adhoc

completed
2026-09-23T22:06:03.037491+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
227.1 s
total steps
298
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe long pen is near the middle of the table, angled diagonally from far-left to near-right, while the small cap lies separately to its left. I’ll bring the right gripper above the pen’s midpoint with its jaws rotated perpendicular to the pen for a stable body grasp.
move_to
right_x0.4200right_y0.3300right_z0.1600right_yaw0.7800right_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, 0.7925, 0.6014, -0.3809, -0.0216, -0.0246, 0.9995, -0.0162, 0.7906, 0.6079, -0.3794, -0.0238, -0.0151, 0.9991] state[eef_state]: left_x=0.2942 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2951 right_y=0.003 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5675, -1.4838, 10.4957, 1.7509, -0.022, 0.0562, -0.0659, -0.8137, -1.1966, 9.853, 1.8877, -0.0171, -0.0464, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.33,"right_z":0.16,"right_yaw":0.78,"right_gripper":1.0},"note":"The long pen is near the middle of the table, angled diagonally from far-left to near-right, while the small cap lies separately to its left. I’ll bring the right gripper above the pen’s midpoint with its jaws rotated perpendicular to the pen for a stable body grasp."})
tool
executing move_to over 28 steps (2.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteIn the right wrist view the pen body is at the bottom edge, indicating it is at the fingertips, but it is about 2 cm to the image-right of the jaw centerline. I’ll make a small tool-right correction and descend to table level while keeping the jaws open.
move_to
right_x0.4180right_y0.3080right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7975, 0.6025, -0.3817, -0.0216, -0.025, 0.9995, 0.6083, 1.8114, 1.2274, -0.0593, -0.1444, -0.1066, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3189 right_z=0.1366 right_yaw=0.7756 right_pitch=-0.0737 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.7265, -0.0024, -0.0269, -0.0171, -0.335, -9.5521, 9.7846, 1.9853, -0.1099, 0.1197, -0.1099] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.418,"right_y":0.308,"right_z":0.005},"note":"In the right wrist view the pen body is at the bottom edge, indicating it is at the fingertips, but it is about 2 cm to the image-right of the jaw centerline. I’ll make a small tool-right correction and descend to table level while keeping the jaws open."})
tool
executing move_to over 9 steps (0.9s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteAt table level the visible gold pen end remains roughly 3 cm to the right of the jaw column, so the previous diagonal correction did not improve centering. I’ll raise slightly and test a small correction toward the arm’s left, isolating the lateral direction before attempting the close.
move_to
right_y0.3240right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8001, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5743, 2.0796, 1.0355, 0.3595, -0.1635, -0.1291, 0.999] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4132 right_y=0.3059 right_z=0.0066 right_yaw=0.7704 right_pitch=-0.1118 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [-0.1026, -1.4701, 7.2547, 1.7167, -0.0366, -0.0708, -0.0171, -0.7726, -9.812, 5.6, 1.1746, -0.3199, 0.5153, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.324,"right_z":0.02},"note":"At table level the visible gold pen end remains roughly 3 cm to the right of the jaw column, so the previous diagonal correction did not improve centering. I’ll raise slightly and test a small correction toward the arm’s left, isolating the lateral direction before attempting the close."})
tool
executing move_to over 2 steps (0.2s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe isolated leftward move shifted the pen end toward the jaw centerline, confirming that increasing right-arm y is the needed lateral correction. I’ll continue that correction by another 2.5 cm and stay just above the tabletop.
move_to
right_y0.3400right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5896, 2.0903, 1.0588, 0.3561, -0.1551, -0.1291, 0.999] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1772 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4145 right_y=0.3144 right_z=0.009 right_yaw=0.7784 right_pitch=-0.1038 right_roll=-0.006 right_gripper=0.999 state[joint_eff]: [-0.1983, -0.9641, 7.0496, 1.7363, -0.0415, -0.0464, -0.0171, 1.2786, -11.9726, 7.5282, 1.6239, 0.022, 0.1245, -0.0171] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.34,"right_z":0.03},"note":"The isolated leftward move shifted the pen end toward the jaw centerline, confirming that increasing right-arm y is the needed lateral correction. I’ll continue that correction by another 2.5 cm and stay just above the tabletop."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe low-altitude move was constrained by table contact: z stayed near 7 mm and y only partly tracked, while the wrist image distorted sharply. I’ll lift clear of the table and return near the prior lateral value so the next alignment is made in free space rather than during contact.
move_to
right_x0.4140right_y0.3100right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6022, -0.3809, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1184, 0.999] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1759 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.7909 right_pitch=-0.1323 right_roll=0.0024 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.6889, 7.0496, 1.6972, -0.0855, -0.0659, -0.0171, -0.8137, -11.2342, 6.0513, 1.8242, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.414,"right_y":0.31,"right_z":0.1},"note":"The low-altitude move was constrained by table contact: z stayed near 7 mm and y only partly tracked, while the wrist image distorted sharply. I’ll lift clear of the table and return near the prior lateral value so the next alignment is made in free space rather than during contact."})
tool
executing move_to over 6 steps (0.6s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe right arm did not move at all from the low pose, indicating a kinematic stall rather than surface contact alone. I’ll use the rig’s recovery strategy—reduce forward reach while raising substantially—before returning to the pen.
move_to
right_x0.3500right_y0.2500right_z0.1600right_yaw0.7800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1204, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1758 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.792 right_pitch=-0.1322 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.306, 7.2274, 1.7118, -0.0757, -0.0659, -0.0171, -0.8137, -11.0701, 6.0513, 1.8095, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.16,"right_yaw":0.78},"note":"The right arm did not move at all from the low pose, indicating a kinematic stall rather than surface contact alone. I’ll use the rig’s recovery strategy—reduce forward reach while raising substantially—before returning to the pen."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteAfter recovery, the right wrist clearly shows the pen aligned with the gripper axis; its near end reaches the bottom edge and the body is about 1.5 cm image-right of center. I’ll advance a few centimetres toward the pen while adding a small arm-right correction, remaining high enough to avoid another table-level stall.
move_to
right_x0.3800right_y0.2670right_z0.1100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8089, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.5362, 1.5379, 0.9848, -0.1699, -0.1883, -0.1574, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1748 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3544 right_y=0.2532 right_z=0.1371 right_yaw=0.7695 right_pitch=-0.1457 right_roll=0.0031 right_gripper=0.9989 state[joint_eff]: [-0.2256, -1.6479, 7.0359, 1.7411, -0.0708, -0.0659, -0.0171, -0.4444, -8.9094, 10.1402, 1.6972, -0.232, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.267,"right_z":0.11},"note":"After recovery, the right wrist clearly shows the pen aligned with the gripper axis; its near end reaches the bottom edge and the body is about 1.5 cm image-right of center. I’ll advance a few centimetres toward the pen while adding a small arm-right correction, remaining high enough to avoid another table-level stall."})
tool
executing move_to over 2 steps (0.2s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe free-space correction improved the pen’s lateral alignment from about 15 px to about 12 px right of center, and the arm is tracking again. I’ll advance another small amount toward the pen’s body while maintaining the corrected diagonal orientation.
move_to
right_x0.3900right_y0.2750right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8082, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.532, 1.5929, 1.018, -0.1581, -0.1928, -0.1692, 0.999] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1749 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3646 right_y=0.258 right_z=0.1303 right_yaw=0.7759 right_pitch=-0.1545 right_roll=-0.0005 right_gripper=0.999 state[joint_eff]: [-0.3077, -1.1009, 7.0496, 1.6923, -0.0562, -0.0366, -0.0171, -0.0479, -5.2718, 6.188, 1.1306, -0.1001, 0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.275,"right_z":0.1},"note":"The free-space correction improved the pen’s lateral alignment from about 15 px to about 12 px right of center, and the arm is tracking again. I’ll advance another small amount toward the pen’s body while maintaining the corrected diagonal orientation."})
tool
executing move_to over 2 steps (0.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe pen is now longitudinally under the gripper but remains about 12 px to the right of the jaw centerline. I’ll make a pure arm-right lateral correction in free space to center it before descending.
move_to
right_x0.3800right_y0.2450right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7069, 1.0073, -0.0978, -0.1921, -0.1692, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0876 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.999 state[joint_eff]: [-0.253, -1.6889, 7.0222, 1.6874, -0.0464, -0.0659, -0.0171, -0.0342, -11.1932, 9.0872, 1.4628, -0.1245, -0.0366, -0.0171] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.245,"right_z":0.09},"note":"The pen is now longitudinally under the gripper but remains about 12 px to the right of the jaw centerline. I’ll make a pure arm-right lateral correction in free space to center it before descending."})
tool
executing move_to over 2 steps (0.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe requested lateral nudge did not track, but the pen is already within roughly 1 cm of the centerline and well inside the open jaw span. Rather than force the arm sideways near this configuration, I’ll descend vertically at the tracked pose for the grasp.
move_to
right_x0.3710right_y0.2610right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.0077, -0.0982, -0.1921, -0.1692, 0.999] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2168 right_roll=0.0148 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.6972, -0.0611, -0.0122, -0.0073, -0.0342, -11.0017, 8.7453, 1.5311, -0.0952, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.371,"right_y":0.261,"right_z":0.005},"note":"The requested lateral nudge did not track, but the pen is already within roughly 1 cm of the centerline and well inside the open jaw span. Rather than force the arm sideways near this configuration, I’ll descend vertically at the tracked pose for the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe vertical descent also stalled completely at this pose, so the arm is in a local IK lock rather than contacting the pen. I’ll retreat upward and inward again, explicitly restoring neutral pitch and roll, then re-approach from a reachable configuration.
move_to
right_x0.3300right_y0.2400right_z0.1800right_yaw0.7800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8135, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.008, -0.099, -0.1921, -0.1692, 0.9989] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.021 left_roll=0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.9989 state[joint_eff]: [-0.3624, -1.2376, 7.0496, 1.7216, -0.0415, -0.0513, -0.0122, -0.1026, -11.0974, 8.6906, 1.5214, -0.1148, -0.0024, -0.0171] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.24,"right_z":0.18,"right_yaw":0.78,"right_pitch":0.0,"right_roll":0.0},"note":"The vertical descent also stalled completely at this pose, so the arm is in a local IK lock rather than contacting the pen. I’ll retreat upward and inward again, explicitly restoring neutral pitch and roll, then re-approach from a reachable configuration."})
tool
executing move_to over 8 steps (0.8s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe recovery succeeded and restored near-neutral tool tilt. The pen remains aligned just right of the jaw column, so I’ll now make one clean diagonal approach to the same grasp point at 2.5 cm height, explicitly holding the neutral orientation to avoid the prior lock.
move_to
right_x0.3700right_y0.2600right_z0.0250right_yaw0.7800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8185, 0.6022, -0.3809, -0.0219, -0.025, 0.9995, 0.5293, 1.364, 0.8707, -0.1013, -0.2165, -0.165, 0.9989] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0252 left_roll=0.0004 left_gripper=0.9995 right_x=0.3339 right_y=0.2434 right_z=0.1715 right_yaw=0.7879 right_pitch=-0.0168 right_roll=-0.0175 right_gripper=0.9989 state[joint_eff]: [-0.0752, -1.2239, 7.241, 1.7949, -0.0855, -0.0464, -0.0122, -0.8957, -6.7897, 6.7214, 1.6044, -0.1636, 0.1978, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.26,"right_z":0.025,"right_yaw":0.78,"right_pitch":0.0,"right_roll":0.0},"note":"The recovery succeeded and restored near-neutral tool tilt. The pen remains aligned just right of the jaw column, so I’ll now make one clean diagonal approach to the same grasp point at 2.5 cm height, explicitly holding the neutral orientation to avoid the prior lock."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe right arm reached 1.8 cm above the table with the pen running between the fingertips and nearly centered in the jaw gap. I’ll close fully around the pen body and then verify the settled gripper width.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3817, -0.0216, -0.0254, 0.9994, 0.5163, 1.8572, 0.6952, 0.5152, -0.2234, -0.1616, 0.9989] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.171 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9994 right_x=0.362 right_y=0.2546 right_z=0.0184 right_yaw=0.7794 right_pitch=-0.0663 right_roll=0.0026 right_gripper=0.9989 state[joint_eff]: [-0.3487, -1.6068, 7.2137, 1.6874, -0.0171, -0.0513, -0.0171, -0.5949, -8.1162, 4.6154, 2.0977, -0.3101, 0.0855, -0.0073] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right arm reached 1.8 cm above the table with the pen running between the fingertips and nearly centered in the jaw gap. I’ll close fully around the pen body and then verify the settled gripper width."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe settled gripper reading is 0.011, confirming an empty close; the wrist view shows the pen directly ahead of the closed jaws, so the fingertips were short of it radially. I’ll reopen and retreat to a neutral elevated pose before retrying 2 cm farther outward.
move_to
right_x0.3400right_y0.2450right_z0.1400right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5167, 1.8721, 0.6952, 0.5339, -0.2298, -0.1658, 0.0112] state[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1711 left_yaw=0.0011 left_pitch=-0.0294 left_roll=0.0002 left_gripper=0.9994 right_x=0.3623 right_y=0.2563 right_z=0.0159 right_yaw=0.7874 right_pitch=-0.0615 right_roll=0.002 right_gripper=0.0112 state[joint_eff]: [-0.3624, -0.8547, 7.1726, 1.663, -0.0611, -0.0513, -0.0073, -0.3624, -8.4855, 5.1624, 1.4139, -0.1099, 0.022, 0.862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.245,"right_z":0.14,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The settled gripper reading is 0.011, confirming an empty close; the wrist view shows the pen directly ahead of the closed jaws, so the fingertips were short of it radially. I’ll reopen and retreat to a neutral elevated pose before retrying 2 cm farther outward."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe arm is recovered with the gripper open. Following the empty-close evidence, I’ll re-approach at a grasp point about 2 cm farther along the pen’s diagonal axis than the first attempt, while keeping the same jaw orientation.
move_to
right_x0.3780right_y0.2720right_z0.0200right_yaw0.7800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8268, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.5167, 1.4677, 0.7475, 0.1234, -0.2371, -0.1654, 0.9949] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1697 left_yaw=0.0011 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9995 right_x=0.34 right_y=0.245 right_z=0.1224 right_yaw=0.7927 right_pitch=-0.0159 right_roll=-0.0061 right_gripper=0.9949 state[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.7118, -0.0611, -0.0513, -0.0073, -0.4171, -7.6513, 8.7726, 1.6044, -0.0855, 0.0855, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.378,"right_y":0.272,"right_z":0.02,"right_yaw":0.78,"right_pitch":0.0,"right_roll":0.0},"note":"The arm is recovered with the gripper open. Following the empty-close evidence, I’ll re-approach at a grasp point about 2 cm farther along the pen’s diagonal axis than the first attempt, while keeping the same jaw orientation."})
tool
executing move_to over 7 steps (0.7s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteAt the low retry pose the pen is now clearly visible about 5 cm to the image-left of the jaws, revealing that lateral alignment—not radial distance—is the main error. I’ll retreat and shift the right arm leftward toward y=0.30 before making the next descent.
move_to
right_x0.3400right_y0.3000right_z0.1400right_yaw0.7800right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8326, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5259, 1.9099, 0.7235, 0.5228, -0.2249, -0.1551, 0.9959] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1682 left_yaw=0.0011 left_pitch=-0.04 left_roll=0.0004 left_gripper=0.9994 right_x=0.3644 right_y=0.2612 right_z=0.0073 right_yaw=0.787 right_pitch=-0.0823 right_roll=0.0131 right_gripper=0.9959 state[joint_eff]: [-0.1299, -1.812, 7.0632, 1.6825, -0.0269, -0.0366, -0.0171, 0.5949, -8.5949, 6.4068, 1.8486, -0.0562, 0.0415, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.3,"right_z":0.14,"right_yaw":0.78,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"At the low retry pose the pen is now clearly visible about 5 cm to the image-left of the jaws, revealing that lateral alignment—not radial distance—is the main error. I’ll retreat and shift the right arm leftward toward y=0.30 before making the next descent."})
tool
executing move_to over 9 steps (0.9s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteFrom the corrected elevated pose, the long pen is now centered on the jaw column; its near end sits low in the wrist image, so the fingertips are still a few centimetres short. I’ll advance along the pen axis by about 3 cm while descending to the grasp height.
move_to
right_x0.3600right_y0.3200right_z0.0150right_yaw0.7800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8333, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6693, 1.5917, 0.8482, 0.1509, -0.1234, -0.086, 0.9985] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1679 left_yaw=0.0011 left_pitch=-0.0408 left_roll=0.0004 left_gripper=0.9994 right_x=0.3373 right_y=0.2992 right_z=0.1174 right_yaw=0.8075 right_pitch=-0.0256 right_roll=-0.003 right_gripper=0.9985 state[joint_eff]: [-0.0889, -1.5111, 7.0496, 1.7411, -0.0659, -0.0855, -0.0073, 0.212, -9.0188, 8.9641, 1.6874, 0.1538, 0.1392, -0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.32,"right_z":0.015,"right_yaw":0.78,"right_pitch":0.0,"right_roll":0.0},"note":"From the corrected elevated pose, the long pen is now centered on the jaw column; its near end sits low in the wrist image, so the fingertips are still a few centimetres short. I’ll advance along the pen axis by about 3 cm while descending to the grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteAt 7 mm height the pen body is precisely centered between the fingertips and runs straight along the jaw column. I’ll close now for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8391, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6769, 1.9636, 0.7864, 0.5404, -0.1013, -0.0734, 0.9984] state[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1664 left_yaw=0.0011 left_pitch=-0.0465 left_roll=0.0005 left_gripper=0.9994 right_x=0.3515 right_y=0.31 right_z=0.0066 right_yaw=0.79 right_pitch=-0.0712 right_roll=0.0002 right_gripper=0.9984 state[joint_eff]: [-0.1162, -1.894, 7.2274, 1.6679, -0.0659, -0.0366, -0.0073, 0.7043, -8.759, 6.147, 1.8974, 0.0024, 0.1343, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At 7 mm height the pen body is precisely centered between the fingertips and runs straight along the jaw column. I’ll close now for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe gripper settled at 0.046, above the empty threshold and consistent with a roughly 4 mm pen body. I’ll lift and retreat slightly to confirm the pen moves with the right gripper.
move_to
right_x0.3400right_y0.3000right_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8398, 0.6022, -0.382, -0.0216, -0.0254, 0.9994, 0.6796, 1.9797, 0.7853, 0.5655, -0.1024, -0.0784, 0.0461] state[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0477 left_roll=0.0004 left_gripper=0.9994 right_x=0.3518 right_y=0.312 right_z=0.004 right_yaw=0.7962 right_pitch=-0.0631 right_roll=-0.0041 right_gripper=0.0461 state[joint_eff]: [-0.3624, -1.5658, 7.0632, 1.707, -0.0611, -0.0806, -0.0073, -0.3761, -10.4, 4.9026, 1.4383, -0.0415, 0.022, 1.1648] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.3,"right_z":0.1},"note":"The gripper settled at 0.046, above the empty threshold and consistent with a roughly 4 mm pen body. I’ll lift and retreat slightly to confirm the pen moves with the right gripper."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe right gripper remains at a stable 0.049 after lifting, and no pen is left visible outside the arm’s occlusion, so the grasp appears secure. I’ll park the held pen high on the right side to clear the center for the left arm to collect the cap.
move_to
right_x0.3000right_y0.0200right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8436, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.6758, 1.6844, 0.8227, 0.2188, -0.1081, -0.083, 0.0487] state[eef_state]: left_x=0.2973 left_y=0.0015 left_z=0.1651 left_yaw=0.0011 left_pitch=-0.0511 left_roll=0.0006 left_gripper=0.9995 right_x=0.3383 right_y=0.3002 right_z=0.0803 right_yaw=0.7998 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.0487 state[joint_eff]: [-0.0479, -1.894, 7.0222, 1.6679, -0.0464, -0.0513, -0.0073, -0.5128, -9.6752, 8.5538, 1.7509, -0.0513, -0.0513, 1.0281] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.02,"right_z":0.2,"right_pitch":0.0,"right_roll":0.0},"note":"The right gripper remains at a stable 0.049 after lifting, and no pen is left visible outside the arm’s occlusion, so the grasp appears secure. I’ll park the held pen high on the right side to clear the center for the left arm to collect the cap."})
tool
executing move_to over 24 steps (2.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteWith the pen parked, the only object remaining on the table is the small black cap left of center, confirming the pen is held. I’ll bring the left gripper above the cap with its jaws perpendicular to the cap’s diagonal axis.
move_to
left_x0.4000left_y-0.2200left_z0.1500left_yaw-0.7800left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8463, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, -0.416, 1.2217, 0.9348, -0.7609, -0.8745, -0.9291, 0.0544] state[eef_state]: left_x=0.2975 left_y=0.0015 left_z=0.1644 left_yaw=0.0011 left_pitch=-0.0534 left_roll=0.0007 left_gripper=0.9995 right_x=0.3062 right_y=0.0168 right_z=0.1896 right_yaw=0.7487 right_pitch=-0.0271 right_roll=-0.0026 right_gripper=0.0544 state[joint_eff]: [-0.1026, -1.7573, 7.0496, 1.6874, -0.0806, -0.0708, -0.0122, -0.1983, -3.6171, 8.8821, 0.8962, -0.7497, -0.0122, 1.033] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.15,"left_yaw":-0.78,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"With the pen parked, the only object remaining on the table is the small black cap left of center, confirming the pen is held. I’ll bring the left gripper above the cap with its jaws perpendicular to the cap’s diagonal axis."})
tool
executing move_to over 20 steps (2.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe cap appears as the small dark mark near column 121 in the left wrist view, slightly right of center and with clear image space below it, indicating the fingertips are still a few centimetres short. I’ll advance 3 cm radially and add a small arm-right correction while staying above the table.
move_to
left_x0.4200left_y-0.2150left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3813, 1.5726, 0.9241, -0.0448, 0.2771, 0.1669, 0.9995, -0.4175, 1.2301, 0.9329, -0.7746, -0.8654, -0.9474, 0.0586] state[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.1226 left_yaw=-0.7158 left_pitch=-0.0904 left_roll=-0.0368 left_gripper=0.9995 right_x=0.3046 right_y=0.0159 right_z=0.1845 right_yaw=0.7532 right_pitch=-0.0437 right_roll=0.0012 right_gripper=0.0586 state[joint_eff]: [-0.5675, -7.4188, 9.7846, 1.9951, 0.2662, 0.1978, -0.0659, -0.0479, -4.6291, 6.8171, 1.1551, -0.5104, 0.1245, 1.0281] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.215,"left_z":0.1},"note":"The cap appears as the small dark mark near column 121 in the left wrist view, slightly right of center and with clear image space below it, indicating the fingertips are still a few centimetres short. I’ll advance 3 cm radially and add a small arm-right correction while staying above the table."})
tool
executing move_to over 3 steps (0.3s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe suspected wrist-camera mark did not move consistently with the advance, so it was likely tabletop texture and the cap is hidden by the gripper. I’ll retreat the left arm to expose the cap in the overhead view and re-localize it rather than closing blindly.
move_to
left_x0.3300left_y-0.1000left_z0.1800left_yaw-0.7800left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3809, 1.7172, 0.9661, -0.0044, 0.284, 0.1734, 0.9995, -0.4175, 1.2304, 0.9329, -0.7773, -0.865, -0.9482, 0.0586] state[eef_state]: left_x=0.4035 left_y=-0.2111 left_z=0.0857 left_yaw=-0.7271 left_pitch=-0.1474 left_roll=-0.057 left_gripper=0.9995 right_x=0.3042 right_y=0.0161 right_z=0.1841 right_yaw=0.7535 right_pitch=-0.0452 right_roll=0.0033 right_gripper=0.0586 state[joint_eff]: [0.3077, -9.7026, 9.4838, 1.9609, 0.1099, -0.105, -0.0171, -0.1573, -3.4667, 6.4068, 1.0476, -0.4567, -0.0415, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.1,"left_z":0.18,"left_yaw":-0.78,"left_pitch":0.0,"left_roll":0.0},"note":"The suspected wrist-camera mark did not move consistently with the advance, so it was likely tabletop texture and the cap is hidden by the gripper. I’ll retreat the left arm to expose the cap in the overhead view and re-localize it rather than closing blindly."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe retreat did not track—the left arm stayed at x=0.408, z=0.074—so it is in the same low-pose IK lock seen earlier. I’ll recover by pulling substantially inward while raising, then inspect the now-unoccluded table.
move_to
left_x0.3000left_y-0.1000left_z0.2000left_yaw-0.7800left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3794, 1.7531, 0.9707, 0.0116, 0.2695, 0.1658, 0.9995, -0.4175, 1.2308, 0.9329, -0.7773, -0.8646, -0.9508, 0.0586] state[eef_state]: left_x=0.4079 left_y=-0.2094 left_z=0.0742 left_yaw=-0.7102 left_pitch=-0.1653 left_roll=-0.0584 left_gripper=0.9995 right_x=0.3042 right_y=0.016 right_z=0.184 right_yaw=0.7548 right_pitch=-0.0456 right_roll=0.0013 right_gripper=0.0586 state[joint_eff]: [0.1026, -10.0718, 8.6496, 1.7949, 0.1587, 0.0024, -0.0171, -0.0889, -4.0684, 6.4205, 1.0574, -0.4176, 0.0171, 1.033] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.2,"left_yaw":-0.78,"left_pitch":0.0,"left_roll":0.0},"note":"The retreat did not track—the left arm stayed at x=0.408, z=0.074—so it is in the same low-pose IK lock seen earlier. I’ll recover by pulling substantially inward while raising, then inspect the now-unoccluded table."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
assistant
agent noteAfter recovery the cap is clearly visible in the left wrist view, centered at column 108 and row 162 with empty space below; the yaw alignment is also correct. I’ll advance 3 cm radially toward it while remaining elevated.
move_to
left_x0.3450left_y-0.0960left_z0.1100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0196, 1.0798, 0.7898, -0.4126, 0.5579, 0.4152, 0.9994, -0.4175, 1.2327, 0.931, -0.7773, -0.8642, -0.9516, 0.0586] state[eef_state]: left_x=0.3136 left_y=-0.0961 left_z=0.1903 left_yaw=-0.7128 left_pitch=-0.0083 left_roll=0.0038 left_gripper=0.9994 right_x=0.304 right_y=0.016 right_z=0.1828 right_yaw=0.7551 right_pitch=-0.0474 right_roll=0.0041 right_gripper=0.0586 state[joint_eff]: [0.0342, -3.1521, 9.1419, 1.5458, 0.3053, 0.1783, -0.0171, -0.0342, -3.8632, 6.5709, 1.072, -0.486, -0.0415, 1.033] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.345,"left_y":-0.096,"left_z":0.11},"note":"After recovery the cap is clearly visible in the left wrist view, centered at column 108 and row 162 with empty space below; the yaw alignment is also correct. I’ll advance 3 cm radially toward it while remaining elevated."})
tool
executing move_to over 6 steps (0.6s)
step 221
assistant
agent noteThe 1.7 cm tracked advance brought the cap lower in the image while keeping it precisely centered, but there is still clear space before the fingertips. I’ll advance another roughly 2 cm and lower toward the tabletop.
move_to
left_x0.3600left_y-0.0960left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 1.3045, 0.6151, -0.1001, 0.5537, 0.4202, 0.9994, -0.4171, 1.2339, 0.9287, -0.778, -0.8642, -0.9508, 0.0607] state[eef_state]: left_x=0.3313 left_y=-0.0953 left_z=0.1009 left_yaw=-0.7131 left_pitch=-0.077 left_roll=-0.0456 left_gripper=0.9994 right_x=0.3036 right_y=0.0163 right_z=0.1817 right_yaw=0.7553 right_pitch=-0.0491 right_roll=0.0086 right_gripper=0.0607 state[joint_eff]: [-0.1983, -4.7111, 6.0786, 1.7705, 0.2027, -0.0757, -0.0122, -0.0615, -4.1231, 6.5709, 1.0085, -0.3932, -0.0024, 1.033] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.096,"left_z":0.06},"note":"The 1.7 cm tracked advance brought the cap lower in the image while keeping it precisely centered, but there is still clear space before the fingertips. I’ll advance another roughly 2 cm and lower toward the tabletop."})
tool
executing move_to over 3 steps (0.3s)
step 224
assistant
agent noteThe cap is close to the fingertips and remains within the jaw opening, though it has drifted about 1 cm image-right as the tool tilted. I’ll make the final short outward and arm-right correction while descending to table level.
move_to
left_x0.3700left_y-0.1050left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0181, 1.5127, 0.6041, 0.0647, 0.5499, 0.4206, 0.9994, -0.4175, 1.2362, 0.9272, -0.7784, -0.8639, -0.9512, 0.0607] state[eef_state]: left_x=0.3477 left_y=-0.095 left_z=0.0544 left_yaw=-0.714 left_pitch=-0.1206 left_roll=-0.0783 left_gripper=0.9994 right_x=0.3035 right_y=0.0162 right_z=0.1805 right_yaw=0.7551 right_pitch=-0.051 right_roll=0.012 right_gripper=0.0607 state[joint_eff]: [-0.0889, -7.9521, 6.3658, 1.8046, 0.1832, -0.0513, -0.0122, -0.2393, -3.7949, 6.5436, 1.0085, -0.4518, -0.0024, 1.0281] 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":{"left_x":0.37,"left_y":-0.105,"left_z":0.005},"note":"The cap is close to the fingertips and remains within the jaw opening, though it has drifted about 1 cm image-right as the tool tilted. I’ll make the final short outward and arm-right correction while descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 228
assistant
agent noteAt table height the cap is between the open fingers but about 3 cm to the wrist image-right, too far off-center for a reliable close. I’ll test a pure 2 cm arm-right correction at the same height to bring it toward the jaw centerline.
move_to
left_y-0.1250left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0479, 1.7454, 0.6037, 0.2737, 0.5308, 0.4015, 0.9994, -0.4175, 1.2373, 0.9272, -0.7784, -0.857, -0.952, 0.0607] state[eef_state]: left_x=0.3616 left_y=-0.1033 left_z=0.0046 left_yaw=-0.7214 left_pitch=-0.1492 left_roll=-0.097 left_gripper=0.9994 right_x=0.3036 right_y=0.0153 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.057 right_roll=0.0101 right_gripper=0.0607 state[joint_eff]: [-0.5265, -5.8462, 5.2034, 0.8718, 0.2076, -0.1099, -0.0171, -0.3624, -4.1504, 6.3932, 0.9744, -0.4176, -0.0317, 1.0281] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_z":0.01},"note":"At table height the cap is between the open fingers but about 3 cm to the wrist image-right, too far off-center for a reliable close. I’ll test a pure 2 cm arm-right correction at the same height to bring it toward the jaw centerline."})
tool
executing move_to over 2 steps (0.2s)
step 230
assistant
agent noteThe pure arm-right test moved the cap farther right in the wrist image, so the camera’s effective lateral direction here is opposite the nominal convention. I’ll correct the other way by about 4 cm, using the measured shift to bring the cap near center.
move_to
left_y-0.0750left_z0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0906, 1.755, 0.6037, 0.3145, 0.4973, 0.3645, 0.9994, -0.4171, 1.2373, 0.9272, -0.778, -0.8566, -0.9516, 0.0607] state[eef_state]: left_x=0.3651 left_y=-0.1142 left_z=0.0051 left_yaw=-0.7161 left_pitch=-0.1412 left_roll=-0.0857 left_gripper=0.9994 right_x=0.3037 right_y=0.0154 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.0572 right_roll=0.0099 right_gripper=0.0607 state[joint_eff]: [-0.7043, -8.5812, 5.2171, 1.3211, 0.2222, -0.0073, -0.0171, 0.0342, -4.0137, 6.4752, 0.9939, -0.4322, -0.0562, 1.0281] 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":{"left_y":-0.075,"left_z":0.01},"note":"The pure arm-right test moved the cap farther right in the wrist image, so the camera’s effective lateral direction here is opposite the nominal convention. I’ll correct the other way by about 4 cm, using the measured shift to bring the cap near center."})
tool
executing move_to over 4 steps (0.4s)
step 234
assistant
agent noteThe cap’s orientation changed during the low lateral motions, indicating the open fingertips were already pushing it, so those image shifts were not valid camera calibration. I’ll lift straight up to clear the cap before making any further centering correction.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.049, 1.7473, 0.6037, 0.2974, 0.5011, 0.3767, 0.9993, -0.4171, 1.2373, 0.9272, -0.7776, -0.8566, -0.9512, 0.0607] state[eef_state]: left_x=0.3672 left_y=-0.0994 left_z=0.0054 left_yaw=-0.6849 left_pitch=-0.1467 left_roll=-0.0844 left_gripper=0.9993 right_x=0.3037 right_y=0.0153 right_z=0.1794 right_yaw=0.752 right_pitch=-0.0571 right_roll=0.0098 right_gripper=0.0607 state[joint_eff]: [-0.5402, -6.9675, 4.9983, 1.3455, 0.3248, 0.1783, -0.0171, -0.1983, -4.0684, 6.4205, 0.9939, -0.4127, -0.0269, 1.0281] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The cap’s orientation changed during the low lateral motions, indicating the open fingertips were already pushing it, so those image shifts were not valid camera calibration. I’ll lift straight up to clear the cap before making any further centering correction."})
tool
executing move_to over 5 steps (0.5s)
step 239
assistant
agent noteThe straight lift stalled at the low pose, so I’ll use the proven inward-and-upward recovery. This will also expose the cap’s new position after it was nudged.
move_to
left_x0.3000left_y-0.0500left_z0.1800left_yaw-0.7000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0528, 1.7473, 0.6037, 0.2924, 0.5049, 0.3798, 0.9994, -0.4175, 1.2373, 0.9272, -0.7776, -0.8562, -0.9516, 0.0607] state[eef_state]: left_x=0.3658 left_y=-0.1013 left_z=0.0049 left_yaw=-0.6937 left_pitch=-0.1489 left_roll=-0.0874 left_gripper=0.9994 right_x=0.3037 right_y=0.0152 right_z=0.1794 right_yaw=0.7517 right_pitch=-0.0574 right_roll=0.0094 right_gripper=0.0607 state[joint_eff]: [-0.3624, -6.8991, 5.1077, 1.3944, 0.3346, 0.1148, -0.0073, -0.212, -4.0547, 6.4205, 1.033, -0.4469, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.05,"left_z":0.18,"left_yaw":-0.7,"left_pitch":0.0,"left_roll":0.0},"note":"The straight lift stalled at the low pose, so I’ll use the proven inward-and-upward recovery. This will also expose the cap’s new position after it was nudged."})
tool
executing move_to over 12 steps (1.2s)
step 251
assistant
agent noteRecovered high, the cap is now clearly free on the table at wrist column 128, about 18 px right of center. I’ll make a small pure left-arm y increase at this safe height to establish the true lateral direction without touching the cap.
move_to
left_y-0.0250left_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2073, 1.084, 0.7097, -0.4339, 0.6819, 0.5602, 0.9994, -0.4171, 1.2392, 0.9264, -0.7776, -0.849, -0.9516, 0.0607] state[eef_state]: left_x=0.3057 left_y=-0.0458 left_z=0.1619 left_yaw=-0.657 left_pitch=-0.0241 left_roll=-0.0102 left_gripper=0.9994 right_x=0.3038 right_y=0.0143 right_z=0.1778 right_yaw=0.7487 right_pitch=-0.0643 right_roll=0.0093 right_gripper=0.0607 state[joint_eff]: [0.2393, -3.535, 9.6479, 1.5458, 0.3932, 0.0952, -0.0122, -0.0615, -4.2462, 6.4479, 0.9841, -0.5201, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.025,"left_z":0.16},"note":"Recovered high, the cap is now clearly free on the table at wrist column 128, about 18 px right of center. I’ll make a small pure left-arm y increase at this safe height to establish the true lateral direction without touching the cap."})
tool
executing move_to over 2 steps (0.2s)
step 253
assistant
agent noteA pure base-y move barely changed the cap’s image column, so lateral motion is rotated with the yawed tool. I’ll test a 2 cm tool-right diagonal (slightly inward and toward negative y) at the same safe height; the cap should shift left in the wrist view.
move_to
left_x0.2910left_y-0.0480left_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2733, 1.0992, 0.7303, -0.4911, 0.7177, 0.6132, 0.9994, -0.4175, 1.2392, 0.9264, -0.7776, -0.8486, -0.952, 0.0607] state[eef_state]: left_x=0.3027 left_y=-0.0321 left_z=0.161 left_yaw=-0.6456 left_pitch=-0.0358 left_roll=-0.0236 left_gripper=0.9994 right_x=0.3038 right_y=0.0142 right_z=0.1777 right_yaw=0.7483 right_pitch=-0.0646 right_roll=0.0089 right_gripper=0.0607 state[joint_eff]: [0.1299, -2.5368, 7.1453, 1.3455, 0.5641, 0.2027, -0.0171, -0.335, -4.0547, 6.4889, 1.0232, -0.4664, -0.0415, 1.0281] 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":{"left_x":0.291,"left_y":-0.048,"left_z":0.16},"note":"A pure base-y move barely changed the cap’s image column, so lateral motion is rotated with the yawed tool. I’ll test a 2 cm tool-right diagonal (slightly inward and toward negative y) at the same safe height; the cap should shift left in the wrist view."})
tool
executing move_to over 2 steps (0.2s)
step 255
assistant
agent noteThe failed diagonal did not track its inward x target, but it clarified the geometry: with yaw near -0.65, approaching the cap requires motion along the tool’s rotated forward axis, not pure base x. I’ll combine a 3 cm tool-forward advance with a tool-right centering correction, targeting x=0.33, y=-0.065.
