adhoc - adhoc_4025d204.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-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: 186.5 s
total steps: 269

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short black pen cap is left of the pen in the overhead view and appears far to the right in the left wrist camera. I’m moving the left gripper forward and toward the table center to bring the cap onto the jaw column while staying safely above it.

move_to

left_x0.3400left_y-0.1800left_z0.1500left_yaw0.0000left_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]: [-0.0204, 0.7929, 0.6018, -0.3801, -0.0219, -0.0246, 0.9995, -0.0185, 0.7914, 0.609, -0.3786, -0.0216, -0.0128, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2954 right_y=0.0019 right_z=0.1833 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.5248, 10.5915, 1.8095, -0.0611, 0.0952, -0.0659, -0.7863, -1.2376, 9.8393, 1.8584, -0.0806, -0.0513, -0.1099] 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":0.34,"left_y":-0.18,"left_z":0.15,"left_yaw":0.0,"left_gripper":1.0},"note":"The short black pen cap is left of the pen in the overhead view and appears far to the right in the left wrist camera. I’m moving the left gripper forward and toward the table center to bring the cap onto the jaw column while staying safely above it."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe cap is now clearly visible near the left wrist camera’s center, but it is slightly right of the jaw column and still a few centimetres short of the fingertips. I’m advancing and shifting slightly toward center while beginning to rotate the jaws across the cap’s diagonal axis.

move_to

left_x0.3600left_y-0.2100left_z0.1500left_yaw-0.5000left_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]: [-0.7605, 1.3731, 0.7811, -0.2005, -0.598, -0.482, 0.9995, -0.0193, 0.7967, 0.6132, -0.3908, -0.0231, -0.0124, 0.999] state[eef_state]: left_x=0.3295 left_y=-0.1712 left_z=0.1302 left_yaw=-0.0215 left_pitch=-0.0593 left_roll=0.038 left_gripper=0.9995 right_x=0.2946 right_y=0.002 right_z=0.1812 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.999 state[joint_eff]: [-0.294, -5.6, 9.7573, 1.5604, -0.4615, -0.0806, -0.0659, -0.2803, -1.6479, 6.7624, 1.8046, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.21,"left_z":0.15,"left_yaw":-0.5,"left_gripper":1.0},"note":"The cap is now clearly visible near the left wrist camera’s center, but it is slightly right of the jaw column and still a few centimetres short of the fingertips. I’m advancing and shifting slightly toward center while beginning to rotate the jaws across the cap’s diagonal axis."})

tool

executing move_to over 4 steps (0.4s)

step 21

assistant

agent noteThe cap is centered on the jaw column and the current wrist rotation makes its long axis nearly vertical in the image, so the jaws will close across it. It still has clear space below it, so I’m advancing a few centimetres to put the fingertips over its midpoint.

move_to

left_x0.3900left_y-0.1800left_z0.1400left_yaw-0.3000left_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]: [-0.5884, 1.4002, 0.8051, -0.1337, -0.2546, -0.1787, 0.9995, -0.0193, 0.7971, 0.6128, -0.3923, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3524 left_y=-0.1774 left_z=0.1241 left_yaw=-0.2873 left_pitch=-0.1305 left_roll=0.0401 left_gripper=0.9995 right_x=0.2944 right_y=0.0021 right_z=0.1806 right_yaw=0.0007 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.999 state[joint_eff]: [0.1299, -5.3812, 10.2359, 2.0244, -0.0415, 0.232, -0.0659, 0.0205, -1.2376, 7.0222, 1.7607, -0.022, -0.022, -0.0073] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.14,"left_yaw":-0.3,"left_gripper":1.0},"note":"The cap is centered on the jaw column and the current wrist rotation makes its long axis nearly vertical in the image, so the jaws will close across it. It still has clear space below it, so I’m advancing a few centimetres to put the fingertips over its midpoint."})

tool

executing move_to over 3 steps (0.3s)

step 24

assistant

agent noteThe previous outward command barely changed the grasp-point x reading, indicating the arm is in an awkward low pose rather than that the cap is reached. I’m raising the arm first while preserving the good lateral and angular alignment, which should let it unfold for the final approach.

move_to

left_x0.3600left_y-0.1900left_z0.2000left_yaw-0.3500left_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]: [-0.5919, 1.4559, 0.8307, -0.1261, -0.2081, -0.1406, 0.9995, -0.0193, 0.7971, 0.6128, -0.3943, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3552 left_y=-0.1905 left_z=0.1138 left_yaw=-0.3495 left_pitch=-0.1616 left_roll=0.0447 left_gripper=0.9995 right_x=0.2941 right_y=0.0021 right_z=0.1802 right_yaw=0.001 right_pitch=-0.0179 right_roll=0.0019 right_gripper=0.999 state[joint_eff]: [-0.2667, -6.4615, 9.1282, 1.7167, -0.232, -0.0659, -0.0659, -0.2803, -1.2239, 7.0085, 1.707, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.36,"left_y":-0.19,"left_z":0.2,"left_yaw":-0.35,"left_gripper":1.0},"note":"The previous outward command barely changed the grasp-point x reading, indicating the arm is in an awkward low pose rather than that the cap is reached. I’m raising the arm first while preserving the good lateral and angular alignment, which should let it unfold for the final approach."})

tool

executing move_to over 6 steps (0.6s)

step 30

assistant

agent noteThe arm again held the low pose instead of tracking upward, so the current extended/rotated posture is kinematically stalled. I’m backing it inward and removing the wrist yaw while raising, following the rig’s recovery strategy before re-approaching the cap.

move_to

left_x0.3000left_y-0.1800left_z0.2200left_yaw0.0000left_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]: [-0.5926, 1.4597, 0.8307, -0.1387, -0.2398, -0.1757, 0.9995, -0.0193, 0.7994, 0.6132, -0.3973, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3557 left_y=-0.1846 left_z=0.111 left_yaw=-0.3038 left_pitch=-0.1707 left_roll=0.0441 left_gripper=0.9995 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=0.0007 right_pitch=-0.0229 right_roll=0.0018 right_gripper=0.999 state[joint_eff]: [-0.1573, -6.7761, 9.3744, 1.6484, -0.2906, -0.0415, -0.0659, -0.3214, -1.3744, 7.1453, 1.7314, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.18,"left_z":0.22,"left_yaw":0.0,"left_gripper":1.0},"note":"The arm again held the low pose instead of tracking upward, so the current extended/rotated posture is kinematically stalled. I’m backing it inward and removing the wrist yaw while raising, following the rig’s recovery strategy before re-approaching the cap."})

tool

executing move_to over 8 steps (0.8s)

step 38

assistant

agent noteThe recovery worked: the left grasp point is now at 21 cm height and the cap remains near the jaw column. I’m approaching it again at this higher, reachable height while restoring the modest yaw that aligns the jaws across the cap.

move_to

left_x0.3800left_y-0.1900left_z0.2000left_yaw-0.3000left_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]: [-0.8265, 1.3434, 1.1561, -0.7033, -0.5404, -0.5549, 0.9995, -0.0193, 0.8017, 0.6128, -0.4099, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3078 left_y=-0.1947 left_z=0.2104 left_yaw=-0.0825 left_pitch=-0.1592 left_roll=0.0157 left_gripper=0.9995 right_x=0.2923 right_y=0.0021 right_z=0.1758 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0021 right_gripper=0.999 state[joint_eff]: [-0.335, -4.8342, 9.4701, 1.2869, -0.359, -0.0757, -0.0659, -0.3624, -1.4838, 7.0632, 1.8535, -0.0611, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.19,"left_z":0.2,"left_yaw":-0.3,"left_gripper":1.0},"note":"The recovery worked: the left grasp point is now at 21 cm height and the cap remains near the jaw column. I’m approaching it again at this higher, reachable height while restoring the modest yaw that aligns the jaws across the cap."})

tool

executing move_to over 6 steps (0.6s)

step 44

assistant

agent noteAt the higher pose the cap is centered and now only a small gap remains between it and the visible fingertip region. I’m making a final 2–3 cm radial advance without descending yet, to place the grasp point over the cap’s middle.

move_to

left_x0.3900left_y-0.1750left_z0.1800left_yaw-0.2500left_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]: [-0.5732, 1.4544, 1.1538, -0.54, -0.2718, -0.2661, 0.9995, -0.0193, 0.8051, 0.6128, -0.4129, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3649 left_y=-0.1748 left_z=0.1801 left_yaw=-0.203 left_pitch=-0.2301 left_roll=0.0243 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1742 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0024 right_gripper=0.999 state[joint_eff]: [0.253, -6.2017, 10.3179, 1.7167, 0.022, 0.2369, -0.0659, -0.335, -1.4017, 7.2274, 1.7216, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.175,"left_z":0.18,"left_yaw":-0.25,"left_gripper":1.0},"note":"At the higher pose the cap is centered and now only a small gap remains between it and the visible fingertip region. I’m making a final 2–3 cm radial advance without descending yet, to place the grasp point over the cap’s middle."})

tool

executing move_to over 2 steps (0.2s)

step 46

assistant

agent noteThe cap is aligned on the jaw column with its midpoint just ahead of the fingertips. I’m descending vertically to table level with the gripper open so the jaws straddle the cap before closing.

move_to

left_x0.3760left_y-0.1760left_z0.0000left_yaw-0.2500left_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]: [-0.5331, 1.5002, 1.1717, -0.5201, -0.202, -0.2001, 0.9995, -0.0193, 0.8051, 0.6128, -0.4126, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3759 left_y=-0.1765 left_z=0.1708 left_yaw=-0.2577 left_pitch=-0.2554 left_roll=0.0226 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1743 right_yaw=0.001 right_pitch=-0.0442 right_roll=0.0024 right_gripper=0.999 state[joint_eff]: [0.8, -5.9009, 9.935, 1.5165, -0.0659, 0.0904, -0.0659, -0.2393, -1.2786, 6.9812, 1.6777, -0.0366, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.376,"left_y":-0.176,"left_z":0.0,"left_yaw":-0.25,"left_gripper":1.0},"note":"The cap is aligned on the jaw column with its midpoint just ahead of the fingertips. I’m descending vertically to table level with the gripper open so the jaws straddle the cap before closing."})

tool

executing move_to over 12 steps (1.2s)

step 58

assistant

agent noteThe straight descent stopped far above the table while the wrist pitched backward, so this is a kinematic shortfall rather than a completed table-level approach. I’m commanding a modest forward wrist pitch and a staged lower height to restore reach without forcing the arm downward.

move_to

left_x0.3890left_y-0.1770left_z0.0700left_yaw-0.2500left_pitch0.2500left_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]: [-0.5205, 1.597, 1.1099, -0.3954, -0.2081, -0.2047, 0.9995, -0.0193, 0.8051, 0.6132, -0.4129, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3894 left_y=-0.177 left_z=0.1268 left_yaw=-0.2348 left_pitch=-0.2867 left_roll=0.0338 left_gripper=0.9995 right_x=0.2921 right_y=0.0021 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0442 right_roll=0.0022 right_gripper=0.999 state[joint_eff]: [-0.9504, -0.0342, 2.906, 0.8181, -0.1734, -0.0366, -0.0659, -0.1846, -1.2376, 7.2137, 1.6728, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.389,"left_y":-0.177,"left_z":0.07,"left_yaw":-0.25,"left_pitch":0.25,"left_gripper":1.0},"note":"The straight descent stopped far above the table while the wrist pitched backward, so this is a kinematic shortfall rather than a completed table-level approach. I’m commanding a modest forward wrist pitch and a staged lower height to restore reach without forcing the arm downward."})

tool

executing move_to over 18 steps (1.8s)

step 76

assistant

agent noteThe forward-pitch correction brought the grasp point down to 5 cm, and the cap now lies centered between the lower jaw silhouettes. I’m making the final vertical descent to just above the tabletop before closing.

move_to

left_x0.3830left_y-0.1720left_z0.0050left_yaw-0.2500left_pitch0.2500left_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]: [-0.5613, 1.7737, 0.4896, 0.8398, -0.3145, -0.1085, 0.9995, -0.0193, 0.8101, 0.6128, -0.4129, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3825 left_y=-0.1717 left_z=0.0504 left_yaw=-0.2476 left_pitch=0.1489 left_roll=0.0453 left_gripper=0.9995 right_x=0.2924 right_y=0.0021 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0496 right_roll=0.0023 right_gripper=0.999 state[joint_eff]: [-0.5265, -6.8444, 4.5333, 2.127, -0.1294, 0.1538, -0.0659, -0.0889, -1.7162, 7.0085, 1.7656, -0.022, -0.0708, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.383,"left_y":-0.172,"left_z":0.005,"left_yaw":-0.25,"left_pitch":0.25,"left_gripper":1.0},"note":"The forward-pitch correction brought the grasp point down to 5 cm, and the cap now lies centered between the lower jaw silhouettes. I’m making the final vertical descent to just above the tabletop before closing."})

tool

executing move_to over 4 steps (0.4s)

step 80

assistant

agent noteThe left grasp point has reached table level and the cap is visibly centered between the open jaws, with the jaws crossing its short dimension. I’m closing fully to secure 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]: [-0.5636, 2.0998, 0.4496, 1.2549, -0.329, -0.1059, 0.9992, -0.0193, 0.8112, 0.6128, -0.4129, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3813 left_y=-0.1692 left_z=-0.0003 left_yaw=-0.2364 left_pitch=0.197 left_roll=0.0379 left_gripper=0.9992 right_x=0.2925 right_y=0.0022 right_z=0.1726 right_yaw=0.001 right_pitch=-0.0507 right_roll=0.0026 right_gripper=0.999 state[joint_eff]: [-0.4581, -6.9812, 2.3726, 1.0525, -0.0611, 0.2271, -0.0952, -0.335, -1.3607, 7.0085, 1.6972, -0.0708, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The left grasp point has reached table level and the cap is visibly centered between the open jaws, with the jaws crossing its short dimension. I’m closing fully to secure the cap."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteThe settled gripper reading is 0.009, confirming the first close was empty; the cap was nudged outward and rotated instead of captured. I’m reopening and lifting a few centimetres so I can realign for the permitted second attempt without dragging it.

move_to

left_z0.0700left_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]: [-0.5636, 2.1193, 0.4469, 1.2915, -0.3344, -0.1055, 0.0086, -0.0193, 0.8116, 0.6128, -0.4133, -0.0242, -0.0124, 0.999] state[eef_state]: left_x=0.3817 left_y=-0.1684 left_z=-0.0004 left_yaw=-0.2311 left_pitch=0.2114 left_roll=0.0354 left_gripper=0.0086 right_x=0.2924 right_y=0.0022 right_z=0.1724 right_yaw=0.0013 right_pitch=-0.0515 right_roll=0.0028 right_gripper=0.999 state[joint_eff]: [-0.1846, -9.306, 2.7282, 1.4383, 0.0171, -0.0415, 0.6276, -0.0068, -1.3607, 7.0085, 1.7509, -0.0122, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.07,"left_gripper":1.0},"note":"The settled gripper reading is 0.009, confirming the first close was empty; the cap was nudged outward and rotated instead of captured. I’m reopening and lifting a few centimetres so I can realign for the permitted second attempt without dragging it."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteWith the jaws reopened, the cap is centered but its long axis runs diagonally across the closure direction, and it sits just outward of the prior grasp point. I’m lifting slightly, advancing about 2 cm, and rotating the wrist so the cap’s long axis becomes vertical in the wrist image for a stable crosswise grasp.

move_to

left_x0.4000left_y-0.1650left_z0.0900left_yaw-0.8000left_pitch0.2500left_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]: [-0.5636, 1.7546, 0.4385, 0.926, -0.3367, -0.1131, 0.9952, -0.0193, 0.8162, 0.6128, -0.4137, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3774 left_y=-0.1652 left_z=0.0597 left_yaw=-0.2255 left_pitch=0.2032 left_roll=0.032 left_gripper=0.9952 right_x=0.2926 right_y=0.0022 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0564 right_roll=0.0027 right_gripper=0.999 state[joint_eff]: [-0.1026, -7.5966, 6.3385, 1.6728, -0.1392, 0.0659, -0.1148, -0.1573, -1.6205, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.165,"left_z":0.09,"left_yaw":-0.8,"left_pitch":0.25,"left_gripper":1.0},"note":"With the jaws reopened, the cap is centered but its long axis runs diagonally across the closure direction, and it sits just outward of the prior grasp point. I’m lifting slightly, advancing about 2 cm, and rotating the wrist so the cap’s long axis becomes vertical in the wrist image for a stable crosswise grasp."})

tool

executing move_to over 4 steps (0.4s)

step 104

assistant

agent noteThe arm advanced, but yaw tracking shifted the grasp point laterally and put the cap to the right of the jaw column; the requested rotation was only partly achieved. I’m correcting toward the table center and continuing the wrist rotation from a slightly higher pose to recover centered, crosswise alignment.

move_to

left_x0.4000left_y-0.2000left_z0.1000left_yaw-1.0000left_pitch0.2500left_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]: [-0.3496, 1.737, 0.4438, 0.8814, -0.0177, 0.0242, 0.9984, -0.0193, 0.8185, 0.6128, -0.4137, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.392 left_y=-0.1358 left_z=0.0546 left_yaw=-0.3592 left_pitch=0.1583 left_roll=0.0403 left_gripper=0.9984 right_x=0.2928 right_y=0.0022 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0587 right_roll=0.0027 right_gripper=0.999 state[joint_eff]: [-0.4444, -8.0615, 5.6, 2.1661, 0.1538, 0.1441, -0.1734, -0.3624, -1.265, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.1,"left_yaw":-1.0,"left_pitch":0.25,"left_gripper":1.0},"note":"The arm advanced, but yaw tracking shifted the grasp point laterally and put the cap to the right of the jaw column; the requested rotation was only partly achieved. I’m correcting toward the table center and continuing the wrist rotation from a slightly higher pose to recover centered, crosswise alignment."})

tool

executing move_to over 6 steps (0.6s)

step 110

assistant

agent noteThe cap is still about 2–3 cm to the right of the jaw column and its axis remains too horizontal for a reliable close. I’m applying a larger centerward correction and continuing the counter-rotation from a raised target, since the arm is tracking each yaw command only partially.

move_to

left_x0.3900left_y-0.2400left_z0.1200left_yaw-1.2000left_pitch0.2500left_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]: [-0.3603, 1.7359, 0.4438, 0.881, 0.0422, 0.0471, 0.9984, -0.0193, 0.8185, 0.6128, -0.4152, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3867 left_y=-0.1498 left_z=0.055 left_yaw=-0.4335 left_pitch=0.1595 left_roll=0.0374 left_gripper=0.9984 right_x=0.2926 right_y=0.0021 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0602 right_roll=0.0025 right_gripper=0.999 state[joint_eff]: [-0.0752, -7.9795, 5.7641, 2.1416, 0.1734, 0.1148, -0.1783, -0.0889, -1.3607, 6.9812, 1.6923, -0.0171, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.24,"left_z":0.12,"left_yaw":-1.2,"left_pitch":0.25,"left_gripper":1.0},"note":"The cap is still about 2–3 cm to the right of the jaw column and its axis remains too horizontal for a reliable close. I’m applying a larger centerward correction and continuing the counter-rotation from a raised target, since the arm is tracking each yaw command only partially."})

tool

executing move_to over 9 steps (0.9s)

step 119

assistant

agent noteThe large yaw change tracked, revealing that negative yaw rotates the cap toward horizontal in this wrist view—the opposite sign from the earlier estimate. I’m reversing toward positive yaw and shifting slightly farther centerward so the cap becomes vertical and centered before the second close.

move_to

left_x0.3980left_y-0.2800left_z0.1300left_yaw0.3000left_pitch0.2500left_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]: [-0.2745, 1.7859, 0.8112, 0.5056, 0.7155, 0.3386, 0.9984, -0.0193, 0.8223, 0.6128, -0.416, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3981 left_y=-0.2287 left_z=0.1091 left_yaw=-1.0682 left_pitch=0.2222 left_roll=0.0284 left_gripper=0.9984 right_x=0.2927 right_y=0.0022 right_z=0.1689 right_yaw=0.001 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.999 state[joint_eff]: [0.3487, -7.7744, 7.9385, 1.8339, 0.4078, 0.1441, -0.1783, -0.1983, -1.6889, 7.0222, 1.663, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.398,"left_y":-0.28,"left_z":0.13,"left_yaw":0.3,"left_pitch":0.25,"left_gripper":1.0},"note":"The large yaw change tracked, revealing that negative yaw rotates the cap toward horizontal in this wrist view—the opposite sign from the earlier estimate. I’m reversing toward positive yaw and shifting slightly farther centerward so the cap becomes vertical and centered before the second close."})

tool

executing move_to over 9 steps (0.9s)

step 128

assistant

agent noteThe lateral correction overshot to y = −0.35 m and moved the cap out of the left side of the wrist view; the overhead view confirms it remains on the table. I’m returning to the previously bracketed y region near −0.245 m while continuing toward positive yaw at a safe height.

move_to

left_x0.3980left_y-0.2450left_z0.1400left_yaw0.5000left_pitch0.2500left_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]: [-0.9451, 1.9984, 1.2263, 0.1844, -0.709, -0.5327, 0.9985, -0.0193, 0.8272, 0.6128, -0.4229, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3989 left_y=-0.3495 left_z=0.1113 left_yaw=-0.0888 left_pitch=0.1338 left_roll=-0.1026 left_gripper=0.9985 right_x=0.2919 right_y=0.0021 right_z=0.1662 right_yaw=0.0007 right_pitch=-0.0766 right_roll=0.0029 right_gripper=0.999 state[joint_eff]: [-0.212, -12.2325, 6.6667, 1.2381, -0.4176, -0.1783, -0.1783, -0.3214, -1.6205, 6.9812, 1.7607, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.398,"left_y":-0.245,"left_z":0.14,"left_yaw":0.5,"left_pitch":0.25,"left_gripper":1.0},"note":"The lateral correction overshot to y = −0.35 m and moved the cap out of the left side of the wrist view; the overhead view confirms it remains on the table. I’m returning to the previously bracketed y region near −0.245 m while continuing toward positive yaw at a safe height."})

tool

executing move_to over 10 steps (1.0s)

step 138

assistant

agent noteThe cap is visible again and now nearly vertical in the wrist image, which is the desired orientation, but it is about 6 cm left of the jaw column. I’m translating laterally back toward the arm’s side while preserving yaw and radial position to center it.

move_to

left_x0.3980left_y-0.2000left_z0.1400left_yaw0.4500left_pitch0.2500left_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]: [-0.9245, 2.0041, 1.3357, -0.2695, -1.1252, -1.0008, 0.9984, -0.0193, 0.8295, 0.6132, -0.4232, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3992 left_y=-0.2586 left_z=0.1291 left_yaw=0.4215 left_pitch=0.2136 left_roll=-0.0967 left_gripper=0.9984 right_x=0.2921 right_y=0.0022 right_z=0.1657 right_yaw=0.001 right_pitch=-0.0789 right_roll=0.0031 right_gripper=0.999 state[joint_eff]: [0.253, -10.2085, 8.6222, 1.0134, -0.7106, -0.1148, -0.1783, -0.1299, -1.5248, 6.9675, 1.6923, -0.0366, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.398,"left_y":-0.2,"left_z":0.14,"left_yaw":0.45,"left_pitch":0.25,"left_gripper":1.0},"note":"The cap is visible again and now nearly vertical in the wrist image, which is the desired orientation, but it is about 6 cm left of the jaw column. I’m translating laterally back toward the arm’s side while preserving yaw and radial position to center it."})

tool

executing move_to over 6 steps (0.6s)

step 144

assistant

agent noteThe cap is vertical and only about 2 cm left of the jaw column now, with its midpoint at the fingertip depth. I’m making the final small lateral centering adjustment before descending.

move_to

left_x0.3950left_y-0.1800left_z0.1300left_yaw0.4500left_pitch0.2500left_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]: [-0.8436, 1.8805, 1.1091, -0.107, -1.1137, -0.8913, 0.9984, -0.0193, 0.8307, 0.6128, -0.4351, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3953 left_y=-0.2004 left_z=0.1219 left_yaw=0.4482 left_pitch=0.2236 left_roll=-0.0528 left_gripper=0.9984 right_x=0.2903 right_y=0.0022 right_z=0.1629 right_yaw=0.0011 right_pitch=-0.0923 right_roll=0.0034 right_gripper=0.999 state[joint_eff]: [0.2256, -11.412, 5.9282, 1.4286, -0.4225, 0.149, -0.1783, -0.0068, -1.1966, 6.9949, 1.8095, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.18,"left_z":0.13,"left_yaw":0.45,"left_pitch":0.25,"left_gripper":1.0},"note":"The cap is vertical and only about 2 cm left of the jaw column now, with its midpoint at the fingertip depth. I’m making the final small lateral centering adjustment before descending."})

tool

executing move_to over 2 steps (0.2s)

step 146

assistant

agent noteThe cap’s long axis is correctly aligned and its center is just slightly left of the jaw column. I’m combining the last 1–2 cm lateral correction with a controlled descent to table level for the second grasp attempt.

move_to

left_x0.3950left_y-0.1750left_z0.0050left_yaw0.4500left_pitch0.2500left_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]: [-0.8253, 1.8473, 1.0481, -0.025, -1.1072, -0.8391, 0.9984, -0.0193, 0.8352, 0.6128, -0.4385, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.395 left_y=-0.1896 left_z=0.1229 left_yaw=0.4457 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9984 right_x=0.29 right_y=0.0022 right_z=0.161 right_yaw=0.0011 right_pitch=-0.1003 right_roll=0.0036 right_gripper=0.999 state[joint_eff]: [0.8957, -10.7966, 6.1607, 1.3504, -0.398, 0.1001, -0.1734, -0.294, -1.8256, 7.1043, 1.707, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.175,"left_z":0.005,"left_yaw":0.45,"left_pitch":0.25,"left_gripper":1.0},"note":"The cap’s long axis is correctly aligned and its center is just slightly left of the jaw column. I’m combining the last 1–2 cm lateral correction with a controlled descent to table level for the second grasp attempt."})

tool

executing move_to over 8 steps (0.8s)

step 154

assistant

agent noteThe descent again stalled at 12 cm despite clear space, matching the earlier kinematic limitation rather than table contact. I’m increasing forward pitch within bounds and staging the descent at 5 cm, the same strategy that successfully reached table height on the first attempt.

move_to

left_x0.3940left_y-0.1770left_z0.0500left_yaw0.4500left_pitch0.5500left_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]: [-0.8074, 1.8408, 1.0157, -0.0101, -1.1103, -0.8169, 0.9984, -0.0193, 0.8352, 0.6128, -0.4393, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.3938 left_y=-0.1775 left_z=0.1171 left_yaw=0.4507 left_pitch=0.2349 left_roll=-0.024 left_gripper=0.9984 right_x=0.2899 right_y=0.0022 right_z=0.1608 right_yaw=0.0011 right_pitch=-0.101 right_roll=0.0036 right_gripper=0.999 state[joint_eff]: [-0.2803, -11.0564, 5.9692, 1.4188, -0.4371, 0.1587, -0.1783, -0.1573, -1.306, 7.2, 1.6825, -0.022, -0.0122, -0.0122] 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":0.394,"left_y":-0.177,"left_z":0.05,"left_yaw":0.45,"left_pitch":0.55,"left_gripper":1.0},"note":"The descent again stalled at 12 cm despite clear space, matching the earlier kinematic limitation rather than table contact. I’m increasing forward pitch within bounds and staging the descent at 5 cm, the same strategy that successfully reached table height on the first attempt."})

tool

executing move_to over 11 steps (1.1s)

step 165

assistant

agent noteThe pitch adjustment succeeded and brought the grasp point to 3.3 cm while maintaining alignment; the cap is now occluded directly beneath the fingertip region as expected. I’m completing the last short descent to table contact before closing.

move_to

left_x0.3940left_y-0.1760left_z0.0000left_yaw0.4500left_pitch0.5500left_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]: [-0.828, 2.3173, 0.8093, 1.2495, -1.2533, -0.2157, 0.9984, -0.0193, 0.8364, 0.6128, -0.4416, -0.0242, -0.0124, 0.999] state[eef_state]: left_x=0.394 left_y=-0.1756 left_z=0.0333 left_yaw=0.4038 left_pitch=0.4901 left_roll=0.0492 left_gripper=0.9984 right_x=0.2896 right_y=0.0023 right_z=0.1601 right_yaw=0.0014 right_pitch=-0.1045 right_roll=0.0039 right_gripper=0.999 state[joint_eff]: [-0.6906, -10.1538, 3.8085, 1.8339, -0.3394, 0.0855, -0.1832, -0.335, -1.5521, 6.9812, 1.6777, -0.0317, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.394,"left_y":-0.176,"left_z":0.0,"left_yaw":0.45,"left_pitch":0.55,"left_gripper":1.0},"note":"The pitch adjustment succeeded and brought the grasp point to 3.3 cm while maintaining alignment; the cap is now occluded directly beneath the fingertip region as expected. I’m completing the last short descent to table contact before closing."})

tool

executing move_to over 3 steps (0.3s)

step 168

assistant

agent noteThe final descent stopped at 2.6 cm with a large shoulder-effort change, indicating the pitched fingertips have contacted the tabletop around the occluded cap. I’m closing now for the carefully realigned second grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8318, 2.4741, 0.8925, 1.544, -1.2903, -0.0921, 0.9985, -0.0193, 0.841, 0.6128, -0.4427, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.4001 left_y=-0.1818 left_z=0.0256 left_yaw=0.481 left_pitch=0.56 left_roll=-0.0502 left_gripper=0.9985 right_x=0.2896 right_y=0.0022 right_z=0.1586 right_yaw=0.0008 right_pitch=-0.1102 right_roll=0.0035 right_gripper=0.999 state[joint_eff]: [-0.5949, -4.9709, 1.9624, 0.6764, -0.1734, 0.3053, -0.1685, -0.1846, -1.2513, 6.9402, 1.6337, -0.0269, -0.0757, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The final descent stopped at 2.6 cm with a large shoulder-effort change, indicating the pitched fingertips have contacted the tabletop around the occluded cap. I’m closing now for the carefully realigned second grasp."})

tool

executing move_to over 10 steps (1.0s)

step 178

assistant

agent noteThe second settled reading is again 0.009, so the left gripper is definitively empty and I will not repeat the same approach. I’m retracting and parking the left arm to uncover the table, allowing a fresh overhead re-measurement of both pen parts.

move_to

left_x0.3000left_y0.0000left_z0.2200left_yaw0.0000left_pitch0.0000left_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]: [-0.8318, 2.4912, 0.9146, 1.5845, -1.3102, -0.0505, 0.0088, -0.0193, 0.841, 0.6128, -0.4419, -0.0238, -0.0124, 0.999] state[eef_state]: left_x=0.4013 left_y=-0.1817 left_z=0.0277 left_yaw=0.5022 left_pitch=0.5723 left_roll=-0.053 left_gripper=0.0088 right_x=0.2898 right_y=0.0022 right_z=0.1588 right_yaw=0.0011 right_pitch=-0.1094 right_roll=0.0038 right_gripper=0.999 state[joint_eff]: [-0.4581, -5.3128, 2.1812, 1.2283, -0.1197, 0.0122, 0.652, -0.212, -1.5248, 6.9402, 1.6679, -0.0269, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.22,"left_yaw":0.0,"left_pitch":0.0,"left_gripper":1.0},"note":"The second settled reading is again 0.009, so the left gripper is definitively empty and I will not repeat the same approach. I’m retracting and parking the left arm to uncover the table, allowing a fresh overhead re-measurement of both pen parts."})

tool

executing move_to over 20 steps (2.0s)

step 198

assistant

agent noteWith the table uncovered, the cap is confirmed unchanged at the left and the pen lies diagonally near center. I’m switching to the right arm to secure the pen first, moving above it and rotating the jaws approximately across its diagonal axis.

move_to

right_x0.3500right_y0.2000right_z0.1800right_yaw0.5000right_pitch0.2000right_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]: [-0.025, 0.8486, 0.7219, -0.4068, -0.0883, -0.1307, 0.9977, -0.0193, 0.8444, 0.6128, -0.4595, -0.0235, -0.0124, 0.999] state[eef_state]: left_x=0.3085 left_y=0.0115 left_z=0.2137 left_yaw=0.1086 left_pitch=0.0388 left_roll=-0.0585 left_gripper=0.9977 right_x=0.2872 right_y=0.0022 right_z=0.1545 right_yaw=0.0008 right_pitch=-0.1304 right_roll=0.004 right_gripper=0.999 state[joint_eff]: [0.0342, -1.6889, 9.6205, 1.7216, 0.0952, 0.1343, -0.0708, -0.335, -1.7299, 7.2957, 1.8095, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.18,"right_yaw":0.5,"right_pitch":0.2,"right_gripper":1.0},"note":"With the table uncovered, the cap is confirmed unchanged at the left and the pen lies diagonally near center. I’m switching to the right arm to secure the pen first, moving above it and rotating the jaws approximately across its diagonal axis."})

tool

executing move_to over 17 steps (1.7s)

step 215

assistant

agent noteThe pen is nearly vertical in the right wrist view, centered just left of the jaw column, and its midpoint is at fingertip depth. I’m making a small lateral centering correction and descending in a pitched, reachable posture to about 6 cm.

move_to

right_x0.3400right_y0.2100right_z0.0600right_yaw0.5000right_pitch0.3500right_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]: [-0.025, 0.8532, 0.7193, -0.4305, -0.0792, -0.1329, 0.9982, 0.5034, 1.2495, 0.5926, 0.1871, 0.0162, 0.0097, 0.9991] state[eef_state]: left_x=0.3057 left_y=0.0099 left_z=0.2061 left_yaw=0.1021 left_pitch=0.0075 left_roll=-0.0612 left_gripper=0.9982 right_x=0.339 right_y=0.1875 right_z=0.1489 right_yaw=0.4778 right_pitch=0.0907 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.9897, 7.6376, 1.9707, -0.1392, -0.0366, 0.0317, 0.294, -4.6291, 9.7436, 2.0488, -0.0659, -0.0952, -0.1148] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.21,"right_z":0.06,"right_yaw":0.5,"right_pitch":0.35,"right_gripper":1.0},"note":"The pen is nearly vertical in the right wrist view, centered just left of the jaw column, and its midpoint is at fingertip depth. I’m making a small lateral centering correction and descending in a pitched, reachable posture to about 6 cm."})

tool

executing move_to over 9 steps (0.9s)

step 224

assistant

agent noteThe right grasp point reached 2.9 cm and the pen is now centered exactly between the lower jaw silhouettes, still vertical in the image. I’m completing the short descent to table contact.

move_to

right_x0.3330right_y0.2040right_z0.0000right_yaw0.5000right_pitch0.3500right_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]: [-0.025, 0.8593, 0.7185, -0.4381, -0.078, -0.1326, 0.9982, 0.564, 1.8889, 0.308, 1.2156, 0.0513, 0.0105, 0.9991] state[eef_state]: left_x=0.3052 left_y=0.0097 left_z=0.2025 left_yaw=0.1009 left_pitch=-0.007 left_roll=-0.0597 left_gripper=0.9982 right_x=0.333 right_y=0.2042 right_z=0.0293 right_yaw=0.5074 right_pitch=0.1957 right_roll=-0.008 right_gripper=0.9991 state[joint_eff]: [-0.294, -2.0991, 7.0906, 1.7949, -0.0366, -0.0562, -0.0122, 0.6496, -7.3915, 2.5368, 2.3321, 0.0513, 0.0024, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.333,"right_y":0.204,"right_z":0.0,"right_yaw":0.5,"right_pitch":0.35,"right_gripper":1.0},"note":"The right grasp point reached 2.9 cm and the pen is now centered exactly between the lower jaw silhouettes, still vertical in the image. I’m completing the short descent to table contact."})

tool

executing move_to over 6 steps (0.6s)

step 230

assistant

agent noteThe descent stopped at 1.6 cm with the pen still centered between the jaws, indicating fingertip/table contact around it. I’m closing the right gripper to secure the pen.

