 left_roll=-0.1367 left_gripper=0.061 right_x=0.4394 right_y=0.1809 right_z=0.1543 right_yaw=0.7818 right_pitch=-0.2772 right_roll=0.0642 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.0872, 6.5299, 0.0269, 0.6569, 0.2076, 0.0904, -0.335, -9.4974, 6.8855, 1.3797, -0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c03bd0f066454e7cf72cbbc43ffc9a4160f25dae1a653cdd53e9a00a66813e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2156bc912068c8b149bf082390688fdb006b1c89315939e4e0c2a2d90146e569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41acd5b9176e3815bbf58fccbee1825ec3ee8fd9e8ea25fe373147b47e88f5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.328 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 132 changed as sent

message 136 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3084, 1.7905, 0.3561, 0.807, 0.3988, 0.2676, 0.0766, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3223 left_y=-0.1709 left_z=-0.0014 left_yaw=-0.7994 left_pitch=-0.0005 left_roll=0.0031 left_gripper=0.0766 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7803 right_pitch=-0.268 right_roll=0.0585 right_gripper=0.0475\nstate[joint_eff]: [-0.1162, -7.3641, 2.9197, 1.6337, 0.1636, -0.0024, 0.7448, -0.3624, -9.3744, 6.9128, 1.3504, -0.2125, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0051, 1.0878, 0.6918, -0.329, 0.5915, 0.4408, 0.061, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3084 left_y=-0.0965 left_z=0.1631 left_yaw=-0.7416 left_pitch=-0.0118 left_roll=-0.0064 left_gripper=0.061 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [0.1162, -4.041, 9.6752, 1.5116, 0.4567, 0.1929, 0.0952, -0.3624, -9.2239, 6.7077, 1.3358, -0.2418, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1547, 1.6512, 1.251, -1.0084, 0.9253, 1.1893, 0.061, 0.2398, 1.7973, 1.4441, -0.5747, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3359 left_y=-0.0868 left_z=0.1611 left_yaw=-1.2128 left_pitch=-0.0695 left_roll=-0.1367 left_gripper=0.061 right_x=0.4394 right_y=0.1809 right_z=0.1543 right_yaw=0.7818 right_pitch=-0.2772 right_roll=0.0642 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.0872, 6.5299, 0.0269, 0.6569, 0.2076, 0.0904, -0.335, -9.4974, 6.8855, 1.3797, -0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c03bd0f066454e7cf72cbbc43ffc9a4160f25dae1a653cdd53e9a00a66813e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2156bc912068c8b149bf082390688fdb006b1c89315939e4e0c2a2d90146e569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41acd5b9176e3815bbf58fccbee1825ec3ee8fd9e8ea25fe373147b47e88f5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXrRQvFFaWav3vsa8dPpqapwRR9VMBtvjRTifhmApuSnYyrj3zBXJ5E3ujb54uIgzRRE_Cp6pAP3-9vnhTraRtenpIFcd--E4SBgHG1XEcvsz5OjiycOqmDcGrhcoFLHgmg2GjUi9XwaYm3Dihua7NHNFnIUeOkPQjQlvHNGReQz8hNsb8qb0wYXw3T5YDG_jBZ2RqBzKw5ESANoU_KzVeZ5b6Kd-V0uvpfuMsuK933UAIzLd6R3zZC81aTib0H9kHhRcdmVXaSoeS4v8lueo4KReM6c8b6LsMkLrXWzUBqlRoFI94sf6eeCNMCP41bdyFsy9ReZQsP8GELG2JL-CFj-8shbbA0OE-5c0b1XPWY0RQyBRz5oJEAD5gMHqqQLScpdgMsQILFdDmGxRcZtxLaYwU7g_YH7HdrWxGoksttgJYLnp-HBNkQScT5QIuUJGCzVLoclp14awsJqMveYI1bwhICJeSi88QCr78HRPyPo8XrTJL7R-K0HulPLtDPkCIxucjivJOJwLBk57Bff2330Ylv00A0zzSzIfuBJDOysO6GCfjEiZRAEeET5ACl8uAsEV4KWM8KMhCqZX0Z7KYprbqeVhqarSY_UgEy3jm31HH6ft1BuoPeIt7PMp0FOA3_o5KvLyQ0UiTK_nDUI02s5s9O_J6HCqH7n-AgnxVVFVLN4C4QhVbUn-UfeK6CUMMYqvS_upWZ7DZVQyDpNn4jERlhfQF8d7_oxpZahOOkDya20juCFkOA1TgM2nnk8ZAcQi2YanHe52H8nBpMr2Z37BFgOLoC0YUBX9jsECou0u8fj3bBV3Z3n9x0Z4CxFQzZexNfKnAhZT-4sJQny2w-TM5GbxJLZ5Kj6cGzvY6JynNM9sJyRJerrEf6rXmqMdUmiW9cVM2Y6SYGRlVaM3j9hTDy0J3quYKJNaqg2vgZwOR7O1vWFowo22Zw9xxJyppMx6F7wWwgYasecckSoo7wNdYLSF4UTCz73zYxwAmhWP5-3hFmEqxcDbviI8RSbL4ozWfA70uDC2ar4akRCf2fTFAUuhwTaTf1ZAd8Fr2UeFaHhLjnY1Ecp3BfqW2qJF3bZ9nmH7p6MYjTKQiQxTF8w93vycHD-HigNw-RJmc3oA0qIzSZRE-IghhDclutJ4O7E1jxy8fMtIPukFPhkRXX7zeHBP1TPoIFkkfPbW_6ySMMJMNzR_-dO7uPmyTqf6pcAV4Taiaae5yWtiYyX42DzSXomL5SdrlGbHuEkkOaN_hZuvNxoz2mevIETwcWng87",
  "id": "rs_0439d9d669bb7433016ab455e9c7a087d0be660df820ddd5e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.18,\"left_yaw\":-2.2,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.06},\"note\":\"The first rotation reached −1.21 rad while maintaining the cap grasp. I am continuing in a second moderate step toward the pen-opposed orientation.\"}",
  "call_id": "call_N11aTC2Y4FOqaVLgiJJQFqXr",