move_to
left_x0.3300left_y-0.0650left_z0.1000left_yaw-0.7000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3111, 1.1332, 0.7303, -0.4904, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9264, -0.7773, -0.8455, -0.952, 0.0607] state[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1526 left_yaw=-0.6254 left_pitch=-0.0526 left_roll=-0.032 left_gripper=0.9993 right_x=0.3039 right_y=0.0137 right_z=0.1774 right_yaw=0.7468 right_pitch=-0.067 right_roll=0.0075 right_gripper=0.0607 state[joint_eff]: [-0.335, -4.0547, 7.0632, 1.3846, 0.5006, 0.1685, -0.0171, -0.3487, -4.0821, 6.4479, 1.072, -0.4469, -0.0757, 1.0281] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.065,"left_z":0.1,"left_yaw":-0.7,"left_pitch":0.0,"left_roll":0.0},"note":"The failed diagonal did not track its inward x target, but it clarified the geometry: with yaw near -0.65, approaching the cap requires motion along the tool’s rotated forward axis, not pure base x. I’ll combine a 3 cm tool-forward advance with a tool-right centering correction, targeting x=0.33, y=-0.065."})
tool
executing move_to over 4 steps (0.4s)
step 259
assistant
agent noteThe left arm again failed to move despite being elevated, indicating it remained in a local IK lock after the prior low contact. I’ll reset farther inward and higher before one clean approach to the cap.
move_to
left_x0.2500left_y0.0000left_z0.2200left_yaw-0.7000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3111, 1.1336, 0.73, -0.4904, 0.7227, 0.638, 0.9994, -0.4175, 1.2392, 0.9253, -0.7776, -0.8448, -0.9516, 0.0607] state[eef_state]: left_x=0.305 left_y=-0.0209 left_z=0.1523 left_yaw=-0.6257 left_pitch=-0.0528 left_roll=-0.0328 left_gripper=0.9994 right_x=0.3036 right_y=0.0138 right_z=0.1769 right_yaw=0.7463 right_pitch=-0.0682 right_roll=0.0089 right_gripper=0.0607 state[joint_eff]: [-0.253, -4.0547, 7.0632, 1.3651, 0.525, 0.2027, -0.0073, -0.2256, -4.0, 6.4889, 1.0183, -0.442, -0.0513, 1.0232] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.0,"left_z":0.22,"left_yaw":-0.7,"left_pitch":0.0,"left_roll":0.0},"note":"The left arm again failed to move despite being elevated, indicating it remained in a local IK lock after the prior low contact. I’ll reset farther inward and higher before one clean approach to the cap."})
tool
executing move_to over 5 steps (0.5s)
step 264
assistant
agent noteThe deeper retreat also produced no joint motion, so the yawed configuration itself may be trapping the solver. I’ll first reset the left tool to neutral yaw at a nearby high pose, then reorient only after the arm is mobile.
move_to
left_x0.3000left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3111, 1.1336, 0.7303, -0.4908, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9253, -0.7776, -0.8421, -0.9516, 0.0607] state[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1524 left_yaw=-0.6255 left_pitch=-0.0531 left_roll=-0.0326 left_gripper=0.9993 right_x=0.3036 right_y=0.0134 right_z=0.1766 right_yaw=0.745 right_pitch=-0.0704 right_roll=0.008 right_gripper=0.0607 state[joint_eff]: [-0.3761, -4.0547, 7.4051, 1.3944, 0.5348, 0.1587, -0.0171, -0.3761, -4.0684, 6.4068, 1.033, -0.4908, -0.0415, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"The deeper retreat also produced no joint motion, so the yawed configuration itself may be trapping the solver. I’ll first reset the left tool to neutral yaw at a nearby high pose, then reorient only after the arm is mobile."})
tool
executing move_to over 4 steps (0.4s)
step 268
assistant
agent noteResetting toward neutral yaw restored motion. With the cap at column 143 and below the wrist center, I’ll now advance along the current tool-forward direction while shifting tool-right to center it, postponing the final axis rotation until the position is stable.
move_to
left_x0.3150left_y-0.0650left_z0.1200left_yaw-0.3000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0109, 0.8272, 0.672, -0.4545, 0.2398, 0.1612, 0.9993, -0.4175, 1.2427, 0.9215, -0.7773, -0.8383, -0.9516, 0.0607] state[eef_state]: left_x=0.2913 left_y=-0.0352 left_z=0.1895 left_yaw=-0.2882 left_pitch=-0.0181 left_roll=0.0061 left_gripper=0.9993 right_x=0.3033 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0762 right_roll=0.0129 right_gripper=0.0607 state[joint_eff]: [-0.0479, -0.253, 9.2239, 1.8095, -0.0562, -0.0952, -0.0122, -0.212, -4.0957, 6.9675, 1.0281, -0.4957, -0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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
move_to({"targets":{"left_x":0.315,"left_y":-0.065,"left_z":0.12,"left_yaw":-0.3,"left_pitch":0.0,"left_roll":0.0},"note":"Resetting toward neutral yaw restored motion. With the cap at column 143 and below the wrist center, I’ll now advance along the current tool-forward direction while shifting tool-right to center it, postponing the final axis rotation until the position is stable."})
tool
executing move_to over 5 steps (0.5s)
step 273
assistant
agent noteThe arm continued finishing the neutral reset instead of tracking the small yawed approach, and is now near its home orientation. I’ll exploit this stable configuration and move directly above the cap’s known table region with neutral yaw before rotating for the grasp.
move_to
left_x0.3500left_y-0.1000left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0288, 0.8349, 0.6727, -0.4564, 0.0292, -0.0261, 0.9993, -0.4175, 1.2427, 0.9215, -0.7776, -0.8383, -0.9516, 0.0607] state[eef_state]: left_x=0.2952 left_y=-0.0101 left_z=0.1845 left_yaw=-0.0503 left_pitch=-0.0465 left_roll=-0.0297 left_gripper=0.9993 right_x=0.3032 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0764 right_roll=0.0133 right_gripper=0.0607 state[joint_eff]: [-0.1846, -1.935, 8.759, 1.8437, -0.0952, -0.0904, -0.0122, -0.2393, -4.0957, 6.4205, 1.0134, -0.4615, -0.0122, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.1,"left_z":0.12,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"The arm continued finishing the neutral reset instead of tracking the small yawed approach, and is now near its home orientation. I’ll exploit this stable configuration and move directly above the cap’s known table region with neutral yaw before rotating for the grasp."})
tool
executing move_to over 8 steps (0.8s)
step 281
assistant
agent noteUsing the verified base geometry and overhead position, the cap’s world coordinate is near left-arm y=-0.20; the wrist’s large image-right offset is consistent with our current y=-0.074 being too far left. I’ll translate above that world coordinate at safe height with neutral yaw, then inspect before descending.
move_to
left_x0.3900left_y-0.2000left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3447, 1.15, 0.6033, -0.2096, -0.2073, -0.194, 0.9993, -0.4175, 1.2438, 0.9211, -0.7792, -0.8364, -0.952, 0.0607] state[eef_state]: left_x=0.3236 left_y=-0.0737 left_z=0.1103 left_yaw=-0.0731 left_pitch=-0.1644 left_roll=0.0056 left_gripper=0.9993 right_x=0.303 right_y=0.013 right_z=0.1732 right_yaw=0.7432 right_pitch=-0.0791 right_roll=0.0151 right_gripper=0.0607 state[joint_eff]: [-0.0068, -7.3504, 5.8872, 1.4286, -0.0562, -0.188, -0.0171, -0.1436, -3.5761, 6.4068, 1.1502, -0.5153, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.2,"left_z":0.1,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"Using the verified base geometry and overhead position, the cap’s world coordinate is near left-arm y=-0.20; the wrist’s large image-right offset is consistent with our current y=-0.074 being too far left. I’ll translate above that world coordinate at safe height with neutral yaw, then inspect before descending."})
tool
executing move_to over 12 steps (1.2s)
step 293
assistant
agent noteAlthough the large command tracked only about 1 cm, that motion shifted the cap 11 px left in the wrist image, confirming decreasing left-arm y centers it at roughly 12 px/cm. I’ll request a modest 4 cm y correction at slightly higher z, which should place the cap near column 110.
move_to
left_x0.3260left_y-0.1250left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4061, 1.1641, 0.5205, -0.0505, -0.2802, -0.2337, 0.9993, -0.4171, 1.2438, 0.9211, -0.7776, -0.8307, -0.9516, 0.0641] state[eef_state]: left_x=0.3257 left_y=-0.083 left_z=0.1022 left_yaw=-0.0549 left_pitch=-0.0902 left_roll=0.0021 left_gripper=0.9993 right_x=0.3033 right_y=0.0122 right_z=0.1727 right_yaw=0.7405 right_pitch=-0.0832 right_roll=0.012 right_gripper=0.0641 state[joint_eff]: [0.0752, -4.3556, 6.5436, 1.8339, -0.1441, 0.1832, -0.0073, -0.1846, -3.9179, 6.3658, 0.9939, -0.4615, -0.0464, 0.8474] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.326,"left_y":-0.125,"left_z":0.12,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"Although the large command tracked only about 1 cm, that motion shifted the cap 11 px left in the wrist image, confirming decreasing left-arm y centers it at roughly 12 px/cm. I’ll request a modest 4 cm y correction at slightly higher z, which should place the cap near column 110."})
tool
executing move_to over 4 steps (0.4s)
step 297
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.646, 1.2572, 0.5797, -0.0372, -0.4664, -0.3763, 0.9991, -0.4171, 1.2465, 0.9207, -0.7773, -0.8253, -0.9516, 0.065] state[eef_state]: left_x=0.3209 left_y=-0.138 left_z=0.1071 left_yaw=-0.0669 left_pitch=-0.0535 left_roll=0.0049 left_gripper=0.9991 right_x=0.3034 right_y=0.0114 right_z=0.1713 right_yaw=0.7381 right_pitch=-0.0886 right_roll=0.0125 right_gripper=0.065 state[joint_eff]: [-0.0615, -3.8085, 6.8308, 1.6777, -0.2271, -0.0122, -0.0317, -0.1299, -4.1504, 6.5846, 1.0427, -0.4713, -0.0269, 0.8962] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.06 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6014, -0.3809, -0.0216, -0.0246, 0.9995, -0.0162, 0.7906, 0.6079, -0.3794, -0.0238, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2951 right_y=0.003 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4838, 10.4957, 1.7509, -0.022, 0.0562, -0.0659, -0.8137, -1.1966, 9.853, 1.8877, -0.0171, -0.0464, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4855745f7be101b07653e74e92295742bb19ec43a691a4244699c4dbeb5c3d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75202ee2642d258c3a47d614312f5502fba5e613c14b33e250c2580fd45f8db6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff593d3d5ed0b395b76bfb3795d2a5d90f1f96869360f2af89f26abd0ace8a7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.863 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_00bbfec0d3f8a6aa016ab44d58f50487d0844a2424376fddd5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_00bbfec0d3f8a6aa016ab44d5eb80487d0b68ede5178260682",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1lagc71QaAVVfG5HIEG1Mto-29oEV8pMxtMdJgR20_uDr6euN1st25ViOYNrkutEN3uHNpV0Om2Z-wUR28parESfkCrz1Jqcs3pLc2OyJ1l2JhtuVSZ3YxDKBN5y364z2iTdTebF1wv7yn9C57Pk90KTVAN6tOeTvH7dvitrMj69yt8-KPbzQjtBbCbUZ32yhB3CY7tKgg75nVYh1eQYt1L6Pwa76-aWvSKWhcS8u4n9fJG4ITJj1ME2eK6msBydLty6BOPH3cV2rFH-4Isu4iO_DWYFAR6Xz9I9dHclWw4UqYm8mQ_-dgAVZC8WGyyBbCPeWN0fJACzahRDfqsARmWCpvgShOE8j_5t4qgdHsblq3kfCxynpzEvhmkuDRqM_GENOx_p8caYuK4-olk4XVOi1m4Z3aYfU_y9WX8oynu8BKloBiyTXX-Hmq1AHxNXU7cjFUOnBDS4VONv5O95Od7ULbhN92moAm_M9iLv8RMH9X2DbVaxdUl3muG4Og16SDJTVr7wU6UTfhKUG7SGQ9tGlAeDFQBFlEOi9pqV2zYECR6O_PHLE2Bod5TOXUcy-e1AY0HCnnqpO2TDrQkTSjx0l3MKox62BD5kCZwGMx-FCJ_Dg52cDnnS8YSTGkX_TL7ttSEDeXXI8WtlcxtVGE8uMDJYc3TizpOPSSYp50uX4ZYH9jQ0f5Z_GQXqFUwHz94Y1bnYqe1AAhBPq3maF9l3HsSSyNqYe3HDR6qW4ss6WR2109Q8DDvO-3UbEEnvlbMg55EDiz--I-bIF61LxGJ9qL0DTXoKhX6x9x1xvM4IIC_9JTggsmK2TWLyIZUKH0A6xVgDAfo0MmxtQwL-KEpFJlS5Bmjt30-CmGUesqBjahQJESEUZnr2EmYEECCJKvmNTgx9MWFTPzteDbX5PqvUFMfSdTJj8ggq0fBdLVzmKPigvC_8XRpcgjt77r3xBzWWl3CeVKHEtA-G51wULVS4Z2RHcQWdDVSgHQOxERqaB7lf-arBLP7HFduS_frsXCaB2iuCUxth0Y8HTSBW4Y-FJzMOtY1hIsk9P2Y8APHTqsqnLoqk7kFj8ZYvXSX2DrI-TqFT_egaNZSZwa0OHonEuxbjQls0sgHBxXKJhfGmFokOjgk2I24b3pJ_nx8AGcpI1lB5mi5RwGtdO1stBNJmZqaBzCMfMK6vIYWPcKPNS7cV3cHw2v9_Gz95g8w7ewv1GfC02eAbJYsTexMCUzlu9_HvXzpCkrokib7ZluBoHty3_MQhQlqA4qurAhn1wLhBq2qivJYWmS4HBwbWIumw==",
  "id": "rs_00bbfec0d3f8a6aa016ab44d63d0f887d0bf4927f9382ec2e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.33,\"right_z\":0.16,\"right_yaw\":0.78,\"right_gripper\":1.0},\"note\":\"The long pen is near the middle of the table, angled diagonally from far-left to near-right, while the small cap lies separately to its left. I’ll bring the right gripper above the pen’s midpoint with its jaws rotated perpendicular to the pen for a stable body grasp.\"}",
  "call_id": "call_rKXsKH10e2cezEYUKkYs157o",
  "id": "fc_00bbfec0d3f8a6aa016ab44d64054487d0a2b5898303f82686",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rKXsKH10e2cezEYUKkYs157o",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6025, -0.3817, -0.0216, -0.025, 0.9995, 0.6083, 1.8114, 1.2274, -0.0593, -0.1444, -0.1066, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3189 right_z=0.1366 right_yaw=0.7756 right_pitch=-0.0737 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.7265, -0.0024, -0.0269, -0.0171, -0.335, -9.5521, 9.7846, 1.9853, -0.1099, 0.1197, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249429371c4bad8de95471de4b22edb8cce821798db8e78617d4959da1afc963",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325f366aed41d18dad19d42c6d25afa87baf92305174b7a556ad37ae79b6c525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7789c3d114be11324a077d1504d9602a28803be21ebd7135f247010a7dc9bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.237 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6014, -0.3809, -0.0216, -0.0246, 0.9995, -0.0162, 0.7906, 0.6079, -0.3794, -0.0238, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2951 right_y=0.003 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4838, 10.4957, 1.7509, -0.022, 0.0562, -0.0659, -0.8137, -1.1966, 9.853, 1.8877, -0.0171, -0.0464, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6025, -0.3817, -0.0216, -0.025, 0.9995, 0.6083, 1.8114, 1.2274, -0.0593, -0.1444, -0.1066, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3189 right_z=0.1366 right_yaw=0.7756 right_pitch=-0.0737 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.7265, -0.0024, -0.0269, -0.0171, -0.335, -9.5521, 9.7846, 1.9853, -0.1099, 0.1197, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249429371c4bad8de95471de4b22edb8cce821798db8e78617d4959da1afc963",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325f366aed41d18dad19d42c6d25afa87baf92305174b7a556ad37ae79b6c525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7789c3d114be11324a077d1504d9602a28803be21ebd7135f247010a7dc9bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1t8yIyvOaax1K1P4exCbX9HtOFiJscKZvEgc61lI56FVTAD7OfcdlDH9H1x63fMOx0VdXLgqo2vnBq0VT1DdyeUa8OwC66rxtl6-5fK2psMqKH2JN-c5U3QlTc0DKXwnWS2tx2kmsGS187_FjOh3t44i2LGj7MMKCtJssbCAHF4YJ_m8LXt2ddPuemlbIsEp7a1-4en8nHjLrqxARRZriG5yFqAF7JLWZ452qdsmoS61Aba0pz3FYJe6oDCNmivcHhChxLZ1nZO21OwvJcnwyprUzvucH2Fm8mQJ6vXtpETwFNPqvLWpVlxrs6NdR234iOINjF4WE8xgUwRGt3frALnV2Y-NNC9ZrJ0zlgyofTSBoDVcZOUSoFoHVDUgN2EkZseBqG97CEl-V3plucHj0C7gibv6IO1Qy_KkvTVml7vNB4EYiCKts2pUuvUkZrUnzmYG6d-RTDSwDrjHqf4BEAH39wm7_dEDqjW5uwUt2etMRDWxGWD1ZKU_LA9sKR2d-x0Nk8KP5g-38qcDGISxWifB09ZQndELb0_AK21g1fNIBAyfJtTi45R3LxJ4A2-HSnxDs-3Nu_ykwke8yhcoX01nRcjNHsjRi-o5IdzLAqSzosUqdVNQt8y5uichHS5Fv7Ri3MU7HuDvlWWGOIx43rtxoB7AiTX8hODSM3SFevenHMmmZGDVSG5D8FUkYO4aV0N8yUHaUKzsiwsWIm2alSkRnEj8EEoKcYJ6ld0yvQgpWPZZoIlA004RqBto4Bzkm9PlVIIvt7O13JKFOXUo785VLvTpy5_qmRB8y1jqsEnz0q0OGHf6u8B7WWGbVbI2NhqH9OohNmRMt--pmIryDB7ksj3hk7DndQ1kcRCul1peosq-NUJ3NW0DHZGQMfgz_-DkbbxPEpCYpo0Hg-lICGgTOLpvDIHxNjfgNJX-kG9s2JqYgwEv6fIWVctB6oSAREozTdCJ6BzIpzD1VndZkFzwA8W2n7q30o3H1JyuTm7A6dXyXpejcnEcWvVB8LFH2YM0SP7fSW4O1srkCTe-dn6_N4Kb6pbvBnXbuS7juDKm-t--aUUALHYV8weLR8_CRZLs17I_DEDHwR9SNl_nnct2-kiUmwZ8iP-zV4kPuWUd5TFvdAs5yI5JAD8LWGO3cgIsBDFbgtaZrmZlvnB3rwrQyRKpnyPe5Wu-ZgGseSui249ZxnGzbpcc0r7rtbB45k8vZeb6-TJaT04wvBWPz-bWyR8hn6lgjxZ0Ot29484p7lo48wrz597BfFHdng6h4eJcdsuTB4xKOd0AN98TaRuQtqUgaMy_VfEu6Up96630bendo7jE_79aEF3emfYauxNjXQg9aZGVLo_Vg0t-69PxLfSDRIh0D75CAnYWTIbg9nHlj-N3J734g7OUBoApf5-THXkRn-Lp61gCgpjlmUH_a689o-YRyBgsLIp1asveevs5Td7_tLKAWPnY8RFUpMNdF6AXpwFsOGgGoT51DJupnJgKY1LYLn0b4DYTf8ClPHNjr5OKoYjGY-Vicp65XAV-W9Rfe5uBoN_ppwNZm0K3zCmxT1MbfGuZLYEOJosvBUpLBLCGMEcjYljv2JcdFnLS4Ch4oUljN4HbIw_k5-UrSc4M32Y79rSlWF9_A1_gB-_K531Ykc2CV1uMcdxDLOCSeV4O8vsv8wgVTMYSXZhqUHmgT7OJfaWLaDJX6ayIOtxqbmE6xWWJE7j-hsoFlCTDKCJI6n8INO3_MVspZ9-l7wI70lrCRplQA4siPVub8Qdas5dU1Ex-gc5sxtY-xgMMncCVgPnEuaZuap9pebRUfUZbXMGikhfOHrQHOBy4r0skO9ViSgYCjcouOmSJMj1agkqsqaLoRWsOXiFMBFS9fmeTYdaN7b4vncBZNrci-Xl2Z-waIQ1VKDOCm94rRL2PQIOMH8QHzoe1EjBQSxnxY4OvufG0ZdLves-mC6xKikn_SVy8voWrmqyhOMqaxxvfMXZQ8JkozhVSK64Zs5fOIF5iT1Cm-iuMOE9DtTpBdI5cbmDt9NtYtXoR1M89qmBLNkS1k8_wKaPVsgwsO1TCm62STf533g0qObtuTZdANCje6IGE1Vzg7d_UNXWTHiWaLKHjSuoZ96Pb3LlWXozvXEGIkYAGNAes-WvVZcOf97HtP-oBIE3tm_8qoL5eu0T1yaTJqjexDzAp1X8-irKt6ELojI9mBQEUXXMvxRQDJCWBwyYQND6Du7DIHy137xdSiSOunfYYrVyx5PVJqYwx2O8NvdVYbuPxUapt0NTanUGk20xlgcFBNYRG7nvyGiXYf5GGEoyfgJNchi-wYgJAMQsvYl6UsEFVKp5-Jkx0MDSN53NDYPwjRhgfKP1Pierhcj46mI5Ou7BpvQ2UxD8A2DJcMFvWqtOBhE2yJIyupa6Ybq3moLpVPir_oqt_bFGNY9K0Yis_OCNTcai2l6Uz3gp4bc7dj-jlAiMUAoGngoPv0f0lPIDqHeyzL8UUSyTqkQDk5XoM5ZoaNJxjhUmujXXt0PrODf80Y_WWPAonzq67uKlHwNJyqQsEUv_06zs5CzVpkKUnrWfocmvegjVz7GEdV8Go9HPVpdGs1oqQeNr2jopviReukmgxU8G-YlZ4msFxl4eSUQKb1laD9daariZqeU-hPC_1FzeQu9F1V09HudeD3kN74LB_LH0_VDgOwkJXyClMcmxNBcodJLzX4HKV9U-PsKnwuK8EnydsbB2dwjKOBtvUhpQuDBOhRFf6cbBuqkLlctzZvDVkmQH1ekpwpbkDgZ3tVRxP--h8uONx4HI4n_JV2Xe830lq6kOnT-fgyVlz20pPzMdDqdq_xT6WqHl-9VB9V6cOTiT4N9te_W-t-G17oHEVIPnrfMi-j1K91XMnHzb9A7kYKytNQPD7bnUC31X9Qpb0nvYHXw6I7pKRnyJJeNN07WPhZvTcA9jjLKqHyjeasr2NhNrT8tWV0Et_VA1nTRYfGE1ZxS4xJafAphH5V4Hurj2Yo2vOmSEYyV48TVz3wOK5RrssCG0g8A25a1RITmEETAidEbJ3P2K1BmjxOphuU4YwklU8apuRVZpdhK5SH6QJJaSIoD-aIxCfsFn6_EaWwjyCVjnk_SOWXqwG3He3uyPpsfha4YHQ6jJrXn_aeYTMWQVgijfo_MrmEDzfbwxrQnWQRQPlvczzNDXEBW6EAnyQBzRUtOVZ5dUH1r0IiRXC5ZwpU1knbCeXZ9VJAD740-64EOsjwX3Jnd4AkdxN3cj5FPYgneJ1a3Npg3IjOMc4HzYg==",
  "id": "rs_00bbfec0d3f8a6aa016ab44d68b56487d0b32163c23f291671",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.308,\"right_z\":0.005},\"note\":\"In the right wrist view the pen body is at the bottom edge, indicating it is at the fingertips, but it is about 2 cm to the image-right of the jaw centerline. I’ll make a small tool-right correction and descend to table level while keeping the jaws open.\"}",
  "call_id": "call_nUaIWRrjT60J6XzjoPM40UQV",
  "id": "fc_00bbfec0d3f8a6aa016ab44d6ca54087d0b6c349f1d86908ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nUaIWRrjT60J6XzjoPM40UQV",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5743, 2.0796, 1.0355, 0.3595, -0.1635, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4132 right_y=0.3059 right_z=0.0066 right_yaw=0.7704 right_pitch=-0.1118 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4701, 7.2547, 1.7167, -0.0366, -0.0708, -0.0171, -0.7726, -9.812, 5.6, 1.1746, -0.3199, 0.5153, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f106770b226dcf335e5c9169cfbaaec1791c17493b6db0dc4f2d1c5f80eb9d74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c42fcffb9c13208ea38edfdbd1c244629c03780f9d31b1b6627a11087fc2a99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0101f19b46c29e7f394cd939b530e554ca2ebe4d19078eec8cabfc3e1e63521",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.351 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6025, -0.3817, -0.0216, -0.025, 0.9995, 0.6083, 1.8114, 1.2274, -0.0593, -0.1444, -0.1066, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3189 right_z=0.1366 right_yaw=0.7756 right_pitch=-0.0737 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.7265, -0.0024, -0.0269, -0.0171, -0.335, -9.5521, 9.7846, 1.9853, -0.1099, 0.1197, -0.1099]",
      "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]: [-0.02, 0.8001, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5743, 2.0796, 1.0355, 0.3595, -0.1635, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4132 right_y=0.3059 right_z=0.0066 right_yaw=0.7704 right_pitch=-0.1118 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4701, 7.2547, 1.7167, -0.0366, -0.0708, -0.0171, -0.7726, -9.812, 5.6, 1.1746, -0.3199, 0.5153, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f106770b226dcf335e5c9169cfbaaec1791c17493b6db0dc4f2d1c5f80eb9d74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c42fcffb9c13208ea38edfdbd1c244629c03780f9d31b1b6627a11087fc2a99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0101f19b46c29e7f394cd939b530e554ca2ebe4d19078eec8cabfc3e1e63521",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1z1zgA2gOVwbJv7hdw1ByTbX6J6zf51KXJPYPMu6B6GTPyKm8dn3bds8yI1AfT2z2wy17pSSyuHQKNv0kV5hyXW9D89L-MiiJmWQxsNgee_n9-2Ko2umOK5ZMtOuRg-CwcClQWR4QSRzx4NJ4tshjVbrIhr-Pk0zrZh8Nln3jkbRTTgjLoWRF9EkE3WxicklayMP_4OyKS5Hh8-YCN3K-2Y0RiKrglqIuUfF-KGFVVBYL5BwnCGKumrZtEjFH5z0TYIEp-Zl5Ojbv_JSpyVmb6pwBymjkmbH0bZfDnGfvcdz0XfYYhB03j5ZMTD5eyrwzO1zRxU9FunIosEQdOdgvlK0-zWvF5e4DZz_St9XBbsI9dqfBJZHZ4DkB2ZKeeo7_AFyYp5w-X4C5PO5bJmVYX1e3MEhzR1DPegoa-bBDd1HiqMHcUPd9Omhfh7PdW3jgGs4ckeOXdGqRyIg4mL6R-c_v7huiFPQ4u2wc49QUMprzti5yv4BdK5u21dfjvD8XH2dEdHyR27l9qYcahmJGAIGccnFp67ORfR--p880SlcjXwPI98BNeE6Fo3sk1ZcIwlCIK38aFJKMUY8dLXKhMSoD6RBeX7vOJiNVwRYJ-w4v-NFXFJA-vh2vWgHkfVBgILmxT7d8aq8ZF_YckXi6MHEAMeuv4LdTXtfLEV0Rjs90uXkMEhwqk2zrXkTrWcWA65G-qlFos6nEO24Qzrb4awtsy56j_IkkK5Xhz7ZPseTMJhhFSTI37BhWrQR0YUP0geUc4nHHOBdzY-C3DjyptkQj7pwgmxuYlUFnWUxBsGltdEPXrnTW7TDZGrWute1yJbuFOp8SG4DevbMtxgWTRSO3QyK3-RfCkVM8UmnA5egplXIUWw92thHnHRsvO1ftymXK9XTd3nRj5kNpijClUTTaY9r_BE-O-HqwMwRIui54PUgnvo5iG1Kry-PNyg8h0-bM3lz_M_jD8n-Lzatd91lBFu5eQYQwOEcLfeEkXQJVadY8QhlhaytYXpFpoXqGiMB0Zn0264TAISMoKVn9vh9CU-LzHEZWI-8A5TxmspLtBzfR-fh3QA3D0WE1ITur7b8HKbNe-aoPyLHUg3CpBgr1WlCgQJuKbqx3HhlRAdAhNAHDR5xV4lEgApF5GiOqA9psvXMQnF9lpjtaslyk_59RAMbokDSBZToDvYML1ugLSplLPB3jlF8ejhMdenBp098-7gVGPr3vXwwUop30fIU37I3BZQH0iJEfb04UzQKb3bVBJlq8XhYMXvSPA-KLtxETXDPsgN62MkWq6WTW3v1iO71mnXm7_QpUv9TJ5GaRddf-sUTJEogAOSl88nQik1OiemkSMghy8W51AbzhYm-iG1R125IRfNv4XT060FIfailTqOd6aTNVSzvdXKGVTREj6Id6ce6n9TBn2Ts9_zfPvL62FbJMjHdbq9M0itZGOJ267frepcaB48oxBvVRDlKKxhXWkrPRL267Di6r35nv1k7yGpE-47NzIWyiPHQ33h54CdCx_YgLxKS1Xxyo9E8M2wXSeWWdFDMnEiTCUWLXzClTDsEJQEQ0kgnmQ74KESNWdpW1PwQndlhhaLnkywQ4Zsmkh5k_J5dSsK4gw2BMwHqP2wtdpwJbV3IKcA5YISBACZJlU73pzIxtENAoZrgvNmcjQKI1b4ikTuxTt_G0RxM5VaK3Osd6CHb68khkK7IrGdrU6H037u8Ldq5V0xFtKrbIw4s9cJkjXp6XKmGjeeEO15_IlSc-zXMtfeS52tLZGsKHRH_-dYcPsFUw3P1U59E0DPqCzndHW6HF0zbsx-WqKOu9_lqmbCUEdDo4D57PfKnRDbUbNdTIIRqNCVNsImaOVsyefSsPpb9MTgsAEOIBCg03AgEFE0ZQ4ybfJoY7QxwKpDjigfdrfJfjeKJ_p707AAv4zXkQTC_YfNjV7OLDeXNHLQhKo2ViQjRAkvIIYrO20S4ZlJnMK4ls_zax60CRaPTnoGgqFaSsFwlB_GWyvZEXK0QjgeCwDWIHA9SPRVymEfkRtOjVR59noJO5BodHf2Qy2KB3YPXWqEjhsKTmHm_MMFP68GlffdKM55xATbYNabrpTzyKjitpohyS9i7C7Q7_w3aDY10hVHroKwgFAmIFE1fQSZst_dgS4v1aLLy04glDeZo6gfY9nEypp5zBwVsbotPmlXUGMWcYqwTpTqmWHahUg0mUjwtDVcO64voEy2zYg1mKxAg5ry0WWL7PA7PBbyLVCYuQ6wHH-RYVycYKIJFFP6wdQ7hVXxfa0gajx-4O5ei550aFCEMsWGdtgDidL7AmmakRnIuslpn5qfs93WEFP7nbG4W8Gq6NhT5U_JTVHpoN3AgYuV0z9j09LVU9kbp42JsnY6PtmqHrE8O4MSLTxxaPyR01qjOZpzIHsZ_Zmcb3pbVEK8NcOHl9y7FNr_2DnclERlYwJ1enwS3B62isklfbc5bBlzlXkVvi_-zWQl22mZxRCS-BV4b97QlSGC9W8X9nYKRewi2Xxe5bRGufNanw6GIPkv0HXST4s0aCYI-q33JfHTG6WnZ8aWFAR06kqPj88gkVSnDWXWS_jT7NEIQBqz-5tNFXUTa0hkaBs3rLPjfAzEj7qQAGMORzG3cG1ntIZu0dOpRUr_6YfMyuue-VHVUtjqO4gKzDil-ao1N1EeLosevo19O_Ye3brU9HAjvOmbtZEesr5FyTg-jdOQFsHtshEVuryLGAhZ8G5FUSsMWEqcNUN2KsJvFTYMo7hDmkZSOcSegDrXosxDcBzmMNjAD0=",
  "id": "rs_00bbfec0d3f8a6aa016ab44d6fb4bc87d0919a9d889d9898fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.324,\"right_z\":0.02},\"note\":\"At table level the visible gold pen end remains roughly 3 cm to the right of the jaw column, so the previous diagonal correction did not improve centering. I’ll raise slightly and test a small correction toward the arm’s left, isolating the lateral direction before attempting the close.\"}",
  "call_id": "call_y8X2nNjHb3cSPUIRH0GAMCN1",
  "id": "fc_00bbfec0d3f8a6aa016ab44d7318c487d08227028a15ba6600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y8X2nNjHb3cSPUIRH0GAMCN1",