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]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5655, 2.138, 0.3355, 1.5291, 0.0521, 0.0071, 0.9991] state[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.342 right_y=0.2104 right_z=0.0161 right_yaw=0.5088 right_pitch=0.2875 right_roll=-0.0063 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.6342, 7.1726, 1.7411, -0.0904, -0.0659, -0.0122, 0.5538, -6.5846, 2.3726, 2.2002, 0.1538, -0.0366, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped at 1.6 cm with the pen still centered between the jaws, indicating fingertip/table contact around it. I’m closing the right gripper to secure the pen."})

tool

executing move_to over 10 steps (1.0s)

step 240

assistant

agent noteThe right gripper settled at 0.015, so the pen close was also empty even though alignment was good; the jaws likely closed just behind its end. I’m reopening and lifting for one corrected attempt, after which I’ll advance radially as prescribed.

move_to

right_z0.0800right_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]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 2.138, 0.3344, 1.5257, 0.0483, 0.0074, 0.0146] state[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.3414 right_y=0.2103 right_z=0.015 right_yaw=0.5109 right_pitch=0.2829 right_roll=-0.0051 right_gripper=0.0146 state[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.7802, -0.0806, -0.0415, -0.0122, -0.0205, -7.3641, 1.8256, 1.9023, 0.0171, -0.0317, 1.3553] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_z":0.08,"right_gripper":1.0},"note":"The right gripper settled at 0.015, so the pen close was also empty even though alignment was good; the jaws likely closed just behind its end. I’m reopening and lifting for one corrected attempt, after which I’ll advance radially as prescribed."})

tool

executing move_to over 10 steps (1.0s)

step 250

assistant

agent noteThe reopened wrist view shows the pen centered but with its near end still just short of the jaw apex. I’m advancing the grasp point 2.5 cm outward while returning to the low staged height, keeping the crosswise yaw unchanged.

move_to

right_x0.3650right_y0.2090right_z0.0500right_yaw0.5000right_pitch0.3500right_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]: [-0.025, 0.865, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 1.7313, 0.3244, 1.1278, 0.0475, 0.0025, 0.9944] state[eef_state]: left_x=0.3057 left_y=0.0098 left_z=0.2008 left_yaw=0.1012 left_pitch=-0.0126 left_roll=-0.0587 left_gripper=0.9982 right_x=0.3394 right_y=0.2092 right_z=0.073 right_yaw=0.5143 right_pitch=0.2817 right_roll=-0.0099 right_gripper=0.9944 state[joint_eff]: [-0.1299, -2.0034, 6.9812, 1.7265, -0.0855, -0.0464, -0.0122, -0.1162, -7.3778, 5.1077, 1.8877, -0.0122, 0.0464, 0.0366] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.209,"right_z":0.05,"right_yaw":0.5,"right_pitch":0.35,"right_gripper":1.0},"note":"The reopened wrist view shows the pen centered but with its near end still just short of the jaw apex. I’m advancing the grasp point 2.5 cm outward while returning to the low staged height, keeping the crosswise yaw unchanged."})

tool

executing move_to over 3 steps (0.3s)

step 253

assistant

agent noteThe radial correction moved the pen’s shaft through the fingertip apex as intended; it is slightly left of center and the grasp point is 2.4 cm high. I’m adding a small leftward gripper translation to center the shaft and completing the descent.

move_to

right_x0.3540right_y0.2200right_z0.0000right_yaw0.5000right_pitch0.3500right_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]: [-0.025, 0.8688, 0.7185, -0.4389, -0.0784, -0.1326, 0.9982, 0.5285, 1.9923, 0.374, 1.2823, 0.028, -0.0044, 0.9986] state[eef_state]: left_x=0.3059 left_y=0.0098 left_z=0.1996 left_yaw=0.1012 left_pitch=-0.0172 left_roll=-0.0582 left_gripper=0.9982 right_x=0.3542 right_y=0.2053 right_z=0.0242 right_yaw=0.4998 right_pitch=0.2247 right_roll=-0.0129 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.6479, 6.9812, 1.6923, -0.0904, -0.0562, -0.0122, -0.6085, -8.5538, 4.1504, 2.7814, -0.0904, 0.0415, -0.1636] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.354,"right_y":0.22,"right_z":0.0,"right_yaw":0.5,"right_pitch":0.35,"right_gripper":1.0},"note":"The radial correction moved the pen’s shaft through the fingertip apex as intended; it is slightly left of center and the grasp point is 2.4 cm high. I’m adding a small leftward gripper translation to center the shaft and completing the descent."})

tool

executing move_to over 5 steps (0.5s)

step 258

assistant

agent noteThe right grasp point is now 6 mm above the table and the pen shaft visibly runs between the open jaw faces. I’m closing for the corrected second pen grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.025, 0.8722, 0.7174, -0.4381, -0.0784, -0.1326, 0.9982, 0.5457, 2.133, 0.3779, 1.4368, 0.033, -0.0048, 0.9987] state[eef_state]: left_x=0.3062 left_y=0.0098 left_z=0.1982 left_yaw=0.1012 left_pitch=-0.021 left_roll=-0.0577 left_gripper=0.9982 right_x=0.351 right_y=0.2105 right_z=0.0065 right_yaw=0.5128 right_pitch=0.2423 right_roll=-0.0143 right_gripper=0.9987 state[joint_eff]: [-0.253, -2.0444, 7.241, 1.6728, -0.0464, -0.0757, -0.0122, 0.1983, -7.8017, 2.1949, 2.1709, 0.1294, 0.0122, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The right grasp point is now 6 mm above the table and the pen shaft visibly runs between the open jaw faces. I’m closing for the corrected second pen grasp."})

tool

executing move_to over 10 steps (1.0s)

step 268

assistant

agent noteI could not complete the task safely within the remaining trial budget. Both pen-part grasp attempts settled below the rig’s 0.04 empty-gripper threshold (pen: 0.015; cap: 0.009), and the objects remained visible in their wrist cameras after closing, confirming they were not held. Repeating further closes without a reliable new approach would only push or damage the parts, leaving insufficient motions to pick up both and perform the cap insertion.

give_up

hindsightOn this setup, the pen and cap lie so low that a pitched table approach can stop with the reported grasp point still 1.5–2.7 cm high, letting the jaws close above them. Wrist-camera centering alone was misleading: even when a shaft extended to the bottom edge between the jaw silhouettes, closes were empty. For a future attempt, keep pitch near zero if possible, advance radially until the target disappears below the wrist frame rather than merely reaching its bottom edge, then descend with the grasp point at z≈0 and verify a settled gripper reading above 0.04 before proceeding. Positive yaw around +0.45 rad made the cap nearly vertical in the left wrist view; positive yaw around +0.5 rad did the same for the pen in the right wrist view.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.025, 0.8722, 0.7174, -0.4381, -0.0784, -0.1326, 0.9982, 0.5449, 2.133, 0.3775, 1.4445, 0.0311, -0.0074, 0.015] state[eef_state]: left_x=0.3062 left_y=0.0098 left_z=0.1982 left_yaw=0.1012 left_pitch=-0.021 left_roll=-0.0577 left_gripper=0.9982 right_x=0.3514 right_y=0.2108 right_z=0.0082 right_yaw=0.5151 right_pitch=0.2495 right_roll=-0.0161 right_gripper=0.015 state[joint_eff]: [-0.1983, -1.7299, 7.1863, 1.7265, -0.0952, -0.0757, -0.0122, -0.1709, -7.5829, 1.9624, 1.8437, -0.0513, -0.0122, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the task safely within the remaining trial budget. Both pen-part grasp attempts settled below the rig’s 0.04 empty-gripper threshold (pen: 0.015; cap: 0.009), and the objects remained visible in their wrist cameras after closing, confirming they were not held. Repeating further closes without a reliable new approach would only push or damage the parts, leaving insufficient motions to pick up both and perform the cap insertion.","hindsight":"On this setup, the pen and cap lie so low that a pitched table approach can stop with the reported grasp point still 1.5–2.7 cm high, letting the jaws close above them. Wrist-camera centering alone was misleading: even when a shaft extended to the bottom edge between the jaw silhouettes, closes were empty. For a future attempt, keep pitch near zero if possible, advance radially until the target disappears below the wrist frame rather than merely reaching its bottom edge, then descend with the grasp point at z≈0 and verify a settled gripper reading above 0.04 before proceeding. Positive yaw around +0.45 rad made the cap nearly vertical in the left wrist view; positive yaw around +0.5 rad did the same for the pen in the right wrist view."})