  "id": "fc_0439d9d669bb7433016ab455ea222087d092a5375491053a56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N11aTC2Y4FOqaVLgiJJQFqXr",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.205, 2.0037, 1.5364, -1.5421, 0.889, 2.0335, 0.061, 0.2398, 1.8, 1.4433, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2657 left_y=-0.1917 left_z=0.1309 left_yaw=-2.0789 left_pitch=-0.0366 left_roll=-0.0581 left_gripper=0.061 right_x=0.4399 right_y=0.181 right_z=0.1533 right_yaw=0.782 right_pitch=-0.2772 right_roll=0.0639 right_gripper=0.0475\nstate[joint_eff]: [0.294, -10.7966, 6.9812, -0.6667, 0.5739, 0.1685, 0.0904, -0.3624, -9.4154, 6.7624, 1.3602, -0.2125, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eaf40d822217b36d0ed66392c3036fef3e80bd88d3c85934f22b29907e2dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9a2c9d7751e5a854d85abe5be8656b51271659a9dede355e1bf11336abb137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5509c10cb2160ae84b1904fcd2ec0b4bb4a972798d256c404b6089a8b6b6191c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.05 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 136 changed as sent

message 140 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3084, 1.4242, 0.4385, 0.3695, 0.3958, 0.263, 0.0616, 0.2398, 1.7947, 1.4471, -0.569, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3207 left_y=-0.1699 left_z=0.0675 left_yaw=-0.7945 left_pitch=0.0085 left_roll=0.006 left_gripper=0.0616 right_x=0.4409 right_y=0.1813 right_z=0.1575 right_yaw=0.7804 right_pitch=-0.2674 right_roll=0.0578 right_gripper=0.0475\nstate[joint_eff]: [-0.0615, -6.2017, 8.8547, 1.619, 0.0806, 0.0171, 0.6569, -0.0068, -9.4427, 6.8718, 1.3993, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1547, 1.6512, 1.251, -1.0084, 0.9253, 1.1893, 0.061, 0.2398, 1.7973, 1.4441, -0.5747, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3359 left_y=-0.0868 left_z=0.1611 left_yaw=-1.2128 left_pitch=-0.0695 left_roll=-0.1367 left_gripper=0.061 right_x=0.4394 right_y=0.1809 right_z=0.1543 right_yaw=0.7818 right_pitch=-0.2772 right_roll=0.0642 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.0872, 6.5299, 0.0269, 0.6569, 0.2076, 0.0904, -0.335, -9.4974, 6.8855, 1.3797, -0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.205, 2.0037, 1.5364, -1.5421, 0.889, 2.0335, 0.061, 0.2398, 1.8, 1.4433, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2657 left_y=-0.1917 left_z=0.1309 left_yaw=-2.0789 left_pitch=-0.0366 left_roll=-0.0581 left_gripper=0.061 right_x=0.4399 right_y=0.181 right_z=0.1533 right_yaw=0.782 right_pitch=-0.2772 right_roll=0.0639 right_gripper=0.0475\nstate[joint_eff]: [0.294, -10.7966, 6.9812, -0.6667, 0.5739, 0.1685, 0.0904, -0.3624, -9.4154, 6.7624, 1.3602, -0.2125, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eaf40d822217b36d0ed66392c3036fef3e80bd88d3c85934f22b29907e2dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9a2c9d7751e5a854d85abe5be8656b51271659a9dede355e1bf11336abb137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5509c10cb2160ae84b1904fcd2ec0b4bb4a972798d256c404b6089a8b6b6191c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXu8B7oG3o7aI9gdA5Rx-arI95TUafAbLRiU-Ll4v7OU5X0mqJCSDsHFbgyeLGaYi8gtWMbFcmzkwsUzPdv7avvV1wQ8gHf7WW2yQvYFVDA6uXqRf26fo7RUPYrQG8fvxXQdI73d5GPvrOkVztQGXEptgFYID7nBgHGrX0gypfpOg8VvGNftXeK7fPzUScmhJ3z275cMCOqDFJKO3dZDD1fY2gKWy2rW8CHvWwvzuS7LvdkLq0FE9NQ_LlCNMhbuozKBI6NPcrvZfeGyZ3EtuPd1HHYbwTlGTghNQBtR8y7jVnBopduhYd0cLz1jluZPhlS4naC1yN57DvhjOxRZSE2Ke5BtTsTmu92sQEJMULPwwqS1phjhoCZeC5V0yJXLWR6rq-h4jGT5jDY0eLldZeNqVjMCRCKjPbi3P15qqSGz3q1gqcAPUChCDzUZkDHbCUHHexvKV4t3EURsg_jiynlSo20jhTVF5xL65YDUekAe271QHL5ijLjTb5SifpdYQgrxp0d9Kfzn0n8m2DiHzhLS7DGcZJOb7xofbYAvaAjbVZX5Lz2GCSxDIbTkACh7qgia6z-hwZUWfNOejEoT8qJmyidWR06fnITBI-8pbJBDXNZGNy_Z_gxFGVtR3izjngofRdCuDynrCbKlA-QsGnOoLMITyGZ6oFOaLcR6ulcUd6CmP6WsG-5cQL5WOF_4LOt60j7TXS5NKBCke8kuhWelMOQ9GXwwGcnD3RdWfUKwiGAsnM6PVkx2ZmjEHTWEwTENq0joRapCZgVrVzDB4PkLW50gadRhTY633mq_plmysdAC8WO_tXHUa-i2EaQCiYf_mmhRjUUCjd5Kz7CpgI2A1zuJbyZbekbnMlPq46TqDtxKP4SVeAYa4ZEkB79V2_G6idKKwphP1ra7v2bziJDfpCL1sHy67BVLmNRVmLsumxI1LP3egGIB8Xh4YsJhRcR4BGRlB5-zn4-ml69yUwcvb-qn9ztv1TALHvnEwtCjWD30bqAX2Wrz4n4909pYiNzu3OY5-C10e69vEC4D0TaL4iAE42FU7gIIhWN4iBjht7n0JKK2IG1gOx9iFmcLKhQrQ-SzKWdpoaXRS4yWAxCSW7nY6VAkXZKE56NX_kM_z2jFnI7ScLNi4yNJVvV3qK2cIvadamvzP2JHOg0VJOF8jJ0UPiaYWnccPEI6U7vtIjO3Sy0IojLQxalEg4zjlQfC86sKJwKuMfsBBnfkJQoJQdBpUCbQXVybG_6ENbHdrBl-gWCEf9eqaKGSGLKCxMkQSq_g3mbkmFAhNoDk7yZ22Xw0FTtu18KnhmLdglsWx08iN0bOQitir05LOFU4cqEPW4G6C8ORVSuA4duRO5F1Jpx0EwX98wEad34s9g_f2qMwEkdKZ2z6YL5Glmj7XQJHWjmnw-KE-1sL_za_I38wDOFGzdKHTh5beyp3z8W_O8CmqqopoEG8JpFxEdTFqrQRSDNG79EeSZkyr68ETos61Hu3_xLykglxuDxMP8xTVdHMdVbarQtAsYPIrCDEEMx",
  "id": "rs_0439d9d669bb7433016ab455ecfe8887d095591aa7ce509beb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.15,\"left_z\":0.2,\"left_yaw\":-2.4,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.06},\"note\":\"The cap has reached −2.08 rad, nearly opposite the pen, but the arm drifted lower during rotation. I am completing the remaining yaw while restoring a high, central pose for the assembly approach.\"}",
  "call_id": "call_nAAa2bdBSlQf5YWc0XnrSB8d",