  "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]: [-0.02, 0.8005, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5896, 2.0903, 1.0588, 0.3561, -0.1551, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1772 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4145 right_y=0.3144 right_z=0.009 right_yaw=0.7784 right_pitch=-0.1038 right_roll=-0.006 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.9641, 7.0496, 1.7363, -0.0415, -0.0464, -0.0171, 1.2786, -11.9726, 7.5282, 1.6239, 0.022, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1345406a75ba5bf22f1e705335a27fb2d53ce2297620e8179840448e740b95ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8000856c3a32e40ee2bd2c6d76f858f45767e93af95a192588bac90e1eb80ca4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c7a564cac71785dfe9277eb1f593c5d83d0ab6a080a6d47bbe145e0cdebf4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.128 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, 0.7925, 0.6014, -0.3809, -0.0216, -0.0246, 0.9995, -0.0162, 0.7906, 0.6079, -0.3794, -0.0238, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0014 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2951 right_y=0.003 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5675, -1.4838, 10.4957, 1.7509, -0.022, 0.0562, -0.0659, -0.8137, -1.1966, 9.853, 1.8877, -0.0171, -0.0464, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5743, 2.0796, 1.0355, 0.3595, -0.1635, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4132 right_y=0.3059 right_z=0.0066 right_yaw=0.7704 right_pitch=-0.1118 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4701, 7.2547, 1.7167, -0.0366, -0.0708, -0.0171, -0.7726, -9.812, 5.6, 1.1746, -0.3199, 0.5153, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5896, 2.0903, 1.0588, 0.3561, -0.1551, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1772 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4145 right_y=0.3144 right_z=0.009 right_yaw=0.7784 right_pitch=-0.1038 right_roll=-0.006 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.9641, 7.0496, 1.7363, -0.0415, -0.0464, -0.0171, 1.2786, -11.9726, 7.5282, 1.6239, 0.022, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1345406a75ba5bf22f1e705335a27fb2d53ce2297620e8179840448e740b95ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8000856c3a32e40ee2bd2c6d76f858f45767e93af95a192588bac90e1eb80ca4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c7a564cac71785dfe9277eb1f593c5d83d0ab6a080a6d47bbe145e0cdebf4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE13bTtS06pUtaIInpjS8cHQE8XB4IYua2mWfnD-fEpO5ZnUAPLDZA557RK6fmULd2sdGS_-NLRxs-l5s6FifXGOhrw8n89rAPWapYwYetATIpMs5bmg3qXQQD1vdrEQT4E_8syI2uB8vA_gflbpxW3m0KKWAiKBs5ohZtAiZzZEXoA939I8vJtBywfeLPU_SHH8R7fz53y4ZbgOuTzS3GhM27ywD70xyF6wAcg34G0EIUAe_lXiQiMujhTZREt20LoMP6vfT-9q6ndgbdLitowboHCEPxM-ePWRlFx-Xooaz8sMh5OiIeimidm9aI7o2ea_pyJKRtOd1ihlrXpi5TeH6bkOuDFG0dtnmVX5Xapb7RG0oE0Facp_W2sOlulcHwTuVPdM0YOegRc8ktKrbZGsHy47EkVDzcZkninDpFc4Id4LxdbPdugJv2q6R1e7W4QY5-5XmsA2o0zbtdlYXA-fkVytwkhbyJAt57spkXc6yuedvqp2WNL9NRKl9IcP4nQfvq2sSZJsIInF4QSnYO5gTD7k41hg9yYOASHEnfzf5H7rbRVdKNM83ilWr3hTikH8FfrQF_zCUC1vRzP3R_2yxX4TY6Lgv0hxAh9kvVGzi-UutGqJUUDSpmKvS88npmAljsvNtvg0zhzEf_tvDc0IO9idJ_hfo9whbQiGX0HJfJTJgQuqZYkT-dX_FrUraCan_ly2cbcOZNz4btrXDxyhKguTxzgY61xsMc_qIAkufm5UXp_9ni82ZkILdhJ356u9z0GlWwM--u6QHzOZ5AAyjCMZn2gfHhGfuonxTmaa_pvnnd55BIbLxq-VL5n4CXFZSdqXGHxR9G1GAq5GRugbTxQgOnx4k-AmY0TC8xbwpkpGAWLPCoiao0gl2T2ReMvvQ0kWTR4Di--LH-mP7GuLs7fQdgr5s7JdIHSC5FX1jLLSMEM_ZYjIMrg0tm7UnUO4JjMy52wtyqWsAs9sT2d5szwkIY7VXBfg4spbXv384Xo3Y5gb5Y-mNsh-QbpShDwLhHFpCTgF8nxVr3RwiajsxItJigv2-df8CSEthImR1VDH_5ZadGLiwbasJldvBZQgWku9o7268MqNvpso7VCClaj1Orft0uNBHGPWpelBAo-9BKlOrJ6-xTBXZkmpHnItXz7acagmL4Ta1AIsz4z03Pulj9bgocVgFJ7gbjb6dyjbk9_DzOUxVnX6XOeZLYNXxiu5GGSjTcn-fHDozucP0g9Dd9f-duIbAis46XP31qCtWLr4m8H90gO_pG1KP4vPXR9iasja19HzzoxSnzoAyML63NmHtZRvfbklCwCvtopC_3oryTMX1le2bIZ4SWOZmUlPmJGKqTtBrcLV9iWEaK5mL2y8VfmupASm5Fee9tBRpTnBOygWac54zZbo1R_4xLQ6hdhpl99hsmBejf1c44PWdjNvqt76yDLVFh0sQ8msQw8dUuI28SopRJp9UBFvEezlqS8K5rTTpsOAICw-OsGGO8NeUyLpW18gOvYagHXLFBU3B6CQMtck9aH_OgVTtPa8hPq_iXUha23rmGa_9yAIqbrzDGlmJ97E-AKTc2kVmOEE8X37NucpG3p4uf4a9fZz_2hhsI5_48GJmgfvYBpGXMA-VtbYXtMFW_165Sh8CavFCs-aOfUof9lfcpH2txMlpAr7NZb8uTUTm0OtG_0pfqIjB57vzh0Xnqr5XorzLqXDDsQIoCBToS_BFuGybt5mwhcboSHma-Wk-yd4VDUPENs_wIIYD0US_OmIUf8Z28K9KJzyg1JDnNpHci2n",
  "id": "rs_00bbfec0d3f8a6aa016ab44d75132487d08679b6d8581137a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.34,\"right_z\":0.03},\"note\":\"The isolated leftward move shifted the pen end toward the jaw centerline, confirming that increasing right-arm y is the needed lateral correction. I’ll continue that correction by another 2.5 cm and stay just above the tabletop.\"}",
  "call_id": "call_96iRGHHz2zdGYalFu8Qz1yGo",
  "id": "fc_00bbfec0d3f8a6aa016ab44d76540487d08cdb4fd6bb42a877",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_96iRGHHz2zdGYalFu8Qz1yGo",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6022, -0.3809, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1184, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1759 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.7909 right_pitch=-0.1323 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6889, 7.0496, 1.6972, -0.0855, -0.0659, -0.0171, -0.8137, -11.2342, 6.0513, 1.8242, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b7f40d862778adc2476275d79d4de9059e1eb23100facae563df9ec625bfa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d66cab81d922646a329a4ff3b4f3abc2adc059426fab96b0d3b23d5adfd4720",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:818e316323552adf2f8973b828c28cf7b38f302d110b5331f030e1a9b5c05cc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.785 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7975, 0.6025, -0.3817, -0.0216, -0.025, 0.9995, 0.6083, 1.8114, 1.2274, -0.0593, -0.1444, -0.1066, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.178 left_yaw=0.0006 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3189 right_z=0.1366 right_yaw=0.7756 right_pitch=-0.0737 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.7265, -0.0024, -0.0269, -0.0171, -0.335, -9.5521, 9.7846, 1.9853, -0.1099, 0.1197, -0.1099]",
      "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]: [-0.02, 0.8005, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5896, 2.0903, 1.0588, 0.3561, -0.1551, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1772 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4145 right_y=0.3144 right_z=0.009 right_yaw=0.7784 right_pitch=-0.1038 right_roll=-0.006 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.9641, 7.0496, 1.7363, -0.0415, -0.0464, -0.0171, 1.2786, -11.9726, 7.5282, 1.6239, 0.022, 0.1245, -0.0171]",
      "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]: [-0.02, 0.8051, 0.6022, -0.3809, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1184, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1759 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.7909 right_pitch=-0.1323 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6889, 7.0496, 1.6972, -0.0855, -0.0659, -0.0171, -0.8137, -11.2342, 6.0513, 1.8242, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b7f40d862778adc2476275d79d4de9059e1eb23100facae563df9ec625bfa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d66cab81d922646a329a4ff3b4f3abc2adc059426fab96b0d3b23d5adfd4720",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:818e316323552adf2f8973b828c28cf7b38f302d110b5331f030e1a9b5c05cc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE189tuOHBfA4ZmPSxIDDofiQunfYB9Cf3mtfmZYuYxYCbxtTxpmQWYJqWAtRk7twxcJ6LKXSmM2L0fz78zeEQRT61GgKPphxc0ut2qaIc0Qf6XktmSPbHxGM1AwQpnJHXbqmL11zIpjQzuUHRPsq9bnD9jrMUrAhUKJV2dIouh6YI5aAMNRcIZZxL4naSIWCnFBDK2Oc75lHs47rfSv8crBCtkk6rif1dpiZt65lkSZjtercJgyW-_EC1AmI9ydw6Id5_EhAEzuRunjOHOjX5HZ1OlRSwK7IfKejsg9eJ-FRx9DIcAtL8uuI7jrWEpdRmN51IDA7nxkM8K4bNrJfHzJ4P3BkV-1Ue8ejpBK6QibhA6aJxa504HIZ65IvMg760Wq930ub4sNnhO-uQSgvdvRKmkkeXbJXR9Esc1MuABvrNG6YDdZQo2_-Q1mfgRace1-2fDIfg7PHCY98SFIAGPcnwZp_k0QHgLoXwzjtC1H0IiYuOe2iJrFGMvQ4pWSHI40fs0SgLdaG-4db8TH6NQ4U9GFMXHqXgUd0x2PKMqSfHSu_3AlBdnB3bAk7Y6wjSW7cmx0KhoQDMSCM4MxP-8LgP24RvhEMcfl4jMZ8dmLrXuooGCFEavEY7EBC8ZqbnOjHMBLIHa2qx-9jscWMzPnNd-dzCEnN6WZpzerkxp6deROAvAyDrMXsblvk-p79xAFK7aLpWP48et29unWPo2yEIs_ia4XRfptXi2LTw70wIwQSHjHuyg0o6bGov0juwHpQjRgE_RVak4_EtrIcPzR41ButkHj6dSG9CYLgQDn6PyfX-FJGF8NzIZ_18-dix2XwEfR0CjgwM6rq8mlk2XwBN2Edul_tkZJU2CIfQSpgcpYDcVCTndLHMPM3LXf19KbWiQBfGW7tZbhyENTCCKqvDp216N9pXK_nBiIa2hERk_q7ybDyKFoGzCVjUacVOchjN9epfPGAV5WfTJQXwzqneDJOrsC5ZkvLDOsN2vaELMu4BAUEsIwm_7_Ez3X3cpemAa1m60iHmqrsEJ_64dqfbZ7DCBe7y5LfYQfyLreaXBjGAzvn6_t1ohMtrSXKQ2BibYo3DS2nTKnrHfFnsSc499G7pTI6RJbhAaoO2jVfBSec6K21Ksedgjr8xzimx6VkTo5h7Naxfq1Nvk7oU5Zs00drlMHUBzudHG6APiiFRTmUtD4wV5HFKQ4265JRkaxZ3hXVvRfS6su3RmZ1sLbpXzJGp8QSY2pXo5UiO5I7GgKni7I3HPlwYac2Ir6ZMtqnH5uHrJlicMiBILvr7DDwxYa_U7yCWgD2sDr6id8PZQw7chwk4PyOKTkTRdXvjFbm5dppf0jpft5PUU-v58JyGeww9RlklksRmXFmZut73saT023qJq-OwvYafQMheIGUWiPZqhBZYXe73LrImkwQ5KC2PFG7rb-SVxqrqWbSwPPfZkmuPktDLdC02-RYk-UwmQ7KMd8JgvsC7_Hltmzah2mbLxo_F2C6m1c5a-t9VqwjTlNZJCMjLCxA9kH8MoetC8_5J4IIS_A0A73eO7RZ2BtDIX3AisbjNeRas95AMUfGSRFSmLbw1EMv_8wdHX2Z3fnKeCA1TTkwNGZgU6cpU1KrF3VsbwT4MPMSGJrzpd5U5I6ek4FJGSioElx7BNhaJrZ-mKPbu7nIhBlYjn-JAztB_tf0Lgt5NQhMVYerQaU8MUbCID4DfeOWbqNlXy9VWamAufvD8m0in6fPNcIMQb5H_d-GvrqT0DKe2V1eHnr2k9fn4bJCBKg_eq2PHKh_z3NDQ7QSt8Rz6D9t7s_xKy1jfSKcZnEl5ZwExHVW6OqGJAxh-d1AOH3VbtdbFQ5Lv14mXpa3CjMBakuppuny_xedDuYg_DxyEbTh6-wueN3iPCSIQOsB9yJ5t03DlVd9xH6wZQ4o9PeLmzvmmLKxm05L9rTnDIcbGFERYci_LDoxfRBnQQkpCeEcYkFvZN7mK2ElcbtL-1Cf6yw55JTL2FKPV6pweg5WcxEJ-2ADMlAdPBMA4v7rVoaNNpoTsMvNyEs9JOwrXRb7RlDHua6sUTNyZ5_mQJpXNsNH3jw77qUDsC15XJFfiY7IxOeT2xeILQsW7gfjHpf8n4ORDOpdkBvig_MuOWRHyuMcFR6L4hG8kUjjcLO2iGbER-YJA7oCsA_kBFQ3ZbHbCOIEKstSg==",
  "id": "rs_00bbfec0d3f8a6aa016ab44d797a3087d0b916e958ed2d55c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.414,\"right_y\":0.31,\"right_z\":0.1},\"note\":\"The low-altitude move was constrained by table contact: z stayed near 7 mm and y only partly tracked, while the wrist image distorted sharply. I’ll lift clear of the table and return near the prior lateral value so the next alignment is made in free space rather than during contact.\"}",
  "call_id": "call_5ZXNcTz55O5QqY4v86k3qmLk",
  "id": "fc_00bbfec0d3f8a6aa016ab44d7b9ff887d08bea3b9f2cc4a6e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5ZXNcTz55O5QqY4v86k3qmLk",
  "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]: [-0.02, 0.8051, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1204, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1758 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.792 right_pitch=-0.1322 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.306, 7.2274, 1.7118, -0.0757, -0.0659, -0.0171, -0.8137, -11.0701, 6.0513, 1.8095, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98930fb185c3dc741a04e2bd1ba3305823cff5cc0d0ad2591d23bcea9cbf90e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66a6aa48c85140f5164b7236a8570d70ffc1875e99ee06170a5902ba1d34386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2f89c8c336009d5b53fc5c2af666cf858d7dcb6951a03b54e68180d4b67e2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.655 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]: [-0.02, 0.8001, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5743, 2.0796, 1.0355, 0.3595, -0.1635, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1773 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4132 right_y=0.3059 right_z=0.0066 right_yaw=0.7704 right_pitch=-0.1118 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.4701, 7.2547, 1.7167, -0.0366, -0.0708, -0.0171, -0.7726, -9.812, 5.6, 1.1746, -0.3199, 0.5153, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6022, -0.3809, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1184, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1759 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.7909 right_pitch=-0.1323 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6889, 7.0496, 1.6972, -0.0855, -0.0659, -0.0171, -0.8137, -11.2342, 6.0513, 1.8242, -0.022, -0.0366, -0.0171]",
      "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]: [-0.02, 0.8051, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1204, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1758 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.792 right_pitch=-0.1322 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.306, 7.2274, 1.7118, -0.0757, -0.0659, -0.0171, -0.8137, -11.0701, 6.0513, 1.8095, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98930fb185c3dc741a04e2bd1ba3305823cff5cc0d0ad2591d23bcea9cbf90e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66a6aa48c85140f5164b7236a8570d70ffc1875e99ee06170a5902ba1d34386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2f89c8c336009d5b53fc5c2af666cf858d7dcb6951a03b54e68180d4b67e2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1_yqw5Rag-eNCWZrNX8ngrHbAxNspOKZYlzXyP06Ts8cjYiMNge4DKTEwNafVnpH-iku-h7KflbEx6hkc6G87WO0VaIauYfihtp3ALxQyGePEOwWEtYg6O4d975ldJuQR7l3GJ7RwjR9PK4GdhNG-PXdkYr2NI0aehWRoST-Tv-iNHib_RIYID1csf6wHA8TfRTSjUhDlfwoYq08XtgOmik17rKDdiXMusEHHXTi1OavFoc68VryDsdNykQurLVQRN75XNqh6Olffh3L-cfcpdpL12OJ39eSFgl-WLftIN9j2hPND7bsNnzGY84uXGa_yXmS1na1iMFB5JLr32BlD-neTYnS2sX8AtZui074Axk8I9SH9wPkjKYwIZTuScFvF2--kkHethnXinypdjZ2MI76YP3fstY615oro-OSaE6gZm0Z529wVg-c7E4lBCfaD8TwYj8xL_mzyYkKQOOe6IEOZSNutJLRwZKWaXxf8NiOMhRXiVy2qPFOie6cGwQHgr0A1v3Ae9M2A-zQSJrWfTeeGR3Hx5FGQ_5DKW6I21wPhsurTuOn9HEMKn0DisbLDiX4fRKNWWTAvPbbS2Xyk9elVxqOzeDbeq4ebkGs-DgVxpDrfZRFfAIPolFLhl0w5qEOYvyHtqvMKA4-cLLOf8TppuKzxrtGTkseAT9ygKFOiF42MRPozlg_j6uvBFQpE0jXJyrhN7z-gIjeecA7BuH-G6nL60OTRVOTHNjdJGg42XLsFHRhRIExGyJD9vobkdDnvmlHXfV8y4ZnqukUhQ4JwiXaHeua3XNZdrPcRSRXKsJnNo3AnMnDmEk6H8_5dVETKdP2D5M6ctrLqXPQTFHoWqNH4Y1iaq6k9mGUA5PhNdybPLEXYvRLwwloa3Po8uHXA1p-LkG9HRr-W0h8LPsU22YYf7dWqnVAniN1ZyFuS3uSsKrGaFWrhGLncYzc06gZJB4Fxt2pQwPCVNLzhbYLI8HoYTnAfp0BJ1wgBLPw1xSbBS1MHujKkf3pI9B1Bm-T17updbt5OqS8JxMGP-eDh2C8toD2x2KQusMeFarAETmQRKwWe2ZRS6VbTqECf7XWhxByJ91F4jzhdDUCtmWD-8TGvG8DZxxPMu2WasmP9t-zQl7xzi7bCcK5Ts9PkrcKUKFBYXPlHRiSK7o98OWuDYiEJqfJ-8PwPT8oxykdk8nKxI1FifhgA3r_qSvI0t2jLs7pFVp5_7NjUyxJQrUTx734B8CLHIm-_b_kiTHI6e3m8CGCR6EiBIvH3JoE4PqJyhYJisnhlapCJTbFtjVufi94FN63tsPDXehA-qchIygpJHEzW0mxL0UT3BljKign-T0VvvrDxVIfzYP4Er5OujEUZpeoWGEqfLKjppdEG9zyQ6Cq7FVe84a3QZYb4So7d6sFCaFq6RpAAMg0tosgOqRc7gZxBbG8As2MdGnhYdziSgxxpcRNle9LCE9HUe3bfTLgSjWbP3Lotsl_Qu-espSQdCuHibzmZOmDNEI5vxPeKluxCDN2JA7PZMDKCAc_lIN66GfV0hs56mgz6hCA==",
  "id": "rs_00bbfec0d3f8a6aa016ab44d7e118887d0972534917525a12c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.16,\"right_yaw\":0.78},\"note\":\"The right arm did not move at all from the low pose, indicating a kinematic stall rather than surface contact alone. I’ll use the rig’s recovery strategy—reduce forward reach while raising substantially—before returning to the pen.\"}",
  "call_id": "call_rdp6Ac1RMkdyd7k6DI62nxtv",
  "id": "fc_00bbfec0d3f8a6aa016ab44d7ee21c87d0b8d9eb00c6226506",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rdp6Ac1RMkdyd7k6DI62nxtv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.5362, 1.5379, 0.9848, -0.1699, -0.1883, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1748 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3544 right_y=0.2532 right_z=0.1371 right_yaw=0.7695 right_pitch=-0.1457 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6479, 7.0359, 1.7411, -0.0708, -0.0659, -0.0171, -0.4444, -8.9094, 10.1402, 1.6972, -0.232, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8734f40aede9ee03200679a87818ccedfe55be8554c7bfd8e5a4fab7e5b159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b80b0974a2dfb157f4e8e2f01509e3994c39ca7211d329a64eb43a7b5533a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a19aeb45a1e8de8bc7b4f6fe42c9b535eb1576eefd91007aa36ee4d8f9366b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.199 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]: [-0.02, 0.8005, 0.6025, -0.3817, -0.0219, -0.0254, 0.9995, 0.5896, 2.0903, 1.0588, 0.3561, -0.1551, -0.1291, 0.999]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1772 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9995 right_x=0.4145 right_y=0.3144 right_z=0.009 right_yaw=0.7784 right_pitch=-0.1038 right_roll=-0.006 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.9641, 7.0496, 1.7363, -0.0415, -0.0464, -0.0171, 1.2786, -11.9726, 7.5282, 1.6239, 0.022, 0.1245, -0.0171]",
      "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]: [-0.02, 0.8051, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1204, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1758 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.792 right_pitch=-0.1322 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.306, 7.2274, 1.7118, -0.0757, -0.0659, -0.0171, -0.8137, -11.0701, 6.0513, 1.8095, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.5362, 1.5379, 0.9848, -0.1699, -0.1883, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1748 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3544 right_y=0.2532 right_z=0.1371 right_yaw=0.7695 right_pitch=-0.1457 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6479, 7.0359, 1.7411, -0.0708, -0.0659, -0.0171, -0.4444, -8.9094, 10.1402, 1.6972, -0.232, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8734f40aede9ee03200679a87818ccedfe55be8554c7bfd8e5a4fab7e5b159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b80b0974a2dfb157f4e8e2f01509e3994c39ca7211d329a64eb43a7b5533a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a19aeb45a1e8de8bc7b4f6fe42c9b535eb1576eefd91007aa36ee4d8f9366b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2HxIY7KZW68O1C6A9ohE53XpoF-tbaqXg770aOOQuKxe_eo4DWok2I7VXyez94Hs1_9tcSclqg5XW_qqqvntr7QfGxYzAK0YyEBJXLLqdGPql0M9v-daEr1Sof1VzHSHKV2W-o92vYYqFGVnXYjXCJvqHChz1tr7Yx3qiKSw0V0ori86NVfqWBdSaD3yDLBWyl_dDsfvDRyTMa2Y6ktqL02DuFwVzNnWIkmJgzoeX8-NXqqC_bNUJO3GUeNCfFN_RU0qnmR98McONFWbbMWqTomUXTggdZ4nZk2WUtdoITUUa7i7Th7TdfB1W7XuF1RU9EA6FhH-5rDosOSWWsxa_YIcDSiF7EQ_XVA-3PLiJkL33bUNDsUk_8f__eme1VW64ozePA8H42tT3f8ffo-W-bsxfIVXEPvBEpY_vV7J5HM0rAihRr0skWtvRgVaQLRsNsjwxz1LA_h6Tq_-lSF5WfiQGRr8Zsg5Hlgd36pv18CBfff-mnbW1OTgijybQhgX8XTNtu5PdzpoNydC2Ud9djqS2zY2VHw_daGQOLCwcugD-LTuCMZR08_vpJnQfL11rRHe5i1tWQnqUa4fiDREXWIshBxwMXrjBIJNc_qz1XexMrB_b9W28Qmzd9p0-Ka8qM4J-cYTOqNSG7sYnC8yN4dr1w5oLPTWpVaW27BmmWHoo3DlOHKP-lk10Y7od9JEmrBiaJdyXr4ewfildEH-lvb9aJ6mI_pnBJQt-tF2ft71iTG_jC_CW_fY0UPfEVI4qwl_kZGnPq9MiLs-xDyy7qeL2Mfj703xrPsC65j6B1zgeBk-RLihNEoDxfKR-Omz3iZCO72IMU-aBfQ32h-M7F3JYsCUmz9SmvO7StTSiSR1l2UGYJltASWi1QUgvQoxh8uUhuV6dvWh33iSeeTqrpfcjiXCfwPVxs3OX9I_Vs6ENwiFWys8Lc_MJpjP48uf7bs3hhkuWShexB1C7WgoLouJAbVS-X-TzTZWWj6MXC7q7MJoCutFocSgmBAcWnUOZp7XFxXM7jIfsERs87hPrY2Slwql784H22-iSeaegyZlg85ZLz3aAO9_79Q6yHoAY01ZlZRV0vCnxq64UAHe123MR-TpXkXbe2F2vb-BiT8-mcRxvTbPIh8x0YL1H3xYZQR4CosgkkRuyeDo05aVImB84VsXnAuB7t-imPUd63XvjSE4vfOi2IaZ-PYPXVDR9Soe5J2EEGLpO1q8EBj29IWYeLaWdnhxShh_ZhApfrltRIxiGLbVnAx9jXi8Yda3gehvCMe-bascvrDjK3c7MXGCFWLX__JlyejDqK3aY3QZUJqp4H0LHYn_3mHjl4NaT6QCBtIm-kG1d4qOKcA9Bk4uiHsiPoTgUxzmFnv8pkamkl8bEwrNgkjkixuphwfhjfSV_Rv9d4DVNQ1KbzdCZs8_D01hPgH_TJAPSNUFSDhqONBvheEQ_3D4GRz1tesmFcXRY3kYlckmjk_JFDg-WpMqJ-3-nY8FI984bSNVJm8SFKE2i1Ul1KDl6p2Ws67hfZPsLU4SYwdggUoyVGlbHBv_ZJossP-VBxU49fmj27YJvdEGJKMV9-rEsCcb-UtFBZK8mk--WSIL-y3lipJwSKJGbV9AKS7f1qxmsyOZcNAX_UGDGol_cukzB7YP9ttjHnCA4pJ6QHiWRUVwYur38_vAgKTir-DmeASapaN_YLKMTa93gwX9koLfoIPLVt9pZxgXw_7Hvezs-kZRR1vN7feOh7GmzSspxAQa8ZY924TVVKSNJtno4fX25s7KZYEnMqqr0dtaaCuLBXKNiBo2scXQt0T_oAl4TJgjKypID5KynfZnaoOHbINjueee761Mo0pmMGYsqDKdFeNHWqn_iP9gPrJjoRkbfnEYg5zYXVupCmivLTWAHSryzBp4fUyugHlm4BIz8SnW1x7JPimx1OL94ax2eGqyjo9JotTeZLS08MRnK2vr6XY4QaeDg9_vaykSvLKpTcWmv6H6T8wXp_1nPwl_SzgNsBQHaBSFNP6rNl0x293AfwRKs0ONxQUWkjT_ojqUAGfhnN9ma5vty1nbe7q5qqD7gcR0h-y2Rf8zhpNf9YjtLFsVPIpO0w6LLksrGcGQHuRdnnuHT0LZZ3isXLwyFiq1bGAyW2FOaK6IVrKpZBgCQ9G0w7YcjkkqklQTCNjcJmTCELAuJnIgZvUW_Rd8wU4S9a-PoEiK3d3SlTvWbMarZNaKWuCRWEzEI6Q7BcN2X3eZW2UXQDkVph_4RwRPWXxH3QZvhTKFq1zZqUDId-xZCCVxjAAY02F4ldKW_Cfvze9ZUXdppUpPitReSHgscJ89__R7SgUOgTTspHBcrNQk9Efw5e6MFba7ShG2xDQ5Qas65M5AF0g1rVI7GvsOnHWeQEvzmglwN_RuDSlmjnmudXwdbmFjv8SNqkf_6STWUrpsnI3aVEFnMrWqhf-MRGJPn5zefGRr8gB2lZF1b5lZD3j1IlZkVxWNs2Gbyk-eA7i7Q34ohukTLLIzk8qbp_C-X52JOTlwwSQj4w1LEaERlZJo3AUcAaP1KS8_gW_bK2IzVmTRiLrhrJOSHu2Ps2rmeJtvwLVzwBBu_Cx4S1_Fr9GQ0Giap8kCWT7JcPLn_-shinl6WvL9MTxYjvJo9r7thJZDPOHWRKyxBxVU0hmrTYMvdWBvasSTLq9uZeucdePNoPj-RZRvkKJP-373fk70GCQh8NArL2oBk5UOPzZR94p0GlKQazIfoZvt2P8epH076b1Nlt0_S9gcdX--9BnUXUaHggA7aDJ-AN727vLIw2GjrNgsbvHcpfClQPn9W-j4d3INqFKRTKyI7VMkaHs0nSghcWtoR6IYilPdAcApSRm4_Gba6XRdfqITDUZmKydBNgaM5QX2frS22uBeMUr5g224ZmCkREoT_GK3ft3Pl0XV7QwmIfs_vvSl5wm7hFwH-QewOpEz8u3LdqindoE5kr4m7TuMMcD5OGM-CpfLPLjPbKgCtz0YEiPJXQP1FMXXHTn5nJXWc0ypoTOgHeH2UiGol3VRJD3Pre7kWbGyZI4KX3ugdWlRQgTGOeu53fMcImt98jBS-crFAEWIUPdrorfrlEkEyghXmR6Xae09x5xA7qbp69MZG3uTsOtGkmqtINiIl41ro5L6r9bDXItSNIfu7mkoc5ZpEkQ7VYMqydQbgRosaoQXcf-2J1S8-4MYIm1VbLQKPTA2xiHDZDrA9Jdjn0D64Np1gfQvV0VvQGqACjO__gnuKRrJZ2GduzxtnobZOXbyA6kHVR2R_EgO_q9dwRsSvH9DDbU01JEyWVOAgq1FWQuPU4xaHufQcEwUmiSfO9rWBjuolEtwAdNhqZDVTRINgk9hiG_TDYvy3K9ELhj7A7OJI9Poubrx72Ro_lHRMekLdon5lLGcyFFhP_PF-Ek0a5vhlbdDJ572t05O-MklrqopsZqzH4JsTS0F2GeJPxEl74_MQXBCRBfFoABsKk_1u_f_A=",
  "id": "rs_00bbfec0d3f8a6aa016ab44d820c5887d0a792e372d00f7148",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.267,\"right_z\":0.11},\"note\":\"After recovery, the right wrist clearly shows the pen aligned with the gripper axis; its near end reaches the bottom edge and the body is about 1.5 cm image-right of center. I’ll advance a few centimetres toward the pen while adding a small arm-right correction, remaining high enough to avoid another table-level stall.\"}",
  "call_id": "call_1C3ACfpqYLeB4hAHLToAv4C4",
  "id": "fc_00bbfec0d3f8a6aa016ab44d863bd087d098ed2d32ea1decaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1C3ACfpqYLeB4hAHLToAv4C4",
  "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]: [-0.02, 0.8082, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.532, 1.5929, 1.018, -0.1581, -0.1928, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1749 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3646 right_y=0.258 right_z=0.1303 right_yaw=0.7759 right_pitch=-0.1545 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.1009, 7.0496, 1.6923, -0.0562, -0.0366, -0.0171, -0.0479, -5.2718, 6.188, 1.1306, -0.1001, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bde526cde025f7404a85164f99c830420a765f7858ac28574328bb4c3ab71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011b87014069e4ede1db596554df194be1e84e10e28fdab2724957a7a7e867a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04107078370c1ee5dbe44b184c2b0bf53870f39a8f802ad7b6f1e8d0435f4eb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.014 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]: [-0.02, 0.8051, 0.6022, -0.3809, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1184, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1759 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.7909 right_pitch=-0.1323 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6889, 7.0496, 1.6972, -0.0855, -0.0659, -0.0171, -0.8137, -11.2342, 6.0513, 1.8242, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.5362, 1.5379, 0.9848, -0.1699, -0.1883, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1748 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3544 right_y=0.2532 right_z=0.1371 right_yaw=0.7695 right_pitch=-0.1457 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6479, 7.0359, 1.7411, -0.0708, -0.0659, -0.0171, -0.4444, -8.9094, 10.1402, 1.6972, -0.232, -0.0708, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.532, 1.5929, 1.018, -0.1581, -0.1928, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1749 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3646 right_y=0.258 right_z=0.1303 right_yaw=0.7759 right_pitch=-0.1545 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.1009, 7.0496, 1.6923, -0.0562, -0.0366, -0.0171, -0.0479, -5.2718, 6.188, 1.1306, -0.1001, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bde526cde025f7404a85164f99c830420a765f7858ac28574328bb4c3ab71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011b87014069e4ede1db596554df194be1e84e10e28fdab2724957a7a7e867a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04107078370c1ee5dbe44b184c2b0bf53870f39a8f802ad7b6f1e8d0435f4eb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2Lra2rjGd2zlrZ89v1NEkrYT1KSZThZls7rYxy1_3X-2NhKOYlw3Nr0xynVR-ZvpXLrmptuHJIcA5XL-ySe61SL2LW2-eJpiF1XLzmdXqaQU1skDVxTJYgAlRjLwkTQbSrW3yNJxn4w3FKThx36XjQGwzZZZ_B0-90TezwxCNlAlGKi7rMJynHqVTbQ3J7ZLFDtlcGAxABNFQwMu__qvg_vSalZYg3o6lYnq5Mkw5OiicwnBGCEE34yNGW9EtiMGCJ2oKgfQHz7lLhirIAM6Tz0pNbHiwyxnuTiH_2vVhUO_4lZ2Z1ch9Mh9vbC_JmEL2XxxvmjX4k0pTOi3qKYGxwLC5xm1-AaWs1GOWnNyQQL0pEjIDo2X42izZp8n4bg90LhyWCQZhRIObbSu4b9-kfRgJGWyChTVeYAHcx2Ry8k6rOxDw8Osa9u5QMc4_SjTdbJ19_cPRuYAZVoSa8aAimgLlcW1XVBxjObQEyYFTWOuNuqkyftUcNUZlIGuG-SHdKkGWNBH5E6mc_tUztqLQSzjpIzOMh2FFfjpqVkqpFSHklN6InxkB2hW-px1vg7QzjToENj-cvfQjojUhe_UFbc8VmpW3r9a7pVrVX8WfCt8kiUqOWkkygCk_iF3lqYyP16CmOdXr1oo2VZGH9qJYCoDp-54rnfUl_bsJAwYrOPvA0-Ml7SpskXEkFOQa8_SoCOUFgfkAp6F42gRvgKupmpPs9RpPr3GQDZItz17lQa4iLBgZRa_VpNFaSeLB5NmohTGXpqnyybIqAUlFq-jhJHMekwS3vQ7FNyrZWJiajpUw93_deHCHr0IJcxKUG7yzE5hDiviF0LRJQ8OOiwYGh8xgY89ZVRJklUtWLpQVtsycAJg8dSV98KfNmAvyOfr3r4DIpSuqHUflg66mbqd4pc_SnXzAR_L1PAcpGW8hwmLLENu6MzugJKPYQ2tG1CataNskzNSszNOhGBfBOFzND3wp60eLhRtle_mwTN4ZQKjut4BOVA58-k6KQD0e7nCtybpY0NSmxIV9_lwDfsU6EwXfBkhGi2FTATp5v32XdHEKbjBRX-GtR50HCXSztqE_ELULeKW5yJeOcnbCxOSdOaTZHK_wrBRbY30iFu2t4d0xxW--vTVU4GALZkzBLJXOdeMfwvVjpGOSBYdSOHik-TF8nG2yKRZ8BBqV5H76LJdq2V_ZhT7_zjiJWW2VJ7z86amzq3a3v1hpiQkD1GxrAV67txfej_sFjowf-9V3J3am5qwwcFWQ348AUnU5YH8E22D_xkncuFspYr1cJF2UvjYFl8VgX_hEVd9Nrh1_QK7fBz8rEA-q3e-bJpsL9Pw-yn3dD3u-dL1Ro57k011gAFlRiXy10biNq942ti_AlybPCz8Q24QqN-vrg-Xv3Ss1cMguR_uOpIZDBDJXPdpsdnYukK2NHfp4IDjpJYVN6U-W_AwRFPy-dDNzelO2N0obr9IuHAegCkO1AHzI53GKe2JtqT_oSA9ym6KvJkquwKlxarfAB_BUPvx-YVImQSBzaJIXWJPUFPTbRuUZhjI6CohBRdYSMsLTrVO99CwXtOk4j8TnXBg9o_TugmFlk8-cJ-aVrVQ9k2zc_P5eHSiz2sEn3ZgV1CmBYhCXZS_yzK1VZgRKmr2HQ4HAW_JUdmmsalcqfOr0VjbzyLWBBHubGxU8WH2uQQMTj3OCovMVOzkXopbSQZRkPxzyxWtUY1hkshTcRLd0ZHsfDpAQmqLGnkaY0IKrjnLlBYoLD-R03DYLanV_jbiBKxte-8qTjftLHo2FVyuxD4OIAdAPb085NOpkcqWQuGWkxVBC0dfxVwl8z4YrJUdtM_AaDbg4Jv1kHnxZ5ikMvqWK5EADniBcCABpuHhZ_YFHRxHQxESLXe8zQKU0tUlRQTFoiUrayOnXt06yAkogn_hid75pFN5OIk5iDY1d5FaS4K87O1gH-XjU=",
  "id": "rs_00bbfec0d3f8a6aa016ab44d89459487d0ad9eaa1f9a2effbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.275,\"right_z\":0.1},\"note\":\"The free-space correction improved the pen’s lateral alignment from about 15 px to about 12 px right of center, and the arm is tracking again. I’ll advance another small amount toward the pen’s body while maintaining the corrected diagonal orientation.\"}",
  "call_id": "call_pbj684Ca9GXCSj8OnOUr8TIz",
  "id": "fc_00bbfec0d3f8a6aa016ab44d8adb1887d0bb5604a5511c6cd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pbj684Ca9GXCSj8OnOUr8TIz",