tool

give_up: I could not complete the task safely within the remaining trial budget. Both pen-part grasp attempts settled below the rig’s 0.04 empty-gripper threshold (pen: 0.015; cap: 0.009), and the objects remained visible in their wrist cameras after closing, confirming they were not held. Repeating further closes without a reliable new approach would only push or damage the parts, leaving insufficient motions to pick up both and perform the cap insertion.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 10.11 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3801, -0.0219, -0.0246, 0.9995, -0.0185, 0.7914, 0.609, -0.3786, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2954 right_y=0.0019 right_z=0.1833 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5248, 10.5915, 1.8095, -0.0611, 0.0952, -0.0659, -0.7863, -1.2376, 9.8393, 1.8584, -0.0806, -0.0513, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ff88b00ccc7bf1036ce398e499b26d96330ab34cc3e241fdeb3c628c1a52b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea46a3a99e87ace2c557d547c0cee7ef1ea469e2bea916b9f2027e2a6c547233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a73310d11c5b8711223eb0a3a035ec13dfa61f483e53a20ad0d2e70776e5862",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 7.604 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-h7digc_tif8GV7qXVVjyufkqc7mtZA_3u_I-Am6LjWf-89icKJIugjZghlJq4mPr0O_fT3WqMrBzc9T1hxvjF0RmPm4OGzZO1_JbHEaJAEcJCA2tRsk2S55_e9GH2TMV8dyYtGN1uR40g5ZRDOE0Z0oniqo1XcBbVcgnN-4KVB4G5zsb5ETAk8GDvFX5FC0tyc5uikBlMPgSsRWNMFKj83zhG9IiP6mG86ip5jr8ThPxdTE47HGWoYCmOg2dfpJYTS8G6lAnSADrlm6gI5n6r2hCccZ-61spq0QZ4Tw9HC75-STanUG8JGn9U8fN3QNX7eInCXLEfM0jFk1xBXwr1kefq760jCE2SYbzzkBFsbOiJVmhY07cmcxIhsngELbV1jeor-i7YYzhNNZFUbi3_XHiXE_LPkb6yj_pfHjCq-D64OxY2VrzZURwOnPpvEUQwmkvCswOCxJ8ZOQquJ-IEQAeIZzMmOZoRh3EGE4fniCgXgE9LerkLCj2tIv1sxvZ6TNs-XDmQiueKTrwOgWO-01EvPY7eCrw6F-x7RSPKF0tzSTFbl0n7Cp-eQKxSp_fuAZJEEM0Mv1TTUjJEk1WoS6jHlGTd90Cz25tbG8ON0bhM-kNfww21o7qwyPHKzxQQ2k0MBcPNnyJk2-pzfDoD9CW-2rQgQEtYmA6DhLzTnzeDYaA67TwOVbwBpBeG6Rfuhe9FYJsnuxZfNBpPRL6Ir92-nLhEtg8REImOwovSHqQfbEqmVkb2fV1ELa-P2P4FV1wWfob-1mOGCrqdIT_d_P1HCd9ObyBUyO4MB9LKhKk2_OpcQ0dcXYrComNGBKv9NQ18xa5XNlnKfeJAzmO8diMYr9LwcKMU3VU9TeDlv2RgHNJ6KgwHuy6DBsKkYFDQ-uCbizOsN7qoFrFTl3_t9l7x8XA0VUGsXh_AXcmuzbDsQdsn3VcB9UJ867CJKPvkHi9ZxGaAt3naiX2Zi8uXicv1A5IGIcLHglr1VH86oUph-UlaaAgtjR9DkdpUbb61a7JupCZpA6ygP1us53x_AmerQZPGHayf_V9gGMMyFbqhG257GTOfUXtaDnS_qR6IUCbaMaH59jOdQMR5gQq_lt7REdpymC-u-8i4WxRtb6E9YmfypRwdNU8e_P4xx66RjlrkLXLNzVeoCamDFXbm9WdsTNwAwkeCZactAi46xEljhprwNdxbok_olz1bh9QFYtRKyKncd1cWI2UTzl0XKEzrii7ls1YW1hfy6yRjz_RIZlRCEZRdTsv2LDV2rZulQFLkL4AxH44Rb0_8rya-V3Yj34POqzNQPXwU_NuPElRvA3sb2KX-zVHNKo8oylebsQAnq4SIkLKEnypbq8sfOb0cb6jMe1RX_JfWRaTkDvZxkepE9R6ZQx0Jf3sXdfSJAAiUkZxJJxLn3dIi85K9deKUOD2RVkro73SdEMnD2HrmKXE0Buuamlr8iiea-FKWjLfOWhFCPaeknKaEnE8SxKhQ87djFXePMF4Nt5x3w1Npni20r2p3XDljxDKTRev_plw_qeWLSvbPVFfRsblGm818Trz1uFECWpbBkuQLMxD5oZiVn31vM4Y4gZMOX1oKUyQKBY7sxmizdNCtIj9-vbGXLIWWnAWdYkihESw1iWH9vP79YjfintsvAVPn15MXMgBeUBlfh5z2r2cgyTbWmlEh08vyDZGQ79S-TpVt4iVvTiVylDZQCpJwtz3V4DGslmOsyJwU1n_FZRcgwey_qTZHhdgDnoBbI__nIu71eBcY6VEvnOV3ycO5aFzCKT_jUsLQva4xNmAzNSZQDdn6Tar-UlsGKC5eqvj_mCyKwBhR-6zRLLu1zoN_YKht5I06uzFytZf2MpcOqkcuVyhdH78BibUMXQJaRbX_mHwM9Y6po7qAemOpbF6r4h5tqboHmXD5Ruin1ZssLASYbfivo6-7P0qoyhNnoperMPbky5cj_TKudGf-5Tjz7U9cP_Dp7KmINQyKlPTiyOp0d2Ht9hQM3bevvTnpd-MqXG3fNu4T3GG6AQIMQOEHEXJgFcU_-S4mBBZAe9ko_aYezz_cnRJzcN2w9ZT2-crUsMu-PUFWWSJ5txTg5dbnQYjBV9upOh0vbgUP06I0Gc-FiIm84J19TknWVIRwDxx9geBxZ2fSbdejcflwX7I31g93_B9Ev7FQ1qjrCdACkuQlH5m3RfE41-rPwDVqNgBb6aEc-FpnforH3TRR5aqBrOeILBleVo4yjxxXH0T0006_gFi79MwVwXDz4yopjwEVZTE8clavIBddTY57YrE3D1VqNtnmlA8wh_eEEBR_5p5rAAK7IHmvMTzCSjdCskciKLhYL32n1_-pL7xPsuubqRAYVYS7l2LMHZSQ7rDaRy2fvokLk2ivr8P8Z9SxnsC2fUie-PFBBKHgN8PzhEsBIoNXOeH98YtYrH0fSGXcwQCBw0fO3uywh9w3G-c4OmEEUHYuj124SgOm9wXfCXoVjJ0YZ_UnDsVI54geAfy4JmTVIx5uaYF7ibw5KWgYImbtcOGVzKT9gjETuryrfJ989mrvTstcjX64F6Jgu9BbUDDmJsMEflATMYOYXKCi0pU4XZbxaSAKgRO7IHZ413WPSRqgGajwhkg_RReskyE4kbuPoF3DOXg6Et8dn78npVaV5QRuXCqPhsZoanQssmIlVdTT2yNjXUgT-bmWUbjPWfKISBxT8mPitnnEvq55eUGk0yxW9Yh8CKMz60a8J2DNTgjukqDAir8MLdHzF1OjcR6LEgUUNtJCm1_rV69MqdglF4m1dFIWeh_EYHcK66p98OAqrHKLmyxAdJ2zccHHhkD-8fJgj6RIneYx992EkFRQSS5HWqWp2lacpbbyLMUdpH3_Pmj6FTikQnc4Axp5lUkeIa6nbeR0Iyv9qtnWGn-GZ2lH5kb8INCNk9dYrNnDk8YMiTXxjvq0Zw3ax6MNUyPxaoHo82QjI7rGu00TkjXaSgmiS70iTg2SWIUB_1rZ67KXykcCdKP3WbhT_AlBsBY8rmtcWZr2c1dnjSMDNgRLBZ_Tlmed7EdUuLMJO54EgTtdeIIQDFo5L_rQXrGQzFNUffChkWbhvYXkKEYch-Ov400zViH6rBGLC46ZU5biqY24UMWF7bpGIX7_hkhIBc2JfAmjuQA0SMJRmZpeZ7GsGhk_WVGmBHWwfDYXX8BOZTziB75FeghBiu7R4NiDH57xk6acy7loSPpZyhInl1FhXoc535H3CghambGEIDvvXJAra1CZIV6skVVWTERNBX9GQUyBqcePEnE7CZt9fO-7a8hcVeQ7XQ1MEp7xEpfyQ8OEZnYdnpwP1uXq6ojIgRGndtVqeD80usdCQrE7X1ZM0DS54HOPxkGaUz4Bqn7xXBDX_elymzhf-fjBSf8tqdFsjpZGwhA3pxvc7Ae6Q_1AcRncd_fGzZoblWG3xFvry3GXCT7ubfrnSGRWcoHfchkq1U9G2YxbaMTbUApyf6r0vkrUmy86J_a4U4nhdxto0OltRqNufvoLLkfJQJvF-aQr5pSe1s6A17MEehN-oncMJS-1ZFSsYisJFXyrKt0t89FVCZFc9cTAQ5DSgNHSE9DE_2w027hRTAhjpDynrmokK7TnWKw3QBcXp4k5uKDV76SYL2Y6Mq1FN0O0UmzXc2k71R3ff5p0C4Xod6lY2SW1RDGkooXzjC1BxYg5Zr_OqQ95rgHMFyWppWa-nhCxEvGk7Qb_gOWq2Ee8sJNRclWtZsdGtcUiczwxuBNwXvW5Cs5PfFb8DCyhpHQ34SES1jcrP8j0lDfYGIJmVVQ1vC2v4D3kZfHtuXzbMuQ1TMYi8m9yvtT69wNFLuWuGfrmXZa27H-6U_QY7qzKLBOdkjS2BtS3CZpVQ0wdJMneQ_Od0ozrMbExF2guq5CyRk7wzXWmDSHDndM0kNN5gMCHAs3djoegRyhAdbT7x5u6fqhifSN_t26tXH9HovWiPS4ZnZcnAG6PZgzfz2yvdTUr-w0mnHLiRx8=",
  "id": "rs_05566c4640244b21016ab43f98468087d0a025948d91d22101",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-hdH-KOCzeH2TJyQN4kP5F6htAOMx2m2wVx5EzmvxlLKp3RytPkFJ3yao8CLRExkwTph68GDjlDkS4vKkVoOe7P7Ii6rRNugUYPVoj5Z6MLMkHT105zSOgQPQlzR8end8anOU9hvaCZs1WlybJiFeRjI6PG1Qrg9BnkpG_EA5hvx91p4I8EaV_vKTbXgmh7mwdmilC8BWlLpdbHbZHuTi5lzn1Tcqe-8GqcCz_BqVMtHRovNOPsxvtHXlucj8aPV9TPHM2ImaQTEY92gk6uJvA6V0XTREqirpHYxgN9XlRKeA4G7gAvJbdyhmbRP5r9LOfUxrJPz4nXpbNgHwmD5a3WQhmx7cgOWnDGcZsk70DWpZbWg10WtV6dsuLa0MYhDv2H95guqpqACN4AL3mZn8tVu4gBFhsYZGrsydHuzq7eAdZUAtGzZx6ZkkBKXqqqkBbZjM8R-Q5mv4m8GahvFVCi281S1UyhPTlvg5kHKzvpQHB_7__t28D2qEQ_NYZ3Pcm7h-bYKA38mIV8vcPU1ROtJuT5fYQlz8YL80TVb0mByLpM2kpRuwzQHgBWpH2xOkaZdGmgsvXzqAjITbT0YDYVF_MGfxbNNhwv0trwkUDHVcCtm0mdO2dwP8Sr-zFSFz_x-40r6WxN-NTJbgZp7RQGod8HNPqfkaz_otFJ8eXw4-Dn88BVqNX_sMKwupOnuh7B5pYsddKHVnyRTcRpZ1kQp98VHhKigRiLVOj5gFrriG4XKH-chCUCST43gb-7jOZn4fddTKAuwqyXyH7fwnp8nPyFEfMRN-uRuVn0Uax5Xup9Q7hHIYYY94tlR4fuIvRBIuONhNtWIs8RWvJZWjV_2aOGMQqj0CBoDRadrPdn1CUhtwxHeiTsCffO0EIWrSe_7blcxd5ErS264e2SM_NNGU1D81Wb-IfyiccDC1SAudUNDFehBK1aZGHFw4tXxlWrCTWTN0DKyWzbYJkv8eak5ESorbhcxn2yDf3lNKIzCwGUia4J8AHumIDmOnvUNWKvz829w0Du8MtgUCagqf5vV-RK8uVi1kJI5ZToWDjTzbimwtc-Abhs4b07NrRRYraPlfIeKm3SKLqSLUR4SKuiiKAPI9ouTIaPyGShj6fto9n4iywjq5gEv1qz4em8Cu0JOSF86KlbTR5m1KxDkw2sfaW6pJuVUwSq_vnvBtFArDBRo46DxqOYS2TNtd1cqZ8keR7paVePtdK_Z-SDguHxvQq86Ifa0jTFnyfFVOvSUrOJLq4MI7BQjHlReYe5fp5hgvUekjN3MwUXoZpR9rO3_XnWgf-_3taL2SsZwuYMriGZy4c3qUe5RaddmfQ-14a6SZJe0mzD68_eatWfIYc5RSnPwvtXbPtfZtyhTjdApnUcNnr912tFt2iIcoMvma3ccB9jCHtPAMmExVsRWJ5Qh0QX22Ioz5zd8FbQVEcwT3OxjU0vDZWiNxPpc3w7Pwr_t606BVD1o8A6onm8ZJBi9VNAT115oJXn_r6eA_8Vyb_skwWIomLPUQLu89chjYL1_zGCwBJBJxmCCnOHl_Fw_2GhS8By-fvhO937ewmZ9cOF6HbdSApMgCvsBtDyhBSTIVwSmKtG-PoVzSJFj6A2bvtB7Z-4FW73nRJgh7bm8HmW618E9X9bgM5XyKW0_XjTsG2MmhJqGz-g6jt4cmKo3sagih6UfA67Ok0OJXz88uZ5Ot_22-Am_5HRmCN_O8bziiFJiJDs3waX52k1BCnvmv0pu1A3L1V1ccrA4gXSyHpj3UedVKsnVMsEmywwaRrh4gvaV8vpRKGPDzt-VNXoT8UZjd126zL4AghXZutIzSJKW4uHLGBES8A8lJugIwvcSaF1J-feOvmb_4Fb0QD0b-PESFUekAkWd_oWHn8FTg6gjlMIYtJtZ7cnUf42DgSq4N0l8XuYQnfQNXgPBRBmHECU2U58TukzzsaD5O5cm_tD0_MVojAuzIT3fqmuFqMYOH13liZSWuberSKX7H91dOkYxOAj7BW-jKYeuQi2KKXBqfxCgtROR6FiLOJ9efpT-upaGkwnWxW988uNCJwpmpGCIU0wRr_IJvn4BsAH2dUo-a15whr-fe92YM0BXAKeE9nVUgYJ6ITjzU-FZXj0yMzezm70SOoWtN4URAoA-JdSJNzLcSTJ3kyGkiPcaTbIXEaVbiA1kvombTWVOzrH2WFCHAsWUXWGZhCiLOZ0PE=",
  "id": "rs_05566c4640244b21016ab43f9dabe887d08fbad8670eca0987",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.15,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The short black pen cap is left of the pen in the overhead view and appears far to the right in the left wrist camera. I’m moving the left gripper forward and toward the table center to bring the cap onto the jaw column while staying safely above it.\"}",
  "call_id": "call_784ayNXMTlpTmJKcbhWkXj7M",
  "id": "fc_05566c4640244b21016ab43f9fd4d487d08717b441bdea5402",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_784ayNXMTlpTmJKcbhWkXj7M",
  "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]: [-0.7605, 1.3731, 0.7811, -0.2005, -0.598, -0.482, 0.9995, -0.0193, 0.7967, 0.6132, -0.3908, -0.0231, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1712 left_z=0.1302 left_yaw=-0.0215 left_pitch=-0.0593 left_roll=0.038 left_gripper=0.9995 right_x=0.2946 right_y=0.002 right_z=0.1812 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.6, 9.7573, 1.5604, -0.4615, -0.0806, -0.0659, -0.2803, -1.6479, 6.7624, 1.8046, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72ff9c27fba7c12ff4c449ef4ad63d3cff11b76d9d5e2d85d2f835f1e58d61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a42899406bf848918934a797ca118fe66a24f0495e0e9c9a0a4422b3e12479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5342ec0fb522abe6ac4825ca31559bd2a457b0b70c707f60e5751d912d5903f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.004 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]: [-0.0204, 0.7929, 0.6018, -0.3801, -0.0219, -0.0246, 0.9995, -0.0185, 0.7914, 0.609, -0.3786, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2954 right_y=0.0019 right_z=0.1833 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5248, 10.5915, 1.8095, -0.0611, 0.0952, -0.0659, -0.7863, -1.2376, 9.8393, 1.8584, -0.0806, -0.0513, -0.1099]",
      "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]: [-0.7605, 1.3731, 0.7811, -0.2005, -0.598, -0.482, 0.9995, -0.0193, 0.7967, 0.6132, -0.3908, -0.0231, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1712 left_z=0.1302 left_yaw=-0.0215 left_pitch=-0.0593 left_roll=0.038 left_gripper=0.9995 right_x=0.2946 right_y=0.002 right_z=0.1812 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.6, 9.7573, 1.5604, -0.4615, -0.0806, -0.0659, -0.2803, -1.6479, 6.7624, 1.8046, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72ff9c27fba7c12ff4c449ef4ad63d3cff11b76d9d5e2d85d2f835f1e58d61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a42899406bf848918934a797ca118fe66a24f0495e0e9c9a0a4422b3e12479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5342ec0fb522abe6ac4825ca31559bd2a457b0b70c707f60e5751d912d5903f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-qNBh0_nJhHThzqY11EH8jflf4nJnjXIRqK5TUAmona8giJmH_tPirm4xjV7ILaYXQ5yTi7ELV-EgRUCgKcEX_5J_wrDqOSbz93R5ro8wxV_bYuZqHEXsDKi8Ory0IH-kucpWLVZ6GRQL36-ADvMSbm5vdyTML7XoNJanlnxKFjVak6A28wf8OjtWDq-yFJsWc5knzE6n8hkTedEa5q56r3kO1qKGW7YrAO-jdHCmC3uCp0wXFO7G9wqs4gGaWQT67HuQKiAbzbxHPi-ErtlBYjhgYo6vh0zy8BcFTxqzkLga8NKsuWZkSDpcuPiRGPnGr_H4tavxWoS_lqsC8jiNSfLh1jTBoSLTfWfQhKIRdcPkPGNO_Q2q8DjFXJtDGvwxaD6ZSTX_tfGJZ758O1wpafyMhrZQZb7q-CNjhmtbb3XcWf7NnxEnCN4V0hXlZdwskMamkWA37qyzyLoT1OJs8FSnhv4sopdxhu4m_2wUXs0H2SG9R2Lzl41At9ESOe5ERQ8ghobML6w_NZPhEHqlom7ENdnm21itF2iJ6xXGxLdSAj1GJLW-clR_HM493olJ0hl1_yToIyvu9rUPlAR7zKgo7nYO8zE1zIG_ndXHq5sDkotlh3evV7SLyR7jqqApbDNtxTsxzPchbSC3juCDlCaOk_mrt6rIU5-D_LzIz0RITvVhxfj0W2bXPSZR5T5aBEjn-ciGgYUMA3SKllmMbb92V4_QkIrhSL_9KQ0tBuDgjeiOVi_v03zwst5Ur1D0h8g0yi9qXKIiiAuoZSIL8fUaaf4MTaaDKiYryVM28IUTRsJacibByA4Y5A71UdAaDcO4fNmj65ougzQypmzMVL9VOYF_6-Ul06Pu-OICkznTYXA0OsHC5p_0VEplIiWpQ_IRMnlWcF7bMR_Xk5ae1TbCKArrLbu4tqNPl7wk9-hV4wVL6y0_ajADqSHtTyW2m7bsLlHpfky8jHKWtiJRz-BHISy3a4Mc71xTbHO3yxFV5VK7BJu1tZLVERRWVIN2YrWjJR8w7Mcp5W7qL0DdefcbTRWMtlZkSwW11ufT4-DV_IPXwZZ0t7SgGfbNjsU6GxesDyB3jvn7tHSDHkX766QcICEhcHzWGy4WXe_JFIMW8U5sMXVdOsXInGCk8LqRT_j80TOu_7Yc4GiVQFzdJnc1Vg4KOId-YpzmyM4owsIfTa0MX2VggKjqhGlGScm5OZMD6khfIg_T2kP06iA-E-pfZni3WNZE5fLM5cFoOlyZ4Z-L5gWPmRwpYpkTHfoKRM4tchJbIpkCb3p99d5NQYzTOyjUAoZKDFPUbNU9jGHQY7WKaEK3cz4WJwKfa2TkGJgDkiNVGwjueDi2XgTCG2l5Mc0VF6TQQeMkxUnLc_thBydk7V6XU3Obs6AVYvi_YuYPqJPWtItasE3Zd3j4irqHg64nr3W0H7b8EldtLhV5kwL6LlfcLbATb8ABNQ-kZY1Ck9z70cuHVITc4tdNZDYY8p0pVWWUXi5Hrrb3gjS0ngi3G6EkBDaadIpHXv45BG_3eDCofZttaHkL6eGP8K6nt8uoQxhklCXA4nEvCijhfSWEWV2rlmZQp6WZQhi743abZjJ0dfHjVWd6ajtHtZcNXIkFg6VwkleNvVA_9TC5lEkQ6Wk5fWYwLZ1AqPpEVlyO5H9EdwsQ3QfgJBZ6z2TXIPG_FI9bhNQT-Z8o-391gxpJ_hXS7CIfjKaFiv5T1PD3p3d7fEJFrLuT3m2X_j9VSuqcUmKgjmoeRlCMvawejjmPsamtXy2rcU-DHS0d39LnJ67oD4mKJLavH8DyJHeKbKLyoHpBBcR6tdx1r497C51gXOzCNiRVFWKGEHHzjA6Cgp2A1PiSEcv3tHVnb4etVdkEHwiCQPgmb3_P8I_IIKeo8w9DAdS5d_yq1BD93CSSExeLc97Oal8ULbrWRoFUmXstltJrjNSGwo-v1e7_Prz6p5kK4wttcVWPhiCcLf_gQNQljjZuPX67rrG4VK61wRlnAAMVWWnEXAW5G8y_b5XiKACXKo-zz6TnM1DMT3z114Owo08nCQzrJM1N9hk8DZR6U-_v_LaoQ_1HK1DDXAmVb8W7k9dP-feiJ2-IbKLg_0qfxaojK7x809eP8ispxrmLz-C_ke8PcZMVY_ebRAV_tMuqJtUkUv0VCJkeXI2ftHCDGzqFG2NB6DLFBoGsS10GiyM6H-tPPvm_ewrBLQXcLTBlz5lMFU-byP6y9UrBeUws3QcUuVoTUJxcn8vIMXzSEZbag3BHb_s9zJ8Mjm6_eEh6jXKgEH4KOnJENBKlEuOmrhFSIHhonnLHXjpcu-OYBVK6uk8i5AcujJLR4_cDfJGkLE1aMJo8QbiCDwPbwodqsVZ0Sqwocs8RC1rqq-7rYOWFoidwSeOgPMq4utJemHR3nepS0o5Ti8dNr3U97QiXxhRFOWa49AR0jk1U93DZJvOLKKny52dThfTJ8XQUPnpkJacV7_vAZsWgsWdC0TQ1kFa3fxvpMIYrSbIkPUIxfPabvKz1_XxxX98H0NoDWvvQrfnbQ7Xt0FNm42Kgz-6AyO6aPq5AKUpNgc0_LMGFHk107yAO2Q9q5gCd3yHdQCyLNp4FKd5Yf5it5CQXKlQ0_-I8_DAPssTnTru_ZY_yuTyUz4V8_PhnE31_izW3Xr1VSki5XqON_2YmSbIaGnuNiYFnT13FccoQzHTwrxOGFsdMVjCc-MMuKzDpKi24zUE8nZ94G0pX013MBntq_eLZgsVYXUEJXl0ytd7dYk012MU9pdyvRJlvSTS97Whs0Nzh3EFxeH-XZVlvCwJpX3o6lTCfgfVruvlv4BS6HbXrrvCf7fN_x-1xMWq6BoihbymU2J3Kf5rmIkRwa7c2eNXUQCCwCg650aiUonoeR2ZWLrnuBuJbtIs9QsSrPEeuzQdDISeXOK17oRHv7s7g2WhGMsZXw2C0WtJTGCHuCpgVL9g8c7l-dNCXTvCMSEPfPp_-AQyV6HuFsFKNVK1cw72n8uvHjZPyo4rq4X-5ljzZBziXsi0pyjFhcqo8aWdurNn6OZRmS63JtKm1iIstJnt8-BWMhPVOy7EIKZpVWmTJDgGDOxla68iOSmeKVSfWacNEdE8X4swMNZa4FNH5PenrMBqUJmJCqyycBx4m9_oZ8eeVKiTa80EsTREfORBP9j48SuvHl6XOoy0KDIym7XpXU4OHjx3-YFzODLCDdbc1YfsmYVYUpPufax9W23JzUMBESpiJJVJ8GPZD45hEmH-BjhET-zSEe3ghaG6T9bVEJ5spKSEIRALYDcKc7RX7XjMlX4yFeOpgl1KJYCZ-0fpIkXIQvwRGYwIQTXX4HOV5fpeOtDrL3aWCa-bzl6vXo6ZyZ251Z8gERcNGLLED8IP4xquA7c8oRlqN1RNhTBVesU736LtIvTzhZvi3Sw8RAgJtksfNuSpHBQMK_oCbI9IDSf94v5EF_OdxtN6iDQii4Uj2rPo4N6cRK1_-10qxt7Jw1Eioi8SogQu031JHtcAd-3oflSaARquEd5h_IzQUlYD2bbYPaMK71Kr_LBcWhudqCykTY5a9PlNlH83Sct_PYClpm2uJBgTD6FI6gX3_S1iA4eCfSxNabGHdtlrRfuRuaaos2goFqMCoOZ8iB2cCsQQb6MqzT3H9eDBtEqOGFvgu47Najtrnqov0MJPktyVzdcBiVtoRlO4os4SlmxavXv3JlFiQh90ByC-EZJzVPv7GHlnAE-3R3RJInRiARCJNicblfTb8AYUoDm391sObslDq8_J4BxALXHYKV6tAPh3Cw4xI2iVwvTIgfHzqgxjdcCcMdhNkgm0GJoC6p-jeJcXfZ5zciO6VfBvfndHJ53-3trKhzk018IxQ=",
  "id": "rs_05566c4640244b21016ab43fa3f29c87d0949666e21401ccea",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-qwLmHQNWpYka1HApdj-EyVWTesFbRDzbc2Zcb2y50Ib7lP90PZQSvBP4XpRMpFw2gv0n-OEW_1xFj5pfANDEDuaYBRMcfNW7PVwpbCfwVjoKcrDYiATwyMDyiBEuDcFY9OSqnruQWbU5L_o7pmAKquKUwIUU_kXSqMPGwDm_cuIqRvjXFvgodOtTEZEA6vqnZKxHktCVaXJEg1hSiVPVTD1LeUaNaRbKz-TggE6Nvu8ilbffoemBVFJ1BnG5tYsi5YkFOmeWZAO9d3lU9DPcbbTgAH-FThoDVy3lgMONpVJ9PcKEBWWjs0_2j5XFcfBRx7Fv5DMjhAQ5CaCZIk2vwOmngh7ItWhZ2AZbGteKu1c6hurs9aI1RBhBDl6ebx6xOtZC6wwEuKRIBV41h8Sqqdn1CB6iB54mFeBj6Rlv5d3u8dYc0yYU2-8IqfWGYpgD1i0Uwyb9QpFYdqQ1qVlGhiAoDNQTD6MbN5bZYcxDC3bZs92fL83BeV6Sdx4pApRDJZAI1uBNNSCf_O4OU6db8N8Fb6ptUAJINxtNQEMKuQBY1tSLSrI74rEwbSMZi-s-XIWMUSYyAHAf5_yCF38vKbPLTzgsnx0RNIDst9LWo8nnYuBXMkiZSAUGWZepipLAlfgbOkVsXayxCaynQJYAqUxM0_twBCrJq0UVVRf0JnPNdb4-DqwpdGQiFS9YcJn8YkuOqISY5zcCXzJYQtUzl_yMGzLGlqPNKZFYOtKu05WxmX9QocILOMeXKPT5N-hDBK5JDN8fqOyioUi_1ZIyArQwvkflEGzDMpKH3qEUU_1wqd1WuP1VmHEuhh9d_BySHQUaoU2vssdte7dRQJJVkvJnGsCr3EBmqQ1O0SgetTJX8xFC6h7G1sXYVMGJdefB_3r603Zo0sHN-RnGGake1xRF4-nmluRKg2zn-S5Ig4Q8mDkAc75QwS0hCtLthLqWDFZ1yiuhw7g7BUc2Cae0pP16wPz65qIfCtzpUVPnXNRPcPSLmbEmM1OeW9KkMUqXaDf1ss8bCkJkOPs42dZPqw62FhCa9UTpdXxtWcJfOrD4blfQkaz3hOZwJ-8ZmsfQ5CU_B12SRezJceaQVzFptGDbpQKJUa83ybEPMvuemsa43Z4D5Ucgi-aQHfi9DVqOHHi68cnf4x_8NuTTcCehWv3lyCH6roRV2vaXhXGwlXCaYpqVnBeWYbe8rdHxsZtNUIFWayDUd4rUELv2hBvwfknyq4M3RE3pjoDAhJCAUIPk-90NvPqIMbJxUydoG87ln",
  "id": "rs_05566c4640244b21016ab43fa9b72c87d09ae15c889e7e6b6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.21,\"left_z\":0.15,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The cap is now clearly visible near the left wrist camera’s center, but it is slightly right of the jaw column and still a few centimetres short of the fingertips. I’m advancing and shifting slightly toward center while beginning to rotate the jaws across the cap’s diagonal axis.\"}",
  "call_id": "call_3Od0mgmqlSDHn3sbvKNVGBIv",
  "id": "fc_05566c4640244b21016ab43fa9d44087d096bc1a1f4f339279",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3Od0mgmqlSDHn3sbvKNVGBIv",
  "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]: [-0.5884, 1.4002, 0.8051, -0.1337, -0.2546, -0.1787, 0.9995, -0.0193, 0.7971, 0.6128, -0.3923, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3524 left_y=-0.1774 left_z=0.1241 left_yaw=-0.2873 left_pitch=-0.1305 left_roll=0.0401 left_gripper=0.9995 right_x=0.2944 right_y=0.0021 right_z=0.1806 right_yaw=0.0007 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.3812, 10.2359, 2.0244, -0.0415, 0.232, -0.0659, 0.0205, -1.2376, 7.0222, 1.7607, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989cd9f2187ae5011226cae492c4c521875848c5cdbf07dbf53542e4ce979236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec82450bd5bd64c4351debbc8d1fb142c38493d94229524ce62c712682efeedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec68a0e49367860427519ce95589cd29e551f7cd82ded998771dde8a50ea847",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.937 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7605, 1.3731, 0.7811, -0.2005, -0.598, -0.482, 0.9995, -0.0193, 0.7967, 0.6132, -0.3908, -0.0231, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1712 left_z=0.1302 left_yaw=-0.0215 left_pitch=-0.0593 left_roll=0.038 left_gripper=0.9995 right_x=0.2946 right_y=0.002 right_z=0.1812 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.6, 9.7573, 1.5604, -0.4615, -0.0806, -0.0659, -0.2803, -1.6479, 6.7624, 1.8046, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5884, 1.4002, 0.8051, -0.1337, -0.2546, -0.1787, 0.9995, -0.0193, 0.7971, 0.6128, -0.3923, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3524 left_y=-0.1774 left_z=0.1241 left_yaw=-0.2873 left_pitch=-0.1305 left_roll=0.0401 left_gripper=0.9995 right_x=0.2944 right_y=0.0021 right_z=0.1806 right_yaw=0.0007 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.3812, 10.2359, 2.0244, -0.0415, 0.232, -0.0659, 0.0205, -1.2376, 7.0222, 1.7607, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989cd9f2187ae5011226cae492c4c521875848c5cdbf07dbf53542e4ce979236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec82450bd5bd64c4351debbc8d1fb142c38493d94229524ce62c712682efeedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec68a0e49367860427519ce95589cd29e551f7cd82ded998771dde8a50ea847",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-vL2T9Zdw9Byfm5oYkII3zGpNvom69Jd4vaaJtsqK9a8T4DBVBU1ZZTlylV2IkaiOlYe7rjBAWXkDuR-YXsTGNKwt2TVmATyqHlJhXVFO92TKI51lPBA28jxbtXHKvkOXUGUJR9dEiY5_XdvZaLCJdzcjgLDBj_u6r0vQjz9VxR94dHbIv-7ZOiBHiEHTklbrslXxEXo4sJoebxp5XskyvDAUB7LK2ccvOtIUM9mjeDqJBl0z1ITAUIvSdnFO28yVsjUdozy2t2pirjgreiI2wlFeNpEr5W-IZvR9y8QUz9ClO_C50EHj8LyaD4eV8Uagt_F6NYNlU8W0RwghwDo95okI0tq-vidktIw2FAuFBnbDHbKgjtVEHVCF-Yinn4nsetmPEwP4eb9gRt90YOtr2vHPBqlp_V98CMcOr5Y7UXhmSlmbDAr5F5hnBOhDwDXMU1yiX-iPb1x58oSrTkY4RZcRFkdTnC6L8jIF2M9IhVJKoUCp49gEfACCT904hibsiPTYlo4vNaCgA7o6MDeofvmSuD8G73XD1UhlS-bRWO9xRRs0QmxaE4RlOJjP4-Um3f96ASnJgIaU2eZ4unBSBGvfWMl5-73kBMIVp7t74AoO9N6R5X9ud8lBfxxyx7m5wrxGAWQyKZs4Nqcsk6gRD15uUZc2vlZMbrZOAoWprcPZIg13eOmyvN5tj8HHBVfSxMXBwxohhYjMtHpAWGNGHODajjrClapcMrFksDjMSp2d4w-yvT3Gz9X0Wieef6fM5jmV68BtMuqi4O04-3l1qCBbAR3hL8ojKZ4_CVKmYh9lm7msa8twqxRLM_d1hfbN9SvdR9fDwM29E4-6FNld5elOUBEnrNJ6zRi0o6Z-ouQlwcjIa1cPE8d0Uedk_90PlTcXApxjoDi8BvxSHvlKtFyvle2ieaRkpo7NDIj3av8dYRbzLmBhWZeTwo6GMmQ4u4HeoxARrrXx6sRvEUrChCdyoIS3CMzre1WrAzpuGPOfLhhho0l5IkN97FpUdkWbggOuTkbb3L_m0p8raMa2XBG-uvf5k0P7HmEdkTeQpnje7DxOX3Uue9PdKtXWQKkw9ipMTg84xJjBUmimFKkh_nSGl3_m8kXCRHeZRnTfVs2ogF3lbu0xQ40YDYUiKo9J2fKNTJHvkmhfFDccnoNZW8RxzsGZpWhpRKA_MpRckrB0P0E_QqMx1OZxAefOFiZA0CyryJy8fWJUEUhzrjRBpe08mx3uxMXYgT1yMF6BOH1FjmW5UjZ7FoPwwmcekDphqf05ENaBxGjvCfuxYIn_ZVNgeh0n_Dg22E8tdliBaV9RNOjuPnV2ZzV_GdLm-UU5j_3bLYDNrjeNU_zrCLNv1kXVTQLgMpe3VeRL6KsXuTiyCOq7x1ePFyvRLODuSuwEeL5W-UG2CHmPKIdX0fvWlSDQmUGBpbUDVvJjd4S3uiWZy6Bjlgzu1KbTo_0AGGR_NEZQht2tWMBMYaeDVcLSzW13PQFpQ2sqzNLAJ97QY3JeLsO2bHh-wvKGjhxwC6_-zMdvC_DXahX4bXYSGwsBu1T-KuUtHJrQK5UmN6VWuIMYywsQG1wC4-MnJGwGiAAmL5J1Smf3ZF84BpjopIDf4anCkclDR6ngA6V4SIQ0T--jhfC3MwOgQFIeUj61-xNbAEjb52yMIkwOt0g73FFcJjfXPMcF7572UF3sO3Npkbq9HPgPBwhbsj-OFuZJ0gIiRMCqFuphrOz9JxcYBF6887KmzWn_26e6LWIWsgM-t_vd_SDU674ONxeULiBgMIu5x53ZSTGsCXnV6Ijxgh_RygN8cBtx5NX_Xw2aSd1199vgnvU3zheou3S2fizoiopzpEzLFfxI_BJOsXSb7v6f0Ax-BQ6EwNwbZ1HQ3sLeH7PG0UeWq6qJShz4R9-QPmfZmDEKeybkNuZkWoq7kWd28jb_vkm_oKv8_h6iSc34tqIuu-x2be1THV7Gj-RNYqOzZJwJEEm5JFoWnJmAmnxyU1mn4xYAbEtIMu7WXESE4mH2a-PVnC0Z0NroIE9vm0UxAEni0-smp79raeBJdr6net0pHNZ7nXKXY-Xq0Ygl0pdlULeKBfCT9wi8mbh1iWzbavKmGfi8awyfiGtLwYpe0Q_TDLtqtc5QWSEDmlQaEtQ17dUKpjU3ndH0BF5ikarSGePfumMONEGqqrjKjb37at8S_giVZMoQorC-VIxo1XLVAo3ZqJIlAja9O9eSCyPSIgJXwLsd07kwae2OnI8imAirsAlW-8dDkdn4NoWgHaiI1a_VxfHBxxhbe0rVJFmC5NbM9F8y_gduK4Ms6gViyj0J4JZww4MLtwrf0pdIznQYGonNsZfyjCVWQ_3Ih_zwzNLplPnHuMbhJaCf1FjliBgZLc5iWIJl0tukeuO8876HJ4vjxIOsN36PVDgRUF8feB95AlKvxID9J-d385CRRDeUuyFcbhcuEQLPXMXLhdJo1fxz3AZvUdnOsUFj0ixO9wC7q_yf4gVCUlMakVAP3blitDVRKJWKMGH6Vm_oTifowyvnxzaOQzLWsm4F-lMv14eozRqK-GzSFC73C5FnHgHzTG2el7XJQ1L4Q2alZLHE=",
  "id": "rs_05566c4640244b21016ab43fabfa5887d082dd29687b288fee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.14,\"left_yaw\":-0.3,\"left_gripper\":1.0},\"note\":\"The cap is centered on the jaw column and the current wrist rotation makes its long axis nearly vertical in the image, so the jaws will close across it. It still has clear space below it, so I’m advancing a few centimetres to put the fingertips over its midpoint.\"}",
  "call_id": "call_gJE4McVDE2FshnXYIQA0Cnkp",
  "id": "fc_05566c4640244b21016ab43faf205487d0a3449e1fb00bea4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gJE4McVDE2FshnXYIQA0Cnkp",
  "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]: [-0.5919, 1.4559, 0.8307, -0.1261, -0.2081, -0.1406, 0.9995, -0.0193, 0.7971, 0.6128, -0.3943, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3552 left_y=-0.1905 left_z=0.1138 left_yaw=-0.3495 left_pitch=-0.1616 left_roll=0.0447 left_gripper=0.9995 right_x=0.2941 right_y=0.0021 right_z=0.1802 right_yaw=0.001 right_pitch=-0.0179 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.4615, 9.1282, 1.7167, -0.232, -0.0659, -0.0659, -0.2803, -1.2239, 7.0085, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6a28cbc26b3d283cea6cf96aafed5a607ee42340320f85a380e74a8aa1d921",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7ae038b3eb24b464dfeba57ec7e34a8d001ac3312aef1c7aa134a13d63681e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fbd44e1e29f2104d0d5d29d54e2c28a556557894b435b3e690bf28b0a10adb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.966 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3801, -0.0219, -0.0246, 0.9995, -0.0185, 0.7914, 0.609, -0.3786, -0.0216, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2954 right_y=0.0019 right_z=0.1833 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.5248, 10.5915, 1.8095, -0.0611, 0.0952, -0.0659, -0.7863, -1.2376, 9.8393, 1.8584, -0.0806, -0.0513, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5884, 1.4002, 0.8051, -0.1337, -0.2546, -0.1787, 0.9995, -0.0193, 0.7971, 0.6128, -0.3923, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3524 left_y=-0.1774 left_z=0.1241 left_yaw=-0.2873 left_pitch=-0.1305 left_roll=0.0401 left_gripper=0.9995 right_x=0.2944 right_y=0.0021 right_z=0.1806 right_yaw=0.0007 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.3812, 10.2359, 2.0244, -0.0415, 0.232, -0.0659, 0.0205, -1.2376, 7.0222, 1.7607, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.4559, 0.8307, -0.1261, -0.2081, -0.1406, 0.9995, -0.0193, 0.7971, 0.6128, -0.3943, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3552 left_y=-0.1905 left_z=0.1138 left_yaw=-0.3495 left_pitch=-0.1616 left_roll=0.0447 left_gripper=0.9995 right_x=0.2941 right_y=0.0021 right_z=0.1802 right_yaw=0.001 right_pitch=-0.0179 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.4615, 9.1282, 1.7167, -0.232, -0.0659, -0.0659, -0.2803, -1.2239, 7.0085, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6a28cbc26b3d283cea6cf96aafed5a607ee42340320f85a380e74a8aa1d921",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7ae038b3eb24b464dfeba57ec7e34a8d001ac3312aef1c7aa134a13d63681e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fbd44e1e29f2104d0d5d29d54e2c28a556557894b435b3e690bf28b0a10adb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-07Gjl_7372CCoamR-UPmqNa2a3Aj0uEVn2KKGs_4NQpGe3qNtarHM1eX9vF3VZvyZr_XC5AP8liC0AGbLhlnGJsdp9dT_HjkNd9t_UYy9yPwXSfQDAudfgUnMNDtiWvJyuPDf0XSBIxLE5ECSYrJWegknAoS-Bmwr5-ktp0coxM3hrIppu7mJB89MH8qFLkMNWJSF-dXwLxaxciP5KJt8aScIC-KbSjCx4EafJIZvKWnv1Wo0BVq4dnvM5wDmMv3bPUjioyI1W8Giwjh8xpfYQoHItOSr161p-k0C_R-eSJ7I6yQz7al_cM1NcU7O8fubH_F4PCLhASwXL9s0C4TJoGoJGmEx2h16n_CLRJv0SIeJ4T_2m3hQ6L5QjrAT9G__vLymMAZ9AcEkXdw3L9qIio8Am5qkESve36hid93ypLr7BMz6H28wJ8sfgQHbx0LFO4B6QcEDqg0g8XjTnUId_mBAVVLlf_-S-iNeTJ4gSYQpi8KNePCFSviXSpeuzo2y40Xnf0a_Ee-H2cZuEYU5P7CjojaMrngj7r5sjG7Wtsys7aHx18r8p5i_zwGOMoJ8MJ6F736KcdP6D5X_WtISUBqd3XL7HEOTWX78ng2imho007uc6IzeMzLXXBSLLBVhL7oQMpjDvsHUSnnMIQtr2XXrZdED4T0w7J6dPgJFXyl9CdY5jpLXTx1b-N_tbeJQ7N4McusINNbiPhVHNRu6q57H9nUgin-6jlM1a3-dHzLxyOmT1umfvG0W4fNJ-mI6EhXPLEEhlZz76QqbLYRnMflsWdasXg_4tMV69dyAeqWL4MgpRV0vcvRnX7clBOFAxTj8Jtsk1QqOS_ghokRbjfutOcUsGZ2go0poZCp302NwsPRg43qj7L7sAQl0cEYYABrOfcOWwl05ItUdYnwoJ9POxQ215XvXRfjb4cEgO1voxykg6--WkSDFvTlIcgz2Uw1JqpaGcn5ym-1EVbegHPagkp6FZaPL5UjrWB-ed5qUiSPVsvPOYa9gJeXwE802bzWh5yzUAFXDrkeXc-3RLQvtwraWMeQJr_OjjdqZIz7EfalsSNPtoYqZqAEcHYgljIjFyXDPN1jCT0HHwSU12lqcv8jiD3MJQQPQari0UbikzgC-A2r9PPKw8a06vgjsknbKM4_4PM6e0VuKT6pGwRmwhx4YlQV460JnfRAM2qWvMcap7gjGNw__YN8bBHcJT9WpXhK7fdqeTgEir89SNuNSidWS6uNinZwxbOz5V3K6VMytIulVQZBIXkLiC6dNIwBf4aT_FtfbQ94c-Hranjt_wpVA2mPnXloozmpRSpvLuIQB9m4WfnUK0Ju9XPNFLhy3S3QMun8a0fIZ2cvu_ORKjcAa8Wb7h1d1NZ6Ch6Q_bh8q51BZqxEZmJJyFR_ylJhcwMFHxJei2JznIcMKcgs0mAxddgKv1yIu6vv4BVKGKdqPxzp3VN_kK6Y679xYcJmmKHoRV3ovQrIaYZzyaq_PPy2a4LbgEEkdkU0RhnXztvL3x_B2NsOtJvfpabNwOy1xeYUDYZkxa7Msr5rxcMmxDlHc6wBewFYMo-abW_ydbEeSGqLLWFfqfZG2SXE_RvzxH-LAa7tEm6nvWLjSHtyIa91oQAYESr4y07AFcYkBIE48B5cEHKk-VH2qsKO8Tmj397uHvFcV12jSy5VGSsxVAMiurEWB9FuSYHBJOfG9F0am5ge-LRDBecJjIUK32Vwq9tcKAsSbccea4S2apGn7JC-xbtlVpbQo5Pahay8ejVpxkBwIwPvKkX3YKcqk0X3Bwi9WvoGhzjN1ysoD_SvpKZ1eOCaNRPSU2qQoWq1P7VtmEb65Aumy01h5j4aMRza81l5K2GGTkPaKiv4_ryMTj25Wss0zAftG10mPLbizK-CSz-Jm2sdaHLNbyyPuhbsUAnhg-bbYe2r0WqvkHGjh9CPblpyYCdcb5uN-ySFQyaNdC2Np-ztqP1NMYnkECYVcnhK0MOQQ8fvST-3sYIoTUo_3Q2YxwtRQ4vm8UNi8DtFxsX85VcjF3OWvoicu432c3JaXBBMyJkcAKm0Pow==",
  "id": "rs_05566c4640244b21016ab43fb13ec087d09dfae55bc2c14c9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.2,\"left_yaw\":-0.35,\"left_gripper\":1.0},\"note\":\"The previous outward command barely changed the grasp-point x reading, indicating the arm is in an awkward low pose rather than that the cap is reached. I’m raising the arm first while preserving the good lateral and angular alignment, which should let it unfold for the final approach.\"}",
  "call_id": "call_Ksw4uaIUvdflpu4jvZEGLJcU",
  "id": "fc_05566c4640244b21016ab43fb2f0e887d0a6a3354c5ca49c41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ksw4uaIUvdflpu4jvZEGLJcU",