  "id": "fc_0439d9d669bb7433016ab455edb47c87d0a2964de1e693bffe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nAAa2bdBSlQf5YWc0XnrSB8d",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2584, 2.0037, 1.5364, -1.5639, 0.8902, 2.0781, 0.061, 0.2398, 1.8, 1.4433, -0.5724, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2517 left_y=-0.2048 left_z=0.1328 left_yaw=-2.1565 left_pitch=-0.028 left_roll=-0.0417 left_gripper=0.061 right_x=0.4397 right_y=0.181 right_z=0.1531 right_yaw=0.7822 right_pitch=-0.2781 right_roll=0.0646 right_gripper=0.0475\nstate[joint_eff]: [-0.4855, -10.6188, 6.612, -0.5446, 0.4908, 0.1294, 0.0904, -0.2256, -9.5111, 6.7077, 1.3016, -0.2564, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b7212e6ac67e0dffe8b946b9665f068cc17f256b959b35bc671bf59e4be009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add145aae29a52b1aeee4aaebac3d60759fdef1fae43207401ea3a598bbf22eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6942306a790ee676076ef6f7c889681389d95f745ffaf66a2d91005441061f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 9.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0051, 1.0878, 0.6918, -0.329, 0.5915, 0.4408, 0.061, 0.2398, 1.7947, 1.4471, -0.5697, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.3084 left_y=-0.0965 left_z=0.1631 left_yaw=-0.7416 left_pitch=-0.0118 left_roll=-0.0064 left_gripper=0.061 right_x=0.4408 right_y=0.1812 right_z=0.1574 right_yaw=0.7805 right_pitch=-0.268 right_roll=0.0582 right_gripper=0.0475\nstate[joint_eff]: [0.1162, -4.041, 9.6752, 1.5116, 0.4567, 0.1929, 0.0952, -0.3624, -9.2239, 6.7077, 1.3358, -0.2418, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.205, 2.0037, 1.5364, -1.5421, 0.889, 2.0335, 0.061, 0.2398, 1.8, 1.4433, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2657 left_y=-0.1917 left_z=0.1309 left_yaw=-2.0789 left_pitch=-0.0366 left_roll=-0.0581 left_gripper=0.061 right_x=0.4399 right_y=0.181 right_z=0.1533 right_yaw=0.782 right_pitch=-0.2772 right_roll=0.0639 right_gripper=0.0475\nstate[joint_eff]: [0.294, -10.7966, 6.9812, -0.6667, 0.5739, 0.1685, 0.0904, -0.3624, -9.4154, 6.7624, 1.3602, -0.2125, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "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, 2.0037, 1.5364, -1.5639, 0.8902, 2.0781, 0.061, 0.2398, 1.8, 1.4433, -0.5724, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2517 left_y=-0.2048 left_z=0.1328 left_yaw=-2.1565 left_pitch=-0.028 left_roll=-0.0417 left_gripper=0.061 right_x=0.4397 right_y=0.181 right_z=0.1531 right_yaw=0.7822 right_pitch=-0.2781 right_roll=0.0646 right_gripper=0.0475\nstate[joint_eff]: [-0.4855, -10.6188, 6.612, -0.5446, 0.4908, 0.1294, 0.0904, -0.2256, -9.5111, 6.7077, 1.3016, -0.2564, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b7212e6ac67e0dffe8b946b9665f068cc17f256b959b35bc671bf59e4be009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add145aae29a52b1aeee4aaebac3d60759fdef1fae43207401ea3a598bbf22eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6942306a790ee676076ef6f7c889681389d95f745ffaf66a2d91005441061f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXz39Qvk5GWcHQLks9brSDeOxaUePb1PTs7xirFyrJPmeLH8onFuEti_b2Avi2-S5eBYwCX2SenkBNtBJb36UkM0rU9pRb1QMW4oAODnM_uMEj7jWgLZISLcRw8gztLkG7JVbQ1YzN529vew9F9UhqGXYQWn99-EmO9Brbc5DpmLGnB1bLw1OLPwOPyfygzVPWUguOOvHYfq-c4syLQ2oF1yD6vAjMEiHkaDAEz_LTr_se_baDW_LLuELlCb0NnqSPAaFjgX9W_giq1vY8yjGbhoQJKy1Q3y1p97LQipla-w3oZShv8529HPP3SFRJNrggdTA2JPADI1uEARe4tXqdOT8mpbqCyiD7I-em4ayRV0BXm6GgrUkUc2W1aTUW7iDBSCepC1JL5cFSDBtWmB0HIWijY1Ey3BTG3DRsB_mMdS8BZFk2cKCVUMjlk3Md17XcVCheNuYsFvaKnJPOQEObPy16XPL6Wmc39xs2h2i5iFO4c6Tf6S00NsJvzATqlx8GzWL4CjZsLalQCsfrh-NdKVuIVZgiyEVTssKLqn7OT0cCkWaVSRoAYp_zyy7Srr1y_R2GZ_vQ3f4DwFilt3OaLcxiOISz0e_8bEzcnmvdFvjgJPLVEqt8JHzrzAMETrLo6VLaA4AVkunRrMI2rRshhGx5P08wMP3DYpM4h0HN9M2oXIbReZHvXeYH8JBHmFQR8aeg5J_EqG7SwD83MWSAqg4MRQZG0s_2J41Pdjr7LDa4S7VR7iLemGribjptnrW6TY6YgACdN5sUnCNDjJjIE937a0x4zHiK3i2AFlwso8EaMhA6rGaMWlRs7kvYQlyFsSXYg7_DvSJUvAzPbVXdy3eKymrS8UHC7a5WbP2s0xGvzwURpSNKoeNtJSa6h3FaIQ3rxVA4GBs8wyLmKerG7uxaE6JjSxNu5f1UMEJbKPRJpAyzKFOBRBpK_-RKcwLRBcVCGwnFLBOLumv-8PUTZ3FZYPnIyO6fwpfCd9UhhmIfIkdhu-LOkZyGwu31-0WfFxJM0jkdHLFlfbaOg9mbAMilpqLtzf8pbqyCF1SGuvuXz6u7wAm15CYg8QFm6P6YoOuas3hfuVc7ikHnyTPKXtK8w_8-S_VHtKvuB7LD-6d0vS31zUFXwATEx7J-3OdmjkXb23act_nhuhB_D4ukGMz5RjjUQp1e4RNcFxfou8K3I3mo92_40Nh9Wmp-NXULfxgReZu00qDunKqCLR2A5DU7CjHm4U4SFGjh6GYB5Z37UbFFqZSKIMW-XawsN7-rfsSvDiLK9PMfmZO5LGqCijH2mT_qLM135C_0CV-vZ_kkUZxizOMExKn2UAub6NnyHfP-Y9LUPwR3r365mOBHFVrHuAcpzaOWz4x0zomGGFoz2PQ_JXd8-p0q2G-5AugNodqpgtKBtNLn4bnhjfDtHNg9F2Vk8XJaDcBgiAsVzFZNQaflF3i2LoDEHg2nqsBV8LKjfIvLWOuYVeUzx3_R7EGDMXGUs8KcC7U9qGchzy9GTQY_lsxOoNwPCQ8EqT0Jw_HQGzskHQMMajwe3NvNkW9lfc0Geaw3sfJ6k2KZT55qk3j5L_sB69INplbHif7ujcrESLZaKz5tvsJk8iWmPJ2AOWqw9Bg52u3w_W_ImSsqTlB4XM_s9EcV6SLT_i5_hK8vyiozPvLu0mUhJZ3wMSgnfKXrxhDmrC1VRCqbn4Ich79TY_mH3hlFwzvAaV7yxiA561Zb9epIqpt4mAwWlGQbRl2F879i__EPTX3r69O4KBedDTab-jBBq0PoqwHRLaFPaZog9v5Ml91PgWV6YucrrlIlFSMYz53uRcodZ9G0jMeGLkLN4dm4pCIIi7LrdPqHoOrhIr9h0NKCzf1YbHrcMG5ng8gbJxZqYqXfpE5dEIzC8eqK9B7ucQo2WY5yUahxRA48aPnnHl5GaztV4tfIqeTO7oWBgum5kQsPtgco2g1krgUTOZgJvBYWSi1MNR-qWYJF8BxscVSQ4UXoMsQ==",