  "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]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7069, 1.0073, -0.0978, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0876 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.6889, 7.0222, 1.6874, -0.0464, -0.0659, -0.0171, -0.0342, -11.1932, 9.0872, 1.4628, -0.1245, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0efff9f2ae9122aef3af665f9ed9f1ec8642355da89b4c988c68d8d31f5a1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8b0885710dd49e66bd0981a0c8280f7ec9da6e27f5ff57f97cdacaccc2d940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a39123bddec18e6b1fdae3483efe6655b8961d7abdc16bcec13ad8bbab1a00b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.066 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]: [-0.02, 0.8051, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.614, 2.0899, 1.0801, 0.3065, -0.1471, -0.1204, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1758 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4072 right_y=0.3231 right_z=0.0075 right_yaw=0.792 right_pitch=-0.1322 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.306, 7.2274, 1.7118, -0.0757, -0.0659, -0.0171, -0.8137, -11.0701, 6.0513, 1.8095, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.532, 1.5929, 1.018, -0.1581, -0.1928, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1749 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3646 right_y=0.258 right_z=0.1303 right_yaw=0.7759 right_pitch=-0.1545 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.1009, 7.0496, 1.6923, -0.0562, -0.0366, -0.0171, -0.0479, -5.2718, 6.188, 1.1306, -0.1001, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7069, 1.0073, -0.0978, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0876 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.6889, 7.0222, 1.6874, -0.0464, -0.0659, -0.0171, -0.0342, -11.1932, 9.0872, 1.4628, -0.1245, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0efff9f2ae9122aef3af665f9ed9f1ec8642355da89b4c988c68d8d31f5a1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8b0885710dd49e66bd0981a0c8280f7ec9da6e27f5ff57f97cdacaccc2d940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a39123bddec18e6b1fdae3483efe6655b8961d7abdc16bcec13ad8bbab1a00b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2Ol2hfKWqKWsX8auLwsmzZTuSOv6SPqVepgwqRE9TKfNs0fwR2crFDwPrp5w3_1AsO0H-shoxq7cdSI_TRs__i00XhuL4Q-Dt1NcFXuqLF_7CkF-SNacGmKhqrnocjGiqDr1vFH3qeju-SLRLmHxosFRIUISR88M6A9kFAlrRtweaOv8Wzz1dVd5GwtfNXcLSNy2jTokesZ9naePIl69hBmp93mQph2uZCrQ3GqndFJgObHTaQMWASgcSc5ARWekyCeKtz0o6iQ1o_mA_RytzhmIJCavIt5yHNTfwcVAvCTKzWEMFlb9ZTO_Ab8fNf0afNPdCVziSpjDe8yyroIIkS3qSOXtqP8WeMEfcqLonKpD7PXFIP3KMrpceZbKFqks4qwldffKPc_e7mJxqOz3F_Q9ifE-h6y4VMJkSObgGj_p02luSrfSJd1SnLXUbUGaQauouHVcansDGljCs0QZ8ZouoHvds09Eb-Mg-Mtm4c11E9LgF19d6atl80DyHfsXrZZJ_WbbfMbLN9u7UCaSChVaqKnQu3wnftAJwpeJgXlr2-zLV6Y-nUhQPECjGtnbc2R_AAHk1DihXS8rqArJ9VfKoPsW5OMFqst5RU06a8OUOQt74vxpz0t1-9Jh0g3h8f0NNHQjdhGVXpD6UFb0V7YDyXe6Fpr5Iubkm_YEQLa94il0VZWwRfn34eCI5phiHuw7J0gujZlqwnW-eHCkxlHO822ul8AowAgZhHfp-KNPclY5iN0LePLRV8k0tG5uqsGD3XIKa_TiYuChYktaVY-d16AQ1B8X_q2iLk71TkqwGub33KjmqplD6dOMW5CHXRPVdPV8oIDwY-nbFejv81PUVPLyc1HqOtQdKG5y1MSXIpZUNCqnXd8NrX9TxBPAZlLiv-lmG3iJNYP00uzngvNoK2acC8dog23dTm4YoaC4CLE5ZQsIHx1I_XDj6dK1DuzfWqqMwUTOsDBVCMKQK9HJGamU60i0M6InLMSz67YoPnH3_NxGJXzZA1OpT8hqXlmcQHe2VL5ynkHWXGZRIZsxbfc8OTW4lMUoaBO5jK0oDKrDMV8M3TvvZSwM-tK9nIn_uy8gqd5DFopGcabGYgEX4Vvx_MBI6Mn2C-coBRLRAuMUg0rGD8wvLFKaRGPZIB-s6-G0gXRYKSYqyvzk1zEq7svPze6FeD7gNaOFlyO8Rw0O8ZoaZk8cRX7jjakZHkMzoR51701_yn7PMHEhHF3btgYMPqNPLxcCCxSyFD_mxH9vFvsoKza_s8MWJEh2_4DKu8cH-YzC5x99Xe1t8yUBLGhpCc5omf4FtXUYSVXHtFX1qH0l7fI4md4VfZceA7P4LvXBaC0mOt9Io2-R8u85-OgRGCsPlkEnoo_MQ_5mce1iZ-Q592W5kiWP8eRW1YwEukY8XlLEQEF9AvD7oGTQ==",
  "id": "rs_00bbfec0d3f8a6aa016ab44d8d9ecc87d0bfde56568631658f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.245,\"right_z\":0.09},\"note\":\"The pen is now longitudinally under the gripper but remains about 12 px to the right of the jaw centerline. I’ll make a pure arm-right lateral correction in free space to center it before descending.\"}",
  "call_id": "call_WqjhGX07Q8C3wvH4zDCUXIUJ",
  "id": "fc_00bbfec0d3f8a6aa016ab44d8e235087d0b883a78025ef07e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WqjhGX07Q8C3wvH4zDCUXIUJ",
  "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]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.0077, -0.0982, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2168 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.6972, -0.0611, -0.0122, -0.0073, -0.0342, -11.0017, 8.7453, 1.5311, -0.0952, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c591cc50f08a380ed9fd79a5e2505e16fc12ffad8348dc06ac967ec6af8431e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce3a07ea1e9b12263b2a4db90131ece28d1bd0cc3eba423301e34dcd6af09b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f15a7429f826038222bc133eb7875b32fa12dff8a9cfcc484073919676ba33a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.733 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 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8089, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, 0.5362, 1.5379, 0.9848, -0.1699, -0.1883, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1748 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3544 right_y=0.2532 right_z=0.1371 right_yaw=0.7695 right_pitch=-0.1457 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6479, 7.0359, 1.7411, -0.0708, -0.0659, -0.0171, -0.4444, -8.9094, 10.1402, 1.6972, -0.232, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7069, 1.0073, -0.0978, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0876 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.6889, 7.0222, 1.6874, -0.0464, -0.0659, -0.0171, -0.0342, -11.1932, 9.0872, 1.4628, -0.1245, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.0077, -0.0982, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2168 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.6972, -0.0611, -0.0122, -0.0073, -0.0342, -11.0017, 8.7453, 1.5311, -0.0952, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c591cc50f08a380ed9fd79a5e2505e16fc12ffad8348dc06ac967ec6af8431e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce3a07ea1e9b12263b2a4db90131ece28d1bd0cc3eba423301e34dcd6af09b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f15a7429f826038222bc133eb7875b32fa12dff8a9cfcc484073919676ba33a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2VUDJZUe6SdDzaYCW_12SVzlLIfG93mnegIFf1PqxcCrAc4g8dpXQCBgkjTAaOWnhYmc2g3zEXRqZBcKLOoK7XbHXa3OwzxxxBTttpGFhyOkidPbxQ7JjyMu6aW9zavFLyvgg3ttpL-hTsqIB8hKtlSQ_5gICktIl5xr6dpoBGU6Rt9nwxLDLKNMwMtFW8OyS-ct3evw4MjNR8tjoM_jhUQHclT4X9wWEqkDvf12BVavEpJ8wIrnVKzYbDbeBpOtSx1bOk3zlKGLDsa6jtHB1_L1J_dBz0LD1GX9T3smWlRuxgAU1gFgbtn19GGqTaoqwzt13aorCzd_jJhNGFL9-FkDyzzEgdyHwKp7puDe5NOujX6tsu1w_cShz4Dyu-XQfdO6KiojnTjl2Qe1stsBOeU_RLkK1yMJFiDzNSHwAKmEa-nIvD6IvRWdY1vyKt28V9LVpAfWBaD-ZOWEA36rT_dcMXhtQqyKdNv1CFnPyUz8AOAPDOw4UO9bcdX5yzI1KFLcDKMo3ULe6RbN-VGqlvc20rfZY1D7E2RAQ6o5DhynHUBPcVwzv1-G2AgZ2khb1NNb9bq9pStAFvQ7ayYCGWqjS1bK1C11K9nR7cUJHGlLXMtM3wSrLD4ynh3nn7wR1NYGydjAI_rCJykJ4Yl73HSN3CoP82pFWxBCgtirsoLkdTaIIMVzjuIJ63Ym_K1Bo9r_M5lnTIaEEmQVyQpzCrbIWgv9Rrw3vjUindKn9tG2cdJ-w8bVNEnhPBTEjmOxEwbScxAh1dIR_T7k-WxPIjRlCo0jra3TbZ33Jb3BBFb1rOJpKgJ512P5mnodt8EPP4kNIHxSCoSdTGPani-rTSF6C4MHBan4wrO1NQ3BEKtCE_wd3nkij-kdAxCIGMKvB7kth_TyhhXs3fmSqF6qfEouR4Yfw-xpPP7-XZdF4vHA3v1xiExF3xRs7OAGwgYTjLvcekcjj_NoBvP2BkAKvQcQcUQTIzimcHXW0zjeChYpvZoQllJGe05E-lqvHlA1elVisTmhlxlYXxEIpa309DEd1GKKoOXWucR6tlZN_edIVEqTuF6gkNYDA1eWLo7kG60g5yasH_6vNYi-CNOGHDZEJ-4wMxfFEwsosMlNlR_ViuCTxBim0uZrntWTigSvpZyAMkjgWQVHVFJozi3vHCI_H9yBpZtGoE68xaHyhP-jUboPQGQwCq1gFm6h0TzIYKAXcKGP0xkFqZ_GdBXydz8Ytre7tdMTvObpmIrh7vblET0IJDLOonl0GBuisva65Eq4OeIFjfuOG2IuNtF-_RFIaz_g5e93g-NeQjCgnX5EDTHVwiH9TF1XOCkunYPwBaCEHO5F2sff1Cc7plEapq1r_t7Blg8KC7HUY-h5y2juZIN5x67jXc9GpYo4Nkz_dGQgVWXGDmfCb0R4Jhk6EuwA3duoqpj_ZzvNnDb0pWGPiKHEAeLKeEn8AcfYH9uUCiAMa-OYChJWZZhLpEl9iY21RhUJU-_YT1tHHhfDnRy9kkEpuHKuotz-kfKjEeGEzim2_Kg6IVuYdrwPYGN_wtAaKzQ8vhTRVgSqPfxQCHjCO5cxQb7To1BrpKjVLdwjhPHCHQ5ti0HSX0edb7L46YPcoioBZmKZwg8TP3p6UeRukgS9g60__ZFh1ohNbVJST4KLV_mqKXkxWyfpmrOo65uukHn3LiblVJOCGyus3Wg890MTuQbGrFzsL5NuP-dnFdQKnTlallJ9PfccYqMMxetUa0NfkoOkIQaNJV4KLJxmkTCAeheiOGh-J_-ZEeinruA3sxsqVPiqWO2OKXH4MCoG_0SGQoA9O_K7GI7qRCZZMJopT8mhV-o5CliyF1PJ8PLyivntiiU9zy54dZr5qWOywiS3JAMa53gUOa2tQfJfpWU6edx-Qr3R7KZqmOXPg0Gi-ApUHbNFNu36wF_VnI-BVXjgXs_lLY9VVuZmDI1Gq0zIUK_fd8qe9YrHNAlnDA7CunA5fYZcfwTwZ4eLnut-apzOn2AqHqdcSXg-9yQs1Fbtt9BeNSPh1dHMYX7rwQHNkn0md0ad7GBSKda-JFDSzVaaYiY-y3UrHlmMuqjwf2UdRm-0nQtyZw8fko0XDduH62mudsTDUtg1cS_J-nLmdjmRVxSnKw9yXkxEiCrGpVdNnnddmpzDdLg3JfE_S2wbhA9w6MCUYaSc-rDuOEZExUUIoPXjCFn3z8SSYF_wJ6MGqmlv4D38PsoNn-chsUQOp3V57A3dCInSsDbqnnlhs8kvhdglOwBDP6hfBSTNciKpXRj6TymLSG76i8NeQ1cguvQyx-CrZ7WGDtxbDo0DeccMjaFCg3QtzXLhJi4Eb_SwKrEDLyOPdo24CqgB81yusm2LrAeP3gCASEZ6aayd1igiiAd7YHMlL94Rj-A9JDJWh-nJ6WiIPfVHwro0FbzTk5_xOSOnMQ2vIZS1nASbkqtsxr5r6DCIlI5oHKKfq2TXyffT1Q6jzLLm_SN4I-F70v2n9tSHzQxHOtTVl0ksJh1mVafyYqoX5STk-CaMZyLJCaJohfCwohvKsTsVXVpz3GtGQwo_3JNhD5aYUKIf8ebAh1PXdiTnW2TA5aiMTxQrMDpafnK4ljrP6Wg8BazW0k2uXTA9nf9h45jnZL_UvSwKbdNm7twEI0vrvvWU4=",
  "id": "rs_00bbfec0d3f8a6aa016ab44d90ad3487d0b0c82731d153d9cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.371,\"right_y\":0.261,\"right_z\":0.005},\"note\":\"The requested lateral nudge did not track, but the pen is already within roughly 1 cm of the centerline and well inside the open jaw span. Rather than force the arm sideways near this configuration, I’ll descend vertically at the tracked pose for the grasp.\"}",
  "call_id": "call_SHGvxgheeGO44vkxKw1TqELn",
  "id": "fc_00bbfec0d3f8a6aa016ab44d93bb7487d0b7f34006c4a1d70c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SHGvxgheeGO44vkxKw1TqELn",
  "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]: [-0.02, 0.8135, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.008, -0.099, -0.1921, -0.1692, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.021 left_roll=0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.2376, 7.0496, 1.7216, -0.0415, -0.0513, -0.0122, -0.1026, -11.0974, 8.6906, 1.5214, -0.1148, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f324a7e03835c3ddb8b9d9fb60bfb27e2ee4ca8807905f17142326c681bc557",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129bc0c4a0ece56f4a69cf469335a3dc9932bf97ffa534d5242d08ab043d94b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2e4204be86b9cb0f37783d931a0d94f07811eb4f004256ac9c0c97a5231ff6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.776 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8082, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.532, 1.5929, 1.018, -0.1581, -0.1928, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1749 left_yaw=0.0011 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3646 right_y=0.258 right_z=0.1303 right_yaw=0.7759 right_pitch=-0.1545 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.1009, 7.0496, 1.6923, -0.0562, -0.0366, -0.0171, -0.0479, -5.2718, 6.188, 1.1306, -0.1001, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.0077, -0.0982, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2168 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.6972, -0.0611, -0.0122, -0.0073, -0.0342, -11.0017, 8.7453, 1.5311, -0.0952, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.008, -0.099, -0.1921, -0.1692, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.021 left_roll=0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.2376, 7.0496, 1.7216, -0.0415, -0.0513, -0.0122, -0.1026, -11.0974, 8.6906, 1.5214, -0.1148, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f324a7e03835c3ddb8b9d9fb60bfb27e2ee4ca8807905f17142326c681bc557",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129bc0c4a0ece56f4a69cf469335a3dc9932bf97ffa534d5242d08ab043d94b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2e4204be86b9cb0f37783d931a0d94f07811eb4f004256ac9c0c97a5231ff6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2au5dNa8mthu3qlhEbptuATdAqIF991-kj1sAuOQM0CVe0v3sjr462HpdMxTuZHI1UEzR5Na__0jNCbDmfleQo0gksl-tj5XNC_d43HvC0MQ4mg-Ue2o8fU8thuIKaz3qk8i1vXpmQhamJc0Mgm3PdsrQjrWJ_qAwMg2aTtK9ZHXbw4X0T_k27sU2nkmcVFOSCA4PWd8_Y69nWhMAw6IpM5UiR_l70HsRwixLluSlh6R7J-9rIE3tuY4aO2QV8sMBiFJKh9CJEwjAqgHdqjHtdP409Phvx_34x62-jS9ShCCGsC_8Ed-cf1pamFsJHnmIxj2S3y7DBUgfc77I5Rbn59CCIpDA_fUZ_UJM0of239CMIp2J05fEGHEU-jkR6SPeccK_j14FrvinFDSUVCrR-hNdF1SDHnMawNIfL02zZw1IMdj5SwwWRdkkBGNk1iHXXmmckNAdR9-i3Fd5PDkh2yn-5m49arKLhIn5kBQhiaAs7B55XlurjNZkIKy1zdXwEJEjWqvQ9K6AG--Qob1VTPcs23wuwdhZXgPZnCxyJy7Z6rQFCbdYBufKE9C5UV0njb_lFcXgX7JLEQGs3YPyhxlWkcjEJmqMSIFa8OYZSRnrAqIMkStzVs3HS6AzMWteX86TKkf35OlAeUWnuLUn78QSRrqCXv7iadS280yK-3izbm03oqkfsgl5rxX9-JQogBZnlkOkxxhudT-0ckgYU7ny1eGUjsCXjyXSkmHNbEKZK7cyQ4BC9cbJMnI4a8ObW_OGbKknpX1gP5rz6jcXHf_wTUJW8Zn-ZHEA99Oa2znJ4SgZRgjzfFtH2p9j2YWGq3cR6e16e3pvFl5bGJd3tQXAyySaZHRH4NKS3w5aEWkZtK6gu6UTCZo5x8zJFcoqP69WlM-rK0tGvZsjJbz4LSNbvapPpbosvI_Y0HxbCZCbTvMNZPzoDT16xrBBwZRtMRIFQE01ZdClTZcKjrgiZTXK6BDJ4VwHYe8zswD0Lv8YDWiBQ9Nj3LmTw63-PaOajKTpUBCBimkG05Gwv9zJqnkiK-jIQhisMqYFb_nWz2VS2PBqHGLqc4I8tK8DZMal6G8uSCVXrxOJY26u5GiO0PkmGFk1kHzn3OCxA7K8pQ-NfxxiEIqSjLZt8gR0bVOZ4QO5seRaY3JWqJqKJ76VPt1qtsrAi9ByU44rwRZHmfbyTF7ILcIU8YXFip6OIlet4XGh-jTeN_TuGKR6CRHfNK_DNTD8oeZQEmibfoKs9oD3_9IC8JSI62ISt8ZX2ZMj404nNzLtCKqcWrwTp4F5-_c--xDjH2A6nQcVyBlotXBQm5_FwOWsZ4R0MpIoZ6xUNWiv8uBS_xrLCaTOPxAObbbOrI2dpK5fe95SvHn00Mk9xcih4OjAx9vR-smvdxMr9iZ7oTbOdpfLvLx_5VQcX4wpqN3-2OdLGa0tusPwYi-cfeV6ck3JkxB87pW-h9qM9C3TSMGhfzy7trZCSlkIcdS8uGsy46dK7zvYbboaUjLy5dbGGMo3XXeKxkoLplSocJj_EMT1YEF7jS-UR1sPyDGAd6U7EYwXjxrrDL6isIhfDuYjjRElIMFu9OPlkknBjo_yMIdwcQbkzqBtgykm7mGRWt1s4DGiaHChgOISOIRPO_GzpjMpVzTEC-3W0pVzLFi6s2_MUMlFmdQ8yEZEcYzz7gA3_uqZKR94VL8vbexN-Za1gjLFTQVBqvYiuxWHtAbKIML4y4zzVjIrJk2njwXXSvmsyOHS39bHnOkcOe0clskDwvUDKIUzcI3sKuC01c7pux-fRMLWk9wbZ7tArKNJj-qEzGcrcOrsUQOWts4aow7dSDhJtao0rAYnTaHgMvDZ7NTHRaky1WiYOYZr0FApIFOzkSlf9MGYhgvltXpdVsNcD2Yet_exTvjZyCQEqyYWoShsLg5BuHyBo7pLcTYq1tzhTcyH7dFMYzNWMOB5XEInimyklpgn8h_1q29cGvSkHvoESUmna91X7TDMwPmHwTzI1AYKDBt6jbfYJrZ8REaAw1d8I0KDKeRKan8ZvEdHwqQLsFkCE8ocZrMryevPb4nAu_GIiYFanyIZ8lv8=",
  "id": "rs_00bbfec0d3f8a6aa016ab44d973b3c87d0a6c1f8d932bc290b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.24,\"right_z\":0.18,\"right_yaw\":0.78,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The vertical descent also stalled completely at this pose, so the arm is in a local IK lock rather than contacting the pen. I’ll retreat upward and inward again, explicitly restoring neutral pitch and roll, then re-approach from a reachable configuration.\"}",
  "call_id": "call_aQXFsnvbAsiAZWJARgwtWvY4",
  "id": "fc_00bbfec0d3f8a6aa016ab44d9927b887d0bac8c0780c1b6629",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aQXFsnvbAsiAZWJARgwtWvY4",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6022, -0.3809, -0.0219, -0.025, 0.9995, 0.5293, 1.364, 0.8707, -0.1013, -0.2165, -0.165, 0.9989]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0252 left_roll=0.0004 left_gripper=0.9995 right_x=0.3339 right_y=0.2434 right_z=0.1715 right_yaw=0.7879 right_pitch=-0.0168 right_roll=-0.0175 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.2239, 7.241, 1.7949, -0.0855, -0.0464, -0.0122, -0.8957, -6.7897, 6.7214, 1.6044, -0.1636, 0.1978, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd56651d3c357acf07aa8bf8aa3e57494d66da38e678db647d002857399871bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c57f24fd2ea6a80a78e5c07a0bb07c270aac269f253125888e3af9861b12346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18018906dc95c60e3913c1786bc07aad4db50c3ba694ab93130ee50d8da7889",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7069, 1.0073, -0.0978, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0876 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.253, -1.6889, 7.0222, 1.6874, -0.0464, -0.0659, -0.0171, -0.0342, -11.1932, 9.0872, 1.4628, -0.1245, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.008, -0.099, -0.1921, -0.1692, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.021 left_roll=0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.2376, 7.0496, 1.7216, -0.0415, -0.0513, -0.0122, -0.1026, -11.0974, 8.6906, 1.5214, -0.1148, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6022, -0.3809, -0.0219, -0.025, 0.9995, 0.5293, 1.364, 0.8707, -0.1013, -0.2165, -0.165, 0.9989]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0252 left_roll=0.0004 left_gripper=0.9995 right_x=0.3339 right_y=0.2434 right_z=0.1715 right_yaw=0.7879 right_pitch=-0.0168 right_roll=-0.0175 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.2239, 7.241, 1.7949, -0.0855, -0.0464, -0.0122, -0.8957, -6.7897, 6.7214, 1.6044, -0.1636, 0.1978, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd56651d3c357acf07aa8bf8aa3e57494d66da38e678db647d002857399871bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c57f24fd2ea6a80a78e5c07a0bb07c270aac269f253125888e3af9861b12346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18018906dc95c60e3913c1786bc07aad4db50c3ba694ab93130ee50d8da7889",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2erJq6AuCcPFzFV6vL0oajgISaGKDQjF7VCQthhvwOjKXMe7bw6z8XeYnqVPGkyOo7XIqfbag-OqQ4IuCWrXEteQ4PslIc1XNy-Fa9nBGsCxDenHcrc5ONMN1j_8hTHJdd_iWDu38fAtOxOej3wHsn2MGmd2hKm02OfqbD7qdb0a8MXec2Ug_ufm7T6GEfC3lqvtrJjJSMmPm8dR6_tm889L45VCyfn0TWg15murmN7GPylqBD78Ds9xPtu9XYC5itq0WDi5qkKZH8cWBegd45WulRUgEPkk5woe_Bsjj-EW5SmCDcQmlptcGGOr-iYeJ94xYrIVp3lY8lyDPctmKlBbRcwXmma8T2ma1qfGmJK4GDAyPe39TrVY4Qp8b6e94NZCKFwnqYPcU24IhBnVqn9FRW0_bZJ-iKESwyGwwTAPsawEgd1ZbP8ruoTmNu2Vvuq2uVGeck4sbmEsguloh2K2moMIuxs2I7OWdYr08qHc32EKERy586UOmSevsGGQxq503YuHfXGNYmNzKQBC1k962bkyzeGgKya6AxcMRUTmDKMzipnLLYkLnsMCNGZfC5iUVjWpQGbFK35SzNhSVSz0tPR4j5UGpywoBTeLJrv198G_jOX9x46N1T-G8O51cH-A0gJkPQ2nLe0Tt4ZWnescVyAmWSLB9d6YcTEdHCR9uc7h_m3qZFa0bC2EPPPNpIBVAjWZrTESw1FSWkuQjPU2U3GxOqxRXMCgPyjDPUte-cvTxBm0DYLEsc0khMB854PO4DH6HiykfQqnRgJRyUYjJIoHFEE1PIwJnQg_sZM-2wukSIjFydyIl8wrnsuTdz86Z15dsaw6BCrv5UEr7SuoCgO2xt-FlBhPT8mMCd7a-P82NXONMbeWoMDFI0i441LJ5kWTlLgKMwtN04dSHzPSd_IlGzaF-tBco_84bsHoMUeIzsYQumKTudHUVtpLROtnDsTnfLWyrVk3EXOrCnbJIdx9um9dUwsvet6ha8cY8RZ7n5Un4x7flYRaiotFAHybnqicGfbmaCr_H60H8epO_llneuhEXdoYuf7Kgh-cW26hjeMhvKKLgeMsEcgF2D8Qw0M3sJqRgAcfyzoJoFu_-sn0MixiAcDaU5jrVqFcjOPZlHKwfMAN6tNG8aS4y00K_WMVacNX3l3OkFRjzlChT_tNPcKHRQgS8owod0MFdrEXDi8DfzpVkqZItxRkTka6U29HgvMXiLCGerslR9UrNTNQxtBkwXR6nXgmpobZkyL4xA6WbxPQPdw0WN71lCzSnQTJ9Bhh3AzfwG7UmSoWF6reizWfVl-lbdaVwGydT_6dRM0CGAIrfC2TUIFgJF-qsQxhWk2aeinrM6nzOMsdMeipZ6TgH0Jf2yaT8g281dZYZsyDckFOfutgFwn9T0t4JklCKVxfhswqm9GsOanNAPrLuLjcEeM6Kfwfc_FCCcynmLp91W3BtK-V28ER1A9V_TPgtgTUwmXsA-4NFC8iXcHk2Y0izSWwcEZWcGW8k=",
  "id": "rs_00bbfec0d3f8a6aa016ab44d9ca9a887d099f68df63cc85a13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.26,\"right_z\":0.025,\"right_yaw\":0.78,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The recovery succeeded and restored near-neutral tool tilt. The pen remains aligned just right of the jaw column, so I’ll now make one clean diagonal approach to the same grasp point at 2.5 cm height, explicitly holding the neutral orientation to avoid the prior lock.\"}",
  "call_id": "call_DzeMtMWt3d1UCfrGXPWVqrOj",
  "id": "fc_00bbfec0d3f8a6aa016ab44d9d5cd087d09d1f676f8b6e64a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DzeMtMWt3d1UCfrGXPWVqrOj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3817, -0.0216, -0.0254, 0.9994, 0.5163, 1.8572, 0.6952, 0.5152, -0.2234, -0.1616, 0.9989]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.171 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9994 right_x=0.362 right_y=0.2546 right_z=0.0184 right_yaw=0.7794 right_pitch=-0.0663 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -1.6068, 7.2137, 1.6874, -0.0171, -0.0513, -0.0171, -0.5949, -8.1162, 4.6154, 2.0977, -0.3101, 0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a19630b32d8c85c4c0a4470f8d14946a8ed419cb615aa2d1f78b54523a4d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13465963ff7a44600359feafe5c8baa85df3db3f9f90ba1a9876d346ecd2497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c942c04cfa806a796cb3761c6443bbe92e06cbcce584bea00c8ecf522de1625d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.504 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.0077, -0.0982, -0.1921, -0.1692, 0.999]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1737 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2168 right_roll=0.0148 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.6972, -0.0611, -0.0122, -0.0073, -0.0342, -11.0017, 8.7453, 1.5311, -0.0952, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6022, -0.3809, -0.0219, -0.025, 0.9995, 0.5293, 1.364, 0.8707, -0.1013, -0.2165, -0.165, 0.9989]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0252 left_roll=0.0004 left_gripper=0.9995 right_x=0.3339 right_y=0.2434 right_z=0.1715 right_yaw=0.7879 right_pitch=-0.0168 right_roll=-0.0175 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.2239, 7.241, 1.7949, -0.0855, -0.0464, -0.0122, -0.8957, -6.7897, 6.7214, 1.6044, -0.1636, 0.1978, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3817, -0.0216, -0.0254, 0.9994, 0.5163, 1.8572, 0.6952, 0.5152, -0.2234, -0.1616, 0.9989]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.171 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9994 right_x=0.362 right_y=0.2546 right_z=0.0184 right_yaw=0.7794 right_pitch=-0.0663 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -1.6068, 7.2137, 1.6874, -0.0171, -0.0513, -0.0171, -0.5949, -8.1162, 4.6154, 2.0977, -0.3101, 0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a19630b32d8c85c4c0a4470f8d14946a8ed419cb615aa2d1f78b54523a4d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13465963ff7a44600359feafe5c8baa85df3db3f9f90ba1a9876d346ecd2497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c942c04cfa806a796cb3761c6443bbe92e06cbcce584bea00c8ecf522de1625d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2i8Gro_skuLa04eATqaQMw14VTvRnO0uymVCgUaTWB-7MyqmY-wkvJ29tjVlwyyAQvPDXsP4jZVUn3BWgPWAUHkwXLMrN6dDx2JLCGyacM66cFB-xjeUQ7MaBQNgFcXhAmOVYXvnmJzgMM3tvWBHXhIr09sJYTGHO6vWQKxpvAYFON1iyi1zzS5hilf_2KO0W4LIIyg2ASnxpqW9hQRa-Gy_17fcMn3jyqhSEqKon7XCxcUruR1aCOUZTeIx2UqhEXiL1veTuN2YLRNt0IRMfjgUxtzgWgy8j1pTJNT32QNEXLx0ACqP8uTEDGXG8slU8gr-nUjiV7FRPBfXHpc1dogGt0UB6bsa2XRObB38vscisq4KnGZ4Gnci7zorMH8Y9nKQgIbuFeVhWyLXm7gg_sp4cWxcX7a_-SwFZawgh6C8eZEXVuDFJ23oNfH2Uu0eHG-kW5_AgZCj1r1JELN3VynCnos1UFNmRpObyxloiyX-xspRENFPo8cBNoTe63BHtzwxTvMFNYxdsbmUGC84OodnXdaTuSxRXFn3s17fYDeD0PGUGRMjNwy-2I6tsIFmfQV4XfX-PKchywXmrd-RZMiybOhsWLC-FiduEltljj8FyyuhUFV8rx0KEvBvG74lZZe2zlvwXLqfjeqqIymnm5zb-f_WKsNbyYkiC4h4R7KdFs4zJ30YKEQudmWuAt5s-KZcUVebe6CvpG0WHTQyrSCsuj14bFJhdMSGJSyKNqecFIgSrZmlUaQQfR0MY4Qh9c0G9WVhE3wGmWn6iiRx-tAI3HNqs9UZsABNj69_lJnQE4VrcjF6tjxOG60M4UVXnpjB9lDGQw-JOIelrXofML9hU4ZBQPltEPHN9jsXwl_Ed3vsI72ry_zM0TNVBRFO-DE-DEILo85dP4B9OIt1Y43g_Pa88vkInW50bitdcYrnD5WwOfv7vI-etReMCiK-z0Uzjv3-c5JpFeMtY_y72VtuTzoPPvJmrVlRTFqRtXc1VHxfFJM-QAWo2oqLtlj9OoR1a8ZCK88sH2Bv6g1GmL2PW26gaSDlG1MZ04_asA5Rsv-7JPGP4Yrr_LXhrgeoRLrWy-vk9dMf-2v2Feq8_jesFdNkXM3_Za3ndolim-Zf8e9eiWo-1W1VVq1qMzTREnA3h4lR6M0LT356780wq46LGNVu0XDaxwnVQKm14KqbivAJkML1sgxmNPcngSaAidDbqwu_ZvIrDhSk9KrjEPZFRg9lSvQmMeELnEdMujZMnSZHskq7yazOguj94hR8HFiiwOkPVJYmxQ2RQjGeYpB_WRdBXhAEFNXYXBL3I5wyY=",
  "id": "rs_00bbfec0d3f8a6aa016ab44da11f6887d095b26a353a0cac96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right arm reached 1.8 cm above the table with the pen running between the fingertips and nearly centered in the jaw gap. I’ll close fully around the pen body and then verify the settled gripper width.\"}",
  "call_id": "call_mdmKpxY4qjeSMjAgsi5VosNI",
  "id": "fc_00bbfec0d3f8a6aa016ab44da1732c87d0821a8cae3c240e68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mdmKpxY4qjeSMjAgsi5VosNI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5167, 1.8721, 0.6952, 0.5339, -0.2298, -0.1658, 0.0112]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1711 left_yaw=0.0011 left_pitch=-0.0294 left_roll=0.0002 left_gripper=0.9994 right_x=0.3623 right_y=0.2563 right_z=0.0159 right_yaw=0.7874 right_pitch=-0.0615 right_roll=0.002 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -0.8547, 7.1726, 1.663, -0.0611, -0.0513, -0.0073, -0.3624, -8.4855, 5.1624, 1.4139, -0.1099, 0.022, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f60241e517492f15b8f177473fb1d32b7432564b02af09ac694ee1308093cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149a5c2c81b08ac7a6661bc067bbbbd5abb1cc1275b5d85d634a4b817c1770df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e224e0b06f846fb335279a8afbcbf28eea507e4f6b9af7f5953a432c3ef85cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.906 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5316, 1.7065, 1.008, -0.099, -0.1921, -0.1692, 0.9989]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.021 left_roll=0.0 left_gripper=0.9994 right_x=0.3708 right_y=0.2613 right_z=0.0879 right_yaw=0.7778 right_pitch=-0.2172 right_roll=0.0148 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.2376, 7.0496, 1.7216, -0.0415, -0.0513, -0.0122, -0.1026, -11.0974, 8.6906, 1.5214, -0.1148, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3817, -0.0216, -0.0254, 0.9994, 0.5163, 1.8572, 0.6952, 0.5152, -0.2234, -0.1616, 0.9989]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.171 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9994 right_x=0.362 right_y=0.2546 right_z=0.0184 right_yaw=0.7794 right_pitch=-0.0663 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -1.6068, 7.2137, 1.6874, -0.0171, -0.0513, -0.0171, -0.5949, -8.1162, 4.6154, 2.0977, -0.3101, 0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5167, 1.8721, 0.6952, 0.5339, -0.2298, -0.1658, 0.0112]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1711 left_yaw=0.0011 left_pitch=-0.0294 left_roll=0.0002 left_gripper=0.9994 right_x=0.3623 right_y=0.2563 right_z=0.0159 right_yaw=0.7874 right_pitch=-0.0615 right_roll=0.002 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -0.8547, 7.1726, 1.663, -0.0611, -0.0513, -0.0073, -0.3624, -8.4855, 5.1624, 1.4139, -0.1099, 0.022, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f60241e517492f15b8f177473fb1d32b7432564b02af09ac694ee1308093cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149a5c2c81b08ac7a6661bc067bbbbd5abb1cc1275b5d85d634a4b817c1770df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e224e0b06f846fb335279a8afbcbf28eea507e4f6b9af7f5953a432c3ef85cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2n9QbRsqLpLvJv___S_C7JkxoVwjslqW9BaVA3tAVk8ycGI2xTllTfwY0BXV9JOl_c2-yNT-DTW-WP4zEn5qdmm9r8-_a-H1iVnX-gDJaAFbCIO7PFAKgr5aIsJyuvqbRtOnyPGVivfYyC7cH-JRJ_L6g64RkAWw2MKkiwi1U2vuzPIb2C4n9NfHamDTNKNhDbx2T_QjD3fGWhvJzmY3OLt1C0Fp5xE0EYkHB5X6yXVjz2SZmL-Bw9T-ilK-b3VTs_lovHSQn5LUWj-_1DqvnqFlNIwMwLY74WMlLKlsZfoVU2UiT5JhX-V9CevZ2AQg4VT2ak3UluDUQ-pr71G9qqAIZSRx6HLaU6swVfa09idg0US9AtchbZeOnMJ1Hz0Mf0HWKm24fXoYnXDHrTmucmq9agG7PeXJRephCxWcgkh7pZBM_slfuRhP6n2WGNbOiMaOyYTtFl5xO_K_itvHF07t22w5MfXR4KxIVRGqKfaPf7y1-vi0-ovtm7WWMZLaFDw0tVW2xaeUGPYCZhQ6rhzS_fia-szH2FzVkrFb_x8fL9o5PG8Ab9qxGddR_mkIf_XptUBiKHUCjR1CsC776gsfr_QAq40aXnO7xF5oMJk1Ko8D3QZT5a66WPtm3w-_KvBpzW2MjZ9HNLD19ZZALAT0FceqvxPPMeGwceN6UlU9cw4paROrwN2ZOgJ_iSP89yoHIRSEHyvSPTD7BrxynjYJJsJ3qCMuHn-mwaciA5FqO_9K8jtCgZu-nn8Xra90bkjzc6CRlZ4G6nsCJEqA-_N1HYQhXhWMQpJwGs06HNyQ-WJgVpNmsIcCLq5jU6mveOn_9KgiqbJoUXAQL_O5AYHrTmMx2gZbJOLItTg_mRkZbicxrCURfqfTCG7XQYptsEno2NxPuMJifsns3zClbE0KORch2qg4szBa790-vV-I75oo7ccqaV66cRfqBMdeTkm1mbib7lYFhjVnD2cZBOv9vKy8EsCMyHZJ3zJ6hi1w-hhwLR6wOJDdSMYizqb0q7e2ERQEX6X7BAxkbMB_kr_7dfbvsSDwjvWmDhDCSxC5RJ3Hy_MibeGPsSszhn1ao8BzTv4Upweh8Hx5aZNd_BTj3M3MoraDeJiQn-rcy8iworIL-Zd4ZUBoIybGh2ZNPVMI0b1f6SXL7IsSsmEIdIhvZ8o6t-x6eC8a-FMKY5Ng-VEvxjmkn-pKoNMhcRru6cmtHfHvzAg2mdW4zewZ9J6jIse7U4bk9Qejmi0AcK_YdFGcySCxO2RPiDrR0RZ4_9Pdj5HaheLOJ_0FsWhLNsAWDc7oSmNayCTLwwt53Zyv1ZSuqH1pGdVV1qqUzPrEIiJx7ZrA8EfzJRUfIpxiqUwMUl2hRvo3ROAu9Aw9uEUX1mg1cTfkZIL3rV4EUPeEbnck4Jx4PC3zLmZsxSUVZD9xSkKpKCt035QaM7TOhEMzh2IDRGkKd2X27_MKtdWAQ-Y9s3vb7O8avvtjZLH3p1RCdNM740UzjYj-5UaC0R0LkwVSXsGYT5oiw0ULpqnT7pMR8Epi459BgY_QnnrZKBawhW3-jtKCperjxK3qexk9Yg3nbaRTMmTjlvN3iCvsSNrN2B432oa-KiZ6nQcm8NKyWvoo9fEBby5Xm16ob3vgPoiiePUz_BUXiEirkWZyblLTE6_f0cLoOMMcRD00ig41vcj6cs2vK7QAWtn9MMA9MPiEeJBBLT2Q4jTdr6tAcE__i4kWqJMOzJAHv29Kn_2LDLjPrL8zyO4TMZKhyoToqcbVduWiLaxptnQb20Aap2UYomWR9L72rxuRirHRhgHxCpz5AAKePvgPLp36oyWPNAA6p9nBXqPSlNRJCgYtUa475U3hk9x94ofvY_YgL5ZKopnpPMrb7m4e2MHagXEHBxJg9xnCH39XtNiXb3wgVPmUQPqJ30btpqDsLVFURk9nkBy-dgkUxfuAN2g_0eyilf__NvmtJgCgL-ZADcGKLIj9Vs_OwsdO0iN__q3t0fMiZsMRBW4ne2d5aOipmQDahL436f-XeK_WL2Msh60T35vVWP_Lvx3B99ToRJjbhO_TmeT7bgwU4tb8YEIQIK7wQ=",