  "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]: [-0.5926, 1.4597, 0.8307, -0.1387, -0.2398, -0.1757, 0.9995, -0.0193, 0.7994, 0.6132, -0.3973, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3557 left_y=-0.1846 left_z=0.111 left_yaw=-0.3038 left_pitch=-0.1707 left_roll=0.0441 left_gripper=0.9995 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=0.0007 right_pitch=-0.0229 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.7761, 9.3744, 1.6484, -0.2906, -0.0415, -0.0659, -0.3214, -1.3744, 7.1453, 1.7314, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b42e0a4ed2baf6cbd31cdd44bd8e0b3fe1f7446e66ccc3dad8b0887b7f32de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbadff42bc475e4ddb75eaa5b1bbe05067ae5a918be8b3005a056588e4c5b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dac24ecb91aab1b6b4ee66f979ad0c295e5d01b8f6c43c5505b196fbd4ef613",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.343 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7605, 1.3731, 0.7811, -0.2005, -0.598, -0.482, 0.9995, -0.0193, 0.7967, 0.6132, -0.3908, -0.0231, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3295 left_y=-0.1712 left_z=0.1302 left_yaw=-0.0215 left_pitch=-0.0593 left_roll=0.038 left_gripper=0.9995 right_x=0.2946 right_y=0.002 right_z=0.1812 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.6, 9.7573, 1.5604, -0.4615, -0.0806, -0.0659, -0.2803, -1.6479, 6.7624, 1.8046, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.4559, 0.8307, -0.1261, -0.2081, -0.1406, 0.9995, -0.0193, 0.7971, 0.6128, -0.3943, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3552 left_y=-0.1905 left_z=0.1138 left_yaw=-0.3495 left_pitch=-0.1616 left_roll=0.0447 left_gripper=0.9995 right_x=0.2941 right_y=0.0021 right_z=0.1802 right_yaw=0.001 right_pitch=-0.0179 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.4615, 9.1282, 1.7167, -0.232, -0.0659, -0.0659, -0.2803, -1.2239, 7.0085, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5926, 1.4597, 0.8307, -0.1387, -0.2398, -0.1757, 0.9995, -0.0193, 0.7994, 0.6132, -0.3973, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3557 left_y=-0.1846 left_z=0.111 left_yaw=-0.3038 left_pitch=-0.1707 left_roll=0.0441 left_gripper=0.9995 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=0.0007 right_pitch=-0.0229 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.7761, 9.3744, 1.6484, -0.2906, -0.0415, -0.0659, -0.3214, -1.3744, 7.1453, 1.7314, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b42e0a4ed2baf6cbd31cdd44bd8e0b3fe1f7446e66ccc3dad8b0887b7f32de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbadff42bc475e4ddb75eaa5b1bbe05067ae5a918be8b3005a056588e4c5b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dac24ecb91aab1b6b4ee66f979ad0c295e5d01b8f6c43c5505b196fbd4ef613",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-3qXTHVYD688gNrqPTGTfP9w_NeGzmHUPP6tsCl6WFnsr6qdIuVn0HSragokM3Xs9KWC86gn8w2SJDvgSIf3Nvl1qJtSgYmhEPNESts8hzOUNEE9xmiQU4wn5urCE0yxOBmPVtVGgwPbZJnX9KQXd0UYkic-V6Hr6ra-Y5rijcd9gr0DTdc5SPwXUQvAGQjWiu4ifPzQRnlv488JcHeZO2rcNoNGrQrZmNgMQmjMqbF1131-i6fS_jZVr30baf5u5ShgeiH4vbkxMnxSuH-uw_PJuid88ecR7shi-Bz8FJD5FVyGBPSaHGw5lVxIcNInodGCUvADjn27oKQYXEc4SH2SzErPENFOR04K51epKkXDE52k6h0iGcPKD52QY0GbWgjwk-js9LGdqkfGPxtZfOxGKnY6NakhGypVLjZ2Uwu0HY8YxzMJsEzOlWMWkCcCURWzSlnRT0cKYJtA-IzDs4eJlN4KNg4nkKR9cuB5y4EW6VJZuvMqVIgsvrI7xjY1PoLeV2DEKIX-Ay9RCwNg0bP7t_pt6tSsvG7AmguZk--dPMC-Uq2T2QvP7LbJYv8LZqdhliFr_JESGoUgeZ85DE_HffKvvhiK2KfLI-DJSTGM5hUw60uJ4bwqyQm8951RvQGTkB7BEJFa3tc3KsUxVrLTjP-RFR0vN0rnP-1LTwCpJHOCquEZ8TEgSAa7XjBtifP_RR3aQCGwrbKEmNT4F4aiTxcCfWp4CGqvnaZ6aFmhf91ozOWcmEJdUsfBg2f7EutSkOlWjB16r5fl74Dq0MvV3hU9DRGw_9710QZJ4irZlla5nvcX9Sy1WRuNBYGXbii5LEHwYBK4xkikBMhOkjy9kELoZZ8nQbZ2prH2nVsJZMqbSG8QmZ039YU0gQs6rN_a93k4inBLOH6z_amYcR9yhXv-_yM8dPdEKUC0aP4ca9Oi4lcZ_paVIx1q4_rPxOD5gkWyJxl-vP8EXcgcG_3ViGHR2tj7VrnPp0RKbi4No8z_ci-cpQrYgIHWsMMXyGZ8N845e4HNrNw7XY9jvEEWgMLiNJqu6HJyx1GW9OPfx1Q4rNQV6f8kWBoQkyqrUOy5ITwqJGA_kr5Uox9yy1HEmJq_w15QfG2s2sxb9sGLz_S1efKpFOKipcR1_MPoWrgEYabJ5idJGtAy5CiwQd_Rq5JtlH3s5ZlM3GwHz0QtJP4JK6-2t-VLgfU9YWuhb4EPn-0OISu09_fUX4HoKhpeAzllfnqw2Xg0PV_zrtMvxiVyZErmO_PfE9I-XGb4VQ9T5OLI-5v4b4pyJxffVCCSoY4r0wR2qaUAesb9EDBLilTisbcOxH3ItyFEXnhLHdfnUTlFe_GKj2CVh-TRi0-ltk7kG9oXf7L0rv-EXU0UaMYzmuKSBReWjQRPv9hfr8_NMG694OX4KZMM6xOReB0kIyJK6Iwo7QZ1We-hXAVczW8fPKC8ojA6okhIL2HZxLkBuTGJH9WcOXgC_gMhld2INSWmNp5OGKB4IHHNKM5Zs=",
  "id": "rs_05566c4640244b21016ab43fb5d80087d0a5eabebf381d105c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.18,\"left_z\":0.22,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The arm again held the low pose instead of tracking upward, so the current extended/rotated posture is kinematically stalled. I’m backing it inward and removing the wrist yaw while raising, following the rig’s recovery strategy before re-approaching the cap.\"}",
  "call_id": "call_gObLl0R3E2BCV8TMZtSRzKid",
  "id": "fc_05566c4640244b21016ab43fb6664c87d08502bef6dc91b04f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gObLl0R3E2BCV8TMZtSRzKid",
  "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]: [-0.8265, 1.3434, 1.1561, -0.7033, -0.5404, -0.5549, 0.9995, -0.0193, 0.8017, 0.6128, -0.4099, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3078 left_y=-0.1947 left_z=0.2104 left_yaw=-0.0825 left_pitch=-0.1592 left_roll=0.0157 left_gripper=0.9995 right_x=0.2923 right_y=0.0021 right_z=0.1758 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.335, -4.8342, 9.4701, 1.2869, -0.359, -0.0757, -0.0659, -0.3624, -1.4838, 7.0632, 1.8535, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5f5e6a0f5de9a0e9caba6015e3210ee9b53ac8f46f22cd9826a0a4cf01753d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59040798eab15444cd68cd549f76e6b564f5316a9fb0c16df447e6cc6f6d5410",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c886f9c191fc5e5c3b5fec5aeea1d52b21d95ce1a2a43583f7faebbd5f8ec9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 3.792 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5884, 1.4002, 0.8051, -0.1337, -0.2546, -0.1787, 0.9995, -0.0193, 0.7971, 0.6128, -0.3923, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3524 left_y=-0.1774 left_z=0.1241 left_yaw=-0.2873 left_pitch=-0.1305 left_roll=0.0401 left_gripper=0.9995 right_x=0.2944 right_y=0.0021 right_z=0.1806 right_yaw=0.0007 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.3812, 10.2359, 2.0244, -0.0415, 0.232, -0.0659, 0.0205, -1.2376, 7.0222, 1.7607, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5926, 1.4597, 0.8307, -0.1387, -0.2398, -0.1757, 0.9995, -0.0193, 0.7994, 0.6132, -0.3973, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3557 left_y=-0.1846 left_z=0.111 left_yaw=-0.3038 left_pitch=-0.1707 left_roll=0.0441 left_gripper=0.9995 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=0.0007 right_pitch=-0.0229 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.7761, 9.3744, 1.6484, -0.2906, -0.0415, -0.0659, -0.3214, -1.3744, 7.1453, 1.7314, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8265, 1.3434, 1.1561, -0.7033, -0.5404, -0.5549, 0.9995, -0.0193, 0.8017, 0.6128, -0.4099, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3078 left_y=-0.1947 left_z=0.2104 left_yaw=-0.0825 left_pitch=-0.1592 left_roll=0.0157 left_gripper=0.9995 right_x=0.2923 right_y=0.0021 right_z=0.1758 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.335, -4.8342, 9.4701, 1.2869, -0.359, -0.0757, -0.0659, -0.3624, -1.4838, 7.0632, 1.8535, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5f5e6a0f5de9a0e9caba6015e3210ee9b53ac8f46f22cd9826a0a4cf01753d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59040798eab15444cd68cd549f76e6b564f5316a9fb0c16df447e6cc6f6d5410",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c886f9c191fc5e5c3b5fec5aeea1d52b21d95ce1a2a43583f7faebbd5f8ec9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-7RbH-3EoNgoqpynmYIJWwTjC54kHeexP0TrzBwIJfv5eKdD29Zby4JZc0a1TaBYzn4ZCbgJ6uYs_hcDazgYM2-AZ_CYtdu7ZmmZaxim5C0PZUfWckSxJAKT59q4lvAdJ5j6djXeio72WRNRnqm7siuVEK9GIDSfOc_QIJSbTfNkOT57_uDoPlIYqwwcnw3cxSiJtQ2YkWmuWy5oakFTYSIMjTwFIsC49keOhyaOmIURGOV-Y5vTK1KPGuxXIbPGdkGYme57BPVEOdzsD4HaBrpKiCU0Kq9J-_E5f_LbWcfQ43QYk0QPSCEHGwldfUg-hScSQc9UOTCV83CA-Dy48fgBzsRO9lhHdQ0bPx_GzXOBInyiJLhL9F3ZdNdD5sZvYuXV23Itn2h2kmCKSpa9uEOjQvv6Lx_KBakFrB3i7V_7LkNeZA20lRS3yMO3B3WNtgFghlKuwO-ygv6Y7rgNvO6-wRC0miRWQV8K-OSM6kR_y7_tkhk4W98jYCj0XbNTxjBKpg3w33yYrksU9Bjq3nNDen2ToX9Lio5ySBZqh4GCmcK1Dl-R-X-yioAsrUNOOTPkF9EPSGk4MA3gu8rupQqNVb8MzZikF00ygDqyhSZXN3nqP876rZUmiDEnWu3fk5YPbAZhSwLg4cwzca4qnHoretcmRi4qwRvqL7oTAkWuzlO14MCojPlTuWsW4Fbw7Uxz_-YrrhNoqzuL46HEO4LDZ02W606LJDS_Lbb7XfTjaa1P1PzHUvjyrwVEEaS0Z3onzJ1gkZuPt9qUjuPPVQxCiKFi3r6fQ48rCOSKMuRe1xUOcFH2lyt0wtskUe_vyjxyNRCSo9ALU-AAnX542dJOyEuMiaroQ_Tn92LGhl9_pAV4K5Qo0QZ2Np3w6SSk7N7RzBmQNaaHaB3W41kzKvkJlbq0iYcFpkIAWkrmjtzV_vEqWOSRfqTSmGvrSbct7Omx1KTheQ2YmsVBLKDyTo_5c8-ni5D5sXL9dgPNX6AJAB8OJTAi7tEXRMWBFJ1xNmO2Rnbry6iTVdp1YMAwAQic3culf_yXUkR5t3BoiAt60nVm9F9sRKIBn5kGD4Przsifm5pkfUePuBp8Ijdzme7LEdQjcND-C5EkDA37g2Vj5xMIYfP-fA-DxHub5cFlVjVgBCFsoP0Iopbpsi1SXoE_XqpGlamlGfRwQpxCzfQZYxEtZh941D4gCNCIQil8FmXteC-dK5aJAxSZ2kN8JshIt6Evp1tcql0oFGZMFzqmVMEH-iaKL8PCNm7eVwLpdnDXeMpUngkneV7B0AqKJ8chrugovo00jDTUBmmEHmmPxxz8LT8rtM32CxNy9DYQ74B1eazUFxkhqnufBnjNCxkit3vxTIxeenqaoP4heY0uicat_lxoFrUU4DDE2duDFCuWwAbjt9uXyVyAde_C7i4AbH3QBhBhedbNBxeel-a23OwosqujYOu4f5TAtxAqhN033cC7HfgZRNGbuFbbN8fdpR3mbx4IMYEhYcdBh862rcbAOPF-HjJm5GViObv7QjCyKCKpF1QUpOBstsWXURoGWeWNkirXZKkN7v9L8N_d6o19AGMfYf3s7-XnsnvEBHY2xUI4dydl-qsCSbLNegD4lP_mGgzrSaltOUybAD9QmpBQ-MQqOcmrGi49arXS0sggwK7hSfMUhguehlxrn87_kv09VYaKEDnydni2HTRkVHC0MoVq5mpAQFQDg6Ak7YolrKkLA2H-qckBP_KBkR7Q==",
  "id": "rs_05566c4640244b21016ab43fb954d087d0b87f648e135d02c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.19,\"left_z\":0.2,\"left_yaw\":-0.3,\"left_gripper\":1.0},\"note\":\"The recovery worked: the left grasp point is now at 21 cm height and the cap remains near the jaw column. I’m approaching it again at this higher, reachable height while restoring the modest yaw that aligns the jaws across the cap.\"}",
  "call_id": "call_mlnEJ3heqLa8i4OrMtoluw42",
  "id": "fc_05566c4640244b21016ab43fbaafa087d0b3b0fff34c1dd6fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mlnEJ3heqLa8i4OrMtoluw42",
  "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]: [-0.5732, 1.4544, 1.1538, -0.54, -0.2718, -0.2661, 0.9995, -0.0193, 0.8051, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3649 left_y=-0.1748 left_z=0.1801 left_yaw=-0.203 left_pitch=-0.2301 left_roll=0.0243 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1742 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.2017, 10.3179, 1.7167, 0.022, 0.2369, -0.0659, -0.335, -1.4017, 7.2274, 1.7216, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:570f3642697aee693084bde553513270b48389b28eb7a683d37df5d2b98e35a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b301a4f87a187e3884f0f2fc4707585f9585328313646b56cff67a12c22389e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99efba80ffe0abdf5f80c9be8b1bf03291fcba556df9c8d8de61052bdfe3249a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.715 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.4559, 0.8307, -0.1261, -0.2081, -0.1406, 0.9995, -0.0193, 0.7971, 0.6128, -0.3943, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3552 left_y=-0.1905 left_z=0.1138 left_yaw=-0.3495 left_pitch=-0.1616 left_roll=0.0447 left_gripper=0.9995 right_x=0.2941 right_y=0.0021 right_z=0.1802 right_yaw=0.001 right_pitch=-0.0179 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.4615, 9.1282, 1.7167, -0.232, -0.0659, -0.0659, -0.2803, -1.2239, 7.0085, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8265, 1.3434, 1.1561, -0.7033, -0.5404, -0.5549, 0.9995, -0.0193, 0.8017, 0.6128, -0.4099, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3078 left_y=-0.1947 left_z=0.2104 left_yaw=-0.0825 left_pitch=-0.1592 left_roll=0.0157 left_gripper=0.9995 right_x=0.2923 right_y=0.0021 right_z=0.1758 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.335, -4.8342, 9.4701, 1.2869, -0.359, -0.0757, -0.0659, -0.3624, -1.4838, 7.0632, 1.8535, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5732, 1.4544, 1.1538, -0.54, -0.2718, -0.2661, 0.9995, -0.0193, 0.8051, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3649 left_y=-0.1748 left_z=0.1801 left_yaw=-0.203 left_pitch=-0.2301 left_roll=0.0243 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1742 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.2017, 10.3179, 1.7167, 0.022, 0.2369, -0.0659, -0.335, -1.4017, 7.2274, 1.7216, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:570f3642697aee693084bde553513270b48389b28eb7a683d37df5d2b98e35a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b301a4f87a187e3884f0f2fc4707585f9585328313646b56cff67a12c22389e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99efba80ffe0abdf5f80c9be8b1bf03291fcba556df9c8d8de61052bdfe3249a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-_oEsUSEY1QhS_Cm5RpxOmw-dy-MaH3hNQyhh6zuX3cZvN_j2nGD1sO22n3x603FRFAL8UF1vq6IVwYM1CrlznDPfuwKNSqUIWNdbpABaX1RtVwsI-U9x5sLzXgeGfHZBdziXvAxyzZ6niupFMGqmpjx31Uy0H0HJRvL7ybMHjlfiuHg-16hI_LAOhRxJ4H-PZxI8OnPaHfTb4wI7Ww9DlgtcgQ614mGr8Flnc0L_xfGo0bPDUgeBtgLmCkZDDFijjemm9n06T4roWu8XPy5ZMxzUORu-cazxVMgL6Ku66eAFjsl18-GXntRCb4xYnRnF1mxQqZ379Gft3L2gJXkfT_xavuglq-9mTPOd5X_70HzN3GXj3FvU3hG0dmyH-PjGd48MhpYyXumeIQhtVD1Jme-8nrnoE_Jn8-EDwFp0AB3EpmOQ6xmdtEKbbjbESESEUUd4DH4ThJPwsWwZ6eDharpO5qpwUNf-TQexOjP67fo9aAWmhvFCWptMmWfLlYM_3IZlfOwd6bNsKiiCyKwvGFWkKBme_MdQ_5dJAmwUytopZQ0Jo3fegxMQMdEbGhGfCgrgvGaUoF7vAreA02XoNcKjskvRZ1VBzHxuH5gGQjHKvX_fvhulb7hH0wRGUXtSVLFR37MAAlRUTdNpnRMl_P5foJY3A2uvqTwNw0DiUr8rvNYJ2F5bDDOMJA7xFsl6NBeZf6Aiq9AszVR9Gz4U7gr4WrRR2NKyr3isacRiZsxBBs25VWXrTAZB1_DG5dJSTMVWtkcRdb8zRnL9ioyq9KxP8MmoIn2imJiFsOlSOkR8zUI8tVU3KSmQPV9-JEdCF_EjyZPM7uMHvnL6dPaH3vlVcx4RwROg751W4lvkqriEVWhfp4iyk4wU8eS7RDmXXEXbMJtrkQRoT2266PymuwHY6exXlWcCILHCNzljVDqAeb84ETT89ggGpdjAG9ikvNvfPWbtd1p0EqDwMvNrE6eksJpw_Gtdu60u6wigsIR2vtIu-MuEeVI8CXW58tT9jB6wyKMboqBW9onhFkO2O5kXnlEGC2Ev54O19oecKdXyVPrctY_dE1NKMyl8geVx2gzIRtlHJXjgdZlz7bI3ReoE47rdk7KebV5-BhUr-ww0MtUDqv6Ok9lfttfYsz4P1mDvFNj2A51Jpr2stcMT0LbTqC9vM4JN-zracqgDU53qBrGg1CASPuvvB_rvnEb7VAs6uqSPAVHvvhVIteFlonReThE9a2Hy_4pMt4C3nAI_UchpSgIdnr8A9RPK_5m2D6G0pVhLJhMxDAZEMspDLeqzjQbIS80-uull2F219FCnFxLYSWRckHqCcbA_4-vy44ICJ3d7HkX7psBcJUPIsZBGlyBQT8gPUwEHj6p80wioqsVpiiBdLbfAe73vCdyg2M65Go52C-NDhwIdCKcnjNbWbkvB7cMLa18Rx6mDrV7OqJhIZz_2n2PbXcOUS0GTqhSCWBrwxnoR1jTbIEqs-hm9Om7GtfwOs_sxZ5P0Y05cb-eBlKa33wu0sFzEFzDxYRAX-DG5mmbt8ZcMuRLHopl91SCN2fHw8sGksove743AyrYuL8bdsRttXTtQUDQC9nEqYp2EspEtUWykv13OfQDg3J6zWK1afU_tQ6gIEBn_ROmOOSgCU6hxBfKkXKD7PoUKphCd3981mOHNTcgNQ7YORehX3YQsY34Vr5_P2XxWXu_kbpiIqkIMFUmUxplFm",
  "id": "rs_05566c4640244b21016ab43fbd9ef087d090f22333a00a59c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.175,\"left_z\":0.18,\"left_yaw\":-0.25,\"left_gripper\":1.0},\"note\":\"At the higher pose the cap is centered and now only a small gap remains between it and the visible fingertip region. I’m making a final 2–3 cm radial advance without descending yet, to place the grasp point over the cap’s middle.\"}",
  "call_id": "call_4Dh9HzZHdRflEuDJ19xGYWjF",
  "id": "fc_05566c4640244b21016ab43fbecb8c87d0b0820568504043ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Dh9HzZHdRflEuDJ19xGYWjF",
  "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]: [-0.5331, 1.5002, 1.1717, -0.5201, -0.202, -0.2001, 0.9995, -0.0193, 0.8051, 0.6128, -0.4126, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3759 left_y=-0.1765 left_z=0.1708 left_yaw=-0.2577 left_pitch=-0.2554 left_roll=0.0226 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1743 right_yaw=0.001 right_pitch=-0.0442 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.8, -5.9009, 9.935, 1.5165, -0.0659, 0.0904, -0.0659, -0.2393, -1.2786, 6.9812, 1.6777, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9d99596e946f011151b287003be573a1e9e26af1a72d31275650b5381d55c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b1ff63fccc005ea220c18ddbda95d525f75ddeae689f0597c17bb3891fadf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b993398d69d8f7dbbc8ca10cd3d87128968ea72077384523df75cc067e0c33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 11.44 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5926, 1.4597, 0.8307, -0.1387, -0.2398, -0.1757, 0.9995, -0.0193, 0.7994, 0.6132, -0.3973, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3557 left_y=-0.1846 left_z=0.111 left_yaw=-0.3038 left_pitch=-0.1707 left_roll=0.0441 left_gripper=0.9995 right_x=0.2939 right_y=0.0021 right_z=0.1792 right_yaw=0.0007 right_pitch=-0.0229 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -6.7761, 9.3744, 1.6484, -0.2906, -0.0415, -0.0659, -0.3214, -1.3744, 7.1453, 1.7314, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5732, 1.4544, 1.1538, -0.54, -0.2718, -0.2661, 0.9995, -0.0193, 0.8051, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3649 left_y=-0.1748 left_z=0.1801 left_yaw=-0.203 left_pitch=-0.2301 left_roll=0.0243 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1742 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.2017, 10.3179, 1.7167, 0.022, 0.2369, -0.0659, -0.335, -1.4017, 7.2274, 1.7216, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5331, 1.5002, 1.1717, -0.5201, -0.202, -0.2001, 0.9995, -0.0193, 0.8051, 0.6128, -0.4126, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3759 left_y=-0.1765 left_z=0.1708 left_yaw=-0.2577 left_pitch=-0.2554 left_roll=0.0226 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1743 right_yaw=0.001 right_pitch=-0.0442 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.8, -5.9009, 9.935, 1.5165, -0.0659, 0.0904, -0.0659, -0.2393, -1.2786, 6.9812, 1.6777, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9d99596e946f011151b287003be573a1e9e26af1a72d31275650b5381d55c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b1ff63fccc005ea220c18ddbda95d525f75ddeae689f0597c17bb3891fadf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b993398d69d8f7dbbc8ca10cd3d87128968ea72077384523df75cc067e0c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_CZcfUJxMq4feaoH1DNIuEndUd0wIMyuiKAMlE8r42gZmPNq0mtxt_KOxBL1g80GUiV8nqBQYpKXRHfB0r815nGIHzdnE8Z-7HdPZgJIl9ITpbSB_EjkKQF_dTjuI3CJtumQ9xRKKDkAYDCmqaeOqAqmuyzspLA2CcwsMC498aml7tSSjO-8OPnynBK2zR-vd1mQ0vHMIIgO6lrvLwt-aM_EXOV6EPtK5W-f0dK7a2l3Nr1gXhSH_uFInaFcBvI27fX5ToBVJBLmkhn_ZXfnHc4tVEhyvrNZ2JEmIXDuwu0NZDK1CIDNlBxTvN4IXn1btm5y7bSeCbWTGAx5l1bz_4xvZdlVHrJyBA0TXbChL1-43DiOOar7T4StuJYFIIyE6YGUgKWyx06XCk8v93zWQ380EwT0kzqGLmkSkdL2Q47phw9T6z8vbqMskqBPPD-DQkuy0kwhY1aSwELy_X9Xjs1KjJ5Ycp-sRLq4b65GDvMIpDcZxxsO3DjTOiO5tUD_gg-BQaxc8E7TjGai5tlnTU2BuQ-OYCz9rLzMSp835fZ1WGkxzpWG3F7StslTKlCtVjV_fBAmqVB0Q-JJvfziR4uqLGDqBWqg5Ecgl85iVBP1PaDcdifIxbJ5eXvvrKWr7nngMx0c9RzMr_6IgPsO6pohlrOsN4nxE4owL8Z_E5zZHYxCb7O-eCaE8xMc7fHBIfIvsLGIKDB0d765rTOWBKzPEOUHjfawcmCTigRcpUHlj8kZkh0OvMu6PCiXf8lPcCZuKHbK81xxDYtFabVbzCfDP6GFED9RzLwO2xyRezMn8ofikLDfyhivFW1CfAJEt-7xcUyNV4rc89I_ZRwgU7-DDRno-RwgaT_4vxxSWuGv_UccHbcPhQh8TvkiQVJxCn-u-x3GDFx-2exnjPbuzAh6-dia2l1wjetMNw_gFVXQ6jZnSRz8cjVVUyzC27KMwnXnRhl0BxoGDBwoAOIAEMG3pT4xDMOuzQC7cIop5dhaa9SjWqUjPq6kAICgN0VCH5MeaxNp55gh6TRDumxVXxPomubiYIvGWtj64PVnSaZCVM3JfiNI4pEp4zJyWQhQDLQslHe_fYxOklhs8Ksx5Ge4AnPlgknjJNzlVr7Dr0e-xvfA7c1CvKn_9rPns4oC6qT7TvhppoOTPkKq1uhCJ5IXKALvBuvZGpbLifXEFxWvGWRjFMH5lo_uxSN_WOt-KJecPOJZUi7PN0exMJ7xXJYb5212A0iSXCkEV28jdsMhV3JRJHcqP_uLsw8AyDDS6SynTBJO4k-hp75b-33PccuxWaPScIzCOUiq-kd2LA5N8-lfNQi12QLaM5Mh80q7kJTKsLoAVsJho54_tS_m-A5cZ-yjg9i32a4pg-cD-zWJ-QDFNPP2Hyf5TVwkkdoZdnNg-6rnx21l2X0MLk8bD5heGNhrqJfyWIF3D5vmGEw1mfCJxlvQzeNUJBUjUJRb0fsUDNERorPeO6-uBOIvyHtdXWUS3DgFDkdn5Tu3V3Isw=",
  "id": "rs_05566c4640244b21016ab43fc1311087d08903d39a6bf6d019",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.376,\"left_y\":-0.176,\"left_z\":0.0,\"left_yaw\":-0.25,\"left_gripper\":1.0},\"note\":\"The cap is aligned on the jaw column with its midpoint just ahead of the fingertips. I’m descending vertically to table level with the gripper open so the jaws straddle the cap before closing.\"}",
  "call_id": "call_nT6nR5W4m9Qbcil0H0RJst41",
  "id": "fc_05566c4640244b21016ab43fc1fef887d09440e400fd5c50f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nT6nR5W4m9Qbcil0H0RJst41",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5205, 1.597, 1.1099, -0.3954, -0.2081, -0.2047, 0.9995, -0.0193, 0.8051, 0.6132, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.177 left_z=0.1268 left_yaw=-0.2348 left_pitch=-0.2867 left_roll=0.0338 left_gripper=0.9995 right_x=0.2921 right_y=0.0021 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0442 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.9504, -0.0342, 2.906, 0.8181, -0.1734, -0.0366, -0.0659, -0.1846, -1.2376, 7.2137, 1.6728, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98a447ceb235f7a4218687be93c37bb1e341cb2600574cd17c0cdfc4ad26eb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f34ca7d27dc6a6673a97eaab5c529d8c46b6aabd903700b24eb45ecfe97511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce5e4d51df565fa03dd7888d4b06ebc27c9687bf7cef37f09bb00dc5079323d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.372 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8265, 1.3434, 1.1561, -0.7033, -0.5404, -0.5549, 0.9995, -0.0193, 0.8017, 0.6128, -0.4099, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3078 left_y=-0.1947 left_z=0.2104 left_yaw=-0.0825 left_pitch=-0.1592 left_roll=0.0157 left_gripper=0.9995 right_x=0.2923 right_y=0.0021 right_z=0.1758 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.335, -4.8342, 9.4701, 1.2869, -0.359, -0.0757, -0.0659, -0.3624, -1.4838, 7.0632, 1.8535, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5331, 1.5002, 1.1717, -0.5201, -0.202, -0.2001, 0.9995, -0.0193, 0.8051, 0.6128, -0.4126, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3759 left_y=-0.1765 left_z=0.1708 left_yaw=-0.2577 left_pitch=-0.2554 left_roll=0.0226 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1743 right_yaw=0.001 right_pitch=-0.0442 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.8, -5.9009, 9.935, 1.5165, -0.0659, 0.0904, -0.0659, -0.2393, -1.2786, 6.9812, 1.6777, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5205, 1.597, 1.1099, -0.3954, -0.2081, -0.2047, 0.9995, -0.0193, 0.8051, 0.6132, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.177 left_z=0.1268 left_yaw=-0.2348 left_pitch=-0.2867 left_roll=0.0338 left_gripper=0.9995 right_x=0.2921 right_y=0.0021 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0442 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.9504, -0.0342, 2.906, 0.8181, -0.1734, -0.0366, -0.0659, -0.1846, -1.2376, 7.2137, 1.6728, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98a447ceb235f7a4218687be93c37bb1e341cb2600574cd17c0cdfc4ad26eb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f34ca7d27dc6a6673a97eaab5c529d8c46b6aabd903700b24eb45ecfe97511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce5e4d51df565fa03dd7888d4b06ebc27c9687bf7cef37f09bb00dc5079323d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05566c4640244b21016ab43fc4fe2887d0b3a03ebea9c4891e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_PzR-v6lBQvS5nU9W3qEKLDfxe2j0T6OMnJvnDQ3TEQYo5uVQOuN4mTVt6du_RtrRjoOmccnw-k6MW8JiY3mrPgE0gvaooS8-G0_hjZOaYjk5sHvTCHx2ZYccbUJbj19OddV0Obz4FnqX2BBP8rXivRrYy9fEiLr6uM9AGkjMBDaa_tHQNeZBTPP_nB8eUbaB8US5-T0WKYocFvG_h08XiM8Bh6_SDaN41bLnvAXghKOQ7JT4MZa5fZADxDQQCT0NPs6yyHQ7jON32DV0ihqc8jdoVAtEs4-JDik25jUD-FCcreRH2uGKe9c4li8M9maJ4KdZemynzewioLoMgis-_a7UgcmqxifolQZU9fWScap15YzzHn_sVv3XZHOGu_1NWrpKDZeU9kAFXZ90SkwzIHlzj-lavA1y3O2l9VU46ilcYeyIG4G0c69QVWgwYVdC1284ZrpQ1E02BC5CSSAmEho2CwhW2ISPr6sXZboFAartT3JDrH8w5TjOGwdT_TWc84t6GsOtlIetcc7Ozmn05jgZy-zDiIeIkIkz8HZOqUzJrXEEo7_SZJ5LrDCZq8XWQ3uHQjvbBYYHgRNST56cQs13iAEaP-kz6zzuNB32uxB2eco9ge04hKqjdtirKuNKl1CdmIeAEEQ_NUkSVcrAF3NEW3QxuODo_G6dhyZwVUqPaAa8mo1Na0dKoOixhPYtJn-73Lt6qPHsEEIdLWfo1DBqtqdjqwAf_AbAN6QXP0cgRhUNTCKJUyIV118hiuap82PREFxWYNmxNYj6_SgvNhhYkf_lydg6ulr-3TQzg9Yc0tOmCsaQfYUnOFK6CXvetTRto2Bas1mhoQVFrISDHRWOVRkzbc9Lv0D3a0jrJ1OHylJwKW4FBIsVfUEU1JpjLOeBTodhVjHoVczQFalt3Q5XlPvjYinY22GBga513Gx64FcT5hn6NsvORBZjhHPKxS3MKNr93Je3KsyWrXmBBKdL0YF5a3UUcknid2s8bu2NlA99EmMF6MkaIUYUFjE57lPkxPF1M03-lCcZJlgiE2JsaQTXt0MAVZmnvKZagkB-XdqosfY6o9tlLqXjT25atxwOS8TzmenQlukEzN0qJGg8JixC4Iy62MZ-PBn1OEEG_6L2d0JfVUuoxDUmuFgkZXls4iZbnGzH_OM4ZLEWDTecH0tiN5xd1vlXbrIuFmpP5tgQarq7Fsw85qwKAH8l1vVmvxm04feyyzpYFr5NfX7yo7ROIKm7Xp4gc2j7aqHxLoCCm0sZomoBwVQOSlhP50HjlopDBNULWgNUxgvUXXA44L1omrDo2W4AcAPHj1TtkTwZyYr-ba4VCSereKA79VXqcaXde-MvRpPoRoWLWMupoYTZ7Itqlpupk74S8WeaxwG6lVWfjnMQICXyMdU7ybCp6HPpejP9An80JaGL9opJ_eTPgiKDCj_-Apj1OHW4opk_VQ0qxGBzTk5jV7mQuJADlT4G8MuVa_ZvKuZGZA2iuunXnGqKyhHG9Nbi48moL6R2sjFOaJ3xJhO6VmGcWkfjMYAAz8W6ZAJMCbeM1l68oMLHXLSicCSfBiyETc9yakN5UEBOxIm9Rtd6EFdLwFCsjfs7nI6S4cCgt0Qes08lFhN2QY1V_uDmp_T3n_3bitKhoPCMnR2kSzQvGoyqTAIc_6O_uRwOX7I-RfaMwp82YrEHBt9gKg8zwdrXPdB22-6Jmq7F-E8JVNmn28K-Z7xc0ynlMzuSWDE3aQtovWhkbmrBbt8vwyJMIh5Kc7jTvn_0Pd7KbQdSMyV4GzXUIrFDbG_oU8ixSUURUiV_nlGBhGfs_hdbiGCdVY1XQ0f0cwTuwKnPTPHptUa3U0CaV3YefguvRuIb3CoHWOTyNArGgbPOY1LWg89j2lVcIWqVm0YMD5cckQ_c_jxINOQBOXkm9-xQrEcNLpQVn1n591Y1t0jHs5QjVxydmPIoYuxSEhZCLltY7qNKjB0etntF7jVRGnfkGurCj8PXAte2N6pjOuoZfHZ1NBoj9FoFPKDnoKfbl5ShQHFIy16_utLMLOrRsbDcppukB-HhVOaBPu-SgqLulAsrZhKqa0k14oG_BrAmwr7nMiHVTbIX2cpZtkhE_WHe6buTxwpH-Q-WoSF8YvZqiXuJ8-E0Lw7LkUHj0D8BUg0DcfZgKpFuDiLXHyEC0H3AAnvCYoCQ7fCP4XiBsMUbNiVPejpkNxXwt9lXo6MelixpI3mQuEk_ht4BOqzyV8yshy1t-d6EMRfrJaESROEguQfmbAoJlU1Mss-EmDF_V8N73lKdyePGCc0v85FTlHkzs5okMLz-OxlKBkamlVXcSuzsif65HVzkvVTxSJdz-Tgd-5H8Vl9Nv3aS0B9H_QTb1pFTAZpM_8ap4SecyxnJtkjgIAxo7mkFzPgGjTyvo4Iwcxim4VJyTjiCo_7qkHMe3WbzdST4XhZ1E4Gqy5Jep7ZLc-D10Js25BmWj2VjRM4isixSf6xry3-kmaTpVVZVuzoPkZ_jHu52xlsCVnOZYEsrKXGjwSskIQgtwCG3P78ARLN2NVHZLICoF2rnVToGDnov_iZ36fjYPSA==",
  "id": "rs_05566c4640244b21016ab43fcb521887d09f09162818db0315",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.389,\"left_y\":-0.177,\"left_z\":0.07,\"left_yaw\":-0.25,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The straight descent stopped far above the table while the wrist pitched backward, so this is a kinematic shortfall rather than a completed table-level approach. I’m commanding a modest forward wrist pitch and a staged lower height to restore reach without forcing the arm downward.\"}",
  "call_id": "call_W6CKO1qIM6CrsKGS5PT85tR8",
  "id": "fc_05566c4640244b21016ab43fce342c87d0a05cfd023cde600b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W6CKO1qIM6CrsKGS5PT85tR8",
  "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]: [-0.5613, 1.7737, 0.4896, 0.8398, -0.3145, -0.1085, 0.9995, -0.0193, 0.8101, 0.6128, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3825 left_y=-0.1717 left_z=0.0504 left_yaw=-0.2476 left_pitch=0.1489 left_roll=0.0453 left_gripper=0.9995 right_x=0.2924 right_y=0.0021 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0496 right_roll=0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.8444, 4.5333, 2.127, -0.1294, 0.1538, -0.0659, -0.0889, -1.7162, 7.0085, 1.7656, -0.022, -0.0708, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d11ac9b945e47ba47e2b580c030add059a194651a16e0a50ef8c7ceee84ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71956664710a6e17b58d014163a283027e8459dc077666393291957694a7188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86608fb1955e7d5cbbb6a2cfee91b2098f6f27328c55126160e2224efdf70949",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 2.496 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 28 changed as sent