  "id": "rs_0439d9d669bb7433016ab455f1057487d09fd29366888b949a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.18,\"right_yaw\":0.98,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The left wrist’s feasible yaw settles near −2.16 rad; the exactly opposite pen direction is therefore about +0.98 rad. I am making that small adjustment on the right wrist and straightening its pitch/roll so the pen and cap axes are collinear at the same height.\"}",
  "call_id": "call_jRVFlp9mEgJ0dqqwK0MXQye3",
  "id": "fc_0439d9d669bb7433016ab455f23e7087d09051e7815d18c270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jRVFlp9mEgJ0dqqwK0MXQye3",
  "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]: [-0.2584, 2.0037, 1.536, -1.5635, 0.8864, 2.0773, 0.0611, 0.1509, 1.7798, 1.2999, -0.3603, -0.6376, -0.5289, 0.0475]\nstate[eef_state]: left_x=0.2515 left_y=-0.2044 left_z=0.1322 left_yaw=-2.1579 left_pitch=-0.0313 left_roll=-0.0434 left_gripper=0.0611 right_x=0.4397 right_y=0.1768 right_z=0.1526 right_yaw=0.9443 right_pitch=-0.0859 right_roll=0.0494 right_gripper=0.0475\nstate[joint_eff]: [-0.3624, -9.1009, 5.0393, -0.4957, 0.3639, -0.0269, -0.0122, -0.6632, -12.6154, 6.4615, 1.663, -0.5348, -0.0855, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6910ddbdfcf4932f1022234a398b991965f840cdae5da68bb277629362ea699",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c114241a9500093ac5b9cce9046268e35576389ae8b44fb936a84232d5b490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b9ea977399c6155f21f065dd320c7c0beb1dd99bc5140d6778a0a1bc76c0c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 6.201 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1547, 1.6512, 1.251, -1.0084, 0.9253, 1.1893, 0.061, 0.2398, 1.7973, 1.4441, -0.5747, -0.3939, -0.3824, 0.0475]\nstate[eef_state]: left_x=0.3359 left_y=-0.0868 left_z=0.1611 left_yaw=-1.2128 left_pitch=-0.0695 left_roll=-0.1367 left_gripper=0.061 right_x=0.4394 right_y=0.1809 right_z=0.1543 right_yaw=0.7818 right_pitch=-0.2772 right_roll=0.0642 right_gripper=0.0475\nstate[joint_eff]: [-0.4581, -9.0872, 6.5299, 0.0269, 0.6569, 0.2076, 0.0904, -0.335, -9.4974, 6.8855, 1.3797, -0.2173, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "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, 2.0037, 1.5364, -1.5639, 0.8902, 2.0781, 0.061, 0.2398, 1.8, 1.4433, -0.5724, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2517 left_y=-0.2048 left_z=0.1328 left_yaw=-2.1565 left_pitch=-0.028 left_roll=-0.0417 left_gripper=0.061 right_x=0.4397 right_y=0.181 right_z=0.1531 right_yaw=0.7822 right_pitch=-0.2781 right_roll=0.0646 right_gripper=0.0475\nstate[joint_eff]: [-0.4855, -10.6188, 6.612, -0.5446, 0.4908, 0.1294, 0.0904, -0.2256, -9.5111, 6.7077, 1.3016, -0.2564, -0.0708, 1.0281]\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 148 current as-sent form
{
  "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, 2.0037, 1.536, -1.5635, 0.8864, 2.0773, 0.0611, 0.1509, 1.7798, 1.2999, -0.3603, -0.6376, -0.5289, 0.0475]\nstate[eef_state]: left_x=0.2515 left_y=-0.2044 left_z=0.1322 left_yaw=-2.1579 left_pitch=-0.0313 left_roll=-0.0434 left_gripper=0.0611 right_x=0.4397 right_y=0.1768 right_z=0.1526 right_yaw=0.9443 right_pitch=-0.0859 right_roll=0.0494 right_gripper=0.0475\nstate[joint_eff]: [-0.3624, -9.1009, 5.0393, -0.4957, 0.3639, -0.0269, -0.0122, -0.6632, -12.6154, 6.4615, 1.663, -0.5348, -0.0855, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6910ddbdfcf4932f1022234a398b991965f840cdae5da68bb277629362ea699",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c114241a9500093ac5b9cce9046268e35576389ae8b44fb936a84232d5b490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b9ea977399c6155f21f065dd320c7c0beb1dd99bc5140d6778a0a1bc76c0c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0439d9d669bb7433016ab455f56c5487d08f1b59f3ea7fa528",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFX9oMYO-tII2stweqIMz6xwNi7HFKt0cwdD5QeGi5UhPy1V49XrsaAHz4glNAkt4X9YDhb8I4Tv0XK_UoLYd7aTESI-2Pdz-mri7RB-jueoM_-H9gad4BVju5gT55VysLFLnFjbTKoJqHb-Vfz5Lw1rjVNB81RbNnMa2QDasTRPZgQ4jMapOWPUX8XJy2ruRHDUTnoVukzm852UwOy6ukUXoYM9wX9wLnnAV0dSnTLXlONWFamwo8ony_15TXPWX36scI26G-6Pla55yyWSkROibL2pXyfZ67cR7K_BniYZNvkKr7oKu1MBYBcZy4WBUYPQu5eY7InLGSaxjOo4aUbW2CmfoY80Vejmbzk8uV2Cn4iSbZq4dw-_gEyczQL4Vt90HGQ3w5CavHwDyU5geX3pR8sAvpLsm33Avnnwx21aqXoHuUdEB_1KdhrPHJmz2l2jxVd5fVI1ITtK0bhdHSX1D4o7KpW5-S4Osz1MB8KJQMPi8stZQuCNXzMl4nLjQJgn4UTDGdujfTalg7K8eo7GGqZMewpDiaLQBq_p3Wv6OjGCvsFS8O_dJh_tO5VOdsdO_eP9RMQ3q0A1ApeID2hs25_6P64XYtQBAemo0SkHzlc_LS9NdxEaHib0PnoQGbRXlQM3cSPQEPeKuF8vopvSpemuf_6XCpxSUuHh4PcHBXD66bT0uRzZV0y6lMLSOBXx1TncjQrjDe_yvSsljxIZmskNZRaMxPw7FU8F8sC8HWW_vpGUSVPupY5gBJtQNwY2LjUiTYZ8ApHGrBITxn5Q2kzeJrD4ZkWkd53h1QYf67hbl0sNNOSG-8q2YT5-c1O_ACm8MMcDv9TzEjkTW1i4BaToDMVnOwJUgSFnLWB6gFQQuXj04_MOV-dUrcNythK2BWkc88g7Fm8GpvsRzyg54TkIKEkE37kpBYHZXUU69QzDpFrAxaW0-XgASFtKs9L_4NZ8jTVqCE_B9K6hlKwJYQY94uU4A5FiouQsMP03gTBew2pCBIeGOBSLrhhb11H0nlWjQVcvQG11ZbPt79aMmnVePR2PhOlHhxmJilhwDhIZpK0NruqFtav042jCx1qOiYDDB-GAcOP0q7lZob_iPcFrKVJIyCzY5Jagoe1fzmsEwQYYqiRhM7QjXBPr99f-tjZV5YztHUOs-iwwwaQBEzTEH872aM-cPPYseAA54mkVKjxOz75172yZYACyXbq9tZMhipJOV5jJh-Vr5KbDA9RQ3i9j5AIvd36pyXChorD9r2McEZzMDBsqtA1Do_fsl524337s5u1HCvW_8e4MD_w-59DbexkSIya4xCTvUcyh__JqU7bRy4vlQZJAc7wCpixzINIkgBO_HOtORrs1hfM5JNQJKb5F9ZP91MCjNKKi-uQ_GsAprFThfmieDt78mIIS--mraswEF9Jx52k4PLP2Pg_EhV93J7eyXFEV2g32vfBbsNYUHqvhDB0qyIhOnQGchEUkgTCtdih3a2_JrCIw8h5R15NMtpnFGzDFLRXopNXxaj6ljCVL_EDxiYU5jhnUN2kWsKbk_R9Y3Zrj_KClGrUHXfapZgJi-PsmH0M78h8UDU8aOucSVCJs2Y98MIWirCUjBespCYY6T0KkAqwSF4E0a54gSG67rEoKrGXRch36dhAuZ_KgWwRtuEK0-LR7F0nG5_8oDGFY_WuE8D-GPJVwPs3AZBIfnRnBzVd_3EKN3lOgl6ikLHuxfT4-_x4lTxX4oPwNPMQnXHUVk7KBS4qbXigOuAPPOTdi34w=",
  "id": "rs_0439d9d669bb7433016ab455fad1f887d09e965b6930330247",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.37,\"left_z\":0.18,\"left_yaw\":-2.16,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.06},\"note\":\"The readbacks now differ by 3.10 rad, so the cap and pen axes are effectively opposite and collinear. I am moving the cap to a pre-insertion pose near the pen tip while keeping roughly 10 cm between the two grasp points.\"}",
  "call_id": "call_D17TJug5fBLcJQRYCAWa8iqS",
  "id": "fc_0439d9d669bb7433016ab455fc6d1487d0a28213f13860a68f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D17TJug5fBLcJQRYCAWa8iqS",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4976, 2.6209, 2.5557, -1.5879, 0.9611, 1.6489, 0.061, 0.1463, 1.7798, 1.2964, -0.3599, -0.6323, -0.5354, 0.0511]\nstate[eef_state]: left_x=0.3571 left_y=-0.3547 left_z=0.1168 left_yaw=-2.1286 left_pitch=-0.0361 left_roll=-0.0099 left_gripper=0.061 right_x=0.4403 right_y=0.174 right_z=0.1509 right_yaw=0.9395 right_pitch=-0.0907 right_roll=0.0436 right_gripper=0.0511\nstate[joint_eff]: [-0.6496, -13.0256, 8.2803, 0.2515, 0.7839, -0.0952, 0.0904, 0.0342, -9.265, 7.1179, 1.37, -0.3639, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3048e31bd16c3d4dcd26f94b1b827d589b1ec70c6df1c730f0068a354bfc26d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6981cbd7d658e7e5de950191a3db883090841ab6b78ebe8428ae497b6bac2b71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65f96db5f0083a29f101a9ec7f4197ea819ba618327ea07cbff6426d226af49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 11.73 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.205, 2.0037, 1.5364, -1.5421, 0.889, 2.0335, 0.061, 0.2398, 1.8, 1.4433, -0.5713, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2657 left_y=-0.1917 left_z=0.1309 left_yaw=-2.0789 left_pitch=-0.0366 left_roll=-0.0581 left_gripper=0.061 right_x=0.4399 right_y=0.181 right_z=0.1533 right_yaw=0.782 right_pitch=-0.2772 right_roll=0.0639 right_gripper=0.0475\nstate[joint_eff]: [0.294, -10.7966, 6.9812, -0.6667, 0.5739, 0.1685, 0.0904, -0.3624, -9.4154, 6.7624, 1.3602, -0.2125, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "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, 2.0037, 1.536, -1.5635, 0.8864, 2.0773, 0.0611, 0.1509, 1.7798, 1.2999, -0.3603, -0.6376, -0.5289, 0.0475]\nstate[eef_state]: left_x=0.2515 left_y=-0.2044 left_z=0.1322 left_yaw=-2.1579 left_pitch=-0.0313 left_roll=-0.0434 left_gripper=0.0611 right_x=0.4397 right_y=0.1768 right_z=0.1526 right_yaw=0.9443 right_pitch=-0.0859 right_roll=0.0494 right_gripper=0.0475\nstate[joint_eff]: [-0.3624, -9.1009, 5.0393, -0.4957, 0.3639, -0.0269, -0.0122, -0.6632, -12.6154, 6.4615, 1.663, -0.5348, -0.0855, 1.0281]\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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4976, 2.6209, 2.5557, -1.5879, 0.9611, 1.6489, 0.061, 0.1463, 1.7798, 1.2964, -0.3599, -0.6323, -0.5354, 0.0511]\nstate[eef_state]: left_x=0.3571 left_y=-0.3547 left_z=0.1168 left_yaw=-2.1286 left_pitch=-0.0361 left_roll=-0.0099 left_gripper=0.061 right_x=0.4403 right_y=0.174 right_z=0.1509 right_yaw=0.9395 right_pitch=-0.0907 right_roll=0.0436 right_gripper=0.0511\nstate[joint_eff]: [-0.6496, -13.0256, 8.2803, 0.2515, 0.7839, -0.0952, 0.0904, 0.0342, -9.265, 7.1179, 1.37, -0.3639, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3048e31bd16c3d4dcd26f94b1b827d589b1ec70c6df1c730f0068a354bfc26d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6981cbd7d658e7e5de950191a3db883090841ab6b78ebe8428ae497b6bac2b71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65f96db5f0083a29f101a9ec7f4197ea819ba618327ea07cbff6426d226af49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0439d9d669bb7433016ab45600604487d0855619e97652f8ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.22,\"right_z\":0.15,\"right_yaw\":0.94,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The left arm reached its yaw-limited forward position at x=0.36, so pushing it farther is not viable. I am instead bringing the pen backward along its own axis toward the stationary cap, stopping a few centimetres short so the right wrist camera can verify tip-to-opening alignment.\"}",