  "id": "rs_00bbfec0d3f8a6aa016ab44da4d03887d083532fbe7a8e3c73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.245,\"right_z\":0.14,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The settled gripper reading is 0.011, confirming an empty close; the wrist view shows the pen directly ahead of the closed jaws, so the fingertips were short of it radially. I’ll reopen and retreat to a neutral elevated pose before retrying 2 cm farther outward.\"}",
  "call_id": "call_oBRsEvLVN75C7af8n9yIzyKi",
  "id": "fc_00bbfec0d3f8a6aa016ab44da6a63c87d08162aeaa8dac1d26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oBRsEvLVN75C7af8n9yIzyKi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8268, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.5167, 1.4677, 0.7475, 0.1234, -0.2371, -0.1654, 0.9949]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1697 left_yaw=0.0011 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9995 right_x=0.34 right_y=0.245 right_z=0.1224 right_yaw=0.7927 right_pitch=-0.0159 right_roll=-0.0061 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.7118, -0.0611, -0.0513, -0.0073, -0.4171, -7.6513, 8.7726, 1.6044, -0.0855, 0.0855, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6812eff8014e5407fc035e8e560469a4e9f5dfc5ea080e001d2c33cb3d463ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c960b8e8f15e792f5595e70e114cd248d988b6d116088f4d6c9df23aa3a400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5510e64bf686defe76d430906e1b1f6b4d6c87a37566652b3361ef3e3a11e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.307 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6022, -0.3809, -0.0219, -0.025, 0.9995, 0.5293, 1.364, 0.8707, -0.1013, -0.2165, -0.165, 0.9989]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0252 left_roll=0.0004 left_gripper=0.9995 right_x=0.3339 right_y=0.2434 right_z=0.1715 right_yaw=0.7879 right_pitch=-0.0168 right_roll=-0.0175 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -1.2239, 7.241, 1.7949, -0.0855, -0.0464, -0.0122, -0.8957, -6.7897, 6.7214, 1.6044, -0.1636, 0.1978, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5167, 1.8721, 0.6952, 0.5339, -0.2298, -0.1658, 0.0112]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1711 left_yaw=0.0011 left_pitch=-0.0294 left_roll=0.0002 left_gripper=0.9994 right_x=0.3623 right_y=0.2563 right_z=0.0159 right_yaw=0.7874 right_pitch=-0.0615 right_roll=0.002 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -0.8547, 7.1726, 1.663, -0.0611, -0.0513, -0.0073, -0.3624, -8.4855, 5.1624, 1.4139, -0.1099, 0.022, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8268, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.5167, 1.4677, 0.7475, 0.1234, -0.2371, -0.1654, 0.9949]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1697 left_yaw=0.0011 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9995 right_x=0.34 right_y=0.245 right_z=0.1224 right_yaw=0.7927 right_pitch=-0.0159 right_roll=-0.0061 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.7118, -0.0611, -0.0513, -0.0073, -0.4171, -7.6513, 8.7726, 1.6044, -0.0855, 0.0855, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6812eff8014e5407fc035e8e560469a4e9f5dfc5ea080e001d2c33cb3d463ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c960b8e8f15e792f5595e70e114cd248d988b6d116088f4d6c9df23aa3a400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5510e64bf686defe76d430906e1b1f6b4d6c87a37566652b3361ef3e3a11e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_00bbfec0d3f8a6aa016ab44da9ebfc87d0819e713b21de81a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.378,\"right_y\":0.272,\"right_z\":0.02,\"right_yaw\":0.78,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The arm is recovered with the gripper open. Following the empty-close evidence, I’ll re-approach at a grasp point about 2 cm farther along the pen’s diagonal axis than the first attempt, while keeping the same jaw orientation.\"}",
  "call_id": "call_xtdYVUd35Cpa1vflTfiGkQMZ",
  "id": "fc_00bbfec0d3f8a6aa016ab44daef73c87d0b9cb21573542c12e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xtdYVUd35Cpa1vflTfiGkQMZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8326, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5259, 1.9099, 0.7235, 0.5228, -0.2249, -0.1551, 0.9959]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1682 left_yaw=0.0011 left_pitch=-0.04 left_roll=0.0004 left_gripper=0.9994 right_x=0.3644 right_y=0.2612 right_z=0.0073 right_yaw=0.787 right_pitch=-0.0823 right_roll=0.0131 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.812, 7.0632, 1.6825, -0.0269, -0.0366, -0.0171, 0.5949, -8.5949, 6.4068, 1.8486, -0.0562, 0.0415, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8700279408b6a26594035bfa48505f4ae9b874f3d2df8436787ccbf1fa8f4a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c61614bf48dede04ad1bff10fe404ce2b38251f3e18c5c803d0df36b3d6cc18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95cf4bb11b7e6e5b528d715fd118bab323e10885107a44a51ba1f15267af39e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.105 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3817, -0.0216, -0.0254, 0.9994, 0.5163, 1.8572, 0.6952, 0.5152, -0.2234, -0.1616, 0.9989]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.171 left_yaw=0.0008 left_pitch=-0.0297 left_roll=-0.0 left_gripper=0.9994 right_x=0.362 right_y=0.2546 right_z=0.0184 right_yaw=0.7794 right_pitch=-0.0663 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -1.6068, 7.2137, 1.6874, -0.0171, -0.0513, -0.0171, -0.5949, -8.1162, 4.6154, 2.0977, -0.3101, 0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8268, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.5167, 1.4677, 0.7475, 0.1234, -0.2371, -0.1654, 0.9949]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1697 left_yaw=0.0011 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9995 right_x=0.34 right_y=0.245 right_z=0.1224 right_yaw=0.7927 right_pitch=-0.0159 right_roll=-0.0061 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.7118, -0.0611, -0.0513, -0.0073, -0.4171, -7.6513, 8.7726, 1.6044, -0.0855, 0.0855, -0.1978]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8326, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5259, 1.9099, 0.7235, 0.5228, -0.2249, -0.1551, 0.9959]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1682 left_yaw=0.0011 left_pitch=-0.04 left_roll=0.0004 left_gripper=0.9994 right_x=0.3644 right_y=0.2612 right_z=0.0073 right_yaw=0.787 right_pitch=-0.0823 right_roll=0.0131 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.812, 7.0632, 1.6825, -0.0269, -0.0366, -0.0171, 0.5949, -8.5949, 6.4068, 1.8486, -0.0562, 0.0415, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8700279408b6a26594035bfa48505f4ae9b874f3d2df8436787ccbf1fa8f4a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c61614bf48dede04ad1bff10fe404ce2b38251f3e18c5c803d0df36b3d6cc18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95cf4bb11b7e6e5b528d715fd118bab323e10885107a44a51ba1f15267af39e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE22vYnahWgRZ6OAWJx7zIUTtS4fwq7Tk0tjznhXrLS6mBnrgORo6f8auSgsM5pUQi6JkBdVPugx2m1ndyB9ZN121g6Hj0Jm-647NkGLtyWnvyKBYsUsDLULTToydhTKhLPPo18IOKqBC6BEir8upM0xgStZQuN_tnfQ2AHyO4lh2Qklon-R0C57jMj_0JbbBTgu4TJGWnWXv-W2py0K2LUe2C8oJM3lm3v8SmbknGSpQsC7WUmEZP2C-yXrCSAYOY1BsUDAymRY1d6veKDirH-IEdQO6yUmuY4dN3u7TFteB7M_QcVq0hIWmusRIhwdLrcmguY3wdPQc-tUbtzlyzmPOY1SaaQZj1PUDUSoqL7EGxZ7idDm84S4BPh3BdQnRZF8hn-aF16B1KaFr_E7I7pbV9FbtaKF4wg3tMp8QYJO5GaZbdn_g7y4zlkE1dvQjG5Sm1TEb2JslRR1dugXZaKG_zhiMjYgISollawuVe3V1C1ft-aymDxgG9hSFgOMNse2ZDLqnmgZ5j1w_EDGZ5taA8leILmAA6rn0ZOSW8VoCtQYpKbd_4lcOZMWAWhu0ygsqlaDTn8yelcxUYf87pusNj3youa1NuQE5H1fwF1XjpU6RGbZhmf0Ea8MHY8G8CesC2wmOeJvlQ6-ZkAl74H8oannTEB-UlnpJ34FObqe9c2IIhYRWHAx6LG8aVc0Uc6VtJRLKXn-0EyKgV8_Wv5GfDfG3ToOmVUtvU9NKCAn10xV_3W4irlsW8hbMmul9bSDZzPFu5fpoEF0rgwODDklT0rjQ_T0XfpmZrlXqodfrNMsBRxuV646o7aj3gQesODPoCwhLdPw1igdAL4gbBvcbBYI58JzI1_w73DQV66A92nuHcEXRdqMLwe8AyCnemrtu4mhPhyJN0e6enul96ZRdnZvdBStCxgNZDTXys01cTkXiGtx7T1orkX9rui1pqerYdnaoRo39zn-PxCnH1VwpS4ppQeRb8SFa6pz1J3DqEGFIk8BAJMx7JUgcZcWp5KbYYyji-dWmHerQ9YiSggCOln-YL5rNW1uC-R9QQ510cGk44mPyl3qHStGGgiw7Q3QJxzkgHFYQClf2WldRprHC5BOVVBlaV14Y5EN1f78lrN7hreznQyl9BFSEvyZO-DTWSyl44_pfR3bM4g1jXC_q6H_aVK-40c7kFRL73yLJWrRAYmOax0jYBIEygH5UNjuWj9WPPuqbEfCxxTncngwa3zDpon4ZHW45-CS5iIioIGXbPD716q6r1FPJyNKedGXsMx8hD_kBUGELYs8tywKCXrVO6gKxvpowWHsj9onrtjbSY9NaoDlHRcwAmmz_bjrOFR689HCqwzgqIsXgElfem96o1ZhqG0YvaiWIZxNLUbPecxJ_M3qhYp24e35SIvLlWv7Ezi81xq8UvwmzosTdY_qgTBxER0xyVzWVT_QKxcewC3-uo5Ex_qjZRhBqTlpUGzieHkCSikQrkRDHNp_TLNjc5z-8iPMOxOPqvLqcsv-iwlVtFRbxd1ttzdfko-yboKKIlnrT4emmOhzbuKP9Xaca-Dq3YdoiEwGu7CxFh4I3xhTqtlMk8BoaTIPCKgyAd-e6SytyoxtiH6baJbb6McxzPlLLdNMUMOloP9WvnB4m-yajmlYLN0ys9tMikLU-cLCNMIHQ33e2RO3_q0rou8pDqMxMC1_vO9oVYbPEvFAl_-8YUaXKWuANCtCsOnzVjG61xRvJTRU_8RAMlcq0BQytX3XXABgb80KRQnEi48-5zWJxOPKKnX_fnM5vSpHryNcKEbmKv3X0nL_AK26ug_28KgFIQZZ-t_aTAVajYPMoXit0ZlZLsJtoepGdek6RtHih05bk003JQj6cgLNfBH8e65-NrhhzOnS8QjiafpLy0WbXI3RjnAVVSWYhS6WG6iiuVePplPz2FOGLirJLj-_YvBiJhIwK2wiYWSTPrMX_MptrvPFIyz1nMrXe9Nmi_mZIaNuo77dF4cT-SlXsVLt4Ap04ZAlgchGh_kdYj7QJDN3YtDOOeUeAWgO0g47WievnsSCtCOwYFBj6Mpi2H2WJTDa9xOxfFTUT-ffBFlX1Y2cu1z1n8tPtWTQKgRJJsMevGe-zxF5ZtxRxDwpqcpjQykmcP8rE9yeFqWCxTCLkQOd3N94E5lLCR4tTavQgYY67RkBlPsGKattcdGVX0pi3UI0CBOko4_cb2YQl1TtOmUI2LUyB-ymAo3YfakOqzGOEIpt-1tHwk4VqsSMK_-JrP1EdiNW6jVykgetbqqHO4v19XfRn-nbauPCdeD9Fw_jFhewC_XTCkYuNb-8U5UG1xjUZOwBwm1zBSFX_IdRCpvFak9CO4Rey4GGAarl4QmlgGCPRZdmHEjd308b9HS9XKtmin-NnSwkzuza_zHOyHvGyS1pRZ_0j8mhBt9k3F6NTfkkVQ41spyDDuTJTAh22nR5G5PdkTM1kp3OtDpQ0mol3BsAZieK9AWJTfJRaH8hyuPwIQ_6KGdnbomb0AiP3jpfXhN5Gc7m513KQhTMkNA78OaoqcYtleg6vZsnO8jSPLuvZ04ni7PaFLi6FGxR9bPWxIZyVuV8LQYzcBi-WUCqnqKnAUAnn7J3850uwQCibh0WI0OICW4-PKbz_L06yQVk6k7W_8MQ4H618DptmXVgMcVZUemyDBDdYtAZX0igKBtY2oBLMs9Xh9naI6-3xvNgj5Ik2rquIW-be5sIq-MMIr1648m3K3PmvST2Zi8PBeRkQBPfzpd0Pw04wYgmDPHJKP43eDaszxTRdhxzDH5_E1azRiq0-9jdOkkedFHYvrUeM1I_Xybjhel6z9WuY89KnjUBtaoctBy9zulhpTgOvuwG2CaT9EGE1FNsvKpx73IezoC9GxAvBGX3Nz5NDG38Jq6MmufZ9eriGBV_ScoDbgrbC-JpuGdnCzJs",
  "id": "rs_00bbfec0d3f8a6aa016ab44db1e9b487d08cf398d7a592ae4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.14,\"right_yaw\":0.78,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"At the low retry pose the pen is now clearly visible about 5 cm to the image-left of the jaws, revealing that lateral alignment—not radial distance—is the main error. I’ll retreat and shift the right arm leftward toward y=0.30 before making the next descent.\"}",
  "call_id": "call_zfNO9rrimL2PkWK4lHXo6SRZ",
  "id": "fc_00bbfec0d3f8a6aa016ab44db5870087d0b9f06f9f8b70b09b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zfNO9rrimL2PkWK4lHXo6SRZ",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8333, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6693, 1.5917, 0.8482, 0.1509, -0.1234, -0.086, 0.9985]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1679 left_yaw=0.0011 left_pitch=-0.0408 left_roll=0.0004 left_gripper=0.9994 right_x=0.3373 right_y=0.2992 right_z=0.1174 right_yaw=0.8075 right_pitch=-0.0256 right_roll=-0.003 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 7.0496, 1.7411, -0.0659, -0.0855, -0.0073, 0.212, -9.0188, 8.9641, 1.6874, 0.1538, 0.1392, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89d832bf40f3e01fe883862dd4553527f3c4ebc802fb9558a0ecef1f6edb9a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5476b44a26e9276120a1277a19cdab785f6793ef3a165552e64e02b4c7bedbd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9caa62283dbdb91236830bb78a83c9f557303c86b2dd75ff778fed71450d7716",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.013 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8223, 0.6022, -0.3813, -0.0219, -0.0254, 0.9994, 0.5167, 1.8721, 0.6952, 0.5339, -0.2298, -0.1658, 0.0112]\nstate[eef_state]: left_x=0.2962 left_y=0.0015 left_z=0.1711 left_yaw=0.0011 left_pitch=-0.0294 left_roll=0.0002 left_gripper=0.9994 right_x=0.3623 right_y=0.2563 right_z=0.0159 right_yaw=0.7874 right_pitch=-0.0615 right_roll=0.002 right_gripper=0.0112\nstate[joint_eff]: [-0.3624, -0.8547, 7.1726, 1.663, -0.0611, -0.0513, -0.0073, -0.3624, -8.4855, 5.1624, 1.4139, -0.1099, 0.022, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8326, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5259, 1.9099, 0.7235, 0.5228, -0.2249, -0.1551, 0.9959]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1682 left_yaw=0.0011 left_pitch=-0.04 left_roll=0.0004 left_gripper=0.9994 right_x=0.3644 right_y=0.2612 right_z=0.0073 right_yaw=0.787 right_pitch=-0.0823 right_roll=0.0131 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.812, 7.0632, 1.6825, -0.0269, -0.0366, -0.0171, 0.5949, -8.5949, 6.4068, 1.8486, -0.0562, 0.0415, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8333, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6693, 1.5917, 0.8482, 0.1509, -0.1234, -0.086, 0.9985]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1679 left_yaw=0.0011 left_pitch=-0.0408 left_roll=0.0004 left_gripper=0.9994 right_x=0.3373 right_y=0.2992 right_z=0.1174 right_yaw=0.8075 right_pitch=-0.0256 right_roll=-0.003 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 7.0496, 1.7411, -0.0659, -0.0855, -0.0073, 0.212, -9.0188, 8.9641, 1.6874, 0.1538, 0.1392, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89d832bf40f3e01fe883862dd4553527f3c4ebc802fb9558a0ecef1f6edb9a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5476b44a26e9276120a1277a19cdab785f6793ef3a165552e64e02b4c7bedbd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9caa62283dbdb91236830bb78a83c9f557303c86b2dd75ff778fed71450d7716",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE28bHhSCX1JtPLn780Vj97qP5Rku_iAdFjzvNQyppa9Hc6e7JXoX4C7y9pm423Sp5ajwkRKbMavWib6y0m9EnK9fOEVw3WiGaC4cf0R5QNr0FssPXIm_jUL6xvLATHoj1EXhVlPwDYsWE_Rz6IFlJiM1yRPK-QGDIGAUzfbRCp8MH5cPe40I2xej6zD-oHLH4pQEJnBHodbRehvn4Bv3n2AY3gWU8Y97szGtW-3a9bYuw7G1r3gyzSTB-l7qgWsWvhmK6E13lPfrss27ZdW8GYBfGuT8FEtAUosBVxBAxEQuHk4lIZr62nk5mRg2hOnjJzUexLcvrM2HZ_tqNwWmLpKzY6Jn3_8Kujb0xN-VeCQRZToaaKTVppu5vJz-R8DGCYDhoGXHDLXBSvouYY5JIOATWILAb7KHbqnCkAiejfKyn1glVTFJidneomexV1I-Zi8gyxtCeHZWguoqIVLJY75opPh-C5vZQOxyicHBqDxr6TbqTI2JH5N7JAHQPTbhKm6psZ00vEp33JRH5l9Ta3RgwajK1qcaIBNBUjpbgQ971cvBYfRV9c5C8zMEO_YcDDrXztWKZZWuYUmPvSuBHSJd1bihdunGMN3f1q5yqSOKN0BTtz4wgHNbf7LKvg6RoQ8prKPtO2HFurMNd4yuT8KMGeCRibWOUq9D6sh9l-YFNghh1L7sCayOOisINcDXAhIKurEecnHqTZqxeYH2laPn05DLDPbswtONs9JlYmPmZbYxcWFIY_fr9SOr8SIbY0BHH_CAEqSBMM0o3qk3f5qwuGTZOUTBuqjmEI8WExQlGFMxFLCzpv-1t4_8NGeL9KIKx3vSJrEXnyyJ_N2PAvUIMXuH2w8AGaVHtQRFVSqGY-vKL5u5bmdzFrcDnVvZ327oIaoPXA1LHhPwPANfFQw68SdEwpiuW8-v8t64ow6Eqfu3GG23Oz6gatM98uGzmAwJaMXSLD9Kf-rT1rtmtiezo07-l25WziLn09RZ1n4GCqskFkFVnqSjJ_vJTXEGb0anhdtNVaIODJWoiZA10ysM4JteU5Rl9m6e8LxwRaMrNepfn8zsZugfa8R5Nxtt-2O6MGaE9Rdr2RPqoKH0ss92h4MqWNccGvPOgwUGyT8hoDiHoprkmqn6L1IdpD2Pv2Z3mO03iBhmLQXn2P93HdcIjaQCHsd5nyMrp--mLz03K96o9ZNsuLl1tnBPVr-5hL9Ctp29jkNzmqo12Jo9uuK6iLTX2wpT7lHBmQXkPgfHOOi64CzcHAlnkhAzgePWzEQ-B7VpBRZsbkhdpMELDO7MwQkrKomZzZ1kNNgwI2HlNhS1SDeW6vziUnE7PHLqrjrCzpIzw3zqTsaSRSoH84DWJg8AJl3IkzGVRpdSHu3wFs2Wz2laKAlKhh-vXqj4nD9t6DAexIINK2XOEcvZjbqKj2x27g1oS0V3jk7KgzMvbt0ciqKxiAte-Hl2aRZ8Rh31tRKkdxHCI8ZPtltX0hVeF9aE3_mvBI-KuUUGaM-GxdKzrJxpgRfVdFgaH3WsRwI9ceH6l2YXHjabOrZRpGJAXwRr1BjSzMeYr_he4WG_zdu_HADz_QTQoEH-Iqb1tq071wImIQHOJLf9ZuWHpz2n6cZUhcTBNXAahIxRcfe4d22eoha828PJYagyi_ZVsHs9Ongpe2cZJ_oiC9ZSMPf_v8qXQ5LEyrukdlkXVz3NAU1LqLXLzi0SQmjFhUvqDjDl0YvYf1yaS1KpnyGIH7DKN2m1MCy7OrBzrY5fCZHrmZ7u2eLaxpzFhuIXqXJE6UdlR4bt0pEWymP7brh1FiqM-to5pvYiYe6CejHftzXEF0t4opPPXNQJdXYOfjrnpRmwpslmDKouBJrvrpivCtFQQEGSjrHd_Ivga2Fq75CA71qlXFp5pKEGDS5oe4Oa8whGFe83rBMOHAd1tvOxkZMDMllvo28l4XUF07WB1cXj4TwTxZTMaMCvOOcxPBGXidX6DdjnR65VvCFRZa3fkYohNQGP6nF8fIp7Ktbc_gZBT2d8PHAIM4oB07DeTTBNMF0T93O3LYhzNahckBSOx8UeOzEJGvsz9eHFbd126DQKCEy40y9ipBQJZrO3mFifWqIaA4aZQgT0xdYs2ED40sQ5Uc8MkEZ_VN50MH2IF0aCPBCj-jHVO8pGo3dh2Yc5obzASpEWimy027OnNKqUqBFzdOXrukv8xHPe25KfCr5OotK4ijHgNNA1aIyAe3VRcYFp657DHCgN3VjGmVNQD9EulG2CvuowmrTW9sG02GtEcxsa3YXexo-ECvlwOP23h-X4e_m9rPW_y4jpn2Qh4_FJ1pBu9WBe3H2F8ZqsPdwrAHZCUMcCQkAOdt8SsWvjxK4k8Y61pCIzBE1BMuCKyK6q-BAbB_UEVaCGkDN8DbgHtgF6GYnUm8fN16P_mBoPMeY-NfkOa5p6D55vNfY9EQY9w==",
  "id": "rs_00bbfec0d3f8a6aa016ab44db904b487d09de5f04484a5d881",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.32,\"right_z\":0.015,\"right_yaw\":0.78,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"From the corrected elevated pose, the long pen is now centered on the jaw column; its near end sits low in the wrist image, so the fingertips are still a few centimetres short. I’ll advance along the pen axis by about 3 cm while descending to the grasp height.\"}",
  "call_id": "call_MwwobwRKLDJ8Tkxp7ByeBvGN",
  "id": "fc_00bbfec0d3f8a6aa016ab44dbb772887d09d7ff0fd52c5a539",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MwwobwRKLDJ8Tkxp7ByeBvGN",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8391, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6769, 1.9636, 0.7864, 0.5404, -0.1013, -0.0734, 0.9984]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1664 left_yaw=0.0011 left_pitch=-0.0465 left_roll=0.0005 left_gripper=0.9994 right_x=0.3515 right_y=0.31 right_z=0.0066 right_yaw=0.79 right_pitch=-0.0712 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.894, 7.2274, 1.6679, -0.0659, -0.0366, -0.0073, 0.7043, -8.759, 6.147, 1.8974, 0.0024, 0.1343, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f9e855fca444b6eb49ff3990a4331787d535b38c0bcab521adf7fe15b4f8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6d7dc8287a4d7b0e27a46dbb139b773a0730eeda572dcff319123b8706a167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b078f0d831ba105e53d451514c1f1bb616ce908acc10e1678bbf1b92496e6cfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.036 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8268, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.5167, 1.4677, 0.7475, 0.1234, -0.2371, -0.1654, 0.9949]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.1697 left_yaw=0.0011 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9995 right_x=0.34 right_y=0.245 right_z=0.1224 right_yaw=0.7927 right_pitch=-0.0159 right_roll=-0.0061 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.3744, 7.0632, 1.7118, -0.0611, -0.0513, -0.0073, -0.4171, -7.6513, 8.7726, 1.6044, -0.0855, 0.0855, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8333, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6693, 1.5917, 0.8482, 0.1509, -0.1234, -0.086, 0.9985]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1679 left_yaw=0.0011 left_pitch=-0.0408 left_roll=0.0004 left_gripper=0.9994 right_x=0.3373 right_y=0.2992 right_z=0.1174 right_yaw=0.8075 right_pitch=-0.0256 right_roll=-0.003 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 7.0496, 1.7411, -0.0659, -0.0855, -0.0073, 0.212, -9.0188, 8.9641, 1.6874, 0.1538, 0.1392, -0.1685]\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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8391, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6769, 1.9636, 0.7864, 0.5404, -0.1013, -0.0734, 0.9984]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1664 left_yaw=0.0011 left_pitch=-0.0465 left_roll=0.0005 left_gripper=0.9994 right_x=0.3515 right_y=0.31 right_z=0.0066 right_yaw=0.79 right_pitch=-0.0712 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.894, 7.2274, 1.6679, -0.0659, -0.0366, -0.0073, 0.7043, -8.759, 6.147, 1.8974, 0.0024, 0.1343, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f9e855fca444b6eb49ff3990a4331787d535b38c0bcab521adf7fe15b4f8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6d7dc8287a4d7b0e27a46dbb139b773a0730eeda572dcff319123b8706a167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b078f0d831ba105e53d451514c1f1bb616ce908acc10e1678bbf1b92496e6cfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2_YXj8b8_HwPXwatkatNwa8e6ew591mpY-0tHH3QFBpS4ZmkpVqMOm0eyjSJAWxZfBhjlq1mNemk_Ut7mV9T83bfbtvsxKzl6bvh-3RLckOhr-DYce8qeKFjFPdUEgMlx0yc_b15_RQczthcbY8BljcJgi-GE0hYPA3jLDhYqMSZh_UyApcZahFhPQewhpho2TqDeJJTJNxF1oFzRFMPnuXFm7cZ5XwTbiuYyLrD4Jzj98uXECJ4rS1ijHAA6w7DFwfQp_jIy2WZzBJIpSZaZORzVkFhg097Wn9mRXuREoy_mx9hDX3O1vIC9BVRat-5kXep5PMulMTD-TXb71kAj7Js32Qz2uVO7EnPqicG4uDQCpOoJGfwYSHFiUkFCrbudMJ9d8AcwVjVsMLST7oiknP6FedGhtbwNYb7gNBaa8nxwfO0uqm1g19Hw4xvVRip5Q1VJAbz8TzI9T-XrW5-d_pfFLW9cggdXlH8YX1fuIyNAehoFIeMDobzphGgjBWiUyRr9K7lr5TTSOcRts25t4He4iSFL38E-_xYwjrpeZaRtTmSp0SKOGTCxJKKsu-gtyOfQjXIYLzVJCx5DVmK4lxUFlRLl8WbvpmBhlr9MRBxe81k8-6LwnIAnhSpGHBh9QQxOgM6O7kw3WC1IWdUz6L69Y8Haw8i9dr0lbGOlR-Xxz4Ubf3-zUGmvNSTwkctBjX9O6G3thS8PXzHP9JZpFXtpHKA3BMYWJ8Od6yk6HhysgF0C9ktW8RMvghb0QuErhzGWv06_SzJ0y9gGER76OKouQU7AOt1ILV5r96Alf657zdIblPFJmwYxfe8unDVD68BdoEoPloDlMex3F12UJ0ikGotvYAcF-P_0OGcme0Efl_KDNSU0dEme4-QN4IwOrDaAvtA5mtqKQjCtYBBnz7mTGf-igzGaFVgT-2iQxEvpbkcmzBEmUlItqgtgFFuDFcQD_mSzZiQsd4mH2uYlAEUWsYG-hLg1vV7yfTiK0RVhNS5nVzcJI1M6eNglaInqPa9chTCEvxQVIYC-u2ccnjqcCwBmGTiU-WlH84lT4ejiH3K5XQPyHLzWwA7ZYOJdXL6P83ivtiE1Fbw3EzNwhqls9WJCnEioOX6KWyQb7YACvCdq6ySLThP0uPytg7BJiyBs1tdQmCvd3T7aK4U4DiM_TXdnVZFb1fs-yt4GXHyt0CNYk3Vfiht4RlO2J5aNnTmDhB0vt2ez53-4-D2KcyOztkYY1G7B3g5BTph191Xf0wsLkmgiyQNh8Q4-Lo6kM_M2LKH_DuDiBU9p2zCtf01FS0QZB7g_xNBNoOyCjoRojNfSj8JTl_htOAllveqOv",
  "id": "rs_00bbfec0d3f8a6aa016ab44dbe5cec87d08e59c39d1e36a444",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 7 mm height the pen body is precisely centered between the fingertips and runs straight along the jaw column. I’ll close now for the second grasp attempt.\"}",
  "call_id": "call_xOU1J99SIQL3i8KqhRaArz2L",
  "id": "fc_00bbfec0d3f8a6aa016ab44dbea72487d09d374777d5a431b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xOU1J99SIQL3i8KqhRaArz2L",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8398, 0.6022, -0.382, -0.0216, -0.0254, 0.9994, 0.6796, 1.9797, 0.7853, 0.5655, -0.1024, -0.0784, 0.0461]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0477 left_roll=0.0004 left_gripper=0.9994 right_x=0.3518 right_y=0.312 right_z=0.004 right_yaw=0.7962 right_pitch=-0.0631 right_roll=-0.0041 right_gripper=0.0461\nstate[joint_eff]: [-0.3624, -1.5658, 7.0632, 1.707, -0.0611, -0.0806, -0.0073, -0.3761, -10.4, 4.9026, 1.4383, -0.0415, 0.022, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b213af996134582e029a6b1ae6ca4dfbf215a3dbc54623f8b66ab7445ba4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac865c0eb6cbbaee8e92379f1d360413618618ea48504148604a16db7eae322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ecbd6fc9e94af52530fa6acd613f486b3196334aeba2ec03ac35cf92717b59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.677 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8326, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.5259, 1.9099, 0.7235, 0.5228, -0.2249, -0.1551, 0.9959]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1682 left_yaw=0.0011 left_pitch=-0.04 left_roll=0.0004 left_gripper=0.9994 right_x=0.3644 right_y=0.2612 right_z=0.0073 right_yaw=0.787 right_pitch=-0.0823 right_roll=0.0131 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.812, 7.0632, 1.6825, -0.0269, -0.0366, -0.0171, 0.5949, -8.5949, 6.4068, 1.8486, -0.0562, 0.0415, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8391, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6769, 1.9636, 0.7864, 0.5404, -0.1013, -0.0734, 0.9984]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1664 left_yaw=0.0011 left_pitch=-0.0465 left_roll=0.0005 left_gripper=0.9994 right_x=0.3515 right_y=0.31 right_z=0.0066 right_yaw=0.79 right_pitch=-0.0712 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.894, 7.2274, 1.6679, -0.0659, -0.0366, -0.0073, 0.7043, -8.759, 6.147, 1.8974, 0.0024, 0.1343, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8398, 0.6022, -0.382, -0.0216, -0.0254, 0.9994, 0.6796, 1.9797, 0.7853, 0.5655, -0.1024, -0.0784, 0.0461]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0477 left_roll=0.0004 left_gripper=0.9994 right_x=0.3518 right_y=0.312 right_z=0.004 right_yaw=0.7962 right_pitch=-0.0631 right_roll=-0.0041 right_gripper=0.0461\nstate[joint_eff]: [-0.3624, -1.5658, 7.0632, 1.707, -0.0611, -0.0806, -0.0073, -0.3761, -10.4, 4.9026, 1.4383, -0.0415, 0.022, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b213af996134582e029a6b1ae6ca4dfbf215a3dbc54623f8b66ab7445ba4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac865c0eb6cbbaee8e92379f1d360413618618ea48504148604a16db7eae322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ecbd6fc9e94af52530fa6acd613f486b3196334aeba2ec03ac35cf92717b59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3DA3TPdzsRWrHreoIX4WroPgyrnmOV7PNJyFY9EB_WQ0m9MkDZe2applIlSKfLYb568mxROWqxKcmHvcqOnh9SW2x8qLiWpFBtp6rp7NFwQyzTtMeoP26-QZFvYImqaT0qfyTEvCFu0QeEItr1-ZIigp4SNlIjgWAxcmC68RCeMvUMIPEODhM_Bt9EuQi_PAnWaCOjDaH4INDjzQZrQJ7_w-euHlwnvBKjYNfusOFgnd3gHc3Q-Br3UARgLgPRfNDw5Y-X6S1QS7uf6ODHDlvDLz5YDsDHl5oRBYtfSUMj3f-F08JIWwLa03JC5aq3sXa3YTaC28ikGMhBQz4avNogSygXzVE_47RF8kMlpH-sUPKm4EEXjIv28TQgeWtCm32LGqPu27NYNL0RBaVRuxFnLhYAjOgC5O_XDdBGrAi1c2HAdFTxqMMJgnRXh0OvZohJX3xOS0Kf_AjoaNu9lSHxhkWrN-ef-SzBsRsC-bUNmArtDAzYdZSjqNEDA-mbStXybaSjtR3mVN3Uum9tJNZKNrjYhDKzAB2ZG3Iv2qf7nOncEzQLDDzygPmD0IxMJUB_LHUiTszt7Y4hTrsa8CqD93PoJbLxXVgqPPg0pkXonqO2uxaoP4nXyFOlpiYnTyNYAcZkbfebTJDyXx9ME-PjQnny4hzix9IvnKTBKMa2NG168a_U8H2AW_6tNC8XvaRwWjy30Hp-Vvlvyz1FtPmYCUbev9ljWtL3ml-OaO_6Ey2WUj7JSzJM_ks9bPv72uBZQVfi0PQZCi63CdbyhgnBSuSNt5Ca-rjuKTnHo8M1Oc__Cy_pa-tToYkM9dDo-PxvkrI2oiblMdzUeLAelmu-hTvUYJuRPFvZAA4Ns6kyCBj2pJCeAVcwDT51vv-Ienn9l_rm5zfaQCJEon8KLgbpJysODP-nCzW8vGV2347B8Y9jSAGKF4N6rYCUJgie3KBsDGezrQg9xEg6WEt_4Huoy31QL7tabX82jcctkIzLNL4F0Rjy4w0NaWxK4Y4tKhVCGOH6nc3m9elzgssYSJFudiYDOUQEklmwrFAGEy7Rtgb0R1z1xfZtWRG3GM8ySBkgqwWEVA1M1udoJaX7q0rTxYM7ppPlKFsOUGnThxjakQeDirMhXxv2g2bJn64rYa73gjJEj9GTU8_cqgk2lSAfzNzoEQfFTueoQZmlj6FKnVMSj50Pr5UFYKOpVD9K8MEvo3LvipljwRomhjIlIeJTAPQdYUwPPHNojff-Qzs2DIb2MxXLl-x6AJsQfyfTNc_3H66l540-yRnHzCGvxlY_eD4BpcZ9x8oiC-ubLmS46KB2nr6RoDljr-8gihAit9deAJSLnhLoM4E7T1Skup5L_ss_huwjKl5O_KWZgNHvtBD-2ZsKwuekpJqv4jrot4p_NfoQB0Z8XjUdtA1IdlhNGnCRkIeF_xsYpSc_TRT4ng63ibJJTtqlQkcxkL25COb7M-k16sBByIivfbV252VzIN5ZrInXSkCe6uFDzF6AavW8MVSORfEP7LEEMD0dtR2r",