message 36 changed as sent

message 41 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5732, 1.4544, 1.1538, -0.54, -0.2718, -0.2661, 0.9995, -0.0193, 0.8051, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3649 left_y=-0.1748 left_z=0.1801 left_yaw=-0.203 left_pitch=-0.2301 left_roll=0.0243 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1742 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.2017, 10.3179, 1.7167, 0.022, 0.2369, -0.0659, -0.335, -1.4017, 7.2274, 1.7216, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5205, 1.597, 1.1099, -0.3954, -0.2081, -0.2047, 0.9995, -0.0193, 0.8051, 0.6132, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.177 left_z=0.1268 left_yaw=-0.2348 left_pitch=-0.2867 left_roll=0.0338 left_gripper=0.9995 right_x=0.2921 right_y=0.0021 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0442 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.9504, -0.0342, 2.906, 0.8181, -0.1734, -0.0366, -0.0659, -0.1846, -1.2376, 7.2137, 1.6728, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 1.7737, 0.4896, 0.8398, -0.3145, -0.1085, 0.9995, -0.0193, 0.8101, 0.6128, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3825 left_y=-0.1717 left_z=0.0504 left_yaw=-0.2476 left_pitch=0.1489 left_roll=0.0453 left_gripper=0.9995 right_x=0.2924 right_y=0.0021 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0496 right_roll=0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.8444, 4.5333, 2.127, -0.1294, 0.1538, -0.0659, -0.0889, -1.7162, 7.0085, 1.7656, -0.022, -0.0708, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d11ac9b945e47ba47e2b580c030add059a194651a16e0a50ef8c7ceee84ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71956664710a6e17b58d014163a283027e8459dc077666393291957694a7188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86608fb1955e7d5cbbb6a2cfee91b2098f6f27328c55126160e2224efdf70949",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_UZXOk4FcZez0EbGTWAyn5yBl7-izgl1MRVMcCMb2yw1TckD8LckNUERwvfCZL2aUjTzRHAjuJfI6LkMwRfJefxOdg2zXI7DOSiRZ876mItzE54QoI8uhExHjb01Dl_79n5b44pdw3ZX1-1fY2RnzsAtK251Kzu-MK99q6D1UEVHR8RR-zbJyr4YO6feu9glfqvDXHq8t-H1T9byupKQ8h_-7BbnP-giGXkIftJXpH9_w2XKplskOsGiMnxFXfoTYejtinf1PRql5ZX9mowrIqJrilr8Ldsr90fMEu9waWurtGDVC2VOkbxF4JxohXyOJzFMrCmKxRHdNWE01g1VwPzZbgJYoyHzjii3Dz_cXywqzOU8wAxuGTrYyJ9L8vDuuDxfwf3d_mVUOFk3UWmiqyi6BHrZPRodpLbp5p6QOm4M5leA6YzEkbzU7G34_z57zx07ntLmJiMJp-kip5AbySDERZszi9Da8PCGRBWrkHxmqXHAYnmf6dXi_aBwfK8EAa8psvrn8AnuovwQIJQEIoXOIBK8piT9AzHv1ZPQcdsLtopkMxkbi6gNpRYpxtNFEmWPyl7jT85gXkx-WAKdjSSVkgF5qoQKEfMffiG0IqjG8fQ2vvvBxyTTzil6gOsDDxVYzx62gACjhqrXds7RgZELOGVgitPelRiyC0mxCqN7S-l4H-q_jtKKGtnDb1MX1EAJmLPu2qHhdnRilVhmLmYZlnnFBeBY-keToIsU562wzpILN_BK34IGlBT57lm2nHupVeAqqmTkHZeornGerfgXBxzZc0q5k89rADD6d_VNwTOWo2QtoUSzC0nStI4rJLY_c6-_sK0VRisDjUgnuoGgoy-KZiAn5do69DBwuVCkfzr3WLfo272_ul4VKF9OpFxf19aIcgoi4v0wi8g_GJCUhhjfqMjDdmklbD0OMrwpgLfVBNfUMBYh4mxWSG5qkB-MF3SwsODrtnySshRvmgbjE0JUmmWaqgDpcJmXh6XvYzN4GAcEGaluVSMVOHCA6lFnjCfEAzYzXoRPamOx_XG5WcpugsgS29uPEooCL97K4EUOoztCfBE_rWpYaoyxtNHk9dEpYP8qu9PyvddpYWrJayGWTFxOTQE_ljx1BAOMYptdqJcywBRupZHxoQamBAA8McISoEKWtLW9M-Zwg8CfIW-ujqj-iik1Msg4aRkwmZbMKXhOdvtMMLmjaLLVEZNBF6MmGXRZdxUIN_9bHMCZDe92vjDMaH4H5baQfD81TwE3opzASXp0Z9Qrk_OLMJ_4xim_XxbI4XaC5dQmLe8x5IpE2anHGeZeU1snYcZMhm_2QDR8d0QGCN9dH_Rt7rvGLXvy9dPby7tt0jf3qWt3P36c5ebnyumOlwTCaOEPhnZms1F699YrHie63-v_t7d0bWASA-AhWHkMvlVaOLcDiKlaILZ7PHxwRjHBu9ya9vFZldNdtbESkZLJXl437lAgZBxYZR846PtcMpChXCdrVnaXxBa3MGuMoHMxXXqVdT_0b-tEKtZaNYAndloyKEifTadEgb7_iDiKPF-RCqDWw7FoadpoimcVGKStSw7Sl1YseG-wQ0FiOSVs7YgTGtYh2Yxjjn488TrwOEAmDln4cRGH0hobtx3zBO3rdMe6HltmthZWIBdMJjg2aYJwuE8OaImLeoqsD_AjcPJpeQT0r7QzeN1jSwn7BqhdDLnDIqfgHXcnsBTCmGitLqEQ9EXS5GU2xRlycfGXeoOQlLEU4jgCdUgjyOYew7V2TnUWzsnsTq0-kJSxBMLOH-JyjO",
  "id": "rs_05566c4640244b21016ab43fd21e6c87d0867df7acc39d7467",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.383,\"left_y\":-0.172,\"left_z\":0.005,\"left_yaw\":-0.25,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The forward-pitch correction brought the grasp point down to 5 cm, and the cap now lies centered between the lower jaw silhouettes. I’m making the final vertical descent to just above the tabletop before closing.\"}",
  "call_id": "call_ncgbVDVYZ2mANISpTI3GKvJn",
  "id": "fc_05566c4640244b21016ab43fd367c887d0b1da3eaa12fad7f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ncgbVDVYZ2mANISpTI3GKvJn",
  "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]: [-0.5636, 2.0998, 0.4496, 1.2549, -0.329, -0.1059, 0.9992, -0.0193, 0.8112, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1692 left_z=-0.0003 left_yaw=-0.2364 left_pitch=0.197 left_roll=0.0379 left_gripper=0.9992 right_x=0.2925 right_y=0.0022 right_z=0.1726 right_yaw=0.001 right_pitch=-0.0507 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -6.9812, 2.3726, 1.0525, -0.0611, 0.2271, -0.0952, -0.335, -1.3607, 7.0085, 1.6972, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6efa6525ff9f6f9cbd0b854673eccd555f259c8091ed38648f893f3516fed871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6486a56cbf321062ff9e5fa26fd03c266d50c0c2c5fb7b4dd29657752bae1f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358fc3d65b8d12e2bb359c94087145dea4ea4c58866bcda93ecf2ba9567ff78f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 6.262 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5331, 1.5002, 1.1717, -0.5201, -0.202, -0.2001, 0.9995, -0.0193, 0.8051, 0.6128, -0.4126, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3759 left_y=-0.1765 left_z=0.1708 left_yaw=-0.2577 left_pitch=-0.2554 left_roll=0.0226 left_gripper=0.9995 right_x=0.2921 right_y=0.0022 right_z=0.1743 right_yaw=0.001 right_pitch=-0.0442 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [0.8, -5.9009, 9.935, 1.5165, -0.0659, 0.0904, -0.0659, -0.2393, -1.2786, 6.9812, 1.6777, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 1.7737, 0.4896, 0.8398, -0.3145, -0.1085, 0.9995, -0.0193, 0.8101, 0.6128, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3825 left_y=-0.1717 left_z=0.0504 left_yaw=-0.2476 left_pitch=0.1489 left_roll=0.0453 left_gripper=0.9995 right_x=0.2924 right_y=0.0021 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0496 right_roll=0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.8444, 4.5333, 2.127, -0.1294, 0.1538, -0.0659, -0.0889, -1.7162, 7.0085, 1.7656, -0.022, -0.0708, -0.0171]\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 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 2.0998, 0.4496, 1.2549, -0.329, -0.1059, 0.9992, -0.0193, 0.8112, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1692 left_z=-0.0003 left_yaw=-0.2364 left_pitch=0.197 left_roll=0.0379 left_gripper=0.9992 right_x=0.2925 right_y=0.0022 right_z=0.1726 right_yaw=0.001 right_pitch=-0.0507 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -6.9812, 2.3726, 1.0525, -0.0611, 0.2271, -0.0952, -0.335, -1.3607, 7.0085, 1.6972, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6efa6525ff9f6f9cbd0b854673eccd555f259c8091ed38648f893f3516fed871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6486a56cbf321062ff9e5fa26fd03c266d50c0c2c5fb7b4dd29657752bae1f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358fc3d65b8d12e2bb359c94087145dea4ea4c58866bcda93ecf2ba9567ff78f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_X06WbniLJ3ySgIwVlYmMCURnwnn653zUFfXcaAFFNAdNPvl7_yrgvgHjrJtGPXSP6FxAPJe7lBVzDa9-YOTfCso3aiChHHESdYOouAdjmiNJOs70WTmx_vrhKhc7CtGJ_FtobsGXEVFodmK5ZpPGgUBLBDOBAxw__Z915fft3rrhf1n8ye5kSFiqnL2rsPbAuMExaWZ_VVPpsyAQD1JJw6Sxn4K_7LxE3YdOj7j9mQrZD3lC6_ws1Ktx_VqeT5kEnb-fsb8oP77D4TYfn5RcK5JDJtvKvtjldHVQRFkEq1euSaup2tYY-ktJqvY5KA8ynHYQd6lhNHdG827bScMPyRmLecFWDhjxQvDVoCxDytPKWmclSCWlX5BwXzVzVivDmpk1Jjo6ZXZOPE5BQsgCI1_dypvCZ0ebSJSPxYArTRtP5lHTrnm2UM5FepXuwJPn1W10Foeaxy2Uge2dnzuKkQW4sPzQ1-Gi1XUVk_F_3U21S4ADAnBj5V7VoaGnVYU7nk3CughIZSBPnRzK8g4h3NMi8SONCbAEaz4cgo41y24wIEoahoOkM3L0Qrcwmuccg0cWUiAH9Xryp7XuIJ3jB3O17mMSDJxgpcBKQJnFfONjzw7HLO8YWptayM5DkJ6Eu8Hwp1AiHDT_eEAgX38toQpOykJB0BOTBAAJin_Ve1Bdf3PvD6YuqFFjsWy3xQVeRyr-j6ysewX-iBy-9Zyk6mQLU-W7C2PPO_WGV38pb65-6jGFE6g5LhYUvu1gkIPfRTnhTppa4SPp1pnUkx4kdT2CDF-dhSNy2VHIvzD5fIpr4GGQn_pBlJ4hmYrRSzAAbgmmG3B4JZB2oDb41J44nJGX2517Q_xwERwrfDCpUYPw7TUWYG_ZwD4Vr9xxn6Ki4WPUdpgG2dbV6UGP800_RXqltu7j_Vmk_jB6MMSjcgbknV_7PEEtGaH0M9hfrk6uwZKZ4Hp3B7uQEyyzN7nBT9P8WPEB3ryiPfH3QMgZCuHdt_ayeDwXJ6_wwX8Dmbh-KLRSMJEYL2w9fAv_LHUVLbK1r7M59kRLYmYgg2q9Ngd3DT5iGKAzvaLc1YZs0KPeNqF9V921H7iVeJ7bu_epqJQ-l75KvMmddhEl43HKgnquwT3i-FbqDtI5MLiW2bOJz6Z2mQkft1lhCvSB33QKhttE7O0Sy-JHEt3DifmNj9n0EXLv7MbjGL4bVrbNTj5pXCGtT7i6Wm8d2Ss2GZhrXkl1NM9rzoO7HlCK4CVOisucwKPElLamV1qCrEMDsE4Gl7FCnaBB3GzpoRMWwdWxCnuPX_afhpbOOOfoXH02td2E9heHB-8KxD8c_cPol2UPSBdQQpwnHPS2xiy6wz5zkvbkURKqm8912sYpy8egSsaU1iphSLwJCnhY21nD1HLQS",
  "id": "rs_05566c4640244b21016ab43fd5f68887d0b5f82aada1026e65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left grasp point has reached table level and the cap is visibly centered between the open jaws, with the jaws crossing its short dimension. I’m closing fully to secure the cap.\"}",
  "call_id": "call_DDMaykrE0QHqh1rx3nZoF7jL",
  "id": "fc_05566c4640244b21016ab43fd67f1c87d08c908a42adf93dfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DDMaykrE0QHqh1rx3nZoF7jL",
  "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]: [-0.5636, 2.1193, 0.4469, 1.2915, -0.3344, -0.1055, 0.0086, -0.0193, 0.8116, 0.6128, -0.4133, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3817 left_y=-0.1684 left_z=-0.0004 left_yaw=-0.2311 left_pitch=0.2114 left_roll=0.0354 left_gripper=0.0086 right_x=0.2924 right_y=0.0022 right_z=0.1724 right_yaw=0.0013 right_pitch=-0.0515 right_roll=0.0028 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.306, 2.7282, 1.4383, 0.0171, -0.0415, 0.6276, -0.0068, -1.3607, 7.0085, 1.7509, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed682344779a4122133000ae5a26a7faf7fc881cab955bb8b929d5f79a5c299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa2dc5484823e514f2da691f14f8c6ac153582f4cba90b9c914a231d0c3b78d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703dffd3fcb0d80278c2c312a54a2a7933533c8cbfe2742d4e9721b9f136e8d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.8 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5205, 1.597, 1.1099, -0.3954, -0.2081, -0.2047, 0.9995, -0.0193, 0.8051, 0.6132, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.177 left_z=0.1268 left_yaw=-0.2348 left_pitch=-0.2867 left_roll=0.0338 left_gripper=0.9995 right_x=0.2921 right_y=0.0021 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0442 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.9504, -0.0342, 2.906, 0.8181, -0.1734, -0.0366, -0.0659, -0.1846, -1.2376, 7.2137, 1.6728, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 2.0998, 0.4496, 1.2549, -0.329, -0.1059, 0.9992, -0.0193, 0.8112, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1692 left_z=-0.0003 left_yaw=-0.2364 left_pitch=0.197 left_roll=0.0379 left_gripper=0.9992 right_x=0.2925 right_y=0.0022 right_z=0.1726 right_yaw=0.001 right_pitch=-0.0507 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -6.9812, 2.3726, 1.0525, -0.0611, 0.2271, -0.0952, -0.335, -1.3607, 7.0085, 1.6972, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 2.1193, 0.4469, 1.2915, -0.3344, -0.1055, 0.0086, -0.0193, 0.8116, 0.6128, -0.4133, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3817 left_y=-0.1684 left_z=-0.0004 left_yaw=-0.2311 left_pitch=0.2114 left_roll=0.0354 left_gripper=0.0086 right_x=0.2924 right_y=0.0022 right_z=0.1724 right_yaw=0.0013 right_pitch=-0.0515 right_roll=0.0028 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.306, 2.7282, 1.4383, 0.0171, -0.0415, 0.6276, -0.0068, -1.3607, 7.0085, 1.7509, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed682344779a4122133000ae5a26a7faf7fc881cab955bb8b929d5f79a5c299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa2dc5484823e514f2da691f14f8c6ac153582f4cba90b9c914a231d0c3b78d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703dffd3fcb0d80278c2c312a54a2a7933533c8cbfe2742d4e9721b9f136e8d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05566c4640244b21016ab43fd96e9c87d0a60273b8927ba4ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The settled gripper reading is 0.009, confirming the first close was empty; the cap was nudged outward and rotated instead of captured. I’m reopening and lifting a few centimetres so I can realign for the permitted second attempt without dragging it.\"}",
  "call_id": "call_parFuD7ZC8iVhebgOZPuO6mt",
  "id": "fc_05566c4640244b21016ab43fdd5c9087d08d22246639aba176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_parFuD7ZC8iVhebgOZPuO6mt",
  "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]: [-0.5636, 1.7546, 0.4385, 0.926, -0.3367, -0.1131, 0.9952, -0.0193, 0.8162, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3774 left_y=-0.1652 left_z=0.0597 left_yaw=-0.2255 left_pitch=0.2032 left_roll=0.032 left_gripper=0.9952 right_x=0.2926 right_y=0.0022 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0564 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.5966, 6.3385, 1.6728, -0.1392, 0.0659, -0.1148, -0.1573, -1.6205, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198c6ac5c6af3e4b60bb6b215ff4813c1fcebfbd4a5ba2b46ff0e9e439593512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce2c4ef6f2de940e88de83a119a9986cb7a048b84cc83055f948d51c8111300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b358e949078cd41b1cd2269a8cbd9e1fd4f489f2b283b27152eaa2639edaee4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 4.174 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 1.7737, 0.4896, 0.8398, -0.3145, -0.1085, 0.9995, -0.0193, 0.8101, 0.6128, -0.4129, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3825 left_y=-0.1717 left_z=0.0504 left_yaw=-0.2476 left_pitch=0.1489 left_roll=0.0453 left_gripper=0.9995 right_x=0.2924 right_y=0.0021 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0496 right_roll=0.0023 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.8444, 4.5333, 2.127, -0.1294, 0.1538, -0.0659, -0.0889, -1.7162, 7.0085, 1.7656, -0.022, -0.0708, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 2.1193, 0.4469, 1.2915, -0.3344, -0.1055, 0.0086, -0.0193, 0.8116, 0.6128, -0.4133, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3817 left_y=-0.1684 left_z=-0.0004 left_yaw=-0.2311 left_pitch=0.2114 left_roll=0.0354 left_gripper=0.0086 right_x=0.2924 right_y=0.0022 right_z=0.1724 right_yaw=0.0013 right_pitch=-0.0515 right_roll=0.0028 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.306, 2.7282, 1.4383, 0.0171, -0.0415, 0.6276, -0.0068, -1.3607, 7.0085, 1.7509, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 1.7546, 0.4385, 0.926, -0.3367, -0.1131, 0.9952, -0.0193, 0.8162, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3774 left_y=-0.1652 left_z=0.0597 left_yaw=-0.2255 left_pitch=0.2032 left_roll=0.032 left_gripper=0.9952 right_x=0.2926 right_y=0.0022 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0564 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.5966, 6.3385, 1.6728, -0.1392, 0.0659, -0.1148, -0.1573, -1.6205, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198c6ac5c6af3e4b60bb6b215ff4813c1fcebfbd4a5ba2b46ff0e9e439593512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce2c4ef6f2de940e88de83a119a9986cb7a048b84cc83055f948d51c8111300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b358e949078cd41b1cd2269a8cbd9e1fd4f489f2b283b27152eaa2639edaee4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_j5AkRuXZgZyNwqVL_Yz_u7pN0mf4I1ZYtkm7TacoaKTuIosYrTe3htd2bhE8xavR-W3K7hZE6j-kun--PIOzz5OdGevlZaRU0myuvZXSC7PwXWP6PLMXqued6lL0svZwerThgc9TIskMxtiSe7MHX6gUwbDhSKp1Mx2L_Mw_N2sDNXewgj4boS19tErR8Ikk63pVlHSeLrPlO9vGveQNuNI3eAi7aIU994NU7W8_y0_EJ1mhZjw3Mn2--z_ahESWVq03DaE7NLMYCsgxqa0TiXwkMildhzpNbOMNFuZy2Dlbh4reO8DlyvXg6X6n4_XORQYi-zQu6CHS4yYJA0I6g2dcLLIhb9D9vkpurijFU9uqyikGfmJxv5tq4nJhV5oAlcoxN8bIa4stqrox3XiLeWnolCfI_iB_Ltu_-4dZmhneWeCpOMj0MQlM0lRqvyY5qh6NZ10czpQPjGxH1KTw5DF-xiAGEMvdRyI9YVexVqH3qCekKdDFl28G5liqArQFz1biw-DNdo5DCDQUw4MeW2MNqqCZjPn0JwvbqHIMBek5vaig5Us2HWFhdCHmhOwP8EWzTUgJm5CeohuWb4ei4nOAjVSMnJZSP0uH0Hb27eo_qc53Y8hnjfjA2c66ET4vimBfTvhctARLdcIORe3s6WlJBYsuaGV1pmjhfUENyZ6liLmYPo_dH1k_4f5Pc0bWRtZrC4-htyXQ29PV3nc6sIkUf8g2FV_UbXILYrL8icsUPLa-JV-iCgPUFOcPNpjINR5B_MLOt6A_atgcjV2M5biZa76AFpkJbgYCEtfQVM8szZbss-e9cy_InicALEfjuuf_GLVWg9ZDMAHsoAVZvCOSQffMxmfeIuEY7DiUrW-TlpPxVi8-ZxsyyOL-vDmGmNZp0-wql8VLnMQngFxlWdhjZi7YACKQih8M5LrE9d8MYuUC9TUszaom6lXZY-6fJIsIdKIbFLJ9O5Ce0apCi1APvghoi1PBmglOIyDOQW-KE4sldEMXv516QBOetAF8kGSvsvWaBBqWeIfQ-Tv0IatdQt_HBWm35W2Rt5cVfJ4iMcZ1UwbtL4OdCsgMVie3xRsXFsns0LLDxAbVBNZIZBGAZhcPZcmJei5H5SX6KXyodzdbTbwi5eymST4mYtlcefoVnabuSKaRFxr0qDhL15K6CuIdoo3FX_7OHdzfGX-FXs8ucQe4dP6RdSz1-s0I1XGtrxDcn7gJZzyvaa8gBKa_LAV_FEkgPSkl63_LgmWVkzztmqN3jLbo-FF3U59tKFMOmAEAU3-ZrKEy_O5ToaPEnYocHDnUbxc0smlatsl8ESr5Lfrk0RA-6zSG7vk6fyQ7DlYVQ6JoXOYFvyNBTRYZ78tdOozIx2xOzA_IgISJsdDAauN5BBAmk0are-yAyjrMZ_iLGvymNHQylhgvP6IFy-Sd9x3y_tb4kY-HHmF8xyGwMgJH4EhVFnlbikF2fmx3YNuzmYZ9SaHGIW2OqSOKglKhaUq9TZNDyjX_-MMv9Q7faIJoDZgo2ijDpxLuS0tYNbKfMThvkJVnJJOw4yqdk2h70VrS0DJU7lAwfIUdnfVABCZqqyIQxxPePl2UDBZgYbgZfPR3maKfhXZFDcEbu_KX67ZtbA0kDoVsPiwXFcg-IBxgQBpu4E98zmWI7OjNTHhNmcK3uQkSlmjKIKdSmGjJsXCCnvSdsvPAXgqZWeNaprNshuRC0W3xm4CCc5hdQXWtYmvExi01yFwLzsFIust_cjBRYpLso7oWJVfXJvZu90ctPFWoSDA9qQzAHxEbYiZl82FmrrdoA1QYvmt8eNLNAFOBrmE2OxBsVxgXGY-e_buabyPZkpRdA2jFDQ4I9kirhnyAgpCq1iMk9ugLuqjccgbU-U61TyEB1OOSd1Z-2sZ7teXN0p6WBoNNGtMHyaTmG0byVhqX_1uSvjeNoGIc9jNDCEvF0WXuHEag=",
  "id": "rs_05566c4640244b21016ab43fe0794c87d0ad817bba0f786ad8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.165,\"left_z\":0.09,\"left_yaw\":-0.8,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"With the jaws reopened, the cap is centered but its long axis runs diagonally across the closure direction, and it sits just outward of the prior grasp point. I’m lifting slightly, advancing about 2 cm, and rotating the wrist so the cap’s long axis becomes vertical in the wrist image for a stable crosswise grasp.\"}",
  "call_id": "call_ZJABxN0NTVMUOYfSm0XPrmNS",
  "id": "fc_05566c4640244b21016ab43fe20cf487d0b004f34371fab06a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZJABxN0NTVMUOYfSm0XPrmNS",
  "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]: [-0.3496, 1.737, 0.4438, 0.8814, -0.0177, 0.0242, 0.9984, -0.0193, 0.8185, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.392 left_y=-0.1358 left_z=0.0546 left_yaw=-0.3592 left_pitch=0.1583 left_roll=0.0403 left_gripper=0.9984 right_x=0.2928 right_y=0.0022 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0587 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.0615, 5.6, 2.1661, 0.1538, 0.1441, -0.1734, -0.3624, -1.265, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef35d01791e85757b5e9ddd83c7400ab9e8c6b85b5f1f7e6813cc89c62d2956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208ef09d7e8caa492dbf55429979b5363e8f68344a419c73137968a58f582659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691d503a356fcf4aa6131ce43be8aab017d24c01f6d4b407eead47c61bbc5694",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 5.094 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 2.0998, 0.4496, 1.2549, -0.329, -0.1059, 0.9992, -0.0193, 0.8112, 0.6128, -0.4129, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1692 left_z=-0.0003 left_yaw=-0.2364 left_pitch=0.197 left_roll=0.0379 left_gripper=0.9992 right_x=0.2925 right_y=0.0022 right_z=0.1726 right_yaw=0.001 right_pitch=-0.0507 right_roll=0.0026 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -6.9812, 2.3726, 1.0525, -0.0611, 0.2271, -0.0952, -0.335, -1.3607, 7.0085, 1.6972, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 1.7546, 0.4385, 0.926, -0.3367, -0.1131, 0.9952, -0.0193, 0.8162, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3774 left_y=-0.1652 left_z=0.0597 left_yaw=-0.2255 left_pitch=0.2032 left_roll=0.032 left_gripper=0.9952 right_x=0.2926 right_y=0.0022 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0564 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.5966, 6.3385, 1.6728, -0.1392, 0.0659, -0.1148, -0.1573, -1.6205, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122]\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 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3496, 1.737, 0.4438, 0.8814, -0.0177, 0.0242, 0.9984, -0.0193, 0.8185, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.392 left_y=-0.1358 left_z=0.0546 left_yaw=-0.3592 left_pitch=0.1583 left_roll=0.0403 left_gripper=0.9984 right_x=0.2928 right_y=0.0022 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0587 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.0615, 5.6, 2.1661, 0.1538, 0.1441, -0.1734, -0.3624, -1.265, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef35d01791e85757b5e9ddd83c7400ab9e8c6b85b5f1f7e6813cc89c62d2956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208ef09d7e8caa492dbf55429979b5363e8f68344a419c73137968a58f582659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691d503a356fcf4aa6131ce43be8aab017d24c01f6d4b407eead47c61bbc5694",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_nVgR5B8s7gVnGQRD9pbLvHe6Mqlj5RsO41vWMsJ1AJe2z08XI8UDZKCq8eRfzCE6c-amfoII-XXbXO6P1lQv-OY3yVP7j1IArIYtrz4Ks0l9tfQaj8MFnKazwjSVM2oxOCyXDS-57q6pHPqLy2gheXomCrxk2v9Rvxf1aLBrHLHzAWmtlq446CBJHncvL97jAzE6X0_CU6ovDL8pnX8mBu9R4seURzkW8t89U_F_6h03M4nODAL3R-Rvc16DK4Axhjudzixu6YA83J9e7lvN3ru_uv_lWzgCaz02LDO2OhzL3Tg0DL1XDdyT9mwf9ZJvOm15V3qdGXr-Pywu7MJQx1MIgX1MDppTzoISGCfC-Kyd034-iDwB7uqlWZraRHvU9rv36vjDHBoWriR5YK0PluTHqYvwA0vliJN6tiRb5bkrE-kDR43m4ztHSUxJ8E0pPQPHdYGpKHtyNVa-D6NrOuW3_E7ehUkB-Ci7RNPKCyoKwlAP6cqFE22Gv7haH1LBnUc_dX8SPnQDBG0LJkm44FjAo0q_tvvBNAbOAl4qGSk5Z8MkbK7IiqpozI75bNAAGL2gtBG9cGgoY-I0VcZvbti-hiYv-Vb_Pt3ehH29ytQRsdG-k37ijozXnLVAFA4PdOMc2Qc3vhr7CQeW3D08znIoYzSsrW-eRO4AjtGfJ9PngUJIP_9Z9pb7YWxQpBHkJTMwCT3GA7vK7TKqODSpaklFNwf5XSWSjSfvEe5ada6evBXaJRvuYX8WvsJOwBTyuC85GCGsfMMv_-SY214j5aiR-ci9wTjPKzbqciH23eQZiwDYSLnVzYWIUPHdRy4IRq0OeWS1AFkhfuQOP2LyniDvLKTv4g9cH1AbI0lMjVKc2-D5RIor77SW7FTe3sxeUCabsFmNNcYVRlWEb97ftCaOR4kKFaP-lvaM3PpifzA2TJBvB71CvU_Z1IDtDjn3ipFq9GiTC3Yvqq9Qdi4zSYIw9IGbdmEjiHZzPbxjn_jNnZ3VI5vFnEep9EI6aDMV5CqZTuRKRjtD9NF4z7L8D1WsvnhgMgLAa73sNTIsvUljFmlVnNizBVfP_zYpPbCpfIGaUqDKYmD3AtugPPQv7BJKAbyU22murTaM-SUzbbyrBTWA3OaK2g6ouSKy5-FewkhqId8EsztRbRM_IhbAj5yTWi85rgmMRSnfwCRTnI_FIsAXCsy2_ng1WPLdwWnMLMFdhCjhN1cMsIRz7ZRgRcUxcGRgjgU9hHoJ1FUhSGXoan3hLnBgiWewSLi5MlEXP045K8QEvgdm2oAdUTO9_8dUJmh2mgOFIjrjwOSzB3YQHQnh8CKFeM5clPwFzWlHbQyclrTO9pgDulV7nhlFfTv5mBZe1UpvlZgniyk20aannM8cIBZHG7CMex8zg6twnB3GSLofT-Z13dKzWq2allxtiyu57zshTocAeLQeXihWSiCUcYbrSoRKdr5Qn8QEdtdW5kh-RxRgqimqFVxmiKGG5d0HvEPr8IMD7Ewg-ySoHJG-E3zrTh5oZ3guyFKo8QE1uY8meMdonILFRhfXyrlMnmizJc6coiqNr4RN8sWYV-1-hG8nT-mDNp-pGkaSzvdEjJKOb3q58YnYbmRidN8pGExN--mNFMEimNJ4kQNbNelDu9KLs48zFPmDUWOp4xZIiDd2A6Vfam5OThpSj_SSjspO4GCxEjNYgVpgM_KhXBs9yyl3SyOo4k9H0jxOdJDBK2WzIKLG6ifyjcIpmoZ1I6s2i0vbuc_ae4ujOwzr713bQkdkjtzTmLR_NGWeb1dq4F3xqrH0ntuwPBHHP6v1oDhapHYY9IdT8hJyDSE-lAlUkPp-h3cwyickXgCiKxNNuIbBgq0lffi6vqWcJ0SUf8vGrvT9vqfJ6POfTPNUJxptP_D2FQ88jrcxQGm94-3AJTyvuCEHSjhSCUSmeAg==",
  "id": "rs_05566c4640244b21016ab43fe4e23087d09f13b8c8cd4203e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.1,\"left_yaw\":-1.0,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The arm advanced, but yaw tracking shifted the grasp point laterally and put the cap to the right of the jaw column; the requested rotation was only partly achieved. I’m correcting toward the table center and continuing the wrist rotation from a slightly higher pose to recover centered, crosswise alignment.\"}",
  "call_id": "call_iwusPicER74Y97JrwlEQ7xY8",
  "id": "fc_05566c4640244b21016ab43fe671ac87d0928e356d2599beaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iwusPicER74Y97JrwlEQ7xY8",
  "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]: [-0.3603, 1.7359, 0.4438, 0.881, 0.0422, 0.0471, 0.9984, -0.0193, 0.8185, 0.6128, -0.4152, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3867 left_y=-0.1498 left_z=0.055 left_yaw=-0.4335 left_pitch=0.1595 left_roll=0.0374 left_gripper=0.9984 right_x=0.2926 right_y=0.0021 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0602 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.9795, 5.7641, 2.1416, 0.1734, 0.1148, -0.1783, -0.0889, -1.3607, 6.9812, 1.6923, -0.0171, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa79c68392c8e8fe4a56fb15197ad7b6a6aa8deb3ada803e3a3e9cea490b47aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b742fc19ea25d9fc516fab47046e970c4402969af92a00a1ec414ce9541620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c77649e86d926f98a629f0071c42a4f079bc25d308b774f5a5262175582364",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.793 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 2.1193, 0.4469, 1.2915, -0.3344, -0.1055, 0.0086, -0.0193, 0.8116, 0.6128, -0.4133, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3817 left_y=-0.1684 left_z=-0.0004 left_yaw=-0.2311 left_pitch=0.2114 left_roll=0.0354 left_gripper=0.0086 right_x=0.2924 right_y=0.0022 right_z=0.1724 right_yaw=0.0013 right_pitch=-0.0515 right_roll=0.0028 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.306, 2.7282, 1.4383, 0.0171, -0.0415, 0.6276, -0.0068, -1.3607, 7.0085, 1.7509, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3496, 1.737, 0.4438, 0.8814, -0.0177, 0.0242, 0.9984, -0.0193, 0.8185, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.392 left_y=-0.1358 left_z=0.0546 left_yaw=-0.3592 left_pitch=0.1583 left_roll=0.0403 left_gripper=0.9984 right_x=0.2928 right_y=0.0022 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0587 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.0615, 5.6, 2.1661, 0.1538, 0.1441, -0.1734, -0.3624, -1.265, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.7359, 0.4438, 0.881, 0.0422, 0.0471, 0.9984, -0.0193, 0.8185, 0.6128, -0.4152, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3867 left_y=-0.1498 left_z=0.055 left_yaw=-0.4335 left_pitch=0.1595 left_roll=0.0374 left_gripper=0.9984 right_x=0.2926 right_y=0.0021 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0602 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.9795, 5.7641, 2.1416, 0.1734, 0.1148, -0.1783, -0.0889, -1.3607, 6.9812, 1.6923, -0.0171, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa79c68392c8e8fe4a56fb15197ad7b6a6aa8deb3ada803e3a3e9cea490b47aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b742fc19ea25d9fc516fab47046e970c4402969af92a00a1ec414ce9541620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c77649e86d926f98a629f0071c42a4f079bc25d308b774f5a5262175582364",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_tUEJMxzaW5Zz17eAJQ2MmO408iX93ER4JNIewMDy2HtV5LgHN_7jeTJGgQpvvc1TIckOLz1bmMeOJy-ntYWwJCKIzfLxJi8g-WKf0oi0F-pV0vMVbJsa5mJFzqIIa_rZU73LnsXa_gkn-KyKYk8GNYTQc_67EinHEPxHU2SeyXa3w-lr8QF7kzIlVuQSe9EIFLOX72gATs_YQ7VR2rO8-IR0-e1sHVFAcGtPsin4ItmE7wLKrTE7Ro3bphFQFfHivB5fmJu7mYxmdmBZUturhHU9us9srVIL_vxFbVPupb_rylTO175aM9b-s5TiYgxL7hMjeP6b1_X2O2cHQ5rGYBjnsr7Ep_G6FvS_pI7ExywZRQ6u6JK2oNvgNhVw6iMLGWbgXhTGdH8g9W8SgVUQc7JA0jmBbR1Yabr1Lsvl5VbQ1yDTnsoR7cUE5TAVeyMzWO-IEPMWsI6Gt9O7yz4x54K6ZMVNpGQCvIGRsOqiHqb0dWq0u5ggCffb25KmW_rb0YZuS94vdP5eOhdv0s2GvoW0Paj_-b029O6iyP4VOE8-nBeCtDpmTKP_6taatiho0j0dQQHkfnF57AJt9aX7DmPWFvcg6SXPsZ_a527KiHIZlxDQn5pdLKdslKnlwlYOWNjtJwvrYgnsTwIfXovhIvwhDgSrgs_JdCRg-LTziGDR0cwwwVD_nVV6iagvxrbdWgrWs-4dWn1BN7mKTEUunj7vUVQH7QZOeTczfg_NdnplRJbxZ_VTN0wLGBmnWvDIBpFLRUs9kCNPt4Fe5geQBvN5JdkE7mTMEkqJUufJwvpsRvQK9hZfXgBh07kephPWUgwzDxNtyfs-mRagVWjxV2B6ER5x81U1CUFKoPdh-sGy90zydWwkrhn4ktOH2GTzrSZRQVNmaPhD8LwrwrNqBXku_cag6vY8csfe5R61AVABxQuN1f82XuU57VXcs5vtQVnNEikXzg1TRuNpu0deqxtpRHT2cppJLBjwlbVmIFDDlgvA7gquAkQo895KViAjM7YgyV2FkdicMTVjzbvxKHcw10uTaSZRVJuNu7CVehwTUYrVjd73kEMXnvZsnaa4emE9imz8yS0JwbBIE6H7lomQNNeungP_gCX919CyQB6Ps12HMwQLiu1iulTrs0DpXARAD7A-8ea0r9fp6ZUF76uBaAA45qLlsFI_O5apjmdiWpA5fQL2UZ_UO7FxFePZmLWlREnF6X-LH567n-6c_tTh7bcT0ularDn9BZWAzob_ycabC7FQyWpN-xuPGgFLh5tbxO2EJCDBIKmOPEdXAGqv4N-rM-cfBTMGOanXSnIHQfyW2z4bTjnnc9ahASE3guEHqzPgOIzysCHnq35s8gFamllqDtyZdxGDKg44emiTXcHHygFxLac2RX3sV7wVPCYgBtyDahD1bjzRBqJkN088h4ow_jjP5s_1l7AT7o_xofrfYVU-mP9XCKlrluLOaFPFJQKRg3I_54zh_DUOpZE_DEz2vVUFpe1j_f5vG1IAhw1eYzsofPSmOf-o70dGPYqxGWfyy-d65u-H2J9hhaJ_GDtbmKQQNHMQS75Ng-JucD-56OnKkHJL2clb0zSsmzkz4fOCAw6PUzY2h_XRdLam8nGFCnnaGlXMC80iXGVASudxMeWpgwpW03u8YASqFjJQ0KG3jkJpCmP72Dcx1_w5AQZ4IOoW3XapV1YzoDUPYJ-qXIXAxxoCaTX2a_S-cjusteOHKr6UMvpHl5XeSzh-DVOarwC3R_EZ99_0VLlC6Z_LCQTNGyCKM4VdOZZnvg8byzTZfzKxA2_cZIKVvdSlkgNC7A_6yuDfYJRc7FyCnV6zbk33vSshcsgsM7qRYcSLVxN3HIiMJGeTtj4LfzOpOIalAqjdsgrm2Rlnh88659bR27grva_eYbV6o24h5fSbSNj8ai_VpZdaoiMzg7DoB4Ztw1Wj4SYPmtx5v628tSLaPOUgqAEgoVLXwxQL0SPLhMWD8zuIdhq04VE3wCzgegvuN_YpS9aswuQGVHv7X-MEIUHQk1opm7f2EYpp_u5T_OpTG0doR36kxfZ-pSGnArDqxzBsxi_j4JTDSdq9Gts2Wc0GL42F-yn0sqiLXwvCx3oLdgocjj8NfP6vdj0jlemVyJ3WuwJNSc7sCyl6SDUIzdJfBADMZZHCHWKPBYrFzmKRWscaVDJ2NcfDKLg==",
  "id": "rs_05566c4640244b21016ab43fe9fff087d0a0009f474e6459ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.24,\"left_z\":0.12,\"left_yaw\":-1.2,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The cap is still about 2–3 cm to the right of the jaw column and its axis remains too horizontal for a reliable close. I’m applying a larger centerward correction and continuing the counter-rotation from a raised target, since the arm is tracking each yaw command only partially.\"}",
  "call_id": "call_xHHZEjkNk8z5sfhe9VHruQDS",
  "id": "fc_05566c4640244b21016ab43fec409087d0a167f7ffd6b896d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xHHZEjkNk8z5sfhe9VHruQDS",
  "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]: [-0.2745, 1.7859, 0.8112, 0.5056, 0.7155, 0.3386, 0.9984, -0.0193, 0.8223, 0.6128, -0.416, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3981 left_y=-0.2287 left_z=0.1091 left_yaw=-1.0682 left_pitch=0.2222 left_roll=0.0284 left_gripper=0.9984 right_x=0.2927 right_y=0.0022 right_z=0.1689 right_yaw=0.001 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.3487, -7.7744, 7.9385, 1.8339, 0.4078, 0.1441, -0.1783, -0.1983, -1.6889, 7.0222, 1.663, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a958b5a7be68b1240a4eba3946f754559cd4558a14995ddbb19d17281ad4c3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:598705d7f78d81a749fb7284540f272a350bfa450624789932c6618b62201fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26fdbb9db2affbf82253c49d192ce27d7a57e5b3327a1004e1fe16d955e9e2a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 5.039 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5636, 1.7546, 0.4385, 0.926, -0.3367, -0.1131, 0.9952, -0.0193, 0.8162, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3774 left_y=-0.1652 left_z=0.0597 left_yaw=-0.2255 left_pitch=0.2032 left_roll=0.032 left_gripper=0.9952 right_x=0.2926 right_y=0.0022 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0564 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.5966, 6.3385, 1.6728, -0.1392, 0.0659, -0.1148, -0.1573, -1.6205, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.7359, 0.4438, 0.881, 0.0422, 0.0471, 0.9984, -0.0193, 0.8185, 0.6128, -0.4152, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3867 left_y=-0.1498 left_z=0.055 left_yaw=-0.4335 left_pitch=0.1595 left_roll=0.0374 left_gripper=0.9984 right_x=0.2926 right_y=0.0021 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0602 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.9795, 5.7641, 2.1416, 0.1734, 0.1148, -0.1783, -0.0889, -1.3607, 6.9812, 1.6923, -0.0171, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.7859, 0.8112, 0.5056, 0.7155, 0.3386, 0.9984, -0.0193, 0.8223, 0.6128, -0.416, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3981 left_y=-0.2287 left_z=0.1091 left_yaw=-1.0682 left_pitch=0.2222 left_roll=0.0284 left_gripper=0.9984 right_x=0.2927 right_y=0.0022 right_z=0.1689 right_yaw=0.001 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.3487, -7.7744, 7.9385, 1.8339, 0.4078, 0.1441, -0.1783, -0.1983, -1.6889, 7.0222, 1.663, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a958b5a7be68b1240a4eba3946f754559cd4558a14995ddbb19d17281ad4c3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:598705d7f78d81a749fb7284540f272a350bfa450624789932c6618b62201fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26fdbb9db2affbf82253c49d192ce27d7a57e5b3327a1004e1fe16d955e9e2a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_yo0p01ty-8CqguvtTA3Rs1RfxvCL186lFyruARLqINykg-kcLZz1XqfTc22y0ULq1U8PRKQdCUc2_urR313mSbgEgldEdwK7o5_rx_ica6LUH6LQegKrORXJpWoCHAe_ln7FFvxkVy3u6JAPwfQXlMkfcZxfAjhIVp5OxnNzgvWOxKKP-lhT4Z5uuQb30ddhNcRpJUiCqQWqd52ww76I3AdwucIxVTOdq9zO8s_olMd33-bsj5tBEvMm4yB8xctgGMcUSXPa42bEkZP8xPSldrR6NsRhK18oQh3R0wqrgt10Q-blIhaj46AfgOXYJI8F4jPd6tIy5BrHvhhl7YwPaxAAiWoF0ePsIb4VfQO2DbCX3LQ8TnNPfnxirj2o1fhbBDX9nXTRbmCG7U-qleY27mRnvcG1i1_nusk7FFkHk6ouFrFRdLSwhfPh1etGHjnc6Nppp6B2njY4MxYNonqv7e-RsAWaY_B2NRPXzd7tdgE9FnanMupJ4x5f0Q24TQ7tNz3xekYcyKVJYCPSY8u49rZZe4XdXPYgf1230oEmQpKrQZ7b5B-tsBRqZdJxFK2eIoaRgd5t7Dve_wQyQN_RnOMr_BTkwl0LJizoB8jzrUPYa_USfg5pgPleo6gtoOqh1A1KbDUNFyKyrfxS2XVqyri5SAQQBa0x5lXosCic8I2FkRk0vISWNP7OBPk5elvZrgg82iLvcjQPqfH9zKHVvESwQZpPNhOTgaO8kwuBaXD_6HW71OEpR-vJWhav39CoqD6TCIoTRyjkpTGpTLMprCdIvAFpi7Jxkk3-3K07i7QfWqxDRfKa8ark0ukRf4f7Pyhw47aHXyiJ6KuWsFwBzZnUk5OM3KkKJ0ZntrmJeYt2kpExcWMqoiF6vdKR3YT_wFCRaWcKM7gfxwqWoObXrGPXpXXuzm-cFyJUUFnmtvDDo-oDwDaHLuij_asPjO0f-7Paiqz-3XfPxxKua7PkXNSo8Lsl8RLa-4_K6TxdTt3rHf734-fhHCHLo4-755kdG5grr5-V3CQ9Jei1j2OQZVNzItWzVj8OkMzRWALR5na4WQK3GlfoA-bZpED582dOgyuOPwXqTLszGNvCAqKDI_8IMlXedbCxcBkJEYTsTffitARSzI5O2CKWIsZZgzKjThQ2fCnt-ofpZ_CfjhxwTNp7GK9qrU2wP8862PoMgjALCQ4Sx5x49VE8wFoTrcmjSSeGFOEcLWrT1ckkhNR7e_Mjq2ea07M7ZgsxZHSiLD6JAUDCB___I7UzO3SdoYJ3A3ndKXuSDmcJEdpwZWKrRMNNE6bv5WQ4Lzk3NlI4_nDBz6FEETcpm9VsvgitkMvkmj39DmonaV0kRjHcT4tTPr1WyUx1YVsUE5iQnRAFczTkQckcLS5nm2MZQSbNvj9Y8t5lPU22jHmwCWskXeB9tyPF0JEcAWtXFhtmaq740e1YYOv7aD8dMgbr3kmu9K7aQqLllJM3FTmKXYAxBoOncyLrD4xuYrt0ZKs8JchYSDzO87qeOLnvIRfuMcMKq0ej34ijtE4QnBZynBllvr9ycnAv5_3kYNmds2S3sNHn4dTMoNd8P3hHs-fOPTsgW1a5ptGTuE6Rxggs5mNG5Q09sE1eiSyXX2zZOJkx4eCfr-NNz-I1iWr0THGhuHeyFKtVAoNZyoVUETXthvR8rxcHnpRs-815PxyhS3WspvOM1uG9XAHA42zuJ3R-7vABqe2YkE90TT2V5V6WvYlM40eH10PyIOlGnlteBqrZ7iI5yMUHX0MVwJiK_bT490wffVTWYvQcuo11Ds9RrOtabGpFfxPct05OzyGe8b7A-rhixh-jenXwdStI5BZCVM7km5DUaxc39_Uk0pFTm-t64nCEIRICdf6xD2ZlXj8iH6SPbZw9wLXAxKee7bicdOVmhCHkXorFUD5lUlOv5DQRUSTtRKgPvXLfAzR3R_fo3nD9Oow5BridaE-PuLiE24GaVNbBWD10D7eXoLf6D0BgzuhlD7cUYg86J9VdzocKyGTLIAT9CEBrakZfijwnIcEE_rkR-IUfsHihD8AXgmvVrfBdbT_ds4wXcsw8y_razBRE0yGxvRZp2o2zvNrAwsL-vS5dvpimXET4fVDS7fRRNA4gNX77nDuN1PzPhXs7n5xItKioOb1kIV0lNR1PVMJj4DotD",
  "id": "rs_05566c4640244b21016ab43ff01d3c87d09c42c5a22eb3ec4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.28,\"left_z\":0.13,\"left_yaw\":0.3,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The large yaw change tracked, revealing that negative yaw rotates the cap toward horizontal in this wrist view—the opposite sign from the earlier estimate. I’m reversing toward positive yaw and shifting slightly farther centerward so the cap becomes vertical and centered before the second close.\"}",
  "call_id": "call_SE6LHktxc2JgR5ve4t6SvgP7",
  "id": "fc_05566c4640244b21016ab43ff2068c87d0bb3e29e6bff195d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SE6LHktxc2JgR5ve4t6SvgP7",
  "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]: [-0.9451, 1.9984, 1.2263, 0.1844, -0.709, -0.5327, 0.9985, -0.0193, 0.8272, 0.6128, -0.4229, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3989 left_y=-0.3495 left_z=0.1113 left_yaw=-0.0888 left_pitch=0.1338 left_roll=-0.1026 left_gripper=0.9985 right_x=0.2919 right_y=0.0021 right_z=0.1662 right_yaw=0.0007 right_pitch=-0.0766 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -12.2325, 6.6667, 1.2381, -0.4176, -0.1783, -0.1783, -0.3214, -1.6205, 6.9812, 1.7607, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d220d0cdad7c1b79f9560a2ce3e4daba92aaa81919795b0a340cfb63f86053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a8fcf73ec6a7244e51e69574aa20b1313eb4fb6e3fe6c0457767cd352f6455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cae3a09a6d690f0586eec5c58fd632ce73ac5932b37e029f6df2018652b09f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.262 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3496, 1.737, 0.4438, 0.8814, -0.0177, 0.0242, 0.9984, -0.0193, 0.8185, 0.6128, -0.4137, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.392 left_y=-0.1358 left_z=0.0546 left_yaw=-0.3592 left_pitch=0.1583 left_roll=0.0403 left_gripper=0.9984 right_x=0.2928 right_y=0.0022 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0587 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -8.0615, 5.6, 2.1661, 0.1538, 0.1441, -0.1734, -0.3624, -1.265, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.7859, 0.8112, 0.5056, 0.7155, 0.3386, 0.9984, -0.0193, 0.8223, 0.6128, -0.416, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3981 left_y=-0.2287 left_z=0.1091 left_yaw=-1.0682 left_pitch=0.2222 left_roll=0.0284 left_gripper=0.9984 right_x=0.2927 right_y=0.0022 right_z=0.1689 right_yaw=0.001 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.3487, -7.7744, 7.9385, 1.8339, 0.4078, 0.1441, -0.1783, -0.1983, -1.6889, 7.0222, 1.663, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9451, 1.9984, 1.2263, 0.1844, -0.709, -0.5327, 0.9985, -0.0193, 0.8272, 0.6128, -0.4229, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3989 left_y=-0.3495 left_z=0.1113 left_yaw=-0.0888 left_pitch=0.1338 left_roll=-0.1026 left_gripper=0.9985 right_x=0.2919 right_y=0.0021 right_z=0.1662 right_yaw=0.0007 right_pitch=-0.0766 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -12.2325, 6.6667, 1.2381, -0.4176, -0.1783, -0.1783, -0.3214, -1.6205, 6.9812, 1.7607, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d220d0cdad7c1b79f9560a2ce3e4daba92aaa81919795b0a340cfb63f86053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a8fcf73ec6a7244e51e69574aa20b1313eb4fb6e3fe6c0457767cd352f6455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cae3a09a6d690f0586eec5c58fd632ce73ac5932b37e029f6df2018652b09f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05566c4640244b21016ab43ff4dba087d0a558d882c385af78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.245,\"left_z\":0.14,\"left_yaw\":0.5,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The lateral correction overshot to y = −0.35 m and moved the cap out of the left side of the wrist view; the overhead view confirms it remains on the table. I’m returning to the previously bracketed y region near −0.245 m while continuing toward positive yaw at a safe height.\"}",
  "call_id": "call_szrEdwfsjNZ6xjK0HmWry6pK",
  "id": "fc_05566c4640244b21016ab43ff7932c87d0a46af19bf2aa140b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_szrEdwfsjNZ6xjK0HmWry6pK",
  "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]: [-0.9245, 2.0041, 1.3357, -0.2695, -1.1252, -1.0008, 0.9984, -0.0193, 0.8295, 0.6132, -0.4232, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3992 left_y=-0.2586 left_z=0.1291 left_yaw=0.4215 left_pitch=0.2136 left_roll=-0.0967 left_gripper=0.9984 right_x=0.2921 right_y=0.0022 right_z=0.1657 right_yaw=0.001 right_pitch=-0.0789 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.2085, 8.6222, 1.0134, -0.7106, -0.1148, -0.1783, -0.1299, -1.5248, 6.9675, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94725a65b17a2894dd453be16f0e8d2a6b5fc716759b92fdf8b63d01dc80be2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bc58daa2ba4cb2558bd8c53a6091415ac7571e8e8dd0081925d33c6a1077ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201723b073571874fc0077629bb4492f482d01a02215d2aba6e8641a33c39e68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.057 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.7359, 0.4438, 0.881, 0.0422, 0.0471, 0.9984, -0.0193, 0.8185, 0.6128, -0.4152, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3867 left_y=-0.1498 left_z=0.055 left_yaw=-0.4335 left_pitch=0.1595 left_roll=0.0374 left_gripper=0.9984 right_x=0.2926 right_y=0.0021 right_z=0.1701 right_yaw=0.0007 right_pitch=-0.0602 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -7.9795, 5.7641, 2.1416, 0.1734, 0.1148, -0.1783, -0.0889, -1.3607, 6.9812, 1.6923, -0.0171, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9451, 1.9984, 1.2263, 0.1844, -0.709, -0.5327, 0.9985, -0.0193, 0.8272, 0.6128, -0.4229, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3989 left_y=-0.3495 left_z=0.1113 left_yaw=-0.0888 left_pitch=0.1338 left_roll=-0.1026 left_gripper=0.9985 right_x=0.2919 right_y=0.0021 right_z=0.1662 right_yaw=0.0007 right_pitch=-0.0766 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -12.2325, 6.6667, 1.2381, -0.4176, -0.1783, -0.1783, -0.3214, -1.6205, 6.9812, 1.7607, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9245, 2.0041, 1.3357, -0.2695, -1.1252, -1.0008, 0.9984, -0.0193, 0.8295, 0.6132, -0.4232, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3992 left_y=-0.2586 left_z=0.1291 left_yaw=0.4215 left_pitch=0.2136 left_roll=-0.0967 left_gripper=0.9984 right_x=0.2921 right_y=0.0022 right_z=0.1657 right_yaw=0.001 right_pitch=-0.0789 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.2085, 8.6222, 1.0134, -0.7106, -0.1148, -0.1783, -0.1299, -1.5248, 6.9675, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94725a65b17a2894dd453be16f0e8d2a6b5fc716759b92fdf8b63d01dc80be2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bc58daa2ba4cb2558bd8c53a6091415ac7571e8e8dd0081925d33c6a1077ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201723b073571874fc0077629bb4492f482d01a02215d2aba6e8641a33c39e68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_9Gbj_2E07NeeYLUFsKGnuGpbjqP9koAfD7VtsLp_lUnxWgj3cAH_jQxZQe7fTd-ZMaW6o69gZiMMGo1O9rRAtU1VgYR8elAfkAOjUu9aXwpzDPRR9K3ec5tL1fqvZmupeScLLg238XaOylQMNM9Ff0WfgEsms3K3v2P_mHcaRhSV4jBiYsPSNYIs-kjMLEDtpgQ4316Yddwb_0D5SuUBAullXvWVsFwCIvOi4YqzBD74Ptr4T8htiNAP6aRvt5SgWq3wVv5Yp9uwzEVGPQJL6Uqdh4o4VE9KzCzPILimFJenuk45ayvRdBHfkamrzpn69cqp0W_QcC7Hd1ZYmOT1epivCnyhnBUso0SGyB0zXQSLhCjZoU8zmi3xCUdEH05Ort7MmxYdxkM5_3RfQFntv77p_2OhoN8BdaZ9Pl2SZeibkGOd-8bU2mP6_NHzLNOQutyoqFf-jUM9HPsYy8vN4VomCwfQQR_wLtLC-kIJhD3lsTC9-iew3ci3KNmFLrgs1a_Z7HDiLLLiSEV8U2uogY66NrrrecQESF6a5EuwOCjj-eIfX8W40kIg8JY-whMaHJPXH8s2ooad3ZzB1P3nqubKQ5FAqEiExumF6Ild6wxoYdpiL2hML1vsMZu5AsE6dJl5PF8r99a9ZqJhWgqMp4SuNgh-PJeoG4RuOMJoxtzURqOTkbY8xjp8GRB6QgEXt9dhgQh93siGiN-1561jD7ac22HunHxj4txSa_afzx7EeAqBz4wWLwKjdpFqMUzS16Y6lQVy6FlU_ORuPe4yd4mfGm-b1Xu9B6MKGiS5oYpI8S9WRbI0UZOTXk8R4vuOe0oJMvwMPd4K1RSW6Xei_3gWBz7j78D9DP8iR2O4uB4MWMj5KvNBLGOOxKjhPbIYF-mpYST0L-zbV1WrsJ2DYIvSSjBoN9AphgytAOb2C0fz4vMr-LdvldeLgcmSFE6Utt0BE9gH-VqQRrS1XBVGtPUHyVzfLBjHohvEMWZQIfnXGCoXHt6vhN5WRRF3I28c42b_HA8K5O-P9uX5e9BbvNnEbsn_trw8L4S9h5p1eRG_TA4r0_LbbszGNvkCVejaaPubzrPcIcLPcAqlNMo5dHkv9vyNLzu3U_Q-JPKRlL126VgNnsmFo8ynHYXWpTU3MLIqkLw09D0-3j8tBYg2Pcv4Ti3IluMZC9Iw0-Cvp84jeFSshW8dkpeH2eMn65tjcO3EpUF8Z9IMy0be4PzSVG2qBlB8Brr3A2ITpTciY6uKR5UitJMKIWpaBnc5W6bLemBuhSQ3cVeZGQ6AFL0CD88ZBG7Nv0K0mGHKos8LSxNiC2vrwta6eYQAclBbpvHCDub2tr2tkfVyvWHUkYbmc7arb-B6IWSdNjOTr8t1XeA4nKuktX0SbkukVQanIhCl0f5E1k8TB6gyaYIBuhN1DbAE6kK3_O-mcTIQe12AlObNftMwx4lFZrUbxQ44Hf2j_n0qAuJqK3DCFTGxEgvtModrdB_g76CqGIheFSvsZX9Rf7_ViyP_QPKY1K6kGo2nYa_F3KUevKFgk8hVsZyKmqr11oYZFgyk8WIIoSXvUZCNrXuFJcTLq-A0APPQUkncT90_AEyopS7F90YkPpMJ_9EOO0sJjvXvOhY37S-16rxshJREMRlZd9_Ah9YXi3HKpteeXOOGoVoqM9GI-s5Dw_yWnfjG8Q0TcC__SHA4nMpK2u2SDR0IrKAttkaoDTQmQfHsN3PqS2W3n0Ith_TAcxhtbcokaT0DQIXQkpwWyMqg1IoQmq_M1P2JVPQDsi8qy",
  "id": "rs_05566c4640244b21016ab43ffb4b3487d0b853478656353799",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.2,\"left_z\":0.14,\"left_yaw\":0.45,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The cap is visible again and now nearly vertical in the wrist image, which is the desired orientation, but it is about 6 cm left of the jaw column. I’m translating laterally back toward the arm’s side while preserving yaw and radial position to center it.\"}",
  "call_id": "call_4xRqwzsoChH7zEmqJ9Zrv74J",
  "id": "fc_05566c4640244b21016ab43ffca44487d0aa791749bb9cc3be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4xRqwzsoChH7zEmqJ9Zrv74J",
  "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]: [-0.8436, 1.8805, 1.1091, -0.107, -1.1137, -0.8913, 0.9984, -0.0193, 0.8307, 0.6128, -0.4351, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3953 left_y=-0.2004 left_z=0.1219 left_yaw=0.4482 left_pitch=0.2236 left_roll=-0.0528 left_gripper=0.9984 right_x=0.2903 right_y=0.0022 right_z=0.1629 right_yaw=0.0011 right_pitch=-0.0923 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [0.2256, -11.412, 5.9282, 1.4286, -0.4225, 0.149, -0.1783, -0.0068, -1.1966, 6.9949, 1.8095, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc77c1cf2513df076a62ef74954f5de7257ed74a0e7d93f5ebf93483f59d2537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d756fd0654f2b699bf34744593473db44400d7492d9c1e5e355088e3026a458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbbfbf958c30f4250377f1c28d2e4b081da837b555167c150acae9b37a03161f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 2.704 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.7859, 0.8112, 0.5056, 0.7155, 0.3386, 0.9984, -0.0193, 0.8223, 0.6128, -0.416, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3981 left_y=-0.2287 left_z=0.1091 left_yaw=-1.0682 left_pitch=0.2222 left_roll=0.0284 left_gripper=0.9984 right_x=0.2927 right_y=0.0022 right_z=0.1689 right_yaw=0.001 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.3487, -7.7744, 7.9385, 1.8339, 0.4078, 0.1441, -0.1783, -0.1983, -1.6889, 7.0222, 1.663, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9245, 2.0041, 1.3357, -0.2695, -1.1252, -1.0008, 0.9984, -0.0193, 0.8295, 0.6132, -0.4232, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3992 left_y=-0.2586 left_z=0.1291 left_yaw=0.4215 left_pitch=0.2136 left_roll=-0.0967 left_gripper=0.9984 right_x=0.2921 right_y=0.0022 right_z=0.1657 right_yaw=0.001 right_pitch=-0.0789 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.2085, 8.6222, 1.0134, -0.7106, -0.1148, -0.1783, -0.1299, -1.5248, 6.9675, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8436, 1.8805, 1.1091, -0.107, -1.1137, -0.8913, 0.9984, -0.0193, 0.8307, 0.6128, -0.4351, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3953 left_y=-0.2004 left_z=0.1219 left_yaw=0.4482 left_pitch=0.2236 left_roll=-0.0528 left_gripper=0.9984 right_x=0.2903 right_y=0.0022 right_z=0.1629 right_yaw=0.0011 right_pitch=-0.0923 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [0.2256, -11.412, 5.9282, 1.4286, -0.4225, 0.149, -0.1783, -0.0068, -1.1966, 6.9949, 1.8095, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc77c1cf2513df076a62ef74954f5de7257ed74a0e7d93f5ebf93483f59d2537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d756fd0654f2b699bf34744593473db44400d7492d9c1e5e355088e3026a458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbbfbf958c30f4250377f1c28d2e4b081da837b555167c150acae9b37a03161f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEABOYP2oc8G319SIXieyfZqNU-DmabmiOL1zW7oxlhNDU6wf_mkAi0GfnKd5IfxJWGLeFZK60k0XREm89g8AGnLg_Fz2rTyuP6gP46nD5w1tMFMawdvYkrw7NbJeE6swZ69o6PdOtSacD93cC2PxeUshZkxvxLPLiG7RS6jqmNX-uYFMoskKxFCGeAglbrTEcC2iDckXpTrs8S0yRazu7dGClsXhrIysccF1e2ZLgGbHeefUSTz3M3x_kkOo9Xjqd9U0SbQdAOAYrLWrhtbOyt9a2DqXUBEFBw2yl6lx9i2F09OrMI-xwlP2GZnZfQVkDySrmKF1O9udOlxju0gnwFHi4hLqPSge128y8DSCHK5WIXN6c4Ng5dwAFjbahwoef2CYUQEqfMh_yGMt755Gd1wiP7spG9s5o2A2aIfzDdstGepZhvHRKaNi634N0Nf7W6b-QZfMeS8MDQaYlBJmXLfXSZJsPclX7BY-E8Cs71sLJTvtau2Z_ZjribYZzlZxtYjpPBopdDS1wOZs_2muU_0yqFmjfFb-RaxyaTf2IIlMkFPrx4gNpvYObmkqwUNND1Czx1D1fV-__umDMlLGaq8dntrZJb_RMC7g0FTaxFPqp4T9pNlhI8EF7_fDBgvf8KFHkSREu82up_UMV9js1sAKO2T4h78z_sYMpOC8UMV1KkbPtZPY3A5kdIRqYu9Wj24BQeKSj31-Af9UHK5dmMpRCCJNzeyKjNJhuLEV_8nlQvbhBcRpCPeQ7oSmaBOYSnpvYfh7MO82f508465rL1Z8L3E6B05S_Bed5pcC3G55K9QYZd6yL1ZaUS7KcxnnNVL9eelOzvXONi1_c06i1s9IkO_MgIL8pQKGdKbS4aoRlEsYjomoygAKEfVpkJfWXEnSa7iCWFKDoY-saIuOdS0JgqAd0oNS__U4hmwh5e0RRLXEvoIWRWoYCgjvxTliQiyUk1lLT3gXu64MeyyLM2o46cdoRx5S8vtn4bZyrEgtrTCZgU03ZrVaS07p39RK7JwaDHPfG1XA4wxsHG1EtJ3zHHV4QY9NoQRBwQv0wxM6OCJ7NzW3llDp7rAP8As1m2jINI2HfdiFUz6muf4_NmSPPjjIst7WawBRXcv3yr6LZPATAROdLsRp_5TyR27VN6Rfs9zkrwqR_iGewotNQNpq8qLTfyYiphEeQTziadDAxeq753hhUq6q7ALDO8jSQHBl-PuJb4ur1Hmhj7DN1-kUqJ21De2C_9E6_7kiRuw3mNP8WY8ZF2sU6zQNWun-P9ziKov-BmB2fXiRSJy0EqQtPbLu_lVPf-1yj8S-4ne-8xWmBCT73eucFJV-vtsBHw7lO-kOJ1lN9QwdA5FBBte0kEQEoQqxdW8XYXlwmHbjTOjjL7CI-gee0yr2z3NjsH0gjkIh60Ht3ZQLXhusdqK9wMEAfycNsNN_cQaL7y_1zlA7Fn74vprpwALlME77GOFUu0oqDy65OR40p6UUzRgYBn2fULsvMYM50159znfKtY=",
  "id": "rs_05566c4640244b21016ab43fffe5a887d085f267a14ea79f24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.18,\"left_z\":0.13,\"left_yaw\":0.45,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The cap is vertical and only about 2 cm left of the jaw column now, with its midpoint at the fingertip depth. I’m making the final small lateral centering adjustment before descending.\"}",
  "call_id": "call_jVBk2i6NPNXSTVjidKKwjlxq",
  "id": "fc_05566c4640244b21016ab44000754487d0a8cc4335d22c54a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jVBk2i6NPNXSTVjidKKwjlxq",
  "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]: [-0.8253, 1.8473, 1.0481, -0.025, -1.1072, -0.8391, 0.9984, -0.0193, 0.8352, 0.6128, -0.4385, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.395 left_y=-0.1896 left_z=0.1229 left_yaw=0.4457 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9984 right_x=0.29 right_y=0.0022 right_z=0.161 right_yaw=0.0011 right_pitch=-0.1003 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [0.8957, -10.7966, 6.1607, 1.3504, -0.398, 0.1001, -0.1734, -0.294, -1.8256, 7.1043, 1.707, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c207b785d4ae40c39f18bc312f5deafb6e1a607df8164492992551abf30eda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c2019b74538f1acd1cefbb3b6f136d248dfa5eff7df384d5401e6e831082a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eacd18352d2577636e3d581922298ab4c52f5ac10d11df161abe77418b48b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.164 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9451, 1.9984, 1.2263, 0.1844, -0.709, -0.5327, 0.9985, -0.0193, 0.8272, 0.6128, -0.4229, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3989 left_y=-0.3495 left_z=0.1113 left_yaw=-0.0888 left_pitch=0.1338 left_roll=-0.1026 left_gripper=0.9985 right_x=0.2919 right_y=0.0021 right_z=0.1662 right_yaw=0.0007 right_pitch=-0.0766 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [-0.212, -12.2325, 6.6667, 1.2381, -0.4176, -0.1783, -0.1783, -0.3214, -1.6205, 6.9812, 1.7607, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8436, 1.8805, 1.1091, -0.107, -1.1137, -0.8913, 0.9984, -0.0193, 0.8307, 0.6128, -0.4351, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3953 left_y=-0.2004 left_z=0.1219 left_yaw=0.4482 left_pitch=0.2236 left_roll=-0.0528 left_gripper=0.9984 right_x=0.2903 right_y=0.0022 right_z=0.1629 right_yaw=0.0011 right_pitch=-0.0923 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [0.2256, -11.412, 5.9282, 1.4286, -0.4225, 0.149, -0.1783, -0.0068, -1.1966, 6.9949, 1.8095, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8253, 1.8473, 1.0481, -0.025, -1.1072, -0.8391, 0.9984, -0.0193, 0.8352, 0.6128, -0.4385, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.395 left_y=-0.1896 left_z=0.1229 left_yaw=0.4457 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9984 right_x=0.29 right_y=0.0022 right_z=0.161 right_yaw=0.0011 right_pitch=-0.1003 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [0.8957, -10.7966, 6.1607, 1.3504, -0.398, 0.1001, -0.1734, -0.294, -1.8256, 7.1043, 1.707, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c207b785d4ae40c39f18bc312f5deafb6e1a607df8164492992551abf30eda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c2019b74538f1acd1cefbb3b6f136d248dfa5eff7df384d5401e6e831082a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eacd18352d2577636e3d581922298ab4c52f5ac10d11df161abe77418b48b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAEYRZ1UM3JxdbjdY6_Mc9ZuYb-q8A1LX76j2D6MEGMbRL9c-NTlCLjIaukuYCCWKH7qeYAghHq6VjJLG3UWPRVka2rG-zLNGZAJ-2mD0FukzLw-PUfsZkesR34iQLne2d2Yft5_aysj6IM9KdUbV5T2sX4XkcgUJvdPa643cm5V81p5ELvtmdL0upIb__wCzVr_zR9h0QOAwWvqY2_4rfibQLDQVfpJob8288RQ-yELHk730PT_sRHJMD_Qo6oQRfhZrqq98GIcw09WpP97rKAyrxdcXq5EEYLoo7jsTN-K0IpYh7UxXkwe52niVFtBDvb9rJr6u3PY76RON8nj5_3iKxyXEgahmyvVSU55iNnu4g2L0M7J1P-75z-Bxt3Ilghe_m9FXRqE3N7VSYbiZF8_0mqIE43jO-mtVzES48WnpDVtDg2WoTPmGQi5nFi-ehL0vGRVTaWR9-KDpGMBizg4DhkUyxQDPnm6wP-i7P7D4ZE44Wem_roI2KLiZCfdzkAKwp7mSv99mYIJjevfKTaF1600bW7Rxg5OjKffAsnLBCyMTaHLYWsnl3P1HzoEnssoAxE4sndtC8eM0jhFlB0mUTg3uIJjjEC9kWAxA_1QArmSwFJMZ4jyPSq3yXY3piiapQkHFLr6c527tgLAt5o_kIJxUQUO1Ut80gzXDOzF1ooAlp4EvR4HrzqwWmoK_wZeWG_Jbpp_nl3CdiTuwXu6LJJ6RztnysN4ztfhLuiXKXbYmzQlmeMw54ECHhw9heJQW605j-zz6u5KdsVjg25F6vjG6pI07T5PpiXc--J4URMJXDAMbDwNojtKTTAESPKEjfxHkoFKASvSKHxm1PwtUegrT9oGTDHsjdqbZJhlbf8qgOZDK21lqKbnhAwQuWSenLsdDxlwUDGbCROjaYwFvMe7UJM6LWUap8BFgXwYYF0FVlykzWAm38WtZVFWEn02g7TSQkH4iaS5FT_nKLXMFT3tNCh9vzmtR3-2_q5UyfEEiA6He96IdIK0PXjEbQo_H-mFDaNpIqYKWkc02rcdiCjRLk664YJF_Hhwsmf58dqM7a87aWm82ynEqMyrF2POy9wzrTaH30MhnAEEe8rngnewJ4QIBaw3sUBH3yBV6-ynYkXdPd7lHyASSV3USqpvynpxdVwc3zSCoqAJGEVtqZY99a7cI5mOX2zd_J__ofSfL2r0IS9tKrAXSe8zCT1IMKg4pT9o8ZQf53jvklGglL3Kh_uVpqX0qR0NFuTv2vV8pd2BPxayws_7TETd6ihksjMfdODHzfXfLqZS2Eid0nBDybGhXo-HiwjMkaF5n8f7D44UD-IbQHUVoRrHK1w0zMQGH_YRnKCh5OMO0SCwus58ErTMZ904uLqq3eQb40=",
  "id": "rs_05566c4640244b21016ab44002e6f087d0a0838288460df2c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.175,\"left_z\":0.005,\"left_yaw\":0.45,\"left_pitch\":0.25,\"left_gripper\":1.0},\"note\":\"The cap’s long axis is correctly aligned and its center is just slightly left of the jaw column. I’m combining the last 1–2 cm lateral correction with a controlled descent to table level for the second grasp attempt.\"}",
  "call_id": "call_n6FQe6qbhkW2b8EOafaEsl1s",
  "id": "fc_05566c4640244b21016ab440035ab887d0a479f075154c033d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n6FQe6qbhkW2b8EOafaEsl1s",
  "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]: [-0.8074, 1.8408, 1.0157, -0.0101, -1.1103, -0.8169, 0.9984, -0.0193, 0.8352, 0.6128, -0.4393, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3938 left_y=-0.1775 left_z=0.1171 left_yaw=0.4507 left_pitch=0.2349 left_roll=-0.024 left_gripper=0.9984 right_x=0.2899 right_y=0.0022 right_z=0.1608 right_yaw=0.0011 right_pitch=-0.101 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -11.0564, 5.9692, 1.4188, -0.4371, 0.1587, -0.1783, -0.1573, -1.306, 7.2, 1.6825, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7907567322eeb6f69e486a17b25355c0cdb64df7613464364797095c807be070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e5f41ce7ecb71fa9ad351c87cad3a825661c95229a1c725ca6099ecaed3d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e6fa87996e4762f8637faa6e7541adbf3aaf886becefc074ea3ac3245ce524",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.617 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9245, 2.0041, 1.3357, -0.2695, -1.1252, -1.0008, 0.9984, -0.0193, 0.8295, 0.6132, -0.4232, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3992 left_y=-0.2586 left_z=0.1291 left_yaw=0.4215 left_pitch=0.2136 left_roll=-0.0967 left_gripper=0.9984 right_x=0.2921 right_y=0.0022 right_z=0.1657 right_yaw=0.001 right_pitch=-0.0789 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.253, -10.2085, 8.6222, 1.0134, -0.7106, -0.1148, -0.1783, -0.1299, -1.5248, 6.9675, 1.6923, -0.0366, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8253, 1.8473, 1.0481, -0.025, -1.1072, -0.8391, 0.9984, -0.0193, 0.8352, 0.6128, -0.4385, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.395 left_y=-0.1896 left_z=0.1229 left_yaw=0.4457 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9984 right_x=0.29 right_y=0.0022 right_z=0.161 right_yaw=0.0011 right_pitch=-0.1003 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [0.8957, -10.7966, 6.1607, 1.3504, -0.398, 0.1001, -0.1734, -0.294, -1.8256, 7.1043, 1.707, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8074, 1.8408, 1.0157, -0.0101, -1.1103, -0.8169, 0.9984, -0.0193, 0.8352, 0.6128, -0.4393, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3938 left_y=-0.1775 left_z=0.1171 left_yaw=0.4507 left_pitch=0.2349 left_roll=-0.024 left_gripper=0.9984 right_x=0.2899 right_y=0.0022 right_z=0.1608 right_yaw=0.0011 right_pitch=-0.101 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -11.0564, 5.9692, 1.4188, -0.4371, 0.1587, -0.1783, -0.1573, -1.306, 7.2, 1.6825, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7907567322eeb6f69e486a17b25355c0cdb64df7613464364797095c807be070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e5f41ce7ecb71fa9ad351c87cad3a825661c95229a1c725ca6099ecaed3d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e6fa87996e4762f8637faa6e7541adbf3aaf886becefc074ea3ac3245ce524",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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[blob elided: media budget]