  "call_id": "call_IwzXlixuWvPZYfElOQN3k0cK",
  "id": "fc_0439d9d669bb7433016ab4560420d887d0a62b1e8a68180278",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IwzXlixuWvPZYfElOQN3k0cK",
  "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]: [-0.4744, 2.6888, 2.5874, -1.578, 0.9436, 1.6424, 0.0611, 0.3416, 1.4513, 0.836, -0.1104, -0.5209, -0.3866, 0.051]\nstate[eef_state]: left_x=0.3706 left_y=-0.347 left_z=0.0898 left_yaw=-2.1047 left_pitch=-0.0521 left_roll=-0.0426 left_gripper=0.0611 right_x=0.3371 right_y=0.217 right_z=0.1336 right_yaw=0.9668 right_pitch=-0.057 right_roll=0.0275 right_gripper=0.051\nstate[joint_eff]: [-0.3897, -14.6393, 7.1453, 0.1538, 0.6374, 0.1392, -0.0073, 0.1709, -7.5692, 7.2137, 2.0879, -0.1197, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52075a0213e1d36b92081c5f9b30351b61508477077a031dd9fbf7736cec434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a81265fb47883a7d8c1190f3deb9be0f14e8ef345a98a1c02129c78cac67ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f563b3cea5eda7c9e1d9d62f7acc4e8539a72a5e38457793611e5074102a0f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.453 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "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, 2.0037, 1.5364, -1.5639, 0.8902, 2.0781, 0.061, 0.2398, 1.8, 1.4433, -0.5724, -0.3939, -0.3828, 0.0475]\nstate[eef_state]: left_x=0.2517 left_y=-0.2048 left_z=0.1328 left_yaw=-2.1565 left_pitch=-0.028 left_roll=-0.0417 left_gripper=0.061 right_x=0.4397 right_y=0.181 right_z=0.1531 right_yaw=0.7822 right_pitch=-0.2781 right_roll=0.0646 right_gripper=0.0475\nstate[joint_eff]: [-0.4855, -10.6188, 6.612, -0.5446, 0.4908, 0.1294, 0.0904, -0.2256, -9.5111, 6.7077, 1.3016, -0.2564, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4976, 2.6209, 2.5557, -1.5879, 0.9611, 1.6489, 0.061, 0.1463, 1.7798, 1.2964, -0.3599, -0.6323, -0.5354, 0.0511]\nstate[eef_state]: left_x=0.3571 left_y=-0.3547 left_z=0.1168 left_yaw=-2.1286 left_pitch=-0.0361 left_roll=-0.0099 left_gripper=0.061 right_x=0.4403 right_y=0.174 right_z=0.1509 right_yaw=0.9395 right_pitch=-0.0907 right_roll=0.0436 right_gripper=0.0511\nstate[joint_eff]: [-0.6496, -13.0256, 8.2803, 0.2515, 0.7839, -0.0952, 0.0904, 0.0342, -9.265, 7.1179, 1.37, -0.3639, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 2.6888, 2.5874, -1.578, 0.9436, 1.6424, 0.0611, 0.3416, 1.4513, 0.836, -0.1104, -0.5209, -0.3866, 0.051]\nstate[eef_state]: left_x=0.3706 left_y=-0.347 left_z=0.0898 left_yaw=-2.1047 left_pitch=-0.0521 left_roll=-0.0426 left_gripper=0.0611 right_x=0.3371 right_y=0.217 right_z=0.1336 right_yaw=0.9668 right_pitch=-0.057 right_roll=0.0275 right_gripper=0.051\nstate[joint_eff]: [-0.3897, -14.6393, 7.1453, 0.1538, 0.6374, 0.1392, -0.0073, 0.1709, -7.5692, 7.2137, 2.0879, -0.1197, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52075a0213e1d36b92081c5f9b30351b61508477077a031dd9fbf7736cec434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a81265fb47883a7d8c1190f3deb9be0f14e8ef345a98a1c02129c78cac67ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f563b3cea5eda7c9e1d9d62f7acc4e8539a72a5e38457793611e5074102a0f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0439d9d669bb7433016ab45607724087d09100609e83c950a9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFYRbhs-UagYNYcHwQAxUDh8iNGNRcyA3yKNCiMIXUjQxicxnfjG6x79ktof8283_TT4XILRvx9HSpj1-miyu_2oqe42CMs4T2Ty_1ZCTJH3-FkXxolR1ZU12J9C6USKFCaQjKIBAnEmyQp5lE7prtkdgdrvcCecH3dunJP_qUsvsfJJFycoZcrjxUIInX8BJejkkvX4w8zk_0VbMblHd71xfBGs1MLhc9tN9jDThQtixjnVGaJ_EKqV5LqfkSOJvXKCAFuK-10aNS9Ii4gyJU7iW4Ybw6wzo9teY8YfXcgEE3nOkLeycx7Ywgn7OaFYzd0V2orwDH0x-CMjUzYovekiGi6JODvE5UeEM9nU2eILqfqvsmW0OnOVve8NS05l5SG3U7kbqP5lVZUeErUUfqA1_bE711luFSBXY_DdDM6zLxX8aX02viELzBShids0ZXuWiLj5HnKYSPD7rNpINy6n-E211G_LLWlIKxHlDZT7UNl2qQxUP1kCZqcjENNBDlx69v8-H9BJwdVk19dc6FGBN_J80rT0bzZAiTDdoIprSTKrqDh8_i43c184Rye_nXZx6gyjBmu1p43l2o76hYfUdeKWREXwRienknsEZBG-DE5uEtUC46dCdbwLByNLuSNGZqqASXJ9_MRlQmKDaTwNrjuEPfZtpdHeKLkPh1kkmeXuRYU5lE1oM_3cUBh3_NuZoPQBpM2iWFzJgeyAtx6i-Xw29B6hh1n_3rA1o7U0SkW2757qdMgHH8kU-bEWRRTrpgUP8ZSJo57rGIun7maRVtqXTOm7VUJ_MW36yPiC-8JKiopQrRb3fgumQFWbMz148inTe1Z69XI6QSlDHu8zBmUp62SaSzchvb68g94c0zBgvg6llbxgADRiUQMWmejXH_E467liLcCy5tmQNUdGK9r3Q3DvygH9CKT-NgsJLfn3azRFUHsmZn2_OzzpHDt7rk-4267gC7xuS1JFaaNgBl7WZtGcUkyGiYeRv_Q3Sdz4iRSB1sM12gzVDmQTaPOiCTMiLhE5TTDXzCpBcMS2XrVTVQN8jKzdLgQeOjYaqFZLj-WobRytIjca4w2tm2f0li9gNy_8t-tydvDU3OpjybCOcev2mT3sZPvra0AjA072AxmNmhcBqyyA5v4JT8OSLFNLMh_sRfVFyVtcxljLYc5jgCS5RU0YW3HglnEnEkcFcFFVO9go243OsblSd71Y-rlT33ymuxiPudzIYv048pas2I-Dmfg6xJ87mjRSdHCo-jDuefFE_qAjspeRLFGPLj6BqrcMwvUaajqlwu_3b4jxFwilMfzavl4Pf-9ZR7Ljzf1LdjQbFutXR9Je50u4r6R7YiGRY0LbAM8Qbweh7-JcRCBzWXOwDRAoBYJoDXCnx69zOI7fXBW5Y5qDcRiFZoi2zzWfMcGLKwRFseGiEgnYvkwO-07XzwPzOo-Ey8t0E-1nfrhIxnVHAZYbA7frbBOqLnlagRarOxmKJVDXKu-lR82QlVTXQPX1-WXw0P6VYioVAvcumohE1smCCJHAqg-hw-jxXBjzaCmSvukZLnpcEP1LV2hfaendVtvw6K3VlApCAzCyvHtZ6ucGxqWgd-oJU2ULarX_WU6SOv6DjdfSK-NaQ8eaHbzogtk97GjR9qssptN1iRSYMZ-O3KXku2_BVOsGL9wuInnLAohMHbh7kC8JJf3qRTtw6JHINrohpjTDFZV2msofzVNPBKVhMLDhqljQkfJzv9vhv7mA009Tr8ia3jptz4IJ1g1Z86kBGSAzqmAE-m6nRXP25nRWYm1eWfl7k6sMm5mtlg3kNHQgfRIL9-znI3IDK4MRZDILZaK1vlbWzwj7P3x_nkeTPDT4LD1Qi1LQDH_1oYfK6Om0rOYDA4a41ChJVT4W_7Tsj5RSKG4FifGQZZCwKfX5eiGPYIYo3JI1oYR_5u1bfugcMAjbCZ_434LIgzSzafF2u1SNzX1RBHkgjIHQD6evlrPoYLWVyO9WZva7dzv2d-u4jkhDufn4Byew9NbQIxuByDNcIVYioN4Eylmu-gmw_Gf0oycym7cUHi3RZyYZ7rf_DBjDYWwHjrVVaQpDKA_2KZS1ikmrTYb-XPwtYbeO9JRYmLMU4-9XW3j3Sh7nrh_Hgi5K0oeh07-mz2kpMLAyV9zv8Oju8T37tWlOCqI_PFiHnYsPZAtvl97MdUk6HSXavlzYo7-XYbSjjBAUogeVGI-N4hZQNTGvqkBAV6p6qaeTz72b_Ee0ZP7PfOuAjoZr1SxAYuyNkBdadDQhk2NaenQLbCxmg0rGApcneLBFVxktWxM2P-egFIFzYz1tVLohfzKAaEhbZM3a2hmF7JL4G-vmyx_Yc8zNAY4bE4l-iGtbo9Nnwq7HWztdaLT4hZblSJMwAozCrGOURzcLcej4KsBVjCFVi1umFp3sEjPGp-q76Ek22_N96FxpJxOqcrJLVDtZS926eiXJo0c6Bb8t3qBVWcW6mQm4jW7_nS5pOH5JJLpudNb2KdYLJRUnSaknd7IvEwby8YhiocfcbOtNXQsJ8ty9qs1W5Mk5rHl1DQ0zydU-7JEXqcxM1SiZK-rvdCNMJqC2PfdoSeGHMhec93qii0vutOCCLiKJTlgJIodYQvaoBiDFF_TdQ93ruXY-vC8voUDRKhDEbO_tbCsglEc_AbAln1ywC5xAUlUDCMJIqN69-mM224-_-KKcRQiPAYLLr_iZnZ2B5KiD1F24cy0ENDFYwov-6TInFgQGDhHWuv8rI_FvCYc6r4PIiS8j2gXA-7-3I9fPqjhIYXxISoIPHwHrvSY3PtKH0PJL7CTN1qEguvtGjvOwO6Pr7SLUZwrEnl27oDuhr-8VYSj418CUdlyYKUG6S1B3JqWO91sRu6WPHMRXsaBMqIFfRhyDIQSchHc8ZJqmvlKJHIq6vV46y2SMrIZTQsEidwKqiLcsbSTa2-42AZHrTth6Sw==",
  "id": "rs_0439d9d669bb7433016ab4560cdbc487d099f16b148a45d75c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.347,\"left_z\":0.16,\"left_yaw\":-2.1,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.06},\"note\":\"The wrist views show the pen tip centered directly on the cap axis with only a small axial gap. Before inserting, I am correcting the left grasp height from 9 cm to match the pen’s 13 cm height, since the Cartesian readbacks reveal a vertical offset that the wrist view alone cannot.\"}",
  "call_id": "call_BXMEQSlmd3lKx0yef6zGKtXO",
  "id": "fc_0439d9d669bb7433016ab45610641c87d093878d4a9b3dbf09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BXMEQSlmd3lKx0yef6zGKtXO",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 2.6888, 2.5874, -1.5791, 0.9428, 1.6428, 0.061, 0.342, 1.4506, 0.8169, -0.1047, -0.5053, -0.3782, 0.051]\nstate[eef_state]: left_x=0.3704 left_y=-0.3468 left_z=0.0898 left_yaw=-2.1051 left_pitch=-0.0527 left_roll=-0.0434 left_gripper=0.061 right_x=0.3352 right_y=0.2139 right_z=0.1263 right_yaw=0.9511 right_pitch=-0.0735 right_roll=0.0331 right_gripper=0.051\nstate[joint_eff]: [-0.2256, -14.5436, 7.0222, 0.2027, 0.569, 0.1148, 0.0904, -0.0889, -6.0376, 8.0205, 1.5165, -0.3834, -0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a218c666dfb14af0e325c5cfaf08fd8f2c59c46b9ebb3a1403a6c16a7d8b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce4c508180c6382d3b3f379989e79d70517f817c0f2f0991a42904f76ca22de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9beb210e9481721c417814d360e3e1ff891c40256dbee4e7035b3ba6c2cc945",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 157 changed as sent

message 162 changed as sent

message 148 current as-sent form
{
  "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, 2.0037, 1.536, -1.5635, 0.8864, 2.0773, 0.0611, 0.1509, 1.7798, 1.2999, -0.3603, -0.6376, -0.5289, 0.0475]\nstate[eef_state]: left_x=0.2515 left_y=-0.2044 left_z=0.1322 left_yaw=-2.1579 left_pitch=-0.0313 left_roll=-0.0434 left_gripper=0.0611 right_x=0.4397 right_y=0.1768 right_z=0.1526 right_yaw=0.9443 right_pitch=-0.0859 right_roll=0.0494 right_gripper=0.0475\nstate[joint_eff]: [-0.3624, -9.1009, 5.0393, -0.4957, 0.3639, -0.0269, -0.0122, -0.6632, -12.6154, 6.4615, 1.663, -0.5348, -0.0855, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 2.6888, 2.5874, -1.578, 0.9436, 1.6424, 0.0611, 0.3416, 1.4513, 0.836, -0.1104, -0.5209, -0.3866, 0.051]\nstate[eef_state]: left_x=0.3706 left_y=-0.347 left_z=0.0898 left_yaw=-2.1047 left_pitch=-0.0521 left_roll=-0.0426 left_gripper=0.0611 right_x=0.3371 right_y=0.217 right_z=0.1336 right_yaw=0.9668 right_pitch=-0.057 right_roll=0.0275 right_gripper=0.051\nstate[joint_eff]: [-0.3897, -14.6393, 7.1453, 0.1538, 0.6374, 0.1392, -0.0073, 0.1709, -7.5692, 7.2137, 2.0879, -0.1197, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 162 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4744, 2.6888, 2.5874, -1.5791, 