  "id": "rs_00bbfec0d3f8a6aa016ab44dc19d8887d08e08a30ea704b88f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.1},\"note\":\"The gripper settled at 0.046, above the empty threshold and consistent with a roughly 4 mm pen body. I’ll lift and retreat slightly to confirm the pen moves with the right gripper.\"}",
  "call_id": "call_AwAwgv1IPGzhHfSyW1BeW8k8",
  "id": "fc_00bbfec0d3f8a6aa016ab44dc28c8487d08dbec52aebf18c1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AwAwgv1IPGzhHfSyW1BeW8k8",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8436, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.6758, 1.6844, 0.8227, 0.2188, -0.1081, -0.083, 0.0487]\nstate[eef_state]: left_x=0.2973 left_y=0.0015 left_z=0.1651 left_yaw=0.0011 left_pitch=-0.0511 left_roll=0.0006 left_gripper=0.9995 right_x=0.3383 right_y=0.3002 right_z=0.0803 right_yaw=0.7998 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.0487\nstate[joint_eff]: [-0.0479, -1.894, 7.0222, 1.6679, -0.0464, -0.0513, -0.0073, -0.5128, -9.6752, 8.5538, 1.7509, -0.0513, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38388c118e7e73308b502cdaeec9ef392c07c766aa6994f31ce096850c2192e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5a4c7fde5cf8399b5c1359a11226242e1674f40bf2c99844ae0c665094d0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f125a4c0d13a038bcc34a88a6322c57057c7e11e209781966f9186c3b387b27f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.361 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8333, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6693, 1.5917, 0.8482, 0.1509, -0.1234, -0.086, 0.9985]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1679 left_yaw=0.0011 left_pitch=-0.0408 left_roll=0.0004 left_gripper=0.9994 right_x=0.3373 right_y=0.2992 right_z=0.1174 right_yaw=0.8075 right_pitch=-0.0256 right_roll=-0.003 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 7.0496, 1.7411, -0.0659, -0.0855, -0.0073, 0.212, -9.0188, 8.9641, 1.6874, 0.1538, 0.1392, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8398, 0.6022, -0.382, -0.0216, -0.0254, 0.9994, 0.6796, 1.9797, 0.7853, 0.5655, -0.1024, -0.0784, 0.0461]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0477 left_roll=0.0004 left_gripper=0.9994 right_x=0.3518 right_y=0.312 right_z=0.004 right_yaw=0.7962 right_pitch=-0.0631 right_roll=-0.0041 right_gripper=0.0461\nstate[joint_eff]: [-0.3624, -1.5658, 7.0632, 1.707, -0.0611, -0.0806, -0.0073, -0.3761, -10.4, 4.9026, 1.4383, -0.0415, 0.022, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8436, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.6758, 1.6844, 0.8227, 0.2188, -0.1081, -0.083, 0.0487]\nstate[eef_state]: left_x=0.2973 left_y=0.0015 left_z=0.1651 left_yaw=0.0011 left_pitch=-0.0511 left_roll=0.0006 left_gripper=0.9995 right_x=0.3383 right_y=0.3002 right_z=0.0803 right_yaw=0.7998 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.0487\nstate[joint_eff]: [-0.0479, -1.894, 7.0222, 1.6679, -0.0464, -0.0513, -0.0073, -0.5128, -9.6752, 8.5538, 1.7509, -0.0513, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38388c118e7e73308b502cdaeec9ef392c07c766aa6994f31ce096850c2192e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5a4c7fde5cf8399b5c1359a11226242e1674f40bf2c99844ae0c665094d0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f125a4c0d13a038bcc34a88a6322c57057c7e11e209781966f9186c3b387b27f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00bbfec0d3f8a6aa016ab44dc4fa1887d088fd11c5ffb8f6fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.02,\"right_z\":0.2,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The right gripper remains at a stable 0.049 after lifting, and no pen is left visible outside the arm’s occlusion, so the grasp appears secure. I’ll park the held pen high on the right side to clear the center for the left arm to collect the cap.\"}",
  "call_id": "call_sjdDX4lxt3XLlylhvgIm2azC",
  "id": "fc_00bbfec0d3f8a6aa016ab44dc94eb487d08dc25e1f8226484b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sjdDX4lxt3XLlylhvgIm2azC",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8463, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, -0.416, 1.2217, 0.9348, -0.7609, -0.8745, -0.9291, 0.0544]\nstate[eef_state]: left_x=0.2975 left_y=0.0015 left_z=0.1644 left_yaw=0.0011 left_pitch=-0.0534 left_roll=0.0007 left_gripper=0.9995 right_x=0.3062 right_y=0.0168 right_z=0.1896 right_yaw=0.7487 right_pitch=-0.0271 right_roll=-0.0026 right_gripper=0.0544\nstate[joint_eff]: [-0.1026, -1.7573, 7.0496, 1.6874, -0.0806, -0.0708, -0.0122, -0.1983, -3.6171, 8.8821, 0.8962, -0.7497, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575ce53328e77d7c3f7835dd1d5c092b86b70f022ae7bc0439ca5149aa5d3901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedf24e275aee10eac871978d6db1ea36c3ca161f33093dace678e5fe06f8e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2910c2565cf252e14519dc5451c4c5525fc00b9940c7d9ce25677a4adeb4be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.247 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8391, 0.6022, -0.3817, -0.0219, -0.0254, 0.9994, 0.6769, 1.9636, 0.7864, 0.5404, -0.1013, -0.0734, 0.9984]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1664 left_yaw=0.0011 left_pitch=-0.0465 left_roll=0.0005 left_gripper=0.9994 right_x=0.3515 right_y=0.31 right_z=0.0066 right_yaw=0.79 right_pitch=-0.0712 right_roll=0.0002 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.894, 7.2274, 1.6679, -0.0659, -0.0366, -0.0073, 0.7043, -8.759, 6.147, 1.8974, 0.0024, 0.1343, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8436, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.6758, 1.6844, 0.8227, 0.2188, -0.1081, -0.083, 0.0487]\nstate[eef_state]: left_x=0.2973 left_y=0.0015 left_z=0.1651 left_yaw=0.0011 left_pitch=-0.0511 left_roll=0.0006 left_gripper=0.9995 right_x=0.3383 right_y=0.3002 right_z=0.0803 right_yaw=0.7998 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.0487\nstate[joint_eff]: [-0.0479, -1.894, 7.0222, 1.6679, -0.0464, -0.0513, -0.0073, -0.5128, -9.6752, 8.5538, 1.7509, -0.0513, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8463, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, -0.416, 1.2217, 0.9348, -0.7609, -0.8745, -0.9291, 0.0544]\nstate[eef_state]: left_x=0.2975 left_y=0.0015 left_z=0.1644 left_yaw=0.0011 left_pitch=-0.0534 left_roll=0.0007 left_gripper=0.9995 right_x=0.3062 right_y=0.0168 right_z=0.1896 right_yaw=0.7487 right_pitch=-0.0271 right_roll=-0.0026 right_gripper=0.0544\nstate[joint_eff]: [-0.1026, -1.7573, 7.0496, 1.6874, -0.0806, -0.0708, -0.0122, -0.1983, -3.6171, 8.8821, 0.8962, -0.7497, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575ce53328e77d7c3f7835dd1d5c092b86b70f022ae7bc0439ca5149aa5d3901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedf24e275aee10eac871978d6db1ea36c3ca161f33093dace678e5fe06f8e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2910c2565cf252e14519dc5451c4c5525fc00b9940c7d9ce25677a4adeb4be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3SfJqw0hyaSjZJ6rxR1EwbyKhTpILgOFOEssm-55HkwcvRWk-y1Dp86iNnfd4GJIgzbQkFrSrnJSUfW5PR603NfaTzMP0OjK6srsQqBC1ky6b59fddawwoE6GCWvCxQq7GXGrJXDzer1xVTF-tMNX9ezNaEpkq2ZPP9fZxy4gsohhkLIG1BxhD9EStIt_LdM7KO90aqBBIfr7m8_tDBkDtgxPfvzxfNMSnt06mLpCYuW5Uo8lx62vmyUqRmlL9E6h-GUbNY2omoC7JoI7AraeVPMcnm0gxXiuovJKLmdiOsU3uZI72FhfMRKMwY4B5CyVcA3cgnZRGP_bo2rQ-QUUeyC9cjPUDgGdt0Rd5O6hdNdriQknRLUCrk0IVwDtmU4wZve4kDvg1HdcVtkqWcXWbdNjQBQbL5tM8LYFTe8N7qkMN3ULNYElsRrYvfDn4mqu3m_Xlro6LSJD2kLi6TAzLZPdPq8AKKZKxbClygDYucDUI7RKozLmpQ7-RqJ1ZImMCBDqX55kIu6YzcHln17PiJm5oGAQnc38t8psMldJjCcsMM37oQE9nODirF2H4IXrxt1Ye1VMOqk6yFahpV0xEiHANVa93_gUeKDbRw_PeoWi4Ro_4GdPDb5h8DUpzXzRtrQhKaZDJhwkhA3nEN_O3Nu6CU3SlLDsMoDxLVrZH3WCi40HJox-9KmTmdOWqCtWVQqmBZJP21gNZfCB1RoL4-CKZMQn-RQzh9D1ubFX2oV3NzTD42R13-8jJRFzaxS6DErKjJ4eE4ylIIUXweuaCERfeX5Vjsuedjmi6XgKrXB0oEnRVh_P6SMhl-QBmNf7pALAMMDv1kAM-foao4oy92Il_GVqEWL1e6vrXyVDGHe2b0bKzOELy3UKWvviS_hB45hAr_0oDxBqLgV-xsejuwl6aD0Y_QntUHj9t7RmKP4pIkyxQ59FhK-QtNyqHOxg4vyZB1aExT5ME0Mxw0p642d8-QAsLgneqNeZ_7C7CYvonSlW75o9CL47KvSsboUpMOySbomIAIspNFyA2IIvpCc5zk-u2zmhyDKqffZS60MwtYDxtMD-EucvXfVKXgwt0P-NfGEYuCCCEaWm1KAAU75yPFyFR5NKlxPzojFLWmZ7GU0XbnDXiysKcLOGj6cfuhMd-COgmQoAkHtD1aKwirA816dLB1PuzSPqj1wwf-tOvtk8gWtlvG2rBFUi58u0ydCUzwOkZNY757D8PNZa8AGoZRXeFpiSkKMoPE72gkpC49scFlFxDnn18jYoHxrkRdLcVeIr_kQECap3yEyf56aaE7oABaFx8A2D_jOSYQBWGcDCb91tzHaDjMKEjhQL_NmO33uO2QSz34BntF_Fu5Zip0_IchQ5cGy07yoTBNJS2FeePu2ShFlZdjQ3IMpKzadrZI3C15gi3XXS5lNXaGCLwRgShxBh1JrnDUwmK3Ym-uMXdORaqhMLnxkUo-6mmA8Lx2IbMfZ0BdgG6lCo5l4YNrIskaEKd9s5ZjJHuz2XwFHo57koAiWahjZCQtCOntqQL_mTh3Lw7AQTGUHHvLmfaQdagjR5MaFhDKLg7MI2OsgGJmV9wF45O0nq6Rku-IlM7U0oAbq62ai1vRT7XC7vVO17ohZi0JoFNQvCUyL2eyjVRTyDxig1FFqGAsKKpgHzsrkuctPiWdaFHm54-kNPzs8oFifGTOamx3n3EjkAN2nIRnFJNoZq-nYM2-tSVKPfuuy8I9vFpbXX5L6SQfMuP7JdM_etZJQkR2axuoCuoqU6c3K_etGXBga26kQYi639rdtZpHKXfQ6NPjRIqnxi8gp6kwdfRx2-JUAFCWnr2YK1mgiiXve83yDAG_LwDJsNsahbtucQwbMd9Nq1jjC8PH5mxfZE_ZWi2HkDduz2DNHIk1WRaEFrbiyT7vr7HKsxQTi0gCyoRIh1XYMn39A0cee36wn2oCs8TOKOww0Mrf4zVtfvx0bJ58p4_BWdaMO_pIWrIAvqP0x241c7wFFDhEFPMguxfrQQjG1Yt13gF6OzqSUIs-fyhkEiiy1wtDLQ_w_VWvwFhs5-ZuO1WZ1jVuWKQPccuFtMxg-k4BE0E7vyFZ485cCpEP2uYini500PoIxkFaDjQqyc_-sj8nY4mCL_GHZGQyJurHzFalefvDh2Q6nM_t1ULK_gmPzFmVnH2Mb7c1IYAglvBJovhIotYJ_Psu5O97Wb2WTNk5XY5PECU7E_904Xy0SGsao7fQB90wbP3mvQfaqyIPIi9GY3ZT0ka6kROr_UcNWu9H3IUpfQ_OLcgp9UoErnBckPUu5u_p9L_VvnmfWVHlfwY6w1SfsFCQOxMuEdfxTyZIu_-wwnEosV8zNb5TN3R3fdl",
  "id": "rs_00bbfec0d3f8a6aa016ab44dce553087d08f41449753811fe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.15,\"left_yaw\":-0.78,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"With the pen parked, the only object remaining on the table is the small black cap left of center, confirming the pen is held. I’ll bring the left gripper above the cap with its jaws perpendicular to the cap’s diagonal axis.\"}",
  "call_id": "call_e3P2RvIVd03Zh6P7ONDy8Unb",
  "id": "fc_00bbfec0d3f8a6aa016ab44dd122e487d08186f593e7f67566",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e3P2RvIVd03Zh6P7ONDy8Unb",
  "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]: [-0.3813, 1.5726, 0.9241, -0.0448, 0.2771, 0.1669, 0.9995, -0.4175, 1.2301, 0.9329, -0.7746, -0.8654, -0.9474, 0.0586]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.1226 left_yaw=-0.7158 left_pitch=-0.0904 left_roll=-0.0368 left_gripper=0.9995 right_x=0.3046 right_y=0.0159 right_z=0.1845 right_yaw=0.7532 right_pitch=-0.0437 right_roll=0.0012 right_gripper=0.0586\nstate[joint_eff]: [-0.5675, -7.4188, 9.7846, 1.9951, 0.2662, 0.1978, -0.0659, -0.0479, -4.6291, 6.8171, 1.1551, -0.5104, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ed78fb808c68c6fe878f665a2add14d4b0d122fd02859c911fc1a29700be9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478dfe9481ed9e36e304e5c34b70857c672dc0758697d7cd24bb4355e3b56c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6aa47fa9ce1624f3eec3458d710c1f18f3c8b83c33bbd78b11e9473a6c05bc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.328 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8398, 0.6022, -0.382, -0.0216, -0.0254, 0.9994, 0.6796, 1.9797, 0.7853, 0.5655, -0.1024, -0.0784, 0.0461]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0477 left_roll=0.0004 left_gripper=0.9994 right_x=0.3518 right_y=0.312 right_z=0.004 right_yaw=0.7962 right_pitch=-0.0631 right_roll=-0.0041 right_gripper=0.0461\nstate[joint_eff]: [-0.3624, -1.5658, 7.0632, 1.707, -0.0611, -0.0806, -0.0073, -0.3761, -10.4, 4.9026, 1.4383, -0.0415, 0.022, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8463, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, -0.416, 1.2217, 0.9348, -0.7609, -0.8745, -0.9291, 0.0544]\nstate[eef_state]: left_x=0.2975 left_y=0.0015 left_z=0.1644 left_yaw=0.0011 left_pitch=-0.0534 left_roll=0.0007 left_gripper=0.9995 right_x=0.3062 right_y=0.0168 right_z=0.1896 right_yaw=0.7487 right_pitch=-0.0271 right_roll=-0.0026 right_gripper=0.0544\nstate[joint_eff]: [-0.1026, -1.7573, 7.0496, 1.6874, -0.0806, -0.0708, -0.0122, -0.1983, -3.6171, 8.8821, 0.8962, -0.7497, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.5726, 0.9241, -0.0448, 0.2771, 0.1669, 0.9995, -0.4175, 1.2301, 0.9329, -0.7746, -0.8654, -0.9474, 0.0586]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.1226 left_yaw=-0.7158 left_pitch=-0.0904 left_roll=-0.0368 left_gripper=0.9995 right_x=0.3046 right_y=0.0159 right_z=0.1845 right_yaw=0.7532 right_pitch=-0.0437 right_roll=0.0012 right_gripper=0.0586\nstate[joint_eff]: [-0.5675, -7.4188, 9.7846, 1.9951, 0.2662, 0.1978, -0.0659, -0.0479, -4.6291, 6.8171, 1.1551, -0.5104, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ed78fb808c68c6fe878f665a2add14d4b0d122fd02859c911fc1a29700be9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478dfe9481ed9e36e304e5c34b70857c672dc0758697d7cd24bb4355e3b56c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6aa47fa9ce1624f3eec3458d710c1f18f3c8b83c33bbd78b11e9473a6c05bc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Y5KHkrs9EblVWiagYL7zEfHzNQDwunfbYActNPDQC8SFTPYmPWehHen7vm5EXPoCQKOJXPVyT-7SQ_n1porTurrNIvQKmAJbgqOuoG4PwiTREgNHiylhO8-AOkxqgi-OjMM6FxGBhJwEG7jmp9NGbiADvSMjVzv-Yag0Prb50bbntWbGj-rZRVMJHUlNPQXUSqVNJSS9PdypUXFfhP1IFsHMAC7-7dHFTXMOBnk9d4ZPEMXAQ2PDkd5POrkfe132Jy7lZyEa-emhHycVH1tbNoXp2JB3uGjAYe3sVvEJ1e0x3wUB9AdVUB0DQtJ0eC1PrvGUCUsgbpfUBCNQCM0uec-CRX6GwvaJVXtV6SJGfN-k7ehcyLKWQNr7115eoVSvCcVeTekydAIu9CW7uzuNn3F4UTjoYWLCLJsoP-_8167rk9Sju5ynsLoN79oDjF90_MXkArVC-agkE_65seqfAsRIR_f17IEMNwN3gPM_Q4YQA4rZEDQUmo75eXSu5ajJqZdjFHjXAPvTOtnkBC2-eGeb2oUaVGmptc1NVLpFuJoYIuhQ3ewgCGZJtxn_SF2EKLUCUtr2x3fIjMgUVGJwpwPy7aIyUFqARTE8A89zyO3yEbNRX62gVXoucyIHFkdB42DK8fXYbWAoBtRxUUVAulbbBXZOxijprYWHTmDoauETqENSdhN4Qbs264KMkyxLO_eod6mrHB49bSmT-e0Dag9N3DK4t8E9Phtn4AlU8Kmxdn9PlJM0OjsVHdLc9pl82kSzSC2JlSV3HUXFpHv7-5Dbg6MQoHNdGNKHYS6KKdnThZNqjn8psfwKAcFmeXubYyZELwYHpOJp-xwZPrGUWbWhJ_eakO5nG7TAhCBaW9fb83kstDuzdhVpIvqudcsR3GSzDbIusd4hAOoSN0m4JIxhKow09Me0P18u3v1khsurFz8KhCQQDTjo7fbsT5lrV-PGMviqHQsXeHrO7_4AI1fI_0rOUcBTDuiDIdzoynulxiUzhlAvWBGXNOnkYm3hzXMIrBrWNRzb_63ZfxpCiPpRLn4MErMFItYyEni9IFqouOh4JibFPM-aodEnDNhXIVZc_Fr-fepY91o5iBW23NLW6ACHrBH6JL2j95dA9jVJLY5UM39LxRGyB-Lf5Rwn-KUb_-0CEOXtSM-1lG6EbQfbXJQha2Q1G3x0D6aS7MPeej6yygGYJ5YBI8MY0nYGf0CA21Cb9VNWMQPAPDkdDBP0V1h5iHqzS7y-nGp9qABQnVZkwGB1G7XxKeoVBW1gZr9UfnLvlogrRa6RT2hC9tTSbE418UYdWoFAYvQKxH08IppgEsgynCcqcVM_onz2UfLjhZTjACCTc8o36kY5XnPyxsehxurfPhtsFXMQbazBZNhi9MUTPPLETyq_FYBW6Ri2lAFLxnLpstXMLFxvgxrRdGD3Ujk1Q7FAQqwVrFkW1oEEciIRWvvzKzmNzFsdtJtyl1T5_pPybcjL5YoZRK8-iKr7raXdUzGmkVsUWtB0LtU2MdgF6CCoAWQGGOClD3yerzhXPtdtUUzdvoWq0HBujfB3PBcmPTwAW1-JXTajlWSYYBRPnlzcYHFokuPTroswam_usfFuixeaULEj7MiSQzJyumno3u3LHLQI0Ca6O9pWsBOOnabWEOu3qPGfJSJ5iXAmNXbGr3vu7wCEFS4sQ15e4uUetTEjEgJnZxypIPpk309IkBXgIXJPx7z5WuN87O5BWNi9-9F_2vBsPUlaWl2M7sVLffd4sx6Z9i-rjJgtRG_tXIQL48BjY1P7F4eO6j_IVOPzoOAkpKWvuLGmWTbphiI8QsMQDp9aYDME0oLe2AXqBMymUK1UfCv60EwI1zWlux5YhGNvKbTV6XT57Om-Yx8u4XxSy6y7Q-lCHjJaPOLWSjogRsRmSBfV4DC2UEbRMSVkRU0n8EdGDHtASXy3TgjfZ0O_1smXrS9h7FhrDBRwaCkfA3VGrbrDHaCqbevAaDCANsEyWDEE_WqOubhXjT_aRePn5wDx0YFY7P7cNrChToBwLMODJe1sIKWJSLnsxSg2p02S5geVvyyM8fJ8T06h7SpWVfUSGt9PlnBhjBvxHutjbKq9a1UqDGvJ4KCAii_l6sxWF9udkl_rpcbFEl6Ed3cU2mfx0DeuESjkYKEshZhukLkKZA4yo-WXFcclA39AL2RarMnhmd0yvMlQ_jvzR6wdpKI7P5J-V28nqJFUAyW0iGhuSwFs4D22FrFYJEtiYE1wowv2UXY5hGFPjTESD5b2z0zi_nGDgGYt4TRYYm2eGtnDCwQoIg-OzIxM5oLsMJddhXYm8OwX7NEGK6HwQ41TfPkfl6x2AvsEL-Zz-I1I4_55rEbht37xaxeodsC442sqXuu0VGSCo37W5v5dtU0VskCIs4rCgvgkoQ-eTP6pAjDkXEtNcyFZUes01545Cq3RzwEfJr177ypauADkqtouVFkNS9Xc=",
  "id": "rs_00bbfec0d3f8a6aa016ab44dd5419487d0b78caecb162df4c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.215,\"left_z\":0.1},\"note\":\"The cap appears as the small dark mark near column 121 in the left wrist view, slightly right of center and with clear image space below it, indicating the fingertips are still a few centimetres short. I’ll advance 3 cm radially and add a small arm-right correction while staying above the table.\"}",
  "call_id": "call_cVQtmRunRhZf1wGLLn6A6m7m",
  "id": "fc_00bbfec0d3f8a6aa016ab44dd7673087d0baa1f17222ee46a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cVQtmRunRhZf1wGLLn6A6m7m",
  "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]: [-0.3809, 1.7172, 0.9661, -0.0044, 0.284, 0.1734, 0.9995, -0.4175, 1.2304, 0.9329, -0.7773, -0.865, -0.9482, 0.0586]\nstate[eef_state]: left_x=0.4035 left_y=-0.2111 left_z=0.0857 left_yaw=-0.7271 left_pitch=-0.1474 left_roll=-0.057 left_gripper=0.9995 right_x=0.3042 right_y=0.0161 right_z=0.1841 right_yaw=0.7535 right_pitch=-0.0452 right_roll=0.0033 right_gripper=0.0586\nstate[joint_eff]: [0.3077, -9.7026, 9.4838, 1.9609, 0.1099, -0.105, -0.0171, -0.1573, -3.4667, 6.4068, 1.0476, -0.4567, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1afd5ff6bf43a817bfff7d724db613b40cc6d11cbc06f262e5c4face8b123d76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e679ab876f6b9df88f0391bbde7e99cfed613e69d808565878fc08724195e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dd578a393e3be80e70b463f5935ec8751027cbd7f41d13bba83d1f093e9a2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.646 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8436, 0.6022, -0.3817, -0.0219, -0.0254, 0.9995, 0.6758, 1.6844, 0.8227, 0.2188, -0.1081, -0.083, 0.0487]\nstate[eef_state]: left_x=0.2973 left_y=0.0015 left_z=0.1651 left_yaw=0.0011 left_pitch=-0.0511 left_roll=0.0006 left_gripper=0.9995 right_x=0.3383 right_y=0.3002 right_z=0.0803 right_yaw=0.7998 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.0487\nstate[joint_eff]: [-0.0479, -1.894, 7.0222, 1.6679, -0.0464, -0.0513, -0.0073, -0.5128, -9.6752, 8.5538, 1.7509, -0.0513, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.5726, 0.9241, -0.0448, 0.2771, 0.1669, 0.9995, -0.4175, 1.2301, 0.9329, -0.7746, -0.8654, -0.9474, 0.0586]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.1226 left_yaw=-0.7158 left_pitch=-0.0904 left_roll=-0.0368 left_gripper=0.9995 right_x=0.3046 right_y=0.0159 right_z=0.1845 right_yaw=0.7532 right_pitch=-0.0437 right_roll=0.0012 right_gripper=0.0586\nstate[joint_eff]: [-0.5675, -7.4188, 9.7846, 1.9951, 0.2662, 0.1978, -0.0659, -0.0479, -4.6291, 6.8171, 1.1551, -0.5104, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3809, 1.7172, 0.9661, -0.0044, 0.284, 0.1734, 0.9995, -0.4175, 1.2304, 0.9329, -0.7773, -0.865, -0.9482, 0.0586]\nstate[eef_state]: left_x=0.4035 left_y=-0.2111 left_z=0.0857 left_yaw=-0.7271 left_pitch=-0.1474 left_roll=-0.057 left_gripper=0.9995 right_x=0.3042 right_y=0.0161 right_z=0.1841 right_yaw=0.7535 right_pitch=-0.0452 right_roll=0.0033 right_gripper=0.0586\nstate[joint_eff]: [0.3077, -9.7026, 9.4838, 1.9609, 0.1099, -0.105, -0.0171, -0.1573, -3.4667, 6.4068, 1.0476, -0.4567, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1afd5ff6bf43a817bfff7d724db613b40cc6d11cbc06f262e5c4face8b123d76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e679ab876f6b9df88f0391bbde7e99cfed613e69d808565878fc08724195e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dd578a393e3be80e70b463f5935ec8751027cbd7f41d13bba83d1f093e9a2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3dizPECfVxPa3OH63syJ7SOivBvOpNPLsX84xyVs7_I2AZkciAQzw3hY_64Hfu6S2QoCllLD4apRMyi_mCpAFE2Hj884BUP0z7xnVxN4PaIXIQx4PLEVT-cejtjSgDnmgQ9oBPnuZgTvly73RIjtYCU-o2oPLuuYmCHXenTFGt3OnZKuB45svoPmd9k6XWJwhjLRI6MYF2RTCQa7v860Q9XONvOg0OQmut6Q0reUX0Jx_D0GrDegesKD_nxMUTz0CVsADb0bktlppK8Zv_-BZOu1J-Wa2B_Y8nUspdvEvpgobH_qFnNvtFDl_wQeFdU4qfRnl2uVNjRE4l2dkAE94zKk9qKrwthhiuQOFR2K0d48XEySMg-SkIQQneSmLZuUcpdeiOB4X4zJcPyJlBNN36k55eOO86215S89nJHsLGeKTL6Qbz_M7U_KrlaWqNji94UM3lwBSwKY27_YhP4qg1dKK4rgM6IweFyMsnJd9Q2hcD9IExD4dk-5eD93FD7Cqx2yLQIiZkOcHtit0v3RbdsUG8R49uOcWRi_oX8EwqSHsUBAnU1fzIPMk-mCF6I0jcehrgtJz6GP4B7pVaETjDAbDLMMrz3UId1XmhISjLQ2x6WwjOVADA3HbLCDrZUCmT2Rfe2CAFh9aK3XjrJzowj27QIgrDNuedSWsNl0k49yzQUf7Rq5rsA5KaAxbaULNjU7LB0uxQeDEI8eaI4NwAkqCkJTydbT4XfZ1d3FnM1zQX8dcgC0zi-lMd6o-mX8Bi8aGWQsctnzNzlTUZGRHxqO7sfFvAG2iMxByXjsP-8fxK6GrK1DJbzsx7pzPLtuvf3_UWwHpD6fwfsAywQwWOSfx4Ta-5KNSWT4rTKRX1Gi8QeketclDZac5BVJrRBNUkfrFYTAlF6jcER_WfCOiP5WVw_ku6YVF1BdP30nDmrE4SaabvodZ3eqiBIeKoxX1BsbJIdRp43d-ZFU-sQhJ_dgo71N9A057xRkB814P-unaq8k0FbLNYJ39zZPffxGE5-GWfiTSQVPd1A3QHvXHa8YOagEdWlXBMCpOMPodihfene3I8ZZhwd6TmcwnpHa9Mfoz_026QDP2IxEPjYDb6_tUZf4i1nRUar0E-NLm5vNgCCus2gX_OnDXXJpgUuONtu1YtkdB3LX3sN5CQl-ZkhqmFtJ1bIr1Neb4xU1zW6OsivSgmQuemzs4TclXP19NQ6ytDrRpx__svBV8iq9y8brDpNkqyvh7z-fqsrpduVay5020n-NKuX_D9ks4E60jLXy1NUTHP5ZCxQxVuHFHiLDJ7tvAB8CR9_BbSpINg9dhGbzJLeI_mUAxQiIXOEnvkA2BitEEB-gkNF5rm2uqVmkio4Ycx-kHJV6LQyOXzzq18bVwxF774bvlG8Im6Xg_OuWTaozCv5imjXYbCej8V1HjCPerku7kFDaYVHIvmwcKVKbmbAfCvsqnXk8FBWjWe_M5Jg-Gyn_YuML5ToOJA1LNsaLRoJz4-zGSR0-CqYL6RAjXiutGE0QK9IKYjrBlNOjGTmRcAOIe3XSAMfpqAH8WyAWcv3UIw5z0Gk4KN-RnGCDUnMgvv--j3rmJ8YJaNAVHNgkMY4FYqUOU5mqlfrII5gJawPrWHaG7vP37BX6iX5waKDJpk1Xbx_lUrp8Vj9Tw1A09qL60YgU67BjnIdpvFn7jOTqyzdo-dBX4tF_-3A123YZY0rh0s02kSeamxdcYbsWAIJAuwwfLimJLE9WDQndXAcuJodYXWztOvoMP01m31eum7vFDzq46PUl2X8UXbh79s33u7Dg_CF6X6FwyyOoiNUvBgUVux9X6CUTsjY1rlLUDIiHu_3rsx_rR1i8V_dN2cgkAMsXubFiVOGMxadTpGY36Qa3NSFE6QbGPLbbRQ6r4-GgHtoVcIMNVfe7M1O_4gV-jnymdSV7pEI4cpQckc7Lg-U1FM7Lx1fqI7SAB0eqGSSt4_8ppI0AoeEn9GoBtRUMyxIPk7xV8RH8K9dvgZVEuxny0MwGMJsKnLHrIEPXlT0T3-_NoXGJ19rf0-aj3llyZv3Hrwz-I99boPfSA26pIbJ8q7o_tngMkyej5vZn8bSm4_CpAqpFZz7CQTpSkU0UPC0XS-E_F5BGgmcGztAjbMPuUt9GxpEFmTD6ld_eMEayQ5YKXEAjN12ji2BVXTlFHRXElkDxR8gQVw5y_74L9cKlJGRCmqeHp2krx2FOlGdMcp0w8Pn5a6H8xFkUTPOZdK7jA596ll6nL7Lgm2z-P9iOFCOY0shyhYVelUZURQCI3ynAypcYUXZbcf3_umUD0HyTtnAVOkgvO64blVpnp3Uu9D6jHz5WJ83_dNdFWT8KKs8wRgAYx0NXWvchL1_I5ii3Q13rgyzDnudOR74oR83CLsErySJewvw-xOS0GkcQRgPVQlEZLADy6-NJLARuyO4yjFaKYZ1NzhdRigy8fgoGwjUhRfEt4Vr2ViYhx14GEmBqadr5qljWG2ygnzg3F_9CB_EYETVg==",
  "id": "rs_00bbfec0d3f8a6aa016ab44dda1dac87d0a547623bef1bba38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.1,\"left_z\":0.18,\"left_yaw\":-0.78,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The suspected wrist-camera mark did not move consistently with the advance, so it was likely tabletop texture and the cap is hidden by the gripper. I’ll retreat the left arm to expose the cap in the overhead view and re-localize it rather than closing blindly.\"}",
  "call_id": "call_tl8BfUMG5UU1e6iQzq1SYYhE",
  "id": "fc_00bbfec0d3f8a6aa016ab44ddca58487d0bc60574c41e3c930",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tl8BfUMG5UU1e6iQzq1SYYhE",