{
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  "id": "rs_05566c4640244b21016ab44007557887d0be6563b8dae1e7eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.394,\"left_y\":-0.177,\"left_z\":0.05,\"left_yaw\":0.45,\"left_pitch\":0.55,\"left_gripper\":1.0},\"note\":\"The descent again stalled at 12 cm despite clear space, matching the earlier kinematic limitation rather than table contact. I’m increasing forward pitch within bounds and staging the descent at 5 cm, the same strategy that successfully reached table height on the first attempt.\"}",
  "call_id": "call_sLwRrfHLnfupWsI3mNUoU7ys",
  "id": "fc_05566c4640244b21016ab440083e7c87d08e334d5c8fbecdf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sLwRrfHLnfupWsI3mNUoU7ys",
  "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]: [-0.828, 2.3173, 0.8093, 1.2495, -1.2533, -0.2157, 0.9984, -0.0193, 0.8364, 0.6128, -0.4416, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1756 left_z=0.0333 left_yaw=0.4038 left_pitch=0.4901 left_roll=0.0492 left_gripper=0.9984 right_x=0.2896 right_y=0.0023 right_z=0.1601 right_yaw=0.0014 right_pitch=-0.1045 right_roll=0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -10.1538, 3.8085, 1.8339, -0.3394, 0.0855, -0.1832, -0.335, -1.5521, 6.9812, 1.6777, -0.0317, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08873aa621988dbe1d8f251a4c40457a9bcdc612ac6ef9e6c5ca5f4c526f725e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1feb08118d6d8060e49418862d5039b3a7585cfe1d41e22ffcc49d602528d53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61b546f6c690754700dd6dbaec42acee2e93132ab1e76f3f558652462d5a775",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.414 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8436, 1.8805, 1.1091, -0.107, -1.1137, -0.8913, 0.9984, -0.0193, 0.8307, 0.6128, -0.4351, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3953 left_y=-0.2004 left_z=0.1219 left_yaw=0.4482 left_pitch=0.2236 left_roll=-0.0528 left_gripper=0.9984 right_x=0.2903 right_y=0.0022 right_z=0.1629 right_yaw=0.0011 right_pitch=-0.0923 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [0.2256, -11.412, 5.9282, 1.4286, -0.4225, 0.149, -0.1783, -0.0068, -1.1966, 6.9949, 1.8095, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8074, 1.8408, 1.0157, -0.0101, -1.1103, -0.8169, 0.9984, -0.0193, 0.8352, 0.6128, -0.4393, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3938 left_y=-0.1775 left_z=0.1171 left_yaw=0.4507 left_pitch=0.2349 left_roll=-0.024 left_gripper=0.9984 right_x=0.2899 right_y=0.0022 right_z=0.1608 right_yaw=0.0011 right_pitch=-0.101 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -11.0564, 5.9692, 1.4188, -0.4371, 0.1587, -0.1783, -0.1573, -1.306, 7.2, 1.6825, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.828, 2.3173, 0.8093, 1.2495, -1.2533, -0.2157, 0.9984, -0.0193, 0.8364, 0.6128, -0.4416, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1756 left_z=0.0333 left_yaw=0.4038 left_pitch=0.4901 left_roll=0.0492 left_gripper=0.9984 right_x=0.2896 right_y=0.0023 right_z=0.1601 right_yaw=0.0014 right_pitch=-0.1045 right_roll=0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -10.1538, 3.8085, 1.8339, -0.3394, 0.0855, -0.1832, -0.335, -1.5521, 6.9812, 1.6777, -0.0317, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08873aa621988dbe1d8f251a4c40457a9bcdc612ac6ef9e6c5ca5f4c526f725e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1feb08118d6d8060e49418862d5039b3a7585cfe1d41e22ffcc49d602528d53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61b546f6c690754700dd6dbaec42acee2e93132ab1e76f3f558652462d5a775",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "content": [],
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  "id": "rs_05566c4640244b21016ab4400b81ec87d0b230c648814eaee3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.394,\"left_y\":-0.176,\"left_z\":0.0,\"left_yaw\":0.45,\"left_pitch\":0.55,\"left_gripper\":1.0},\"note\":\"The pitch adjustment succeeded and brought the grasp point to 3.3 cm while maintaining alignment; the cap is now occluded directly beneath the fingertip region as expected. I’m completing the last short descent to table contact before closing.\"}",
  "call_id": "call_c6FCxGarGXqzuwljfyKt0ktc",
  "id": "fc_05566c4640244b21016ab4400bcd6087d0b2932312cb422eb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c6FCxGarGXqzuwljfyKt0ktc",
  "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]: [-0.8318, 2.4741, 0.8925, 1.544, -1.2903, -0.0921, 0.9985, -0.0193, 0.841, 0.6128, -0.4427, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4001 left_y=-0.1818 left_z=0.0256 left_yaw=0.481 left_pitch=0.56 left_roll=-0.0502 left_gripper=0.9985 right_x=0.2896 right_y=0.0022 right_z=0.1586 right_yaw=0.0008 right_pitch=-0.1102 right_roll=0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -4.9709, 1.9624, 0.6764, -0.1734, 0.3053, -0.1685, -0.1846, -1.2513, 6.9402, 1.6337, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55efc03eaa18fb9cf892617025217285a2781f89227afdf65d5c7135a2d7fe49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e872e12e6f4cc38a83c1cbb5f07d9c3aee4350fdacea375d4a82c3615ea161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4db9b1a9c189c75555f615e222ecb495784bb03a24d4458fed1c36cb973c4c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 4.058 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8253, 1.8473, 1.0481, -0.025, -1.1072, -0.8391, 0.9984, -0.0193, 0.8352, 0.6128, -0.4385, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.395 left_y=-0.1896 left_z=0.1229 left_yaw=0.4457 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9984 right_x=0.29 right_y=0.0022 right_z=0.161 right_yaw=0.0011 right_pitch=-0.1003 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [0.8957, -10.7966, 6.1607, 1.3504, -0.398, 0.1001, -0.1734, -0.294, -1.8256, 7.1043, 1.707, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.828, 2.3173, 0.8093, 1.2495, -1.2533, -0.2157, 0.9984, -0.0193, 0.8364, 0.6128, -0.4416, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1756 left_z=0.0333 left_yaw=0.4038 left_pitch=0.4901 left_roll=0.0492 left_gripper=0.9984 right_x=0.2896 right_y=0.0023 right_z=0.1601 right_yaw=0.0014 right_pitch=-0.1045 right_roll=0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -10.1538, 3.8085, 1.8339, -0.3394, 0.0855, -0.1832, -0.335, -1.5521, 6.9812, 1.6777, -0.0317, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8318, 2.4741, 0.8925, 1.544, -1.2903, -0.0921, 0.9985, -0.0193, 0.841, 0.6128, -0.4427, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4001 left_y=-0.1818 left_z=0.0256 left_yaw=0.481 left_pitch=0.56 left_roll=-0.0502 left_gripper=0.9985 right_x=0.2896 right_y=0.0022 right_z=0.1586 right_yaw=0.0008 right_pitch=-0.1102 right_roll=0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -4.9709, 1.9624, 0.6764, -0.1734, 0.3053, -0.1685, -0.1846, -1.2513, 6.9402, 1.6337, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55efc03eaa18fb9cf892617025217285a2781f89227afdf65d5c7135a2d7fe49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e872e12e6f4cc38a83c1cbb5f07d9c3aee4350fdacea375d4a82c3615ea161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4db9b1a9c189c75555f615e222ecb495784bb03a24d4458fed1c36cb973c4c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAPwHxS2XPk9KmWwy_L6-EkjONy79GSWHrI1WvcfOVZS_YVzOljafKovIXYVwYfjJ6jx3bN1Dph0e-PF82gz31pI027C25ovRjW1edZ3T0xqNsvuKVMrRNhmigqTEdDOz3GCkSxRxuiIaq-9grzx0ASXkyVqhXCnKaBtqYSxx1F74lJfjaNhu_Po6y486nvgVAAf6fvxijYYH2u5G7stRhBBGMLDZ5MJNoNiDJDLw1Ta15TYPUr07_lUVVPO_hg9jsp43SQnvCocBPDf3zV3QVfySZoojZrIczXmL9izcKEIAZLrAlA2BHCFJMLaCU0SX2GuapxexWLParxGe7bEDlALZz7tQOFWbBGQgFyYh0sw70IJJoRQv-g7Ka0MUTfrJDqW6uXqJl5DHgmiUWGExqUTgoKL_awbLumHe0dHQMre7eidwDtx35PSeFAkdujz_0-vRWmYd7z7hr0WrOVwiNLgbvBMqugqOoP-ufcNBtYSsXpG0Q1pri-WPIqDiuV-H6TtcLzcbx8RCmGIJvr3T3jT2iUOeKBg_TMLDdaA177KXRoBonMwo3tF63lXK-2m1l89Y2kgpnNZXagwsg8ZvHsJZ4EErlrPrXZ8mVXI859brHPm0f0JVskFGosh7kzVI3gID95ENJTKP-DWYC2irNrSmGuZAldLWul5_J7x94nJYXuU3l_Jy0aBnl8rbtjY9evh_YE3Z8etey76nMfmQYZSWOl6wndpoKhduKlKNd2HsGgND64Z7Aa4NCbAhyGqeV7Hz0wHvNVJfEYL-19fqDlI3ApZnC4e0Uo0fcTF4HWI7FzcPMx208A8VUP1bf60eFwS-sf2xFsP1JvThyAn1CcxDkcV_64s7c-llrU--9AsFV21kjl19RVNl5QhUa3WMcZ014b1Qhlsv2GrtMvgHseazKy_4sF6673ZRCSm9bfOB1sic7onzFuqQ2NFBmY87sW1GhK3rZT47rk-ZHj6bMUkHd4GHe1hS1Ei2F7I1xhUwXme3Vxfxxy67vu_moEp9Mab9Sq6anqo4BMKRICTImwWe0OLR8vu-rbpXjKHOjxJF0xrs0mhH8cmzI5YniyP8dgmgrXArsMgm5Mdtv2oL4XQXIH8twnvhlYC9Il24naH2NhEKFC9P9LE9B7Dw6_xi7UfoJUxEno1m0aoET-qs3o1WYyMVU9U5IAeEQhqQa8WdxsX2RwLl6Zt27eAINiPzDPBADjpSECQP5qhekbBOo3RHS-idTRt2gQMUlYtAWOhwkW0ppQ22-UGfcveoeC6wkpK2x-H66jB5OJ1-Xff3oYbA==",
  "id": "rs_05566c4640244b21016ab4400e710887d0a01bcfb626d6bfba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The final descent stopped at 2.6 cm with a large shoulder-effort change, indicating the pitched fingertips have contacted the tabletop around the occluded cap. I’m closing now for the carefully realigned second grasp.\"}",
  "call_id": "call_3RXeWfWIlFnWmSwpk1LrN41V",
  "id": "fc_05566c4640244b21016ab4400f1f2487d0924bf14746207c33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3RXeWfWIlFnWmSwpk1LrN41V",
  "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]: [-0.8318, 2.4912, 0.9146, 1.5845, -1.3102, -0.0505, 0.0088, -0.0193, 0.841, 0.6128, -0.4419, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4013 left_y=-0.1817 left_z=0.0277 left_yaw=0.5022 left_pitch=0.5723 left_roll=-0.053 left_gripper=0.0088 right_x=0.2898 right_y=0.0022 right_z=0.1588 right_yaw=0.0011 right_pitch=-0.1094 right_roll=0.0038 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -5.3128, 2.1812, 1.2283, -0.1197, 0.0122, 0.652, -0.212, -1.5248, 6.9402, 1.6679, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1d02bc86bcfaf7c6ab4534beeb2abaff58b5b3230df51f5343e09e023529fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46db1a47e6a7e2a78c6338ecaf6f8a44803e6322a915972c5a76068fd539e4a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:637d338f1eab5736ead3655d11fdb5b190807188f979796771f3f5c19a9e27f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 10.15 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8074, 1.8408, 1.0157, -0.0101, -1.1103, -0.8169, 0.9984, -0.0193, 0.8352, 0.6128, -0.4393, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3938 left_y=-0.1775 left_z=0.1171 left_yaw=0.4507 left_pitch=0.2349 left_roll=-0.024 left_gripper=0.9984 right_x=0.2899 right_y=0.0022 right_z=0.1608 right_yaw=0.0011 right_pitch=-0.101 right_roll=0.0036 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -11.0564, 5.9692, 1.4188, -0.4371, 0.1587, -0.1783, -0.1573, -1.306, 7.2, 1.6825, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8318, 2.4741, 0.8925, 1.544, -1.2903, -0.0921, 0.9985, -0.0193, 0.841, 0.6128, -0.4427, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4001 left_y=-0.1818 left_z=0.0256 left_yaw=0.481 left_pitch=0.56 left_roll=-0.0502 left_gripper=0.9985 right_x=0.2896 right_y=0.0022 right_z=0.1586 right_yaw=0.0008 right_pitch=-0.1102 right_roll=0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -4.9709, 1.9624, 0.6764, -0.1734, 0.3053, -0.1685, -0.1846, -1.2513, 6.9402, 1.6337, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8318, 2.4912, 0.9146, 1.5845, -1.3102, -0.0505, 0.0088, -0.0193, 0.841, 0.6128, -0.4419, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4013 left_y=-0.1817 left_z=0.0277 left_yaw=0.5022 left_pitch=0.5723 left_roll=-0.053 left_gripper=0.0088 right_x=0.2898 right_y=0.0022 right_z=0.1588 right_yaw=0.0011 right_pitch=-0.1094 right_roll=0.0038 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -5.3128, 2.1812, 1.2283, -0.1197, 0.0122, 0.652, -0.212, -1.5248, 6.9402, 1.6679, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1d02bc86bcfaf7c6ab4534beeb2abaff58b5b3230df51f5343e09e023529fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46db1a47e6a7e2a78c6338ecaf6f8a44803e6322a915972c5a76068fd539e4a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:637d338f1eab5736ead3655d11fdb5b190807188f979796771f3f5c19a9e27f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_05566c4640244b21016ab44011b38c87d0bff3fb13626ddea5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.22,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The second settled reading is again 0.009, so the left gripper is definitively empty and I will not repeat the same approach. I’m retracting and parking the left arm to uncover the table, allowing a fresh overhead re-measurement of both pen parts.\"}",
  "call_id": "call_pFfIj6JxElpo5fALyczdGw6V",
  "id": "fc_05566c4640244b21016ab44013acbc87d087a54f4f916af0cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pFfIj6JxElpo5fALyczdGw6V",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8486, 0.7219, -0.4068, -0.0883, -0.1307, 0.9977, -0.0193, 0.8444, 0.6128, -0.4595, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3085 left_y=0.0115 left_z=0.2137 left_yaw=0.1086 left_pitch=0.0388 left_roll=-0.0585 left_gripper=0.9977 right_x=0.2872 right_y=0.0022 right_z=0.1545 right_yaw=0.0008 right_pitch=-0.1304 right_roll=0.004 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.6889, 9.6205, 1.7216, 0.0952, 0.1343, -0.0708, -0.335, -1.7299, 7.2957, 1.8095, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04a0d08b62827be031bc232900a06df5871e5398f7c5236dd75f85e5a6663fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9b85fca702a2746fccab17fb60c85c17baedfe5fc1822cae8cbb38711fa7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79bad3fc72868e547e7e2bdfce5c9df5080673adc114f262b509964f6a0b4ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.87 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.828, 2.3173, 0.8093, 1.2495, -1.2533, -0.2157, 0.9984, -0.0193, 0.8364, 0.6128, -0.4416, -0.0242, -0.0124, 0.999]\nstate[eef_state]: left_x=0.394 left_y=-0.1756 left_z=0.0333 left_yaw=0.4038 left_pitch=0.4901 left_roll=0.0492 left_gripper=0.9984 right_x=0.2896 right_y=0.0023 right_z=0.1601 right_yaw=0.0014 right_pitch=-0.1045 right_roll=0.0039 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -10.1538, 3.8085, 1.8339, -0.3394, 0.0855, -0.1832, -0.335, -1.5521, 6.9812, 1.6777, -0.0317, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8318, 2.4912, 0.9146, 1.5845, -1.3102, -0.0505, 0.0088, -0.0193, 0.841, 0.6128, -0.4419, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4013 left_y=-0.1817 left_z=0.0277 left_yaw=0.5022 left_pitch=0.5723 left_roll=-0.053 left_gripper=0.0088 right_x=0.2898 right_y=0.0022 right_z=0.1588 right_yaw=0.0011 right_pitch=-0.1094 right_roll=0.0038 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -5.3128, 2.1812, 1.2283, -0.1197, 0.0122, 0.652, -0.212, -1.5248, 6.9402, 1.6679, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8486, 0.7219, -0.4068, -0.0883, -0.1307, 0.9977, -0.0193, 0.8444, 0.6128, -0.4595, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3085 left_y=0.0115 left_z=0.2137 left_yaw=0.1086 left_pitch=0.0388 left_roll=-0.0585 left_gripper=0.9977 right_x=0.2872 right_y=0.0022 right_z=0.1545 right_yaw=0.0008 right_pitch=-0.1304 right_roll=0.004 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.6889, 9.6205, 1.7216, 0.0952, 0.1343, -0.0708, -0.335, -1.7299, 7.2957, 1.8095, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04a0d08b62827be031bc232900a06df5871e5398f7c5236dd75f85e5a6663fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9b85fca702a2746fccab17fb60c85c17baedfe5fc1822cae8cbb38711fa7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79bad3fc72868e547e7e2bdfce5c9df5080673adc114f262b509964f6a0b4ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05566c4640244b21016ab44017b75c87d0a98c5905f9b6a4d0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAgXuz06dOsLLsN_c3dAcPBWf-3Tg4ZqYZbN_Mj3D27XMUVuPQa-Dne54oVv69AxTFhi-ALYOMnXSXcY1iVB6p6eE8lDNqCZoznsb3unGvDgxc8F2PcnlbXkk2nxDF2GYLfESGv8l2Y2GFlF9R3ctDhGpcZLhRemog9q7lSfqO-vQvDF30xu7mQ3vqcnoZQ4uTv20WdXQtiK4dMOzmL9D9JW6NoxdClTuu1_w_n7Y5lsrlovVZR83XpaZ4FigQe3IOXOLv6qeaTsAPop32IxUG5IMPZmPzapmKuGIf6vghd0E3pVqGAqSnVpBRq9NsbRSMRH7EGhi73meqmCmigruh5OYZEDfplo_eHFiO1hHXH3oydkqdPKvShjFYaH7Ftx7cfEx8yLsTrpGnirx9amaApQTL8h-LaKruaJjxJ6wr8x0lUlEYxJP8Wjy8-asRNUa3iJne2MlGl0fqLH34JbS4LhKN_r8DjdLb7TQ0-CmHJH5XLZ9LH2FAnwv0BgF8VdO59ZvRFJtTXHEf79z7Kb4OtT0GpQvroH9yxU8wecc31ZF9s48Qn0D20yPyRYyWxokQ93eOF6f1Wo_SSSSAWwLCt9bbFN3HZnsdRD1KzWc_l7bYNnRMpBXHGVLrkA1KOiCMSO0uie8vjJpt1B6gYp7o24KS7hwqCDZcVCRryvl9lJUS3fbYOw0tub9JFIWNM81pnQEEfLJdHk-BChZW18s8YLFQMo0-_9w4bRtDgAK2AbYnc1Uh30Y4uxIYzreHEEvYDWXqFfWvjO32tIQ-hdPYt8gkiommTSl_aQbg1ca4DD3lBjLyfQ4KAAlDkUCvTNj6c5tvYekmk5TB0Kf6hlDO9-h2PPenhw8_eTXr4izm-rFAK_Op7qdekjVXQBTu-F98vL13zWMkY89k4UMBdwgYI6nThLmzhlScgqbCCNpPKMUwqLo78DlGtwi5E-xcKrD0KFydYZPk1tSnw-46JgwNewNx9iPFu8iD3jSt_1c3NCmI66KBoXfjsauYSTZJFlfqvc0Xd4xv0OF0gMsgLOpukzp_0tHd-s3tVb9_xiqR-CpJRau48su752ko1IyjYLKUtivGOuiEDc4TSU2Tvlg9rNk-2tX3CnGkBU0gEnIidnCc-DuMxcgjo_656esRiFLKVo3DJ1_IpeslK0Oosz0p3ewOHcltxKdY9fcJgX-lsuoji-qMyF6Gn4oqwOxf3P10JOor1J4QmSypfnPSTD6dqR02EOR4SCMYHAefmgm9QvjTdpHpxKlOIpgy3zLNnyZRcPlX6FBItUreoPggo-8x5tKjzdRYMyAKRyFT9l4yB67GFmIA7VcOwE1rmMQBTowfsyQDQ242h2FTofEGeckwBSon8YlnAdSnF0pyOfrhb9qEFbeQ5qJt3UqZaxsIoozL1ns39hhnahno2EYT1i-7L-4Nid23wqA_MiJMkuvbhosqtA62Jfvb_LZ_JK8jt-vGhFTUWnnB91ag5Q-E3V2VN1z7W_RazsgdYJIMhGFTehN5s4mDlenxk2JY13E9PDOjibFGzZd7Nlu7mKc404BFWy1WtI7QCeAKgJ78yTfJEYMIb9K8vtaE2GXBuHK0EBQ7IUHbIO3s4AmtqOOhyOYsRawOBLTCRdc3xRnAXS0AId9gnaI2QjREQbtiaUm6baZpVeGOOPP-qCLhq8PUEALp8SfSYtkzPgOsrH58-PAvaPEV93A5x4KvnAZjaC8E7jLxTqGqikxhscF106tFaMxpVrZ7EXrsVXdVICErOvJBFYlKO21zEXZsZCO3tBHGkoFme8wN8xgxHXBp5Ql_RH-NrXOFlqUC6z0mvGjbn35vzQ1dJ683Iz4E1eTJLjCGsKDh0ZL6Z5edx4ToT5SFQoClOpdSh66tIPEAx0WrxytRwVDKfG-Mg1gFgYlYT5wX0hpIUJfgmv7u1W8zreW1sXsD06Tw_E_f_XAV_UNarEiC1GdKlx-YsMmxPfdYLJ54mgDpbfYjjcpLVGD16OJOAsc3Pfd-I1HBx5mKcGQrtcMSIbGk6-KFiQ3ebrA3rg6uxOCztSYxhXMjgKpBgqcO2APp7vFAb3ek9_FsUN8A39zvNjZ4Gcp1yoZBWXevnjQn1Y0tdaLr6iNdg1deguN5Sa4D5JIJaG_uSG0ejM43SWtquPm6Qb6VcbbU_g6lTZa0c6usQPjqRbdpIFBNM6o1a2GHhw2WHWJ7mtJYos8QYHHGp8pThuotfax27usMu-9e98gFulPBr991dA8oDU57eqAVa2A==",
  "id": "rs_05566c4640244b21016ab4401d0a7887d095219563ee8e8cbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.18,\"right_yaw\":0.5,\"right_pitch\":0.2,\"right_gripper\":1.0},\"note\":\"With the table uncovered, the cap is confirmed unchanged at the left and the pen lies diagonally near center. I’m switching to the right arm to secure the pen first, moving above it and rotating the jaws approximately across its diagonal axis.\"}",
  "call_id": "call_Cbz0IiFSUk3Rt0BtnMRlznvV",
  "id": "fc_05566c4640244b21016ab4401f6ef887d0bee6f6212efa4cfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cbz0IiFSUk3Rt0BtnMRlznvV",
  "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]: [-0.025, 0.8532, 0.7193, -0.4305, -0.0792, -0.1329, 0.9982, 0.5034, 1.2495, 0.5926, 0.1871, 0.0162, 0.0097, 0.9991]\nstate[eef_state]: left_x=0.3057 left_y=0.0099 left_z=0.2061 left_yaw=0.1021 left_pitch=0.0075 left_roll=-0.0612 left_gripper=0.9982 right_x=0.339 right_y=0.1875 right_z=0.1489 right_yaw=0.4778 right_pitch=0.0907 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.9897, 7.6376, 1.9707, -0.1392, -0.0366, 0.0317, 0.294, -4.6291, 9.7436, 2.0488, -0.0659, -0.0952, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9537f90d359c362ed86195b7ad731340d2b5863f3ec7f566beff535b36c8662c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bc11cca1eb09e7a70696ec94aa2a9a1e85a4daac8fa2a37cfc76eca9ac8cc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c5b336d005ad0ccf0ca688788b3147fe5064a6720e6a80d00da675c0a9ac50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.913 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 93 changed as sent