0.9428, 1.6428, 0.061, 0.342, 1.4506, 0.8169, -0.1047, -0.5053, -0.3782, 0.051]\nstate[eef_state]: left_x=0.3704 left_y=-0.3468 left_z=0.0898 left_yaw=-2.1051 left_pitch=-0.0527 left_roll=-0.0434 left_gripper=0.061 right_x=0.3352 right_y=0.2139 right_z=0.1263 right_yaw=0.9511 right_pitch=-0.0735 right_roll=0.0331 right_gripper=0.051\nstate[joint_eff]: [-0.2256, -14.5436, 7.0222, 0.2027, 0.569, 0.1148, 0.0904, -0.0889, -6.0376, 8.0205, 1.5165, -0.3834, -0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a218c666dfb14af0e325c5cfaf08fd8f2c59c46b9ebb3a1403a6c16a7d8b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce4c508180c6382d3b3f379989e79d70517f817c0f2f0991a42904f76ca22de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9beb210e9481721c417814d360e3e1ff891c40256dbee4e7035b3ba6c2cc945",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFYWwBTq6a_rKgXi7ONX_92KiTZk8HykLYuQK9FLu9uRVlT8AYtRhtRebHCFhf_RbPw84fbfbLNlXMN0CjzYdoIzDenflnXZKtgfB8gPMIlvrwXjv7z41Ta-b4TaezGeDZVEDHsFv4AVjF6va6CrlDOthYnfpwAgQEzWr6EwuGLy15ZlWQAnfoX0N4M9YUE2yT-HGfP3k_IwHdkKW9VN7i86q_x93FTeeXbRB1ZbAsP-zBvPazjO8sBgpKzQEzDBZkWkfZ2iyplhYwPbKkLd9kzItfxZTV6S-kJIjf2rK26wzIWl4r5_7BpNlvrU0e3mJLPYvNKOdqF56MQUW05S-Ip-Ci9TcOgPS_FrgwQa3Oh9MUD9lX-Ag5hFzl9cI5fJgjWIWflJedj9LVSvvPOM5mu3njhxg-6IY07J359D8IpHwQdGUWVt73WBesQJQOiTZjbwq6JQEapztVXChO4sza9IOfbYpTsXvEI1RnmMFGIgLaSUct0GYwa2kXLa-r9Qd9qUxpT1jH4LN4-0gASaOt-02zh2Q3lIRkG_wzQEIU63QZhei1OjvaOPcdhAqQLa3OUBpjmujX2mYnqfbdKWEeD74-b0_z1mVokcHjPjRL1V5U_GtM-fhPD5h0OPJUrkpsoO4PDvf7gm1kXZ1rWmQlbDwbYveh3Mfy9cnj4GOrtuxOaG__zJjaTUXhxoKzsEl9md4j3yWlF9xTiHqymcSgdi1HPbUdR8q4uTrdDUjXp3Cz0bL1uQUGO3R1BVzgKqzKkhjlPNWrGVb5jA6MxwZv88Qrl6LyEpqZR_BBihKEbrzlDRXEQ1TEswDAdQM1MmPvESDocliVkIHkhirXFjqj2QE_zhasBLx1cDI-GtkGNqwtSNI3rPbHQtTJNLL8mWuKLWRXHPFK-oOOuJ54dsMO-WX0tkYYetSRiKP9My8ts6Y6cRW90hlGXdLvNHUl80WpmoBcrCpG577z0hVD66bluGQIf2hClx87hHhJp1x0_saMKC-fnuIA9P5vvoZ_Vq-V-sC43u2YOpknVLG7LH4NycB56Mamy9cBXcxTL1j4y_qva-zmsjVjyV1oSsEjphFI7Ug2dKljbILaPaGLCi1VSUZ158PxE-fsCkpOsS50dHBTnAr1i_XqA2RJXIJEjD-ptwuI-yr-th4Tlsx7Rizs5rRRueApIZW6TWc6mYkcGyneTLUFf0LzZwj5qSMNzDHQDcO4ka_PAK5i2XoeYYlOJDreR_NO8FAOXMMMJXNfQoNsSOVquojU5uT5ul57C1Ub93dMl55ZqQj7fR9dH7YPYljbPQVhD5REYWWa1fcn3fRf-BHqoepDvXGDJ3sMCRfn_OU7wWFD_j2imqwn4nk2pT7rZpVdLYJtx92hm5i0CekNfu179wV2uS7yZxTI96hmLCyzuzssSBo3T01--dMyNZwt_k3jSVOOheCX3aY60bc7QMciDSK7-dsVZzHPd7RWpCYu4Weo9Nj8kEL5H6ws7L6c29ekkPfbCNnQ5bHUAJzaRpy9AVBL4Egd4f7cmuORtUOSWDZdfukO7mZMB7ejh2vWYaYKIMkyiPmaZgZ4yu-5ueqGjZnlvdaaIHSkQjn8-D-KD8xwKUzWvMWXLrAZ8T7qb4HVjuCxd30Amgb8oW1vAmipUQtRnADO0GIKA-nMACY3ksOTdDPf8bG6J7UfhClImh2wtgPxgOj9K3muTNS8JjscRPuP1pmyC_4Lqq4vZhwv_Aj9qw9flaA4fmNQ3K_t5Z1EpElZtIXFVq1Bjk61X-WrN8xZebISlm2Y7EWR77YhaYYOOKTw5-my0MTwwbHi3Lqqg_oV7z2VHDJqTmRi2xFRMyi6c_KqAAcGmTi07ctSPqUMF_qy13Hkk7ECMZ4JTX5fbnZpn9aQe0k6WYjN2ZVNx_B2wMd-cWfe6ovHpH3HkVILtZehfvLhWYkUOIbLBdFFkgPzuKxI1ILTNOOC0zTI5GEwTHwMo_bl0_JQ25m9NK3d_qmu0gtxs-6DD5-tjzjeGTV5cdGJbayOLJkEliaiIDnXwKIZD-yjmOObSCLejQB_u1sKJNVoAWi-bt8kuhn_KKDFwR1Ke7OJLCivfAkAREghsHE6xyJ4UcxXH7TOhvpW6xxvmAkMkrCutKark7PEZPtgPTvgaBuUJfnMHAM2Fvz1GKIqL2bgcKPu6hCcYGarnfDYaUOdW6AZPAzTp4HsEGfn0igmeYMb7umDHa4mIstLn1E27klNC8Gaug2ZU2U6k16x59SphwDehUbcoZODaPiS4mdEA00y8GlWs=",
  "id": "rs_0439d9d669bb7433016ab4561385d487d0b6c54f767113638e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.214,\"right_z\":0.1,\"right_yaw\":0.95,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The left arm cannot raise in this extended yaw posture, so I will match heights in the reachable direction instead. I am lowering the pen grasp point from 12.6 cm to about the cap’s 9 cm height while preserving the excellent horizontal alignment.\"}",
  "call_id": "call_KvIXP8PEiPI5PtY3zuUPpANA",
  "id": "fc_0439d9d669bb7433016ab45615876487d08865fc0750933beb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KvIXP8PEiPI5PtY3zuUPpANA",
  "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]: [-0.4763, 2.6808, 2.5603, -1.578, 0.9314, 1.639, 0.0611, 0.3412, 1.4746, 0.6884, 0.0578, -0.5083, -0.3771, 0.051]\nstate[eef_state]: left_x=0.3671 left_y=-0.3448 left_z=0.0856 left_yaw=-2.1073 left_pitch=-0.0631 left_roll=-0.0651 left_gripper=0.0611 right_x=0.326 right_y=0.2108 right_z=0.0946 right_yaw=0.9517 right_pitch=-0.0643 right_roll=0.03 right_gripper=0.051\nstate[joint_eff]: [-0.0342, -14.2154, 6.5026, 0.1245, 0.525, -0.0464, -0.0024, -0.5675, -5.4632, 7.159, 2.0488, -0.3492, 0.0708, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7fd60d00f9eb808f202356d880bdf1897200aec1193f1046ee03b45fbda888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af2ca03bfcae1bdcbd35835d65cb92603a00ec6c03405efeadac31d19166709",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006ce4855ccff50bfffe44db13fe0655f135de308b41d6cd81f5d06016bc0032",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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