  "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]: [-0.3794, 1.7531, 0.9707, 0.0116, 0.2695, 0.1658, 0.9995, -0.4175, 1.2308, 0.9329, -0.7773, -0.8646, -0.9508, 0.0586]\nstate[eef_state]: left_x=0.4079 left_y=-0.2094 left_z=0.0742 left_yaw=-0.7102 left_pitch=-0.1653 left_roll=-0.0584 left_gripper=0.9995 right_x=0.3042 right_y=0.016 right_z=0.184 right_yaw=0.7548 right_pitch=-0.0456 right_roll=0.0013 right_gripper=0.0586\nstate[joint_eff]: [0.1026, -10.0718, 8.6496, 1.7949, 0.1587, 0.0024, -0.0171, -0.0889, -4.0684, 6.4205, 1.0574, -0.4176, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51cfb6134b665b33f06e3ff4b46f215885748aef0784183e2e40e4f719c6eba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c520ab82eb712012dd236ed1baeddaee104db3349020d6fc986fef8602ad59d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e70c225dd19247530996b6b486a65f2bac6876d4f2bdde4e0712d271db0ba0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 7.499 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8463, 0.6022, -0.3813, -0.0219, -0.0254, 0.9995, -0.416, 1.2217, 0.9348, -0.7609, -0.8745, -0.9291, 0.0544]\nstate[eef_state]: left_x=0.2975 left_y=0.0015 left_z=0.1644 left_yaw=0.0011 left_pitch=-0.0534 left_roll=0.0007 left_gripper=0.9995 right_x=0.3062 right_y=0.0168 right_z=0.1896 right_yaw=0.7487 right_pitch=-0.0271 right_roll=-0.0026 right_gripper=0.0544\nstate[joint_eff]: [-0.1026, -1.7573, 7.0496, 1.6874, -0.0806, -0.0708, -0.0122, -0.1983, -3.6171, 8.8821, 0.8962, -0.7497, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3809, 1.7172, 0.9661, -0.0044, 0.284, 0.1734, 0.9995, -0.4175, 1.2304, 0.9329, -0.7773, -0.865, -0.9482, 0.0586]\nstate[eef_state]: left_x=0.4035 left_y=-0.2111 left_z=0.0857 left_yaw=-0.7271 left_pitch=-0.1474 left_roll=-0.057 left_gripper=0.9995 right_x=0.3042 right_y=0.0161 right_z=0.1841 right_yaw=0.7535 right_pitch=-0.0452 right_roll=0.0033 right_gripper=0.0586\nstate[joint_eff]: [0.3077, -9.7026, 9.4838, 1.9609, 0.1099, -0.105, -0.0171, -0.1573, -3.4667, 6.4068, 1.0476, -0.4567, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3794, 1.7531, 0.9707, 0.0116, 0.2695, 0.1658, 0.9995, -0.4175, 1.2308, 0.9329, -0.7773, -0.8646, -0.9508, 0.0586]\nstate[eef_state]: left_x=0.4079 left_y=-0.2094 left_z=0.0742 left_yaw=-0.7102 left_pitch=-0.1653 left_roll=-0.0584 left_gripper=0.9995 right_x=0.3042 right_y=0.016 right_z=0.184 right_yaw=0.7548 right_pitch=-0.0456 right_roll=0.0013 right_gripper=0.0586\nstate[joint_eff]: [0.1026, -10.0718, 8.6496, 1.7949, 0.1587, 0.0024, -0.0171, -0.0889, -4.0684, 6.4205, 1.0574, -0.4176, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51cfb6134b665b33f06e3ff4b46f215885748aef0784183e2e40e4f719c6eba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c520ab82eb712012dd236ed1baeddaee104db3349020d6fc986fef8602ad59d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e70c225dd19247530996b6b486a65f2bac6876d4f2bdde4e0712d271db0ba0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3hXHNPfRoEX45IM-Wir77hq5TQep6445nf07w-AMAoL_YOLGO9Mqk4VXa3-eb3V0Fww9IaoDhRZN4_-Oz8YTme18BH-w9HioT0ar9wsL8fySgGCr8BaTOh0dyvqqrk7FkZFqBfJn4Bx8D50Vk3AmHxyRVfhyxnXj1NhP3u9PgWvUiBbsn2NivG4yZhEYGNJjbTVvUfQlrBl4LMfap8_PqjXY0NDh5LfCjJX74OytGa3YOFXX9Zbl5uKMQ2JAJZEC1PpaT6amf6gTiFsXphkD36ZBa6gpPSytxWHn_Il-hTDht3mNCHmbKnXjOYw4rDUvcP269-i_gMrj1J5-9FbQhQ36buGaJQeWPYWCzJjSTuLTrQj8pMLw-8DP_yIv7tA--JGeAQMtPoig_DFtyl8KYwAWPyDrPnH-YzhbJDDcsFIe3zsVdr4f26E_gnDG0lWg0cGwjFJ8xL68szVt_NGdSrhAorCNkidDrnyrtzKv7053e--IMxg34FOhFsC7jiWWg0TD6q9qg5k-WulWAv0jSj-AS82RlaVeKw4bUpZ-OyiJW77mRB5S_pwG5IgosRrWBJaAJev7JGKM6L8DJnoN8BMZkSkuFQt6kaMvX9Z-ISzYvulPXM3tPiGbDXPwplBiahiWqX97Rqkz8jkcecUIIZcCviENwhDSuulnuv7t_ZtQEMFHfCsgEYshBzBEW8GCPiDSPIdweZE5f7mVitvpu29ktxQJVnMSt9nBJ2x_ZO7S62EDJIZEBY_Dl61TVdfJsK_adXQfG29GdAq8cON4b6J0f4qLNDhMum-jddHUJu4sZ8nQcdx5dpW_xdbRDz9pmNfGbcHNNVVDzNn9o1JWpPW8bXg-fr0bc7bFPPXMQ0BpbrhNKiE9RR28kc2IEGRvroGaXOVJk2FyVZ2tzrLciyxb1GsToVfx3s5uAA_MhrxrTmUUkx9i_afhINmY_YwT4G28LeBUGq6ztjRUhKmhvdHgbuLqQoMsrxRPrM-tAtRc2ziuF3-QBYfcKC1Sjtc48tHTYf72_hnQkY-69oXEZHrl6dPIXT435rvDH9mwbcyTgP4SO4lZtbo5UuWAnns0qCQRxsZ4npTVB6HanwEkvz-u7JmXfDVnASBIrC1d_YjG7vVLKjgWBxdjWee7CpMjTrgKYjZBv1C0KwWGBTR7rwer-txSDYXp0D_-xkXzcghGCn6i-4yMuoY1fFn6ITmOMs6q4nxPLR3yg-nxyG9zE_15hwc3OYwgzsAqTZezzeCHeKL4rEJTavXeRuYuaWWWu7T67xIugZLRPwUfSpJEgKvNr24Pptm8zWeeWn9C5zBWHmCShuXvGW_rVDjPy5Hl8jSFqhocUSFhvsTi7xVjWZ4pOBMJNYMf5UfY7QvbET6qk=",
  "id": "rs_00bbfec0d3f8a6aa016ab44de01c8487d09d2596fbc38c19f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.2,\"left_yaw\":-0.78,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The retreat did not track—the left arm stayed at x=0.408, z=0.074—so it is in the same low-pose IK lock seen earlier. I’ll recover by pulling substantially inward while raising, then inspect the now-unoccluded table.\"}",
  "call_id": "call_Rp1xTfCXNmhPxsPdEEYgpR46",
  "id": "fc_00bbfec0d3f8a6aa016ab44de09adc87d0b9260ac6fbeaa76b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rp1xTfCXNmhPxsPdEEYgpR46",
  "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]: [-0.0196, 1.0798, 0.7898, -0.4126, 0.5579, 0.4152, 0.9994, -0.4175, 1.2327, 0.931, -0.7773, -0.8642, -0.9516, 0.0586]\nstate[eef_state]: left_x=0.3136 left_y=-0.0961 left_z=0.1903 left_yaw=-0.7128 left_pitch=-0.0083 left_roll=0.0038 left_gripper=0.9994 right_x=0.304 right_y=0.016 right_z=0.1828 right_yaw=0.7551 right_pitch=-0.0474 right_roll=0.0041 right_gripper=0.0586\nstate[joint_eff]: [0.0342, -3.1521, 9.1419, 1.5458, 0.3053, 0.1783, -0.0171, -0.0342, -3.8632, 6.5709, 1.072, -0.486, -0.0415, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09651d1f9cfb46758a645741a08c3e25c591a19c10eb9f430703d659909bc105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1f793cde93fcb775708646a0b377a880de639ff3b4367c9b4b3f77acb73364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a2cd1552d1fc87e14d0d25d62966634ef1430cf71378c6c3ba0642caef74bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.887 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.5726, 0.9241, -0.0448, 0.2771, 0.1669, 0.9995, -0.4175, 1.2301, 0.9329, -0.7746, -0.8654, -0.9474, 0.0586]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.1226 left_yaw=-0.7158 left_pitch=-0.0904 left_roll=-0.0368 left_gripper=0.9995 right_x=0.3046 right_y=0.0159 right_z=0.1845 right_yaw=0.7532 right_pitch=-0.0437 right_roll=0.0012 right_gripper=0.0586\nstate[joint_eff]: [-0.5675, -7.4188, 9.7846, 1.9951, 0.2662, 0.1978, -0.0659, -0.0479, -4.6291, 6.8171, 1.1551, -0.5104, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3794, 1.7531, 0.9707, 0.0116, 0.2695, 0.1658, 0.9995, -0.4175, 1.2308, 0.9329, -0.7773, -0.8646, -0.9508, 0.0586]\nstate[eef_state]: left_x=0.4079 left_y=-0.2094 left_z=0.0742 left_yaw=-0.7102 left_pitch=-0.1653 left_roll=-0.0584 left_gripper=0.9995 right_x=0.3042 right_y=0.016 right_z=0.184 right_yaw=0.7548 right_pitch=-0.0456 right_roll=0.0013 right_gripper=0.0586\nstate[joint_eff]: [0.1026, -10.0718, 8.6496, 1.7949, 0.1587, 0.0024, -0.0171, -0.0889, -4.0684, 6.4205, 1.0574, -0.4176, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 1.0798, 0.7898, -0.4126, 0.5579, 0.4152, 0.9994, -0.4175, 1.2327, 0.931, -0.7773, -0.8642, -0.9516, 0.0586]\nstate[eef_state]: left_x=0.3136 left_y=-0.0961 left_z=0.1903 left_yaw=-0.7128 left_pitch=-0.0083 left_roll=0.0038 left_gripper=0.9994 right_x=0.304 right_y=0.016 right_z=0.1828 right_yaw=0.7551 right_pitch=-0.0474 right_roll=0.0041 right_gripper=0.0586\nstate[joint_eff]: [0.0342, -3.1521, 9.1419, 1.5458, 0.3053, 0.1783, -0.0171, -0.0342, -3.8632, 6.5709, 1.072, -0.486, -0.0415, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09651d1f9cfb46758a645741a08c3e25c591a19c10eb9f430703d659909bc105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1f793cde93fcb775708646a0b377a880de639ff3b4367c9b4b3f77acb73364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a2cd1552d1fc87e14d0d25d62966634ef1430cf71378c6c3ba0642caef74bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3pBGzG4lY-M-0LigRNs70kjq3njlGaFv007UJ3lPhOQsM6XyNOvS-4QvrmhRvSm0NJw8rNkXqAWQ-JBzJRjaoRTEbCzczIknxWnZpzDqo177T8FBoEEXWzISlFDydyNNAt6xt3jXtiEgp9dFQKpHH1qIYGVEmy6q8YnZP67Vv5jBLzRaTYhoBzyHKvDKYYLRJS2RD7csc9ydRSRgMAE39r1kdFVGcC24gkjB0r8YBONNNgJbONBosGjWGX4-VEHetufQXbtkToJlOllkE8QNKGViVonG1BJJV0W3S9xX44w-3QUlNmARj1-0ft3t6PZu2iNvSfc-vdFy7fEgtzUqGy7Omb-Pkzv5q9ozUg60ySROiW6IMul6JaT-BwuDbBS9Qv5QoOF4Zmnjr__ekv9-_T5SWISTOZIGMDE3oi6TnuF1MuiTo1O5Nw5NqCp0IhqFCxW33GcCWwlcBB7ARkNlDj9iYBmPtFAQsbThS30WaHYA4dCRir-JPSrR6pwH1mo82d1MQkzPhKf7uf4xAW5VdSJxc3zoZRBlBOrKt9pqIjn_diXFMMGJse5FsPZ9pVLGPfFvgqTA-rZkvSikkJJ9iLCXXYg5NH5wSUCZ1jthiCDQdZHGrrvDzq1lpyJ4B-Ido4hntAdMw_ELr76YaLB2cZaY3IKm42G44RwZSBdN83ohwZHXUkEWRJajzJYydfAXdhvQZh0t0izpSSyytLXyjQzu1DdCH3IUghdNQGeY1aX8-OLIHc8S4jkfsEO7AX7kD0Ep-wFm-NR_iNYkClPgBRpwf3rMs2033xleF6f6QpWtVOkA6KoZwbvMgwjvIMXC0BWrz6hmQG7XgcljbV0xsjQTL6hGLARpupVGsk4oaN3lmBKcCV2ATeX4yjW71oo6N6xw5nt-KCLyQKcsI76h2HJ_AroYBaTeExt0N1NISwC0Q0ecx4xcrHzzZXisLsJ_qjm0tht3DlDwp0U-7FViC1pbmuC-sFOjFYD54HZhwsEcRseVAn-DLFXkMQ7puKQDG01z3_GFUvC6v2b45iF3xxMjIYICVFQS46WSSUuE0SW1Iyajmk-JxJUDpQQ1u4nfAqILfynAm8FfSiWgWBcAC5-8S3u9CC9XT_gV1vfAjlf2KX3A9Bjpm3HvhiqaUnMxqe6Yf2jJO_NfyQFW8XEjbAhtyaSJO6q0muCZND1m-ZfjzKEAI0Z783yqVdPoESyrK0ZDW_qUyqwyQ996MN7KEWz8BNhHHC0GLqTexxxvjYFNd_bLX1JL71QC0N1W6avxIux0uEfIX1rpYAelMJIo23fqT0KYpGgc7UAAI2nq9Qa8J1OraMhiMW9OryeJYwItDensAGUHglKvF8rVTJHn6--xZXacALvcX4KkAARamHzBF4yWkpH4Kwt-ynPXgcxdua20XaIFOdGuRPRCMpyH5iyJ8YRUjkd-PKJjZJTJ3q6d1H3KQiBP-0ka71WYl9sePW7dJoMec779VRsuQZ6gx5m4MX9hxQUEGZ9Z0aucRzNiAFnEcvL8N7UVoYxgJpI_kcS2v_y8GO7GarzDWDokAwAKl1SKUJSbOE9_i_CrHuSXc2Y53IoUn1p-jh9UssT2usFXJvGO2OoS-6hk2RB-CUNcwtQU3w3XFbbxwQlii4Tba6LUpruObtKV32nTRMvFiRZCDrWEOx_pE5o37Ft32B9lsJEohAVu_LtfYi7Y7YAhBLXPkQp-8yNyYLtZK_1Mwty4q61HZu0xVR3jQynMaT-Guj6bERpNTDfcv8yvbeYDaqSyry1icJ3J7cYX6-ys3BlvRkANAGsityvkH9htyJf2r4_1Qu5MVg2kCWWUdKdTLLERLWuJIu_kvV15VoDO77NgPSmnB2d295V3tHxziWmHY0_MuAXAo6rt7QkGdXv-M=",
  "id": "rs_00bbfec0d3f8a6aa016ab44de47f7087d0b8eb0c4232661d5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.096,\"left_z\":0.11},\"note\":\"After recovery the cap is clearly visible in the left wrist view, centered at column 108 and row 162 with empty space below; the yaw alignment is also correct. I’ll advance 3 cm radially toward it while remaining elevated.\"}",
  "call_id": "call_ZtqpnUd5psGmmZ6dwkaeIZt5",
  "id": "fc_00bbfec0d3f8a6aa016ab44de89b7887d0a6b4f9fa8686ea77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZtqpnUd5psGmmZ6dwkaeIZt5",
  "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]: [-0.0181, 1.3045, 0.6151, -0.1001, 0.5537, 0.4202, 0.9994, -0.4171, 1.2339, 0.9287, -0.778, -0.8642, -0.9508, 0.0607]\nstate[eef_state]: left_x=0.3313 left_y=-0.0953 left_z=0.1009 left_yaw=-0.7131 left_pitch=-0.077 left_roll=-0.0456 left_gripper=0.9994 right_x=0.3036 right_y=0.0163 right_z=0.1817 right_yaw=0.7553 right_pitch=-0.0491 right_roll=0.0086 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -4.7111, 6.0786, 1.7705, 0.2027, -0.0757, -0.0122, -0.0615, -4.1231, 6.5709, 1.0085, -0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07eaa3dc96da02eb1013752dc2f06f850d48dec9a69cbeadb7535b9c49d1a92e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e722500f25839bce3f7a7d721484bbc8f7b701ca71a3aa2dfaa7cb96959a7a70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9bd204c61e63da28a3499ee0b099272cb63edfbe38c05af76ed25d01cac43f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.367 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3809, 1.7172, 0.9661, -0.0044, 0.284, 0.1734, 0.9995, -0.4175, 1.2304, 0.9329, -0.7773, -0.865, -0.9482, 0.0586]\nstate[eef_state]: left_x=0.4035 left_y=-0.2111 left_z=0.0857 left_yaw=-0.7271 left_pitch=-0.1474 left_roll=-0.057 left_gripper=0.9995 right_x=0.3042 right_y=0.0161 right_z=0.1841 right_yaw=0.7535 right_pitch=-0.0452 right_roll=0.0033 right_gripper=0.0586\nstate[joint_eff]: [0.3077, -9.7026, 9.4838, 1.9609, 0.1099, -0.105, -0.0171, -0.1573, -3.4667, 6.4068, 1.0476, -0.4567, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 1.0798, 0.7898, -0.4126, 0.5579, 0.4152, 0.9994, -0.4175, 1.2327, 0.931, -0.7773, -0.8642, -0.9516, 0.0586]\nstate[eef_state]: left_x=0.3136 left_y=-0.0961 left_z=0.1903 left_yaw=-0.7128 left_pitch=-0.0083 left_roll=0.0038 left_gripper=0.9994 right_x=0.304 right_y=0.016 right_z=0.1828 right_yaw=0.7551 right_pitch=-0.0474 right_roll=0.0041 right_gripper=0.0586\nstate[joint_eff]: [0.0342, -3.1521, 9.1419, 1.5458, 0.3053, 0.1783, -0.0171, -0.0342, -3.8632, 6.5709, 1.072, -0.486, -0.0415, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 1.3045, 0.6151, -0.1001, 0.5537, 0.4202, 0.9994, -0.4171, 1.2339, 0.9287, -0.778, -0.8642, -0.9508, 0.0607]\nstate[eef_state]: left_x=0.3313 left_y=-0.0953 left_z=0.1009 left_yaw=-0.7131 left_pitch=-0.077 left_roll=-0.0456 left_gripper=0.9994 right_x=0.3036 right_y=0.0163 right_z=0.1817 right_yaw=0.7553 right_pitch=-0.0491 right_roll=0.0086 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -4.7111, 6.0786, 1.7705, 0.2027, -0.0757, -0.0122, -0.0615, -4.1231, 6.5709, 1.0085, -0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07eaa3dc96da02eb1013752dc2f06f850d48dec9a69cbeadb7535b9c49d1a92e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e722500f25839bce3f7a7d721484bbc8f7b701ca71a3aa2dfaa7cb96959a7a70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9bd204c61e63da28a3499ee0b099272cb63edfbe38c05af76ed25d01cac43f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3tUfJH3UdaF7eLxileo9cgibqhVn5-mMv_Z3Rhi6V6yk6vu4uZP2R65v0UJvjJWqpW_-d4AfUsVjXe6fHUP2eHGnMwM0EW5jIKhl6jRt5SYvNkgq4noNytT3xW8yn9khCuipHswvEI28auUxQ6ZizyFwJjxcXsACpL_zyFPc4_vK2LLzdggfJMtJmnHm5BJZhymqtJzUc1Co7oSgxIU4D97Z_FV8zF0dUJKsmnf0jxMeBQSqmSO7C2f0dLM9cMvtT2obi2qbQv-QfsfIeWwobMjLlJUF2bEkG79dv7ixCmtP_HcyE7ZZy0yMyYV9g6IJOxONRIAZIi_nBnrbjQ83Fy-4jAepKwFKIkoKXmGjdIySLt2rMT8wX37HKhWwmzVfE86LkVLgL81HDJaUqRMy3rVGpfNtBWczjkvvJtjlBM3Kl7h9C8F3QGAFuQnweWJYsdsgTcfXnChSZdafhlCkWQdcSboB9mnUavOynfZ4QG2y4cKcrqbxIWsQwWKinK4CRFt71EptGtWHGO3m_YVzNlwIVSDAa173HsosHSdjQG2DH0kassnfBtwfpvq0jQQl2yaHDQDHdsIyS3vCl2bPV-tRVfneGODIhfo0d065aUsG6howuudJDadvLLZwWrw8DmTIavMpwD1Q5bqLCT0vhl5zz_bGyxotlv_ekkXCdqPxQ3t9bR1XI_sD09NMud5cGqrkOuRU1NNP_jU3WVNka_LK6qtOfT0rTrgg0hXs0_z2s1oY7Ku31yDqm-exmVtuVhxaSAIhZQQI8r0yHk4M3P9l3fjtBz-DFHTBYJfzxdvOQu-95thex_7uwqHcNHkpXzl38Q9qY63yQU1PYgdT2oN1FU0a3BJlmjO4jQhbDzmx5lEweqBUYFs8SUe04eLJLuN-eVg2LfQPPsQ8F11KqoFAe3a3I0ijDt6D49W16Z9ZywKXvGmqWhBKfnuCDWeVGmZEpqPsIs9jawb32QIyx7VSLgaB5ymFvOex0v5VYwM9pmeMB9j2r74vk7mDGnDv2tulq6adnGTkPIDq5cvgkYXNgEk1cUDo4tejwtMBZvUvGaazf4dbUf0-HE7f9wzCX_nCymEq1Lg5azy5u2YpIQJ_V3vGn15jBoEKG4koRaa5NcJBmLGY9wj91fiYLGs0--PF73XSMnpcuRnZgeNY9uj-zVdvJ03djisBf5AkRGbp2O8EekKViHv0ZsCHXEKdsmPQJkMkliaYt0KhT_tmyyRNb30DBInaPiiso-pmSJuISaf7hX4GI6eiA1RM8r__9cy7ZDfN7cClLfjcM5m6tElowiglkJxokWMTxIdJdMNf0YMEgJLhyAAZ0su97HFhW-Do9i4ByiMF3rLXZ4M5eN_eV9z4b5Vn5DLjdQv9zcCLIU86WbWcuv-YhbcqyAGw8v2EhK0LZW9IHcHaX-h_ktBXJrJJKqHX2-4XnJVlNZ01il4zPyT-Ka8zBSdynxu-cXxhatiDIwJyLhhom8MfXcPA==",
  "id": "rs_00bbfec0d3f8a6aa016ab44debad4887d0a827589774192eac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.096,\"left_z\":0.06},\"note\":\"The 1.7 cm tracked advance brought the cap lower in the image while keeping it precisely centered, but there is still clear space before the fingertips. I’ll advance another roughly 2 cm and lower toward the tabletop.\"}",
  "call_id": "call_l3tuKH5RYPJaOLM2d8JCkdBU",
  "id": "fc_00bbfec0d3f8a6aa016ab44dec828087d0bd42bb92554110d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l3tuKH5RYPJaOLM2d8JCkdBU",
  "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]: [-0.0181, 1.5127, 0.6041, 0.0647, 0.5499, 0.4206, 0.9994, -0.4175, 1.2362, 0.9272, -0.7784, -0.8639, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3477 left_y=-0.095 left_z=0.0544 left_yaw=-0.714 left_pitch=-0.1206 left_roll=-0.0783 left_gripper=0.9994 right_x=0.3035 right_y=0.0162 right_z=0.1805 right_yaw=0.7551 right_pitch=-0.051 right_roll=0.012 right_gripper=0.0607\nstate[joint_eff]: [-0.0889, -7.9521, 6.3658, 1.8046, 0.1832, -0.0513, -0.0122, -0.2393, -3.7949, 6.5436, 1.0085, -0.4518, -0.0024, 1.0281]\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:b4f3fcf085a72e264bebbb8e23877e3cdc404f01081f0ada0f34082740435a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dfd50451c63c8b09dc9879df087d77f501db4b709f5d0a7dfbd6d28ba16bb87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be0eadd878aa54ececdc90e95c1c68bf2f462ffc3ae2c05516f77682b3c50bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.438 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3794, 1.7531, 0.9707, 0.0116, 0.2695, 0.1658, 0.9995, -0.4175, 1.2308, 0.9329, -0.7773, -0.8646, -0.9508, 0.0586]\nstate[eef_state]: left_x=0.4079 left_y=-0.2094 left_z=0.0742 left_yaw=-0.7102 left_pitch=-0.1653 left_roll=-0.0584 left_gripper=0.9995 right_x=0.3042 right_y=0.016 right_z=0.184 right_yaw=0.7548 right_pitch=-0.0456 right_roll=0.0013 right_gripper=0.0586\nstate[joint_eff]: [0.1026, -10.0718, 8.6496, 1.7949, 0.1587, 0.0024, -0.0171, -0.0889, -4.0684, 6.4205, 1.0574, -0.4176, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 1.3045, 0.6151, -0.1001, 0.5537, 0.4202, 0.9994, -0.4171, 1.2339, 0.9287, -0.778, -0.8642, -0.9508, 0.0607]\nstate[eef_state]: left_x=0.3313 left_y=-0.0953 left_z=0.1009 left_yaw=-0.7131 left_pitch=-0.077 left_roll=-0.0456 left_gripper=0.9994 right_x=0.3036 right_y=0.0163 right_z=0.1817 right_yaw=0.7553 right_pitch=-0.0491 right_roll=0.0086 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -4.7111, 6.0786, 1.7705, 0.2027, -0.0757, -0.0122, -0.0615, -4.1231, 6.5709, 1.0085, -0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 1.5127, 0.6041, 0.0647, 0.5499, 0.4206, 0.9994, -0.4175, 1.2362, 0.9272, -0.7784, -0.8639, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3477 left_y=-0.095 left_z=0.0544 left_yaw=-0.714 left_pitch=-0.1206 left_roll=-0.0783 left_gripper=0.9994 right_x=0.3035 right_y=0.0162 right_z=0.1805 right_yaw=0.7551 right_pitch=-0.051 right_roll=0.012 right_gripper=0.0607\nstate[joint_eff]: [-0.0889, -7.9521, 6.3658, 1.8046, 0.1832, -0.0513, -0.0122, -0.2393, -3.7949, 6.5436, 1.0085, -0.4518, -0.0024, 1.0281]\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,$blob:b4f3fcf085a72e264bebbb8e23877e3cdc404f01081f0ada0f34082740435a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dfd50451c63c8b09dc9879df087d77f501db4b709f5d0a7dfbd6d28ba16bb87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be0eadd878aa54ececdc90e95c1c68bf2f462ffc3ae2c05516f77682b3c50bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3wvmFlzjO2xfSVMqupJWLBF4uZUNAT6mSMJ_fNTb3LkWDpMhobGmrmROAh5Ah7FYtgw9mmBzkDlD-5BrNQGzheYTHenE2M-rMwyjwckY-pGZ91l2kV5jNkwpvo8btMeqjn1iUqdLyHny_gGN45sePNlCQtSPf9SHcHE31YEwc4FArVxlZ9P6ntlnZENg6lpagYJHxuHGZFjpL-sr5yLHemR-nSFgx6vhsyiTgDNgpbbike0ApgQHTtCfpij87nVV4e1C0WPH3kaUL2gndSVSSBLE_OwEW0xlk_73ooIhPGvQFQpxjDsrWEfg9GJC0kOcmNv5sYv9GxW2_Eo_LFKFcSIsSezwRwGrjfEzpRaFd5QCSrwIGlJWcwyx-G8gMqe3MlIeDGcxn5VBgE8V5hGYs9JzRBPYDZxXjQZzU9COqnePbWINftO_7gXXj8QXezRz60zAjwRjCKdx-DBefxNoF3dUzlRyv9-kdaGviVeF7DaWp1gXhHJEJzaR50rxbsA_V5q8i3dtBKcgyr4MBerPPK5f5KrPlCYTsYV44oiRmaOH7qket-JW9pJOa3jbrgPyIiZgevOJ6oMx2pSq1N1YTmV4YmIInq-WpQaWBqLQq8J6fiC9tNj0XFOI_Ay6Nj-YH0H-vNUsnoXbeZVm1UYpRzNqdbci2REEk2a12gAuk0JosxEt1Wch66h180mmonB0Jcz14PXPv4A6T4a2b1r_qhWlZGQW6k1SmMwi8zr3aHtXwq028RDx2_xPAkylko_7ckcjaCG7KOOBFQSMz9eLw9ZYVQAg17xSJPUrZwHAutdet5w1GyuqJOphvj6eSjhpaVuIONVHfnuHZSj54bSlmYOcuxOm-lL0mnTSvYmWV5RYclNrnXkstgmPO6KfiNTSL6l_-mUL83VxUo7IY-SX2HXjlxRx612QDpwkNOvUo4gbqA2j4dYSSCn1RERwxGA-xpGkOs8jYejt8Hq21H0GG6MCEUMz5mPMYaxvef3Fjcgaxza4_p8YYXLaJRETmiy_CxEnwyXe8cDojzU7WH-1zyBBwFoL6mYWcQhCYsClqP-aAf6QmzBqhEr1wHGPMboXHbWKe_l53ApyIjMBDQ7jp6dHQbiURPVD4YRaBsL3m0VEvO12GWxIYmCYX1Yd-dOACuYIhgj4jmCzNUrroAUEu0U-fQ-2FsGvNT32Z3vkmy9dQuJ7iY0YU3wk1nsgt81DOy3aXumia4jCOAauAzA9Qef3bVVPK4BUx9bIo3lh6HMZ2-3h1DmEyotE4G4ZtMxGxaAksmz4J_EZhTAgUEakBTCj5uhoOd_iBdFg2hjYd5lu1KdtpHphJ3CSTLx3LlSuvFXe99xeXROZAumxfGStADrKEqper-9AiWwYC4xnaFoqa8Y060VGdktCJf8aeeiWdIvaHLRG4ZNGZ0GSPmojUSKVBKlFkXlVgKcnbE7SCZJ9Pkswy3IzfBzLlCT6sIQyD-EZ6DHQaJnNWvtsOYOMSQ8O8hdONbnpJVPUAOFUVgjyuTv87Q1W8DMNrcG0hgOj36kJLo2GfHs31dYFl3CDYDh4hnUesxRVyyN4K4oNDG3FUfqoljhJEXbJQK-bGyEk9kXIKEKCEy7EvtYmriE0Hrs3T8Ee3mHhlWmRVqw-d8dxQ-8mrIRmLtcbajQyCGTATYNnbS3IFBUzZ5nw7lObrt0-hQhrq0fh9vmA_GN_tHzNtSNjLJXIcJ5UKeeaKCC7UCKQ53qbrTL0gyXkPfScmDJw==",
  "id": "rs_00bbfec0d3f8a6aa016ab44deee53887d09cb139795d2ef2b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.105,\"left_z\":0.005},\"note\":\"The cap is close to the fingertips and remains within the jaw opening, though it has drifted about 1 cm image-right as the tool tilted. I’ll make the final short outward and arm-right correction while descending to table level.\"}",
  "call_id": "call_pBKZ1MHWy4XSnDhKvQIRM3PN",
  "id": "fc_00bbfec0d3f8a6aa016ab44df0019c87d09c2f589e8b7b5482",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pBKZ1MHWy4XSnDhKvQIRM3PN",
  "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]: [-0.0479, 1.7454, 0.6037, 0.2737, 0.5308, 0.4015, 0.9994, -0.4175, 1.2373, 0.9272, -0.7784, -0.857, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3616 left_y=-0.1033 left_z=0.0046 left_yaw=-0.7214 left_pitch=-0.1492 left_roll=-0.097 left_gripper=0.9994 right_x=0.3036 right_y=0.0153 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.057 right_roll=0.0101 right_gripper=0.0607\nstate[joint_eff]: [-0.5265, -5.8462, 5.2034, 0.8718, 0.2076, -0.1099, -0.0171, -0.3624, -4.1504, 6.3932, 0.9744, -0.4176, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ec1e09c8a44d6911528d62799b2330dddb7a4c7bfb125fc79ad97ed0f95354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ede62571731468d190f00c1223752882596c2f220bd4a20a448620946aa7ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cfd32ebe67c13c400b8bbfae91980078b8375acf8c71b91b6a872b32640527",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.906 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 1.0798, 0.7898, -0.4126, 0.5579, 0.4152, 0.9994, -0.4175, 1.2327, 0.931, -0.7773, -0.8642, -0.9516, 0.0586]\nstate[eef_state]: left_x=0.3136 left_y=-0.0961 left_z=0.1903 left_yaw=-0.7128 left_pitch=-0.0083 left_roll=0.0038 left_gripper=0.9994 right_x=0.304 right_y=0.016 right_z=0.1828 right_yaw=0.7551 right_pitch=-0.0474 right_roll=0.0041 right_gripper=0.0586\nstate[joint_eff]: [0.0342, -3.1521, 9.1419, 1.5458, 0.3053, 0.1783, -0.0171, -0.0342, -3.8632, 6.5709, 1.072, -0.486, -0.0415, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 1.5127, 0.6041, 0.0647, 0.5499, 0.4206, 0.9994, -0.4175, 1.2362, 0.9272, -0.7784, -0.8639, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3477 left_y=-0.095 left_z=0.0544 left_yaw=-0.714 left_pitch=-0.1206 left_roll=-0.0783 left_gripper=0.9994 right_x=0.3035 right_y=0.0162 right_z=0.1805 right_yaw=0.7551 right_pitch=-0.051 right_roll=0.012 right_gripper=0.0607\nstate[joint_eff]: [-0.0889, -7.9521, 6.3658, 1.8046, 0.1832, -0.0513, -0.0122, -0.2393, -3.7949, 6.5436, 1.0085, -0.4518, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0479, 1.7454, 0.6037, 0.2737, 0.5308, 0.4015, 0.9994, -0.4175, 1.2373, 0.9272, -0.7784, -0.857, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3616 left_y=-0.1033 left_z=0.0046 left_yaw=-0.7214 left_pitch=-0.1492 left_roll=-0.097 left_gripper=0.9994 right_x=0.3036 right_y=0.0153 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.057 right_roll=0.0101 right_gripper=0.0607\nstate[joint_eff]: [-0.5265, -5.8462, 5.2034, 0.8718, 0.2076, -0.1099, -0.0171, -0.3624, -4.1504, 6.3932, 0.9744, -0.4176, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ec1e09c8a44d6911528d62799b2330dddb7a4c7bfb125fc79ad97ed0f95354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ede62571731468d190f00c1223752882596c2f220bd4a20a448620946aa7ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cfd32ebe67c13c400b8bbfae91980078b8375acf8c71b91b6a872b32640527",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE31hhimG4mdDT4mNma0PLubsyDyWAgV0nmtZwngA5BQOZfT06_CtMQEhtetyu72iP56rUl6_Bjjc2X4QeyuebnwIAU1yxY_ORaz-3_dDPr800qm4saY9ymrlNenFirOQNZM1g57SQzQIRj2y4WI3GFoLZO41w8CqYbZKrtUHenmqEwIc_KtfZ3UfaeCOVlXB8pB1IFnVV2hdpY5-z5r8WI6Th3kt16yq1P6FiyVoLb2M5-4MBuMheqjyrv_GVQcu6gC2rF5ACR7oNMgQoXMG_a9nhXnoutsNJe-Mfr0i3Ni4IMRiroYnDarwtI6Y0_45R34P-L26pLAlFTklbJr1C9wV73XIyV4NkYB1Poa09PTaceB5jgutgUckPA1wMHb5U8B7nXXfrNlk0w1uZIJVzh8MgFK1RxeqYHsys8reiAw64X4pWgkA24AeiByKF-34sJxRzp73YztfuNdyTCyNkZeV9b_USZns7ioa7kSwXoQ2x-XmFqPE1t-7Uu-hv4dNTvlNJLTMKIyQXnhoOm9fhpwzwTzYcwZHrsZLUSQK3AYCCKl3GQyGwdmDHI3wFdNgx6kkcers3J75KPcIpX3U8Bquo8h-FylJkBnFOC__Fuhn398dSPO7-rUV96WPmg6PFralPAaKUSivXzCuTOy5wBJQMdIzPhdXvPy4HGbLf9NHz6Ku69C0jxbX0S8SRcoaCsYD846RpqpUdwG04_WoA8rHb_X1Wh2EnNFyAbUs_NSTM7LfAWqh89EFuUJ3I2Hlw0OUH7BD952ozMQX8XuOfMvgxNFg-90tM057vmaAAGSWaZ-cKWHKBItw80TrGKvUrKt2rxeWsU9kvm-FwfQUhbFrWxZtaObZoYF3d1ggrAHgUZax2zm6Ww_vkiopuU30NKPvbISMZwpB26kJwCXv542WUPQvjhgSlu_W6uh2_4YayPcQBCmt6CjADXTDpMW_PVLFLNLc0VXXF_tOfM9ruOeSxnRx77o6k_gt99yRhGUchNcQKdVXbnYxwIqQAul6gHvCoIF9wAI3tzN1Fk-QLm7u4cU1BLqeq9CwjEZXpjiLxhHr_73nnZP2Np5lFcYNHv1_bUiE8QCfZZSN_3sse5I4KY5-Md-bI8-zJN1vS4w7KoZeb-x8CXGmI3vS_WnUFmU4LEN9EidaQxUUA7nt6kbytbf_jmUWpgxOieZP_x_KKoVrS00Tu3Io0tYr0bHyVVuN1h7xsbeH4F5khDzhBVb_mb7VdLz8dxYiQmfeOtXysMXJr7brg0HgZf0WrMvCjW6-EtezCT8URMXBYvZlMDA8hxLt8PJzliIt-ijHmgeSPA-OZCH1t791H18za06XODiR6uppqxJ6A-_cplxzpJdPMa9iN3QC426M_yv5AxvFFSULmIDd_LhML1xjXE3pb3Vbu3wtMVpdYYyb0WnWfJrzplKHBSX-qtQ4AiYhnpAuQi1Dmc1TOCkpq7Nh1eD9UNBktbetqY14ukS3t-JNAA8juk-nWqE5HIWk6Dk5LEkv_VzatsbIkVpCGGUNo-GXBpRjueL9ahNH9QfT7KmME1SXT_nUD0j8LXzmhbcBXIoAI4vlCyuLB5DdEDyeq6vP8v4wp21TdTxqrvpozpjPiVaTPrVcsanilPH0FvsleD4PEHZymEdJ3IbWuhMssTLN4koCUmWzTqXKPdDvt9VdIUFFzEda7ChFiAJskh5HoRCsjENzfUkhSNXUmT9cNEAGRn_h1oN9X9AmXIn84L7f6auhPaYWWW4zb-qANPfxSyXL4tr0_rCY5zT87khUG09zyKE_46973CUXGJHMY-RFHRS0dFGJ4RsXTgLmmBndNf8935pdbUEhfibbi2YwfgpDEiF9v8nDgSiEj18DcantLAbMH-v5QeJ68zpmd1oVny9-y5ku0BU34Sp2xDO1vcrP_pRnMuNpr301lEO7LGCDSpcQlLb5t2kdR6_90TZVXZMp-yExGSlVNiMnmm_pUv3_jdAL3CbLGjLWm3DBwpOZy4q-r084nzr3OU6ml4FUZX4gKD2BcdMBhb7T87GsIReae0CrImVzgFbgX-62G3t-gK4W7YhTk04A38dttODEzLEzK9wqIIoIbmCoBjlOzegPPbIAgzmW6YCO8xyheYG_7NNEGE7GRIC1r5ICcn7jgJU2l1CuaZ7gPF22CWS7b6tl9zoVHJz_34B4mD33tkdb-ECB5Fwbr5TfJ-7CoFYWKskju5UTfmtLT2bUGjSq9YxyTPPcjJIpefaqknV0Rha7YaglNmM0cO6sxyrmZZKl0NZt_rZo9BJxZywQeu6yh-uAHD9RH5VffXq0WIYVTxswJSEjKye24noagfsoeE4Iu9qgw4b3eK_iFL6qf0XstYCq-KPB2_pXvi6c-WYm0zBZ2_WRRPsl3wlCDnhVVcJyeBGyYO0m7AG_J6bfB-QE_iDUlRB",
  "id": "rs_00bbfec0d3f8a6aa016ab44df2601087d08d9011d242bb7a60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.01},\"note\":\"At table height the cap is between the open fingers but about 3 cm to the wrist image-right, too far off-center for a reliable close. I’ll test a pure 2 cm arm-right correction at the same height to bring it toward the jaw centerline.\"}",
  "call_id": "call_sYHmfbAIATeNzQyTOG5rt9Bq",
  "id": "fc_00bbfec0d3f8a6aa016ab44df4ef2887d0b4d1b37b6098921e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sYHmfbAIATeNzQyTOG5rt9Bq",