message 101 changed as sent

message 106 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8318, 2.4741, 0.8925, 1.544, -1.2903, -0.0921, 0.9985, -0.0193, 0.841, 0.6128, -0.4427, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4001 left_y=-0.1818 left_z=0.0256 left_yaw=0.481 left_pitch=0.56 left_roll=-0.0502 left_gripper=0.9985 right_x=0.2896 right_y=0.0022 right_z=0.1586 right_yaw=0.0008 right_pitch=-0.1102 right_roll=0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -4.9709, 1.9624, 0.6764, -0.1734, 0.3053, -0.1685, -0.1846, -1.2513, 6.9402, 1.6337, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8486, 0.7219, -0.4068, -0.0883, -0.1307, 0.9977, -0.0193, 0.8444, 0.6128, -0.4595, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3085 left_y=0.0115 left_z=0.2137 left_yaw=0.1086 left_pitch=0.0388 left_roll=-0.0585 left_gripper=0.9977 right_x=0.2872 right_y=0.0022 right_z=0.1545 right_yaw=0.0008 right_pitch=-0.1304 right_roll=0.004 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.6889, 9.6205, 1.7216, 0.0952, 0.1343, -0.0708, -0.335, -1.7299, 7.2957, 1.8095, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8532, 0.7193, -0.4305, -0.0792, -0.1329, 0.9982, 0.5034, 1.2495, 0.5926, 0.1871, 0.0162, 0.0097, 0.9991]\nstate[eef_state]: left_x=0.3057 left_y=0.0099 left_z=0.2061 left_yaw=0.1021 left_pitch=0.0075 left_roll=-0.0612 left_gripper=0.9982 right_x=0.339 right_y=0.1875 right_z=0.1489 right_yaw=0.4778 right_pitch=0.0907 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.9897, 7.6376, 1.9707, -0.1392, -0.0366, 0.0317, 0.294, -4.6291, 9.7436, 2.0488, -0.0659, -0.0952, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9537f90d359c362ed86195b7ad731340d2b5863f3ec7f566beff535b36c8662c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bc11cca1eb09e7a70696ec94aa2a9a1e85a4daac8fa2a37cfc76eca9ac8cc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c5b336d005ad0ccf0ca688788b3147fe5064a6720e6a80d00da675c0a9ac50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05566c4640244b21016ab440239c5487d0b3fe4ac50636df42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.21,\"right_z\":0.06,\"right_yaw\":0.5,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The pen is nearly vertical in the right wrist view, centered just left of the jaw column, and its midpoint is at fingertip depth. I’m making a small lateral centering correction and descending in a pitched, reachable posture to about 6 cm.\"}",
  "call_id": "call_WwlNq9pnuArJeViDhj4u6JmO",
  "id": "fc_05566c4640244b21016ab4402540b487d08dbdb487751d44bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WwlNq9pnuArJeViDhj4u6JmO",
  "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]: [-0.025, 0.8593, 0.7185, -0.4381, -0.078, -0.1326, 0.9982, 0.564, 1.8889, 0.308, 1.2156, 0.0513, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0097 left_z=0.2025 left_yaw=0.1009 left_pitch=-0.007 left_roll=-0.0597 left_gripper=0.9982 right_x=0.333 right_y=0.2042 right_z=0.0293 right_yaw=0.5074 right_pitch=0.1957 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -2.0991, 7.0906, 1.7949, -0.0366, -0.0562, -0.0122, 0.6496, -7.3915, 2.5368, 2.3321, 0.0513, 0.0024, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3acca2e4236719681b07d562ecf1ae824eba2084465ddc00a983145d31dd3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec57dd526cf73f7ee479fc80e5a10bbd7e161b3368eb766589b26b910edf81f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0bcb8f9a9f67462ea87119ce1cf46195d0ab41d7bdb756daa853177c785038",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.339 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 97 changed as sent

message 106 changed as sent

message 110 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8318, 2.4912, 0.9146, 1.5845, -1.3102, -0.0505, 0.0088, -0.0193, 0.841, 0.6128, -0.4419, -0.0238, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4013 left_y=-0.1817 left_z=0.0277 left_yaw=0.5022 left_pitch=0.5723 left_roll=-0.053 left_gripper=0.0088 right_x=0.2898 right_y=0.0022 right_z=0.1588 right_yaw=0.0011 right_pitch=-0.1094 right_roll=0.0038 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -5.3128, 2.1812, 1.2283, -0.1197, 0.0122, 0.652, -0.212, -1.5248, 6.9402, 1.6679, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8532, 0.7193, -0.4305, -0.0792, -0.1329, 0.9982, 0.5034, 1.2495, 0.5926, 0.1871, 0.0162, 0.0097, 0.9991]\nstate[eef_state]: left_x=0.3057 left_y=0.0099 left_z=0.2061 left_yaw=0.1021 left_pitch=0.0075 left_roll=-0.0612 left_gripper=0.9982 right_x=0.339 right_y=0.1875 right_z=0.1489 right_yaw=0.4778 right_pitch=0.0907 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.9897, 7.6376, 1.9707, -0.1392, -0.0366, 0.0317, 0.294, -4.6291, 9.7436, 2.0488, -0.0659, -0.0952, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8593, 0.7185, -0.4381, -0.078, -0.1326, 0.9982, 0.564, 1.8889, 0.308, 1.2156, 0.0513, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0097 left_z=0.2025 left_yaw=0.1009 left_pitch=-0.007 left_roll=-0.0597 left_gripper=0.9982 right_x=0.333 right_y=0.2042 right_z=0.0293 right_yaw=0.5074 right_pitch=0.1957 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -2.0991, 7.0906, 1.7949, -0.0366, -0.0562, -0.0122, 0.6496, -7.3915, 2.5368, 2.3321, 0.0513, 0.0024, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3acca2e4236719681b07d562ecf1ae824eba2084465ddc00a983145d31dd3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec57dd526cf73f7ee479fc80e5a10bbd7e161b3368eb766589b26b910edf81f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0bcb8f9a9f67462ea87119ce1cf46195d0ab41d7bdb756daa853177c785038",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "encrypted_content": "gAAAAABqtEAqlR_DfHIVNHRCalBBz8qtnSHbWvraWOVP1TXM2xqjEzgr754Qhx65utnBK7uygXKxI_1r0GjOYbu1osealBLh_FCWOmqXz8aApCYDQxmFZCow-h0g56EGiZGhP47JmzMwPh_StmJs0KZE_xF7cA0gQHU6-XLrGNSNunYO37JYuuk540MIdKoL55oKD_NVzi9ytyV9OxF0FTs7k4e95QoZmL0JcR_O5xpNosgKP-9Z1Vwk_uokmMv2q1saZIF0CV7TDbc0hCQZ1favG5ocZhZQq8_sVrQhZu7n1VPEnqbue-6Chw8m_4L4z5V5IbQRg8NBwabzU-nU4oDRQLainbLWOQv3exnK54PNwUPMM00Ko64tQDFiBs8kaHXVkBczn_CDeF4ZVDDrN9d3_eYE4y5i48F4uGcsoBKeQZXEHwPkdHBlXbxIo7Z4AUD_qYYpHW8QBzTD1Y4y9YOuxqMbUm6vnFCuBZQrlhAdY5p4SLpUhiiwOiVIDagRi-ZsvOlWaN-dIQYtekw0SZgwM8BbDyLPM-W-TN3CBzpAFjQdjcUGUUgi7smavW7PA-VkmkuhWwsDljdXPYKfpTQpJ7BiGZk-GP-xAPjodSu0bQ5ca7d2Fbk7Hh-lOXa0D3Gz7vEG7BryfGCnXUVr-6s7LcfK74iflX2aKpINDKwwpFhz_o3YK9IA0gjVACy1vzOvG3hyrcjDmKa516bq18aiDetn0zxBZPIUoP4nXt4bG8cjXOdYA0oLr28H4UBdm95YceKyQbD3v4_-oQIegbS9FKRxQD8xVoNWPNFEN8rYjhDi9_XxqEbTmGcMbxUDpuSsad37UOltVckNyXjU4MnYoY0o1VWBt0Bn5vdRznWWe_DHGL0SxHH45EVBlo9TeG8Y5xNKVdLpZYAm9aKvw6f90BWrfcLUNSg-HeL-3z3yxGJPZqT5u4aQG_O8-rAgddfe-M6cgGrs1krp6RzKfq5jImQz8Jaw5efgPeUQ0V2Vg9sXl9LgNk6Mfn-lbyPnc037_Pg3vSDayAMXkQF-VVMH9kGSL_tnocau9uECxj_UswPDC64ohkuy3uBKbfxDFK21nfFSQuObA_CEQ5fzGqHB0bFJgwAIQS9mcTLDrKZfwd42VUWXxTCjasI0IBVbD64Xsv72qYZmteGvisovbf9C2rnX_jFLQVAvqlwKkQol99fg34IaNaMCmdlPSgq9x-1qX2I0Qm83TWjjMzwlxqLGvFm2wWc2Yhv88VT0_8wicCi4doBS8hk3mISyeNex13n-ke9UHAEgksnGSNVYxP3ktMzjvMJ1nQ==",
  "id": "rs_05566c4640244b21016ab44028606c87d0b3b79eed60c7a1e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.333,\"right_y\":0.204,\"right_z\":0.0,\"right_yaw\":0.5,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The right grasp point reached 2.9 cm and the pen is now centered exactly between the lower jaw silhouettes, still vertical in the image. I’m completing the short descent to table contact.\"}",
  "call_id": "call_hmxL2rkHcceJY5vVpjgMf47G",
  "id": "fc_05566c4640244b21016ab44028c53c87d099c955f75b45652c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hmxL2rkHcceJY5vVpjgMf47G",
  "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]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5655, 2.138, 0.3355, 1.5291, 0.0521, 0.0071, 0.9991]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.342 right_y=0.2104 right_z=0.0161 right_yaw=0.5088 right_pitch=0.2875 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.6342, 7.1726, 1.7411, -0.0904, -0.0659, -0.0122, 0.5538, -6.5846, 2.3726, 2.2002, 0.1538, -0.0366, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fee8c810d511a731b99fbe7c1ab1cb3d2093c03a63d5bfbe73b871b15d13f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a04708f5a51ab6c49326bafb8965a7d25774b01f20a56d5ed71b4cfa9b757c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d875dc9411ad664d9473323e988b2ba4f7dbaaab936e813c697085c6e96dcc8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 4.139 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 101 changed as sent

message 110 changed as sent

message 114 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8486, 0.7219, -0.4068, -0.0883, -0.1307, 0.9977, -0.0193, 0.8444, 0.6128, -0.4595, -0.0235, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3085 left_y=0.0115 left_z=0.2137 left_yaw=0.1086 left_pitch=0.0388 left_roll=-0.0585 left_gripper=0.9977 right_x=0.2872 right_y=0.0022 right_z=0.1545 right_yaw=0.0008 right_pitch=-0.1304 right_roll=0.004 right_gripper=0.999\nstate[joint_eff]: [0.0342, -1.6889, 9.6205, 1.7216, 0.0952, 0.1343, -0.0708, -0.335, -1.7299, 7.2957, 1.8095, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8593, 0.7185, -0.4381, -0.078, -0.1326, 0.9982, 0.564, 1.8889, 0.308, 1.2156, 0.0513, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0097 left_z=0.2025 left_yaw=0.1009 left_pitch=-0.007 left_roll=-0.0597 left_gripper=0.9982 right_x=0.333 right_y=0.2042 right_z=0.0293 right_yaw=0.5074 right_pitch=0.1957 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -2.0991, 7.0906, 1.7949, -0.0366, -0.0562, -0.0122, 0.6496, -7.3915, 2.5368, 2.3321, 0.0513, 0.0024, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5655, 2.138, 0.3355, 1.5291, 0.0521, 0.0071, 0.9991]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.342 right_y=0.2104 right_z=0.0161 right_yaw=0.5088 right_pitch=0.2875 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.6342, 7.1726, 1.7411, -0.0904, -0.0659, -0.0122, 0.5538, -6.5846, 2.3726, 2.2002, 0.1538, -0.0366, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fee8c810d511a731b99fbe7c1ab1cb3d2093c03a63d5bfbe73b871b15d13f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a04708f5a51ab6c49326bafb8965a7d25774b01f20a56d5ed71b4cfa9b757c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d875dc9411ad664d9473323e988b2ba4f7dbaaab936e813c697085c6e96dcc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAu4dDy7N5P0QoQlPiViVcgbKTBrZLfafzdilsPxq_RsONukXDymVyemZBKTaL-kPqdtCcuOMPqa-mFWuQOuiTI7OhalYCOXX2T9smPupryZhx2tT00_QYlBbd9lSZIfd34Xu52fl6_QvaJZwW8YnaBlSi-xcbkrGI2vGqd1DPclL8k_qDYwTCrqrekjc5rWowEht8JYOoOg5IPsTX8jFVMeQz4w8KDRZRQ4c38i8tOk7HDnySOnDX8uD7uOZlnU98HCKQZ_uTdZQvPbuY0cOjSU1btGn6QPqeTOBGUCkZ7t2eEmwUg4Ddkw3ltkjblqvDFiViAIsF5r8jlVQ8D-3JUUFTxFqzqGwcSqG-KFCdkayPame6tolcGUyd2DLa1SQo1iMy55z5gMLnzxC0I_SQx62M71IBXM2kKcFxxcT85v7WM3CbjuCXSul9W2ppnuHVIWf6lxmHu9cgHi-PFX2Vwwkq5L9xmTjfcNlLufIN5I5xNpoaJyL9SnWLtqiDvV9lzYRB37XNZTsCuvl7UhWN7M9IuqHU78IwGAK3Bs7epZSLf1Trz9XLwlqVNfgjSIABOabQE-7yaG_4sJsofncWijK4uY1Kt6RI0oD7SJqTPIaUdikPmvG1bpx0EO3w0CLeE50RPIYGLOh3-LfkhkpJ88kHkzl8uQSD10gbRFVf9OgnxJ30OehJIilL4QLfYB9684PI33GHGKR3lxOEh0LpwKp2Mb7X0_b-rx5xNgDEp2iyseM1IXcOMo8lFXQnRvmVu3XR8T_0MqsM0dihkpCbcnMOBUxNpKYGbifn6v5BWjOsP2aOAMCNtDKSDs1--IL8wVfAi9p4wo7ub291H1PoiyqtxNDw1VKLYc4BHR3E0FwIloaDR_C1HooRivMUlMeVdJnpGlG5oBlCN8VHFZQhhl9B7UAcFijuA3R1-ZwFwB9Fgu_cEBXEzUHdezP8QWLEZX4cJy-IpvH0203i1XtLpS2-02--VgjWV9IgFOLkhWfvcCuO7ciTbuF88rm8ev_gEV-WbVgTRbvJKeZZo-PR9-eYDslqjiidMCDunrlsGDrbOBHyYHz0wek7_6fByIz0bt1iHHKksqCulOtFG0E5xr7wsBr_-ARzDWqvqH8L0N2yJpgpCpmEpZrh4UtgqxyJFx4XYO9dzUQW0pSBmamCTteDxgWwxXCVS2FkgeGmXoUzwkF7Mb1SsCYEBSUiyv68GUfR5iigeDDFb48_7F86ZNA==",
  "id": "rs_05566c4640244b21016ab4402d911087d08d7918dc5ca2d747",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped at 1.6 cm with the pen still centered between the jaws, indicating fingertip/table contact around it. I’m closing the right gripper to secure the pen.\"}",
  "call_id": "call_Ul043CvPjSfJjebkejw3KYjd",
  "id": "fc_05566c4640244b21016ab4402daac887d09b1028790e1b5c67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ul043CvPjSfJjebkejw3KYjd",
  "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]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 2.138, 0.3344, 1.5257, 0.0483, 0.0074, 0.0146]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.3414 right_y=0.2103 right_z=0.015 right_yaw=0.5109 right_pitch=0.2829 right_roll=-0.0051 right_gripper=0.0146\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.7802, -0.0806, -0.0415, -0.0122, -0.0205, -7.3641, 1.8256, 1.9023, 0.0171, -0.0317, 1.3553]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a97d5af84db052fc1c38e6a4b890710af370493096f4b8785a3c24112957e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbfc27c4de481ce296dc4505f5d2765f8bd84812c4cecd41f06a9346a370c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af70397ebf7888de6c350713bff48cc5cd203131c861b8bc4b17b78fc1db94f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.647 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8532, 0.7193, -0.4305, -0.0792, -0.1329, 0.9982, 0.5034, 1.2495, 0.5926, 0.1871, 0.0162, 0.0097, 0.9991]\nstate[eef_state]: left_x=0.3057 left_y=0.0099 left_z=0.2061 left_yaw=0.1021 left_pitch=0.0075 left_roll=-0.0612 left_gripper=0.9982 right_x=0.339 right_y=0.1875 right_z=0.1489 right_yaw=0.4778 right_pitch=0.0907 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.9897, 7.6376, 1.9707, -0.1392, -0.0366, 0.0317, 0.294, -4.6291, 9.7436, 2.0488, -0.0659, -0.0952, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5655, 2.138, 0.3355, 1.5291, 0.0521, 0.0071, 0.9991]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.342 right_y=0.2104 right_z=0.0161 right_yaw=0.5088 right_pitch=0.2875 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.6342, 7.1726, 1.7411, -0.0904, -0.0659, -0.0122, 0.5538, -6.5846, 2.3726, 2.2002, 0.1538, -0.0366, -0.1099]\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 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 2.138, 0.3344, 1.5257, 0.0483, 0.0074, 0.0146]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.3414 right_y=0.2103 right_z=0.015 right_yaw=0.5109 right_pitch=0.2829 right_roll=-0.0051 right_gripper=0.0146\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.7802, -0.0806, -0.0415, -0.0122, -0.0205, -7.3641, 1.8256, 1.9023, 0.0171, -0.0317, 1.3553]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a97d5af84db052fc1c38e6a4b890710af370493096f4b8785a3c24112957e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbfc27c4de481ce296dc4505f5d2765f8bd84812c4cecd41f06a9346a370c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af70397ebf7888de6c350713bff48cc5cd203131c861b8bc4b17b78fc1db94f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAzAq_Ayz-PtKwwu4dL9qbs4hmbYRp5reEJKq-NPmIHYPXhDM14J84y7SBinK-EMnwesu5fC6bQ_fxHlAeuKaMyT_SvpTb4Ge-G5ZpESKAzghzQlytwbKneXvrXW4qpkw0TiZWTjSwNFgQC6IvPIjn2DeD_T_sq6NgshtkPKpQP230YvxF7FKK4GqZEUslSG-laO87wOTyMxKedTNoMjz9_tooSwCh1k7tvet5AonFYaMTB6v7rIqGsJIms8Up8SZAc5QQ2NnXfO8RaTOvpN2-7Oxn6g2lsjKOzDEbl0vwH6Kn6XpjYqX-Jad2tOdSyVMi3UlpFvx6F7XpQu1HdABJ4ABKJOe5l6JVguzQxMc9VeYVAcCGOcqscCjPhrPoKUGjhb8FwCvFuR6OD2dFnYXxHDK2sO80gyCO726mkcEDB6yNW2_IyH6BcLB4qiZQIOdr4Vlh9wx9tUhH9HjsMmTdjBhxz0DVU7YMEfi3vOUOc1hz0ygkTsy4teuOZeqJK1MJbNXHxlAakO6SS1h-at0fgUI7vmnws3mAtNJ3eTney9gIRC6EAKQCRZOoZAb9H6fCM-hI37P0YXpLU3rv-aY7J_V2-VbeBbsl4Wd_YjdzPrU1lpUw4dEx35wdJTBwd_9xgEK7_8HdpHmp5M9fbHpKF2ujaNuwsz9hMs1jugZuYIH4Nxgw9UYH_kuvMMLyhSqZGWp3O5cZq-tNQjCvtkSra6QR_4HuUphMi-pSeCjEaABk_JA0GYmLxDH5PuS02A9DQRbIyO-akNfc2guZdGHlI75xyPYpEOSsZmv-OzD-cQJSCLnGt0q6eNPadXZ-Jj1Rm4k9hDmdNZzcAfxauFUo8frcT9xaxybK_zNx57EhNv5DtcS5G1QDiOxPhimKueJcwGDkkaYklftYofegWuh9y0lGSVOFlu86WtvCcaCFP8KDpJv93GCjdCxTb4JHS61X1oclXhwrQe3diNz1Iup2pcmDIwIdW-d-trvCZ8hxaDaB1Pjra8-RwfkoAkpMcxq70_VJrq043y8GFUQFytvkkDAExPO1Q4WMOqtE3yyuFhRkzAJjPokVN3cvcKPN1kGqfPv-L0smrimd-NsKhhYmmIhKl0IH6s2eJa8udXMyivmgCZcOz6DC3BFuaaoP5B3Egzk__5v1AzYUYvY-Vr9ojqonSwYdLKTQIO4ne3SUwMwcqDFHfLyD8ozicP4ZU69xVeVETn2N0dscTIq5MdSsFsPQDmMW30RLmfcI8PHlXArVwDJfgBHClR4sK0Hej-IfhZ_B5b7nuCnTaxgQQbqLc3DfIjFn-YX8GDPe6flhLJO51cunQ0Bat-Qix9FJzbQSc1te6GftGZ00cNZtySkpy1UHPtaDHo-DDbstdXoYbL9Ofc1mzlHHAYXy4yvRd6N18KdyuV2qhjP-a94QwL0IhfVyVLE1y2Ve-g8VjAXRfPkSfOKpw5-JeFn6F6wSqTkthih8CEUJ1y4RwJNU27gc94etoimLweL6VXjNWew4iOIdBvtnAEguaSeCcgP7MQ8gQycABl-prCYIGkATqXoSzugZmomja3yPC6WxplgqQagyi-rjrohcSNUiBfZxIfYfPRxlAnKKuQks5uNjAf6BFNVlTHutz7zfLyaiBjX01MIopWNTO5fIV2hvsIGifuBYCukV-jG3OdI9dGGTfrx8F1W93_-z_hhOMmbM1MEFv2ZUqaRBf011ZYbscmdF_iYEBJRmHmMmFcQOUlbVhkF9ZRHaIJJBle0NfqyZQcVpzNTxyvLr6KViE-bEy4bWXzSUEDj7fvBBGsqULMY9uwllERxRt-nwft5_n3zv6f1zaRnQcgrZWLYgMkzoWZx6WD9zpDZy-OSfdgzJCcPe2yVvsMmUThv9eXHhmWhq2X2d28tIwd3U7gaksTHZvhixi06R3jh2X98twAaEAbQFDrl9iea7d3itcKjiAulaRAhvLnQwpbdIw--85QK1AyQXqYiOEC4ZfdCh8vFlHzSe3PBsqUgp44sGHrMxZaaG52U-2xR1GnDAEQapwck14JqsNPZI_Vk1TlcMFKvsb5KSX1OtCM3DcegIAcW2nR6evhiomBfrHT1lcI0bEmZHvu68TmCrerXtghzSiP9jE9AdCEvRvFm9OjEsl9HJcl87vhOqNzrqDQzjlRk_Ytftqb1327U0FDt6uKfxw6tfFFxXKOyclZBJQY8cm3MBRD0XfIRJ36xPmmkZ3nT1fdX36jfIDEu172boC3O4DUvUzeeoyZyHxb7Srpbp0gemqD7wgJFT2AuhEvR6c-q7eOyUkYhXYNd6g",
  "id": "rs_05566c4640244b21016ab44030e6a887d0a962ceb49dd92f0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The right gripper settled at 0.015, so the pen close was also empty even though alignment was good; the jaws likely closed just behind its end. I’m reopening and lifting for one corrected attempt, after which I’ll advance radially as prescribed.\"}",
  "call_id": "call_wRXi5UKccBbIKXj0p7CmCQOy",
  "id": "fc_05566c4640244b21016ab44032dd7c87d08aa7287de859d9b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wRXi5UKccBbIKXj0p7CmCQOy",
  "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]: [-0.025, 0.865, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 1.7313, 0.3244, 1.1278, 0.0475, 0.0025, 0.9944]\nstate[eef_state]: left_x=0.3057 left_y=0.0098 left_z=0.2008 left_yaw=0.1012 left_pitch=-0.0126 left_roll=-0.0587 left_gripper=0.9982 right_x=0.3394 right_y=0.2092 right_z=0.073 right_yaw=0.5143 right_pitch=0.2817 right_roll=-0.0099 right_gripper=0.9944\nstate[joint_eff]: [-0.1299, -2.0034, 6.9812, 1.7265, -0.0855, -0.0464, -0.0122, -0.1162, -7.3778, 5.1077, 1.8877, -0.0122, 0.0464, 0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31c4fe17ec3aeed0f7ef9669ba33341ec9bcb3596d0900953a4089589d47f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53cea099397ba6c74a9bad9afc3f4b4f2285fa830a6571777e4a2e3885c68b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96ff4f4130220fb75246b3e9c975a16ec20b71ba32dda7b9b27aa48ab04ad15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.299 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8593, 0.7185, -0.4381, -0.078, -0.1326, 0.9982, 0.564, 1.8889, 0.308, 1.2156, 0.0513, 0.0105, 0.9991]\nstate[eef_state]: left_x=0.3052 left_y=0.0097 left_z=0.2025 left_yaw=0.1009 left_pitch=-0.007 left_roll=-0.0597 left_gripper=0.9982 right_x=0.333 right_y=0.2042 right_z=0.0293 right_yaw=0.5074 right_pitch=0.1957 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -2.0991, 7.0906, 1.7949, -0.0366, -0.0562, -0.0122, 0.6496, -7.3915, 2.5368, 2.3321, 0.0513, 0.0024, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 2.138, 0.3344, 1.5257, 0.0483, 0.0074, 0.0146]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.3414 right_y=0.2103 right_z=0.015 right_yaw=0.5109 right_pitch=0.2829 right_roll=-0.0051 right_gripper=0.0146\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.7802, -0.0806, -0.0415, -0.0122, -0.0205, -7.3641, 1.8256, 1.9023, 0.0171, -0.0317, 1.3553]\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 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.865, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 1.7313, 0.3244, 1.1278, 0.0475, 0.0025, 0.9944]\nstate[eef_state]: left_x=0.3057 left_y=0.0098 left_z=0.2008 left_yaw=0.1012 left_pitch=-0.0126 left_roll=-0.0587 left_gripper=0.9982 right_x=0.3394 right_y=0.2092 right_z=0.073 right_yaw=0.5143 right_pitch=0.2817 right_roll=-0.0099 right_gripper=0.9944\nstate[joint_eff]: [-0.1299, -2.0034, 6.9812, 1.7265, -0.0855, -0.0464, -0.0122, -0.1162, -7.3778, 5.1077, 1.8877, -0.0122, 0.0464, 0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31c4fe17ec3aeed0f7ef9669ba33341ec9bcb3596d0900953a4089589d47f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53cea099397ba6c74a9bad9afc3f4b4f2285fa830a6571777e4a2e3885c68b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96ff4f4130220fb75246b3e9c975a16ec20b71ba32dda7b9b27aa48ab04ad15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEA3drX8pRoaOs982hkSsYpOuU8DuaW5QE9VAV9d2UycdXnojjECyc4FPx_0dAKNUgrDOXHr7xpit_xVaAGOkDjjxUv7VyyMTtywChANt6sVUtZZvMN_2KltTrLpPinKD2xBx6HYh2NjIwR2XMxTrm9vVSoZFuh2BTQlugJpg9jI_RdSoPuVkenipTNMPQOQUF6EqETI3RgBgBsEBTquokIj8YkhMz1Ym6llwDIEstzldjswCl3YBCOTS2M154PVVPrXqU94ZRhhqjeGlUpLcgsgXl9Fx8yUxBVYJ84uLhptDWNUvnqw_RD6GTXNPM1TPL47ZSB0xvyj2JVwvXAhITtNcVoarRfnDgH1Tvex-Uym4wjlMJVe_bKMRRtVLQcdS21SiCjB42nXLeTish6F3omzAoXAa5y5UtxMnHobfvivSMkehM9bmvfPfJzxn5H3YcgYL7ybFshwbuDgV7HpnNZmMyO1DIorM7BNan0mB7OLBz_ByhXWqXna5iaiUkY0T5KgoCcyZcVQBTI3cI0HyqBet-LwXl3vQaFyZeahiDFGoXqWXp1sYBdJkTh_LaCIHR7ZFKBOHy6cCVna67MU86Snei-6q033Z1wrb1HDqtsxc9o-drXI_n6YfHT71_iHFJaYsETCnY-cfA6XA2yYmIbBu69cl2QXw3WTtXnzzp4Mt_JroX2I3SO7d5zLMaYZ0aQ9Hu18wyNd57vA94kdkerJf-BN3R3JV_FQu91jH5btet3pH6pyM_KhXwc4Yk7CWZ6TJGvQH6GO6-Zi2dQg9TqgTSQlVeN_Z8ZGXAcdFS9DYWNtTyVzcg148uRbxpvomewjzG0KAihZfMsPXv4Q36HVxwE35gtGX4qYeNOithfKWWulZgTxfOU8BWKYk-daWP_5gz-UQ38goQCjfx0iDJqYpxHrL2v7S0jqmTWuKYrwsY4LbFNZyOAJdB8NwLuaIIFivPl3meWz_82fvUsVrF4IhJOg9ZS15gNSuuV7pBGx8ac126opqeOuVV73syepCo4g_CO5t9kyWtdgiJuE6FG5PLWC0czKkpdI_KgS7xoziNeb1EYyBT_fu_JO3OBL8vIfuzHxDsZlJ8p8BLF7xu1w2cfzzJIlnupD9ORJg87VpFIiOVytklwXtEZ1lHcdxunUsyaoohram8wokLKotaxq5RgDfUlQ5ojOTmKpdioYpYY_ckt2RcUv4zfatPCPss4ICf8vUDxixeozwDmBYQxQVZLdvWnHX06O2mr2G_gQiME8hrjTmdUgoT90YeS-D-frAMdcYq2yJbqYNqZ_cr5kXb-ZuwUXNCAL5pnqWY10ddJNJoMa2xNdgHmNv7giLZEJvLTttUyL0wHUw0dwjSaoU2qlsB9LSGK5mEVBifxdSxzciptqLPcCPiTw1S9SAPUc",
  "id": "rs_05566c4640244b21016ab44035e91887d083c1a750e6f123b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.209,\"right_z\":0.05,\"right_yaw\":0.5,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The reopened wrist view shows the pen centered but with its near end still just short of the jaw apex. I’m advancing the grasp point 2.5 cm outward while returning to the low staged height, keeping the crosswise yaw unchanged.\"}",
  "call_id": "call_rYDqErgKStZ6M8tkuY5DWSko",
  "id": "fc_05566c4640244b21016ab440366e8087d0b8ccfb72d679a8d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rYDqErgKStZ6M8tkuY5DWSko",
  "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]: [-0.025, 0.8688, 0.7185, -0.4389, -0.0784, -0.1326, 0.9982, 0.5285, 1.9923, 0.374, 1.2823, 0.028, -0.0044, 0.9986]\nstate[eef_state]: left_x=0.3059 left_y=0.0098 left_z=0.1996 left_yaw=0.1012 left_pitch=-0.0172 left_roll=-0.0582 left_gripper=0.9982 right_x=0.3542 right_y=0.2053 right_z=0.0242 right_yaw=0.4998 right_pitch=0.2247 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.6479, 6.9812, 1.6923, -0.0904, -0.0562, -0.0122, -0.6085, -8.5538, 4.1504, 2.7814, -0.0904, 0.0415, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b1019a26b8ab303cfa3ee24cc4a42c87fd21fb9971f3b06373b48993bc4126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bb95bab10888191fd4d977dda9891c2e5fcffa48a6be554502e26815ab3187",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e95976922fb043709ec9cfee6c9a901d614166d9e98ca6c39e11eaaaf3a17c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.915 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5655, 2.138, 0.3355, 1.5291, 0.0521, 0.0071, 0.9991]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.342 right_y=0.2104 right_z=0.0161 right_yaw=0.5088 right_pitch=0.2875 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.6342, 7.1726, 1.7411, -0.0904, -0.0659, -0.0122, 0.5538, -6.5846, 2.3726, 2.2002, 0.1538, -0.0366, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.865, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 1.7313, 0.3244, 1.1278, 0.0475, 0.0025, 0.9944]\nstate[eef_state]: left_x=0.3057 left_y=0.0098 left_z=0.2008 left_yaw=0.1012 left_pitch=-0.0126 left_roll=-0.0587 left_gripper=0.9982 right_x=0.3394 right_y=0.2092 right_z=0.073 right_yaw=0.5143 right_pitch=0.2817 right_roll=-0.0099 right_gripper=0.9944\nstate[joint_eff]: [-0.1299, -2.0034, 6.9812, 1.7265, -0.0855, -0.0464, -0.0122, -0.1162, -7.3778, 5.1077, 1.8877, -0.0122, 0.0464, 0.0366]\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 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8688, 0.7185, -0.4389, -0.0784, -0.1326, 0.9982, 0.5285, 1.9923, 0.374, 1.2823, 0.028, -0.0044, 0.9986]\nstate[eef_state]: left_x=0.3059 left_y=0.0098 left_z=0.1996 left_yaw=0.1012 left_pitch=-0.0172 left_roll=-0.0582 left_gripper=0.9982 right_x=0.3542 right_y=0.2053 right_z=0.0242 right_yaw=0.4998 right_pitch=0.2247 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.6479, 6.9812, 1.6923, -0.0904, -0.0562, -0.0122, -0.6085, -8.5538, 4.1504, 2.7814, -0.0904, 0.0415, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b1019a26b8ab303cfa3ee24cc4a42c87fd21fb9971f3b06373b48993bc4126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bb95bab10888191fd4d977dda9891c2e5fcffa48a6be554502e26815ab3187",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e95976922fb043709ec9cfee6c9a901d614166d9e98ca6c39e11eaaaf3a17c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEA6BO9B4LRn1w7-2XCGI0N03Am66cXTsWRCgAaWvOXBPrzLKJaIgbD7jEBfbSzmJ03ceScadbZj9KuYUz0c7wgANQO4CDBklDursPzUktnyc0Ryl7L176t8JfeZk9msMgWhbccyULLHqtFDtKguC2477YySEWrzbHGG8nr_e_7mAI8WdIQz0u3wqvFrkG2FjCait10x4GvMoUNz5Ao0PajzaxiIg_YmvAr-a7G9QMaqDOZB8_Hn7y00_D3dFrsig4-jiS4cBBmEjZUfL50R4zfHxEGQAW-aqb8LtaNW9i2M87U2Come0bW9e70K-6pdyY50Rn51OCbptIVhwI0MtD7KitkaCewGcgmktLMP8ckSxebItsS45cNG5Ovit9viS_AJc-a-ccIOBbMyR2_4WlrJwBot7BCodlSz7uO9v19vAnfhhf69RZQVAAwLn2x8NcJOEQ4DH96OkW9Cwn4b4mjcTlh8rMpVXKvz6VLy-AvST8vhzTnujvKaknMYbbkFgrt9luv_hhpyqYbU4T7qCI8a561Y-XtYhHBtqxFX4XdGffQQQV5x9QaZIrOam1AOSc68B6FM83X1Wz_mFkBf8mkglY24Cn9Jpns97lkDPjNF7vOIlJXbGuTurgHWG3jVLZ-MHjRjLHXI4O9_OnCWmgeaGRp3XrDooeqyqWjDDRx8EO56rUKI_IfV8Wye4sPpIpwgXsxQh9g8mHlFsjaGDcrBgrhvudvGE3fSfC15UMSHGY-Hjjzpm809R0ZTqI_ESH1ZSj9LFqqEgoRvRQ44dohLRzrwbtE8jx4FmmJ8IBUAYUfgJPH1cXpWcpiHruo0k-ig7E9W8fB_ZOwHAnFkzoKGPwjXSxsFdGWLwq8E3CvjhuWZ84eJ-PjOJvCRRsT8Y8JRmM-4ZV9YCWfHWpvoUSrqj_VkuC7aaQ--yCf6GVKONtzPKGBHLWZTLNce8zggB0UiwohQbUHFp7QyTn6s9L_2qvCoXwSMvFpwWk9nEfeJEKNOk3I4Ujh3sGjkpn5TEHfUaycFiNNYTKOn5J54xxgyMFjd61hg8l_skEDztIwAcd_fvlPgDYxvuffmg5Jf9sbeGwI50Iy9d884TgR7-9S8QvBaytkc1uMDWsqA07BmlQef6R1dhZoxuMgnTFLtt9vvmn25e6YpAxcyKTwakNR-D5eCG0Rl9I8QzYlKUYJe6-r32aTlz9Av4pMOLJkHyAqJWqo7ZzoQTT9DqnJCF5EpUFuKOPf-62Nwm6VVhvvnxivXWScnqrNJXe79Oa0riImD_uSHYn2Yl3oPDJ3Jq-pjKd-pb0OkNnsWbK8xkCNWy4yfNr0xXNttipvAtpC0H0IEeBTNVo5vFgEn3TCn-LgEKW5URIHXygAHp33NiAu0MtzxseVkh_0TmR_0Qem73ucbYMAN1Ojy6YW-vemPIWULVpavkVYp3wpDQMMyoWb03cNHQcURYi75Ko-AmzFM-g9QnB_I5T8Qgwis53bSImsjIokRVWlGUP98fRrsmq44-Qw=",
  "id": "rs_05566c4640244b21016ab4403904a887d0baa7eeb4fdc500ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.354,\"right_y\":0.22,\"right_z\":0.0,\"right_yaw\":0.5,\"right_pitch\":0.35,\"right_gripper\":1.0},\"note\":\"The radial correction moved the pen’s shaft through the fingertip apex as intended; it is slightly left of center and the grasp point is 2.4 cm high. I’m adding a small leftward gripper translation to center the shaft and completing the descent.\"}",
  "call_id": "call_0ODa0xq6pOUHkjutVZwIUsV7",
  "id": "fc_05566c4640244b21016ab44039bf8487d0bdba0a728795bb8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ODa0xq6pOUHkjutVZwIUsV7",
  "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]: [-0.025, 0.8722, 0.7174, -0.4381, -0.0784, -0.1326, 0.9982, 0.5457, 2.133, 0.3779, 1.4368, 0.033, -0.0048, 0.9987]\nstate[eef_state]: left_x=0.3062 left_y=0.0098 left_z=0.1982 left_yaw=0.1012 left_pitch=-0.021 left_roll=-0.0577 left_gripper=0.9982 right_x=0.351 right_y=0.2105 right_z=0.0065 right_yaw=0.5128 right_pitch=0.2423 right_roll=-0.0143 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -2.0444, 7.241, 1.6728, -0.0464, -0.0757, -0.0122, 0.1983, -7.8017, 2.1949, 2.1709, 0.1294, 0.0122, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4060ea8916bcd2b087e0067aa13a837d88cc211d03cecaec59d97b9f734f953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd59e7542ed241b6c9c277431f215b7fab28ab65bdc64b723ba3f6c0e7763013",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da1d2e048b00f1d5e9f7cdd4f8e355fc47b929384601f52fceb79518ffd3479",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 10.46 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8612, 0.7185, -0.4381, -0.0784, -0.1326, 0.9982, 0.5644, 2.138, 0.3344, 1.5257, 0.0483, 0.0074, 0.0146]\nstate[eef_state]: left_x=0.3053 left_y=0.0098 left_z=0.2019 left_yaw=0.1012 left_pitch=-0.0089 left_roll=-0.0592 left_gripper=0.9982 right_x=0.3414 right_y=0.2103 right_z=0.015 right_yaw=0.5109 right_pitch=0.2829 right_roll=-0.0051 right_gripper=0.0146\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.7802, -0.0806, -0.0415, -0.0122, -0.0205, -7.3641, 1.8256, 1.9023, 0.0171, -0.0317, 1.3553]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8688, 0.7185, -0.4389, -0.0784, -0.1326, 0.9982, 0.5285, 1.9923, 0.374, 1.2823, 0.028, -0.0044, 0.9986]\nstate[eef_state]: left_x=0.3059 left_y=0.0098 left_z=0.1996 left_yaw=0.1012 left_pitch=-0.0172 left_roll=-0.0582 left_gripper=0.9982 right_x=0.3542 right_y=0.2053 right_z=0.0242 right_yaw=0.4998 right_pitch=0.2247 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.6479, 6.9812, 1.6923, -0.0904, -0.0562, -0.0122, -0.6085, -8.5538, 4.1504, 2.7814, -0.0904, 0.0415, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.025, 0.8722, 0.7174, -0.4381, -0.0784, -0.1326, 0.9982, 0.5457, 2.133, 0.3779, 1.4368, 0.033, -0.0048, 0.9987]\nstate[eef_state]: left_x=0.3062 left_y=0.0098 left_z=0.1982 left_yaw=0.1012 left_pitch=-0.021 left_roll=-0.0577 left_gripper=0.9982 right_x=0.351 right_y=0.2105 right_z=0.0065 right_yaw=0.5128 right_pitch=0.2423 right_roll=-0.0143 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -2.0444, 7.241, 1.6728, -0.0464, -0.0757, -0.0122, 0.1983, -7.8017, 2.1949, 2.1709, 0.1294, 0.0122, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4060ea8916bcd2b087e0067aa13a837d88cc211d03cecaec59d97b9f734f953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd59e7542ed241b6c9c277431f215b7fab28ab65bdc64b723ba3f6c0e7763013",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da1d2e048b00f1d5e9f7cdd4f8e355fc47b929384601f52fceb79518ffd3479",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEA-6toLItjKH7-7epYjYbFb1aYjpx0TZWKQcEvw7WkM8j8qO-lC7tXkSRnnTqBdgkpLLYbK9MpEo9Sq537KzUGZBqj7bzPpDbeTTFbJJGpJoJDFweWty4BKB8iiP3WMqM9TyV7WZTO21_fInKh_z4myENEyXJ3nUvY8wqoZA6dux6knsQlHG-EDGvb7Dt_tgx4Qd2r5bos4NqSgvL_hm4hOzqzDiSS_dOxP7UNqh66W1Mv2Mvs7zSIpWk7cgy30RHCn36eJRkfJNbrO8grQPyPGPqBfNM0_sLNSWGd6d-7lMOfdTk2DDg3a6BpoIjeB_WdRKiWcp5bIq29irm2is7yNJ7VMpaneykxEdIfclxaYTHOKo7IQTrbSwMdRwA0mMdBcbuYyQjhupXnT_k01psjRi4-vohjSOod7BDzz9m8U9b1r38JAREbCx-NSGj1oZRwEfwaA68Ea6m6PcpU0V7bvr5SxeC_tQFPlWtNuvevui3_XXkW0ju_7-abr0gdZ43xPQn9XuecWQ6LSQJxvVlyVSRpJYNQkGZEIax1mjFBKhXkVCR63Qu4ipvtJoKWU5OKpTDHoTh-t9zZLBChC-nVYK5gYJKM7zVTDkw-gccrL3z5qj7kNqvmDk6FtmjMe-NO0O147jDJIV_I-_2AXECdwv8dc7v0CPWI0VcxvgcFZDkjhgfaXoqbHCaRTB-694UnIx9c83GNOIlgraJ6AYNchBVKLHCn0_jIo4mJgZIis9xFsFTjzO6UlH_6wcNm2cfuXng31qWuGFlWgtlJOeJdLSn0xrX6xDILvcBzNzR5gX1dhgjOo8vmEph-_lL2kSEs3vOWp7Mgzc1iTROqA77tnkVOQUHQOD2lS54ge6VNxLsj3O_nikuR1wOVs9heYQppn-TaGeHQ00RgMjB1fMZxX69gJn3nx1VmYg0JTVgvEmC-GkYRB_HCazeab0cJKWtrmwzPrJCI28g1LDS8F3yEhz8g5IV6gH4AYxMDbt4STfMUf_kSt0JftS1qKZPX6GVqvGif_R5ZJMliIp8K2A7gE_AxXjf2R0tyontemhAr42Dc3XOFyJFievpua5PoZBxVANCCmYogPIseow9jGfaaWOc7y5aC20xGDgjHbwFY_VE5q8iwjbbPFWM5Wi2KWiBaiozFwgeZWPhf3mvcL1vkjLdIKvLA3iknMu1YSBXEnInt3LcXwVQn4HQEKzO8QrfYldL_PIBHROVyj4ijzw03-QGgHSJaVHmW9j-DqvS_Jt5O4wzf3YcQicQs8XZjMrLlgtEN_Vn0fKy1ZpH4zR8J0_w==",
  "id": "rs_05566c4640244b21016ab4403d0c0087d09c61ede93d1019b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right grasp point is now 6 mm above the table and the pen shaft visibly runs between the open jaw faces. I’m closing for the corrected second pen grasp.\"}",
  "call_id": "call_7nD3nqXlA0jIBbwW9eHphqkq",
  "id": "fc_05566c4640244b21016ab4403d7ad487d08655cf3f00a3182a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7nD3nqXlA0jIBbwW9eHphqkq",
  "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]: [-0.025, 0.8722, 0.7174, -0.4381, -0.0784, -0.1326, 0.9982, 0.5449, 2.133, 0.3775, 1.4445, 0.0311, -0.0074, 0.015]\nstate[eef_state]: left_x=0.3062 left_y=0.0098 left_z=0.1982 left_yaw=0.1012 left_pitch=-0.021 left_roll=-0.0577 left_gripper=0.9982 right_x=0.3514 right_y=0.2108 right_z=0.0082 right_yaw=0.5151 right_pitch=0.2495 right_roll=-0.0161 right_gripper=0.015\nstate[joint_eff]: [-0.1983, -1.7299, 7.1863, 1.7265, -0.0952, -0.0757, -0.0122, -0.1709, -7.5829, 1.9624, 1.8437, -0.0513, -0.0122, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca7d5f9b93250a6aa5098f81bd3440ad390e2eae436ac591dd8b2d55af8c2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec184a60700cb50925b75f7d89c20ee0668a888c1c88f3a76b1fcb0a65ebd845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0265e130c4a68fff9e9e490739b4ce76cfbad96df1e40ad080920fa80713a39b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]