  "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]: [-0.0906, 1.755, 0.6037, 0.3145, 0.4973, 0.3645, 0.9994, -0.4171, 1.2373, 0.9272, -0.778, -0.8566, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3651 left_y=-0.1142 left_z=0.0051 left_yaw=-0.7161 left_pitch=-0.1412 left_roll=-0.0857 left_gripper=0.9994 right_x=0.3037 right_y=0.0154 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.0572 right_roll=0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.7043, -8.5812, 5.2171, 1.3211, 0.2222, -0.0073, -0.0171, 0.0342, -4.0137, 6.4752, 0.9939, -0.4322, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accc6398fb7b78ee92efddc8e7be713d8f59bb1fc54f96b02f3fcca234ec38e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc343a98642b99c147bcdbd18bf2a1920bf81a2701ef8c219dcb3e85c1c8cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e5cc07e1f30e238d80e6353b3e6c919c4ab9c49874996efe9de9cfb2ae8972",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 6.494 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 1.3045, 0.6151, -0.1001, 0.5537, 0.4202, 0.9994, -0.4171, 1.2339, 0.9287, -0.778, -0.8642, -0.9508, 0.0607]\nstate[eef_state]: left_x=0.3313 left_y=-0.0953 left_z=0.1009 left_yaw=-0.7131 left_pitch=-0.077 left_roll=-0.0456 left_gripper=0.9994 right_x=0.3036 right_y=0.0163 right_z=0.1817 right_yaw=0.7553 right_pitch=-0.0491 right_roll=0.0086 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -4.7111, 6.0786, 1.7705, 0.2027, -0.0757, -0.0122, -0.0615, -4.1231, 6.5709, 1.0085, -0.3932, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0479, 1.7454, 0.6037, 0.2737, 0.5308, 0.4015, 0.9994, -0.4175, 1.2373, 0.9272, -0.7784, -0.857, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3616 left_y=-0.1033 left_z=0.0046 left_yaw=-0.7214 left_pitch=-0.1492 left_roll=-0.097 left_gripper=0.9994 right_x=0.3036 right_y=0.0153 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.057 right_roll=0.0101 right_gripper=0.0607\nstate[joint_eff]: [-0.5265, -5.8462, 5.2034, 0.8718, 0.2076, -0.1099, -0.0171, -0.3624, -4.1504, 6.3932, 0.9744, -0.4176, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0906, 1.755, 0.6037, 0.3145, 0.4973, 0.3645, 0.9994, -0.4171, 1.2373, 0.9272, -0.778, -0.8566, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3651 left_y=-0.1142 left_z=0.0051 left_yaw=-0.7161 left_pitch=-0.1412 left_roll=-0.0857 left_gripper=0.9994 right_x=0.3037 right_y=0.0154 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.0572 right_roll=0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.7043, -8.5812, 5.2171, 1.3211, 0.2222, -0.0073, -0.0171, 0.0342, -4.0137, 6.4752, 0.9939, -0.4322, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accc6398fb7b78ee92efddc8e7be713d8f59bb1fc54f96b02f3fcca234ec38e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc343a98642b99c147bcdbd18bf2a1920bf81a2701ef8c219dcb3e85c1c8cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e5cc07e1f30e238d80e6353b3e6c919c4ab9c49874996efe9de9cfb2ae8972",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE34TaTn924L4OibxH7yR4ciyuKMikZeefYD4sl-jDb5flCnZ8c5P8lWMr9yAxBhkCqq6GFwYl1fAWxDCwGoJLBRijOD5Vb6S48Zuu_VjfEhMt-ISbbf6YABOF0SH1mF4RWVqONPMdrZsV0PIToxo8aNXWb-syKlJ4NEqmrzNXKPrL6rxYqyOJfsFtMTJ896iKhmYu-lhIaXQi_Sh2D_9tcmPIXWglCDZ0Q5Wv34-VudpjW8hZFGfybj2ulatTPjqaJE7yFOO0eHUR1w9Jlbv8Wr9VVY1AY-wStbDo8BRBQ_hEfDOUJBKqFXwlTsj50gbJxAUM9PZnDrSbzqsY4aBj377INrdYkQJLaHiz6HDADyukwZolm3MAw1RRg13lGNcMD_W_wxznxPusGGYe69lSc13nEgSgmwrE7MdDcuyiSNKgWwxUnAwAuwRymEoUtAYBnfYCKv0xyrM-mHsbzGrcsp6yfNBhJbjQY460mw6nFSBcRFH7Jbz_tD2eJRN27moHCYfcXIJRUk-RqjOceIRfbZiSteeAM3864uPwLJthhivdDBEeInEEJ2HAdRz3ALF39dhY1lXbtrnGM1PRcUClKKYn9QwEXuzLqmJndEpQRv--k2A9DHh_Xo76c7M_CUTinop8Vv4j0sRHuiEwhhoOODqFfKh-8hIEjvIMaAjyQ-RUX-zrdii-ANNCC8ZWwOAIqyN3KPhP8fpy4F5xqIHCmqZ8j5NpKRf-KA8fPDLQ1BXVE4La4xyY-5IDMOSSAX27zsabalzgPun1KbaHn8htZmcfCyMGCWQQiNhwcgsdX2cTBkbM62iu2w4VW2oeQGQlPTxcB963WB54WD6nNqRhdfZajC8OGLPyzgAwt6deHSjP_-56yGY2mUrmiSXB45h0mTLni9DtLt5ivHzuU-O5WgkPbMoepHfujT9S0YP_Rm-iOAerGjWPQ8-WSyuV0cYiukOJ5gmqiQdytFPcJmRaD-M2ILsIIwraDQ0Xev0Sn6r5FrjFZ29vKOBr6__UefRnS9KTNq1XY1NxVjZdSfGq1cB27_iSMAu0oxAi9aJh0NQ9s5MgLWJb15rLeO0lCGwV3_ur2RMZRpNRQfFPSKtplgsayf6XjSa080U6o35V-7AQnkz8OrPbW3cMfZMw_KDdRbj5wfcAUv1M5i-CREv4Zacdvqf1BaQR-XNsg8MEa3OH79fGNKdUmAh5yK-k1mTVb0jpAa7pM2JC7tJskTJlVs6HTbAtPlCykpBJX--KraQx57UVnFD0opPyNd9IfYjrDLAcDsNgCOtV6eXy0tY3VHiNc5IJhgUb56phDfbCQKVp-w9-O9_als2sC8gnmKk8yJRnJBOOr8-LkG9Ep1Ua1V5j9ygdZZDBlfoVUiTVWXv0lNkXZTkDHVuGvy4jTCrSfnTOu31m9X-ZtST97dl2ugjpj1KJBzK28wG0qhVy-ArVBVP4-4rlQ30cGdmXFJ7ARPU-r2DroJ7D3LSOAm0UJfKxgYZ48tFiHUxACMaZLpld-4bG-2QIGot5j_1ct0FIUR_65BiagLeztnGrqJTk5azA==",
  "id": "rs_00bbfec0d3f8a6aa016ab44df72af087d0b197572e478acaaf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.075,\"left_z\":0.01},\"note\":\"The pure arm-right test moved the cap farther right in the wrist image, so the camera’s effective lateral direction here is opposite the nominal convention. I’ll correct the other way by about 4 cm, using the measured shift to bring the cap near center.\"}",
  "call_id": "call_KzCOJHqNF1ddDccRLTsSZY7M",
  "id": "fc_00bbfec0d3f8a6aa016ab44df7f4e487d09484de73bf006ef2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KzCOJHqNF1ddDccRLTsSZY7M",
  "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]: [-0.049, 1.7473, 0.6037, 0.2974, 0.5011, 0.3767, 0.9993, -0.4171, 1.2373, 0.9272, -0.7776, -0.8566, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3672 left_y=-0.0994 left_z=0.0054 left_yaw=-0.6849 left_pitch=-0.1467 left_roll=-0.0844 left_gripper=0.9993 right_x=0.3037 right_y=0.0153 right_z=0.1794 right_yaw=0.752 right_pitch=-0.0571 right_roll=0.0098 right_gripper=0.0607\nstate[joint_eff]: [-0.5402, -6.9675, 4.9983, 1.3455, 0.3248, 0.1783, -0.0171, -0.1983, -4.0684, 6.4205, 0.9939, -0.4127, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185de2e3e6cc88b9d5112a0fca00f167d756641293453f38bfb48f318f497679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f773466c5b885e1676271b9a7c3e1bc463d67607cf419a385cca7f89392c574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7046f2f3c7f75492443cec1d88af64aedcdea696daa988f3e354615d6718ff40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.186 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0181, 1.5127, 0.6041, 0.0647, 0.5499, 0.4206, 0.9994, -0.4175, 1.2362, 0.9272, -0.7784, -0.8639, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3477 left_y=-0.095 left_z=0.0544 left_yaw=-0.714 left_pitch=-0.1206 left_roll=-0.0783 left_gripper=0.9994 right_x=0.3035 right_y=0.0162 right_z=0.1805 right_yaw=0.7551 right_pitch=-0.051 right_roll=0.012 right_gripper=0.0607\nstate[joint_eff]: [-0.0889, -7.9521, 6.3658, 1.8046, 0.1832, -0.0513, -0.0122, -0.2393, -3.7949, 6.5436, 1.0085, -0.4518, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0906, 1.755, 0.6037, 0.3145, 0.4973, 0.3645, 0.9994, -0.4171, 1.2373, 0.9272, -0.778, -0.8566, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3651 left_y=-0.1142 left_z=0.0051 left_yaw=-0.7161 left_pitch=-0.1412 left_roll=-0.0857 left_gripper=0.9994 right_x=0.3037 right_y=0.0154 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.0572 right_roll=0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.7043, -8.5812, 5.2171, 1.3211, 0.2222, -0.0073, -0.0171, 0.0342, -4.0137, 6.4752, 0.9939, -0.4322, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.049, 1.7473, 0.6037, 0.2974, 0.5011, 0.3767, 0.9993, -0.4171, 1.2373, 0.9272, -0.7776, -0.8566, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3672 left_y=-0.0994 left_z=0.0054 left_yaw=-0.6849 left_pitch=-0.1467 left_roll=-0.0844 left_gripper=0.9993 right_x=0.3037 right_y=0.0153 right_z=0.1794 right_yaw=0.752 right_pitch=-0.0571 right_roll=0.0098 right_gripper=0.0607\nstate[joint_eff]: [-0.5402, -6.9675, 4.9983, 1.3455, 0.3248, 0.1783, -0.0171, -0.1983, -4.0684, 6.4205, 0.9939, -0.4127, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185de2e3e6cc88b9d5112a0fca00f167d756641293453f38bfb48f318f497679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f773466c5b885e1676271b9a7c3e1bc463d67607cf419a385cca7f89392c574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7046f2f3c7f75492443cec1d88af64aedcdea696daa988f3e354615d6718ff40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3_jrNHQkeLE9s1g0sNcb-Y5h6QDfkdAXozgBep48ib7FBQG5LqkNsrzvsFbcNrewXhrbvcRmcK-i8uCsSGEWTQGOm2FqsF4Wh9CQcS3A3Txt6EKFZGh4EBbGZgBoR8h6Ft9Yp4zpkhanEKG52s8NEwdk_Y8MrCV5Qq60KmRUhp9yqkHYynk67ZjNQDzW8RLylv-HZrrnoh_NzbCcIxdSvKI35nJBwnRoHSyGW0arBQ8ZeNhAt-0RPaJiX_8jkjGX__ckZr5SHWHzwUAEQJ8jOhCH_IztX0tH5nbgAOAy5tHMk639PYA58V49K-aVdLKvlRRL1XDwGHqFyef6nJCz3WxNA3EAyfBkP7yyOmcNz2crVG2VBgR2AErHPo8I02VH0-WOsXjiT2DrT0e83g11_ERd3a_E3x7v2CrIwaqLJC531ixYronubRbgYXrVLkwBMlATA8a6YQn9cwzdKCPlB4M7Gg95CNwnebq-YyEKRj3JA2Kh4sHIVbBMU3JO3h2VYG6oKkchwhrQ4n0iY0yNoWOwslZCFwrYMmpUozAiSMD_ujOUPyjSb5LAixpA-_MfvOIqC52g-tmgFzkNZXdRwAnu6huvpxMfNOBqZckLVPLb_2quQW9glR_bwbqk7FEl4FpqXY4PZ28Mwi68CQx6QH9dXPRIi_cpNWM0AO-SrHKWNS2dxHpOlGhWoFcEhGBivz8DAHsB7hbZH5BEUThKPLYL5fcZRSbzRe71XxVcq_MkIcoTKzRYl9PxAbgjQaJhYi2nsb-YcXatjnOHrkz8aczhTI3d9I0oV4vhMFfE8Ogzf8EhbYX5LgJVgBOPwE_CYTWi5LQTxHaXIRyv0Um2OOElA_iLIg3jZ5QVCFji2Kytjr-Cz2cgrPkS-ZllIA7NuAOw3p50DVLsYKvC5ZXs_4KIH4hDr7aCPs05mRScaHwTEYAmjtlk-vZY68tKS2XsYhGQLeBFesqzhw_dAjgGIUAguL1nvkdSAKzVMCe7_dXP86-Des_thJtUPyywOZ5p5jsUFjLTN-ewYFtfDvtAR7WUMoTWLb1Ra-p2GjbHot9kF6qaT_HrahBDLUvSM2u58l2QPriuK2Avzh0SiI0zbAM2eUxrcyE5mhVQI-S4Tm2WFzA-XRFZXTDh6zBqhVEqx-Oll7RP_RvVzlJX6c1rWiPHN9sVEM-9tR9xZxbnu8yutckYTIDVWu-Gq2X8_g_WtVTvu2UPr1j5pTncrwosmRj17c667YDzemzo0ihsoEGoy43i9M4f7OzGCrgW8EoIqQ_FkBws1_oeJfVvr0Zvrx1TbXMMYcqJZG4NITsvLkXQgz6Tq5ZN6VSisZRlwkhFM5V3f7fQV4TdAGgxSTKyboFmMGi6yFATLCevAEWBlrBf2JqeEpaGMc5ELr5YhlDJ5kpsMVFYEOKuVtJWAj6_I_RklsOK74mLHOlOKhuc84rhpoRho9eQnHueSxARWV0dIQ70ngHunx3jnrRVbHnQM_k27Dc8S9YbJn9BghdkgJ5B7A2vQwccUeRYDN4DPYLy0dG_FSjNbJLhAaRJ4lOVVFTHkBfw36ncJv_FQPUvWWDa2H0HNgzafu50-Hx2PnZw_CmtvN7WJmSkBYxYnxkCzkdzLy03pfqZRLKv6KzNYyE2MRmrG1hoNJB3xMXxFPJhfs1vwY13E0egLjbyajl_MQm9IMU61VZN9yJcmkpCxWq2RA5lmsVJ7_UBNLEnXny1qE9bG_FaH2HvGohB-RrrHQBpWk9Sqcd8NvF-SlaJPGTEWW0kQdZ842Ru6r7Lqvp3GA_BT65l3oAs2rWssMugOJPJbWiqFMnofC9upjRWGR6i6I0sct91HcBaxjuRYRswhyFSPbdDRLuUTTId-EWfvZS93cf1-SpKUPjbxfGio6QBSJMEPqBCXVSbeYg6I6fVrgCq4uq-YPIuYjKgjUsz-DKAzzLNnfdB8B50-5eJ5pHKajwxA32L4X-bwp0BLJml79Ztd3OEtddN_hU1AiEJwah2UwaHGKwWijvrO7SB8YklcpmTlRRMjVlIHfgPACEG7yVyXVKw7OlobWkXWLyCSdqVf4Zt51k94a809FxGQgtLFEannoW5eikN35W6Naq9JrX76TdiOW_Z4VTr4k4lve4vE1Pdlvu9uEbW_7azvAs2052nkH8j5_YpmPuy-unRAbBhcGLsEvL0Xdjt1Kh6HSfugK4a1SK7GPWzCjS-5uYhkHEJw7MLa8rft2nSv-DrI0TPGXB47A8t17HzAQgteOKwlQuOxixT97Fzd_FnHzepGbQpoyOm79YJlkrHt3ca6x4jgmFaa8zgRhTZkGDtvo9QMdw0OjZQd95hWGJyhbvhkqnOrLP3G-q9VAfoJQ1mKy5xXp0H-rk3LRMbVEiQjFUypdbIXcFD3ak8I9Q5XvY7foMQWHrr-Fop-vBRrEWX0DFs5XPnBp6mMFA2tSmW87Mqx-bSkaeBOA8gLPK6z0zkbKRZDnbkU9AxqG93Ffsp9lO5MdyctOp-DwZBZjm9cf-bC8hNmZvXBBE0MVPXrCV0cge5FaA3UbQY4SfjXtnnLqj4t71om6EoGAt3-Mqx-Z2-GDbofmtiSKyBjyuPP2ZQKqlEVEoHRt9h3YDtfDcB4UAYVHy1hLYJM3q3ePznANubZBaRc3QX_N9r7qWRJawXATVx8aZ5uGGc99asr-hDPyfHQkGpEvU9x-JZS6ZGCoZMUjkwz_R23f37tcLco-okOw9yuO_WAcdO9oR8LTZXYkUhCC_5Oa7Cd0YiDW0PL0nZG1Ts_FZ6GTx-j-Q9tnHUS67jdj_Gj5eo1XbnxAo_O94A027Ri2QzbttuxWqGML6qwDc4AvmK8ux8W8dG457FnTzYmAkd6-jTc2Wr9M4oAu9I5pH9Qz2WNbow0H4jk8rtSp0A_2fm8mVz2NYsXx25MkqOytsqMVKJZ8r8qUJViLXzGUh6uLJSxy_nV36BH2mgxoFeICQhnC8qHV8vD0YydnWvK2EprtJe88qXc3sUUrqAEpeFe2di39o2BJKJSvwyGqBtQ10zlxWqmGAUzB3AAgMz7WkrfUdLf-mKi7I3ErLlQFIcjNgxRloMtEvvDqvuQko6HqKN2eKoCpIZwA2zWHEbATV4HCHWUtkaE2apBFSlSAC9e8ZDnoTbjXUTUgK05v1Ir6SAbPfpH7h7KxJvOM246F96bqzgapCmbB7tUkjk9GGy5hGvoY6X0L83OxqcWp4fSjMwaRQFSWPiydo2UTZSpVG6CXfrkyKQZawfuatWysKpszSFbInZLkLQtSMg==",
  "id": "rs_00bbfec0d3f8a6aa016ab44dfa87fc87d0b3b1ef36580598f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The cap’s orientation changed during the low lateral motions, indicating the open fingertips were already pushing it, so those image shifts were not valid camera calibration. I’ll lift straight up to clear the cap before making any further centering correction.\"}",
  "call_id": "call_YjBCP45qyEIsZ2AwQMGjzWK4",
  "id": "fc_00bbfec0d3f8a6aa016ab44dfe912487d0bb81b7f9d0d9b01e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YjBCP45qyEIsZ2AwQMGjzWK4",
  "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]: [-0.0528, 1.7473, 0.6037, 0.2924, 0.5049, 0.3798, 0.9994, -0.4175, 1.2373, 0.9272, -0.7776, -0.8562, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3658 left_y=-0.1013 left_z=0.0049 left_yaw=-0.6937 left_pitch=-0.1489 left_roll=-0.0874 left_gripper=0.9994 right_x=0.3037 right_y=0.0152 right_z=0.1794 right_yaw=0.7517 right_pitch=-0.0574 right_roll=0.0094 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.8991, 5.1077, 1.3944, 0.3346, 0.1148, -0.0073, -0.212, -4.0547, 6.4205, 1.033, -0.4469, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c918ef88d66c5ee5b994bdf54099355b9f61cb78587ee535948e503b3d757a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85699e98ebd283dbb8bfa8ef8fe6790f996e32f181a2ea50b215ba2a2a2216d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890e985a56be41a4fa9636e2a51f6f40e3bccc1df53d6e505eb35e047d75532f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.901 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0479, 1.7454, 0.6037, 0.2737, 0.5308, 0.4015, 0.9994, -0.4175, 1.2373, 0.9272, -0.7784, -0.857, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3616 left_y=-0.1033 left_z=0.0046 left_yaw=-0.7214 left_pitch=-0.1492 left_roll=-0.097 left_gripper=0.9994 right_x=0.3036 right_y=0.0153 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.057 right_roll=0.0101 right_gripper=0.0607\nstate[joint_eff]: [-0.5265, -5.8462, 5.2034, 0.8718, 0.2076, -0.1099, -0.0171, -0.3624, -4.1504, 6.3932, 0.9744, -0.4176, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.049, 1.7473, 0.6037, 0.2974, 0.5011, 0.3767, 0.9993, -0.4171, 1.2373, 0.9272, -0.7776, -0.8566, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3672 left_y=-0.0994 left_z=0.0054 left_yaw=-0.6849 left_pitch=-0.1467 left_roll=-0.0844 left_gripper=0.9993 right_x=0.3037 right_y=0.0153 right_z=0.1794 right_yaw=0.752 right_pitch=-0.0571 right_roll=0.0098 right_gripper=0.0607\nstate[joint_eff]: [-0.5402, -6.9675, 4.9983, 1.3455, 0.3248, 0.1783, -0.0171, -0.1983, -4.0684, 6.4205, 0.9939, -0.4127, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 1.7473, 0.6037, 0.2924, 0.5049, 0.3798, 0.9994, -0.4175, 1.2373, 0.9272, -0.7776, -0.8562, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3658 left_y=-0.1013 left_z=0.0049 left_yaw=-0.6937 left_pitch=-0.1489 left_roll=-0.0874 left_gripper=0.9994 right_x=0.3037 right_y=0.0152 right_z=0.1794 right_yaw=0.7517 right_pitch=-0.0574 right_roll=0.0094 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.8991, 5.1077, 1.3944, 0.3346, 0.1148, -0.0073, -0.212, -4.0547, 6.4205, 1.033, -0.4469, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c918ef88d66c5ee5b994bdf54099355b9f61cb78587ee535948e503b3d757a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85699e98ebd283dbb8bfa8ef8fe6790f996e32f181a2ea50b215ba2a2a2216d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890e985a56be41a4fa9636e2a51f6f40e3bccc1df53d6e505eb35e047d75532f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4DzWUhOqO8oWESAPuCLkfm2qXtIsl9WEULg2W2AEQsiD4a48MQW3fvfALh1pZT5_4_lGpHs1eP8BXgSVZIjN8VU4LbH6xrZfc1fNQLgogy0DooOEMpgZ0fZadYwDInIjPkkV-aby_PRr0BT6W2qnlVEZHFkj7cgywFFaMw_lTC727b0zwXNz1FSYpyylJFmfmeDHuSu2Rt-nJ8773mSfScK5111pv099ibz_rmYTMi6SYMAgZMPW_miFGBqnx0V8DGTwvRCLFjALURC2FKyvr85LTVjN_r-YStBAPC2d1vXo3J5lzvx3lvpvbNJbvoUiCFQhPvd6k4rBdzpDsEOUny3YIVho22llGrWDXt1urnzyukasSAxtCNs0gs8blJd8w6efa_XWTow8JckoXuJhEMyEl67_hvGXvUQ6oBDw0z3yT6TgbmBXqIxYTd9MvuYWKaI5JvvyQLCPnTkVoMr2O0lEtqubE9tDjcOb6W3srpGuXnNKi7Jm3FVKBJSfk3QqAN4gvYd550pJttTX_eE2gxZx1jf4DIa192JwO2r2UrIJDFcUOjm0nid3xVvX3ttVzcM1tNIUoityh4M0hkcT_8kHx5a0p7ifLv9nImwc4E30CQflsEK_RsrC1-VOUqNuc66Qzl5cKzRVUBGdq8mymGuuGpVtXJlgYtaVjgy935jbeKcDj68RCyjqggmsf6iMzgRB6AtnlewbKbxTu353CYlA0SS1dg0thWhgyoB2z-sWlKhGsBRz3kdNhL89BbJm2rvH63S4LlWoPwm0bP-12NwK01SqatmgqGpDGigJtYbnldjfZo90VO2ccwP6o1_YTpcfkqZhjwuRB069eVoZ5aIrCvS4uR7ND6CTItJ97Oqgl-52EJB3Pk8DLp4HHf-DALfseqwh6N-h1c9EIAT0jLxBqxadMvb7a77l_wwHuYiYIQ87hEe4kfqucpztdZD4OeLJ0DofunsoT1NOyzf9TAnBuCAhNOHFK0lLCFPYaFG1VaJApNWm-2mzhmiqkFNimAic-2YOGsI_s1SUyjzMHDMjWfdrACbwBOpQNnjY2gIwEojhQ0aky-BpSinzlh2OCCPAUoAHnPkYBm8IjhH69bQBjrZfwfp0EKQzS_BvwysX8x9Q3m3yrE9VDZiH_GuInIOnZWAGEe6ap9jOTFXSv_vvOQcwwDlEh2xFVvIZ2dtsasKS8nIxWPTvQ1vokLv2BZcw3_dRL1Oq6prVte5QZjrJ9apiMZCi_Fqmn3Liwu1cewC58elEi66eZ33r-xE-l5pLBM9cRnsmdR05hpoWulvbYkddO8oiMTbcueeJosExHnW6nJxER8VYDQxKvM4lzdLXhy9CyezGEB-3C1rvG5-G423sPtkvt2OBSfI0kG7-I=",
  "id": "rs_00bbfec0d3f8a6aa016ab44e01da8887d097f5418cc25383f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.05,\"left_z\":0.18,\"left_yaw\":-0.7,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The straight lift stalled at the low pose, so I’ll use the proven inward-and-upward recovery. This will also expose the cap’s new position after it was nudged.\"}",
  "call_id": "call_68jYwJnuoe0sazlppsZYtS9h",
  "id": "fc_00bbfec0d3f8a6aa016ab44e024c7487d09db5efe9db9c3c6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_68jYwJnuoe0sazlppsZYtS9h",
  "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]: [0.2073, 1.084, 0.7097, -0.4339, 0.6819, 0.5602, 0.9994, -0.4171, 1.2392, 0.9264, -0.7776, -0.849, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3057 left_y=-0.0458 left_z=0.1619 left_yaw=-0.657 left_pitch=-0.0241 left_roll=-0.0102 left_gripper=0.9994 right_x=0.3038 right_y=0.0143 right_z=0.1778 right_yaw=0.7487 right_pitch=-0.0643 right_roll=0.0093 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -3.535, 9.6479, 1.5458, 0.3932, 0.0952, -0.0122, -0.0615, -4.2462, 6.4479, 0.9841, -0.5201, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e49a819f50618d51d0c9e7ab60da63bb38153338516a7f504f6d159e0508ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51578f03514c146894ffb9798495f28da7cf24df19cd109decc4d77a595574b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c5f686fe2c5e2f5b05d1d135985fa1520c3a82d532b6b345964a8296ff601a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 3.671 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0906, 1.755, 0.6037, 0.3145, 0.4973, 0.3645, 0.9994, -0.4171, 1.2373, 0.9272, -0.778, -0.8566, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3651 left_y=-0.1142 left_z=0.0051 left_yaw=-0.7161 left_pitch=-0.1412 left_roll=-0.0857 left_gripper=0.9994 right_x=0.3037 right_y=0.0154 right_z=0.1794 right_yaw=0.7523 right_pitch=-0.0572 right_roll=0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.7043, -8.5812, 5.2171, 1.3211, 0.2222, -0.0073, -0.0171, 0.0342, -4.0137, 6.4752, 0.9939, -0.4322, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 1.7473, 0.6037, 0.2924, 0.5049, 0.3798, 0.9994, -0.4175, 1.2373, 0.9272, -0.7776, -0.8562, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3658 left_y=-0.1013 left_z=0.0049 left_yaw=-0.6937 left_pitch=-0.1489 left_roll=-0.0874 left_gripper=0.9994 right_x=0.3037 right_y=0.0152 right_z=0.1794 right_yaw=0.7517 right_pitch=-0.0574 right_roll=0.0094 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.8991, 5.1077, 1.3944, 0.3346, 0.1148, -0.0073, -0.212, -4.0547, 6.4205, 1.033, -0.4469, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2073, 1.084, 0.7097, -0.4339, 0.6819, 0.5602, 0.9994, -0.4171, 1.2392, 0.9264, -0.7776, -0.849, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3057 left_y=-0.0458 left_z=0.1619 left_yaw=-0.657 left_pitch=-0.0241 left_roll=-0.0102 left_gripper=0.9994 right_x=0.3038 right_y=0.0143 right_z=0.1778 right_yaw=0.7487 right_pitch=-0.0643 right_roll=0.0093 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -3.535, 9.6479, 1.5458, 0.3932, 0.0952, -0.0122, -0.0615, -4.2462, 6.4479, 0.9841, -0.5201, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e49a819f50618d51d0c9e7ab60da63bb38153338516a7f504f6d159e0508ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51578f03514c146894ffb9798495f28da7cf24df19cd109decc4d77a595574b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c5f686fe2c5e2f5b05d1d135985fa1520c3a82d532b6b345964a8296ff601a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4HBQsq3sPjwQfOaxV52y3zjEpZRMegycrmUmGx5KOgV5D6lUxvR7tUYklJsg35EYiKOLxYGKYOgrVYOkNAdlzbw4cNGCepQ6J33E42RkmiOFzvb7CTk3o0_WnZ1730HgEOSCSZpqO6NM_R_v3s_46iaX4XPebbAN2ZO0cMjOS-LZX8ABFVsQSEgsbYzPhM-MPNQHoVDA56CNqG9WMBmS_ChsR2-xLbFL1G3rFTEs2IdMEmewfBmeS2I9ldQTYcpDb0lQD-ZkLEjRT1YLBQGwaqS8XAs2VrLhFkpnyFiMBPGjqkXqn-h4rZUd3cJy3NpM_DMrQy-dcnbzFmy9lR5VIt5AxnQPs1yCusCONLqNwvNqgdGEFIL3QGB8RQuUCOH81g_Cl65tOjVMz2e1ydnElG1QD0NkyFe0zjkmgZP_1IgZEJeVmtyTQNm8wtERct9Fa7ON7kgyvp1eRWDgC3grR90LuN0eKwHIC8U2uuocqLIk3FrgUrS_ZIxXrHWgoX39v8lkY4hnSQ1CFvjUykJALW5WKhCE0aX-eJmQ3ioBZ5BapmeV_yZ8FOChVExmoIdTKNxL2nF-ciZfotnVJZzfNhgeh3VVaa4nosc8GH-hAMHtgTlHL9FupU4XWAxkaT0ra7K_Fo2s7piBlZiE_HbzLq1vEXFhjusOUSo53BV5g7OZG0qun9yC5DMA04yPKXKsv_Eo8015nH1ndxil9SDKGByHi61OW5DI73h96BCF70uNuH6gaBXEqsRbHB6P3q2-RJPoMi2E5yk5ZZQKaonUatKI33ZLnvjnAwSpw1gJUxCKHsfAjgNhxmjgi_sxMYmddaDzC3K-o7Z50l44Q4erNPCem8IlH1YkC_dz531NgQ0wEGGjKbyhJiBpo8Q8Y0yL0IpnBioqQigUxw1x7dHG1hlDfoIL1Ob0ZeWhOgVW9m8lJWZ4l5Uym7idqiXX4eZaYE88GtGzDbNiKq1XsMeZVfn26ISgRHTWSc5I34k_Vg4Wj6Asypq7u3qmNFKMQetGf1yTBC4M8hyE8VWqfOzIEYqJVfwbslYhVB0bicbRUg6jyO9bmASZXJpSduoq-pi62Vyl-HyPPCgX0uqZHDh0PsohVjIUq07T9vsALIkRH_IDttBeEAvnj6ZH6rhJ5FaOY3BAZKTUYPfE4ent_xp67-Ra03u2KsSkUwwX0P5CrvLn3_AAuzAQM0cH0kZ-j34S7akAzPlMN20J4Z2d8QS_xsUfQWmqcsj15oYMfSAFnCv2tca1PGQBmJS5PVK1puD7fu3_JbaXYVh6Zx_ltiEq0jiONXA8weaqEdktTuq-LlesWxo0feWdVNNOoCwyrbTCWXlsTfF8P_YqUuZgXgX6PIJuk2rs8Q5eoqVWzeDr686f4lB4fSkqg0MYq--cREjQy2QArzIJ6Dcb0c3KSpUAhPDb39NPOB3v5EOdPUTeZ7KUCplBpCCJ7Y5LL9WQwQl9xfJvT210-5ww-l40WM3QCcYepGy8gfrRRD2w_W28Hmz3JoEYGVRBvCYA3EOVC4XWs5ACOG-RMxF-TiAg9hHN9QPoYvpf-sE0rhAnoGD_kN9XAZ6XhZiw_icKBItvz8SteX",
  "id": "rs_00bbfec0d3f8a6aa016ab44e05a68c87d0864e800c6dd715d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.025,\"left_z\":0.16},\"note\":\"Recovered high, the cap is now clearly free on the table at wrist column 128, about 18 px right of center. I’ll make a small pure left-arm y increase at this safe height to establish the true lateral direction without touching the cap.\"}",
  "call_id": "call_7BzNE4VsSLlQFyMY7OsUO69Q",
  "id": "fc_00bbfec0d3f8a6aa016ab44e063ef887d0add19ca476d3b137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7BzNE4VsSLlQFyMY7OsUO69Q",
  "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]: [0.2733, 1.0992, 0.7303, -0.4911, 0.7177, 0.6132, 0.9994, -0.4175, 1.2392, 0.9264, -0.7776, -0.8486, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3027 left_y=-0.0321 left_z=0.161 left_yaw=-0.6456 left_pitch=-0.0358 left_roll=-0.0236 left_gripper=0.9994 right_x=0.3038 right_y=0.0142 right_z=0.1777 right_yaw=0.7483 right_pitch=-0.0646 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.1299, -2.5368, 7.1453, 1.3455, 0.5641, 0.2027, -0.0171, -0.335, -4.0547, 6.4889, 1.0232, -0.4664, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9472b3f0df9efcba063d86bb7cc1ce6701314d285cb405dd93afd45abfb31054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e4e5dab6e822a34dc36877b802c703e8a798ffddbe7a94b63dd6836a71671d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c22311d4864eca1209e9255903d403026810cbcb3bf01fdff29fb0473e7483d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 7.031 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.049, 1.7473, 0.6037, 0.2974, 0.5011, 0.3767, 0.9993, -0.4171, 1.2373, 0.9272, -0.7776, -0.8566, -0.9512, 0.0607]\nstate[eef_state]: left_x=0.3672 left_y=-0.0994 left_z=0.0054 left_yaw=-0.6849 left_pitch=-0.1467 left_roll=-0.0844 left_gripper=0.9993 right_x=0.3037 right_y=0.0153 right_z=0.1794 right_yaw=0.752 right_pitch=-0.0571 right_roll=0.0098 right_gripper=0.0607\nstate[joint_eff]: [-0.5402, -6.9675, 4.9983, 1.3455, 0.3248, 0.1783, -0.0171, -0.1983, -4.0684, 6.4205, 0.9939, -0.4127, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2073, 1.084, 0.7097, -0.4339, 0.6819, 0.5602, 0.9994, -0.4171, 1.2392, 0.9264, -0.7776, -0.849, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3057 left_y=-0.0458 left_z=0.1619 left_yaw=-0.657 left_pitch=-0.0241 left_roll=-0.0102 left_gripper=0.9994 right_x=0.3038 right_y=0.0143 right_z=0.1778 right_yaw=0.7487 right_pitch=-0.0643 right_roll=0.0093 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -3.535, 9.6479, 1.5458, 0.3932, 0.0952, -0.0122, -0.0615, -4.2462, 6.4479, 0.9841, -0.5201, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2733, 1.0992, 0.7303, -0.4911, 0.7177, 0.6132, 0.9994, -0.4175, 1.2392, 0.9264, -0.7776, -0.8486, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3027 left_y=-0.0321 left_z=0.161 left_yaw=-0.6456 left_pitch=-0.0358 left_roll=-0.0236 left_gripper=0.9994 right_x=0.3038 right_y=0.0142 right_z=0.1777 right_yaw=0.7483 right_pitch=-0.0646 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.1299, -2.5368, 7.1453, 1.3455, 0.5641, 0.2027, -0.0171, -0.335, -4.0547, 6.4889, 1.0232, -0.4664, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9472b3f0df9efcba063d86bb7cc1ce6701314d285cb405dd93afd45abfb31054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e4e5dab6e822a34dc36877b802c703e8a798ffddbe7a94b63dd6836a71671d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c22311d4864eca1209e9255903d403026810cbcb3bf01fdff29fb0473e7483d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4LirsbdIn3t0uI-jssIzj6zSgIOPvF_N0yiItq7vlTWMSGLeAEvZ1HdjD1Z5iVc7jVn1qU9muyBgARt5ggBYMprhoZKOYUENs-qwf8MyN4bUkawCGd2B--aHodoRytoxbr3OBdlbGOEgKHiGpLKcYRhFz3u-616M_7kr4xw4dsxL3KGFvHkrnI2SI2VtHMKUWR9al0NoRckc7UVMuA1LHtzai6YLUm6bZkWsDqUGWzUlcL3-Ji3EZ-1F9oqoJSh2N6deCmvg3x7Q3i7cVtkDbA5Yu7J8N9BVXf_dmXJYJAE06u8Hmie_PXbK2dXBbo2b1GMGbVkGfmrNUCtgXNyg70De-e8sliGsLeJPwhg0iQO_s3Z6T3-bWR4uPEt0cT2tQ6iBHMPuiXhQ_y15b7s0eOXncfW-gZ1jVEj_5Gu_KDNCEMo_KvkWt9REZRHDLS3uNxnTpX1hC6BDhGhajjYHT4suvmfpwS3A2Y6OFTQH7momYYkozSMyasvhSe9LfiIdQARD7NLaAjn0CU30TxbruqX8i3Rvj86uHRVoZtkkM529mBmdgKKWUPKShMWiNfCtiBLAbA-ELOjmzGo7IQgKNy05k5X38mNQWFMFtJmt--d-DJ2M9mqgIReb7G6SG0GD4uE4tyOsUAqmcav7H9dKEfvi863Xqs-Woa9hdoMol8ZpREh3AjI9GJXog_WEZ88JGUknQYKhYcDqi1ejhWHQXbR5bKF_iOg6SzKVL95UJmHUH01P0nGuyVb4vsLEY0LfbjQqb1muHCSDLWmx8cTGphFYgJjjyl-gEiwJTm-jPCytg3ZWoskiBjNUofKD2vdS15aeFCx50OhojhPzzygsUX6JWbF7o65ZV3YuS8dpNGV4Zn8zJz2_Ki2iFxMS9ZOLfbrdhDd2h1wgyprnLtxPoKJavnjsNxomRV4sk0RehZ6xz1KOt9B1zUfQoNSYFL__zFb9791zV2Zv9JL718hAUtOT6_n6WKTr93LUNx-IklzsXZ2q2kyW3GjwXuYDJPL2vMWuug5pUnsg0qoRNp0g0lclbEJwbaW2V06ntgdAYHoT4J-lIUUHWMTM5NtX2b0Fy1TbL6uIaC7ruqcnh2qI5nKBB1f23TXCdxt0m15AjExK5OlB_qoGtpdcamToUnp3ThtG1n9inYI-DX5_RtdhZAVCJX8_g2oYE6DccCsdFW_exlL5Sc0ScwDsYNPcnU4tv_pQcQnAWYnAb3zp6srcG3FQ4r6Z81VEUXlB2zIZ8h1nujVnW_dsaCJ6LI3butjg_nrQtMKrdweMCuctQkzxsFiiSxu-C86j8BC76t1QRZtl1cBvPKVSpVbHuZzDF3BJTyX93cltXt5o6dMg_7ndYA6tseIZfYsc2k7InO8djagYKOncI2CAo4aljCkDGXUVYWG1iafKOYQ-iW4lVeVUQXUmApRAaR3qOqUefEjpdGVgA50KFfQDLohwco8cTJe-gMxspoB_3WuIta3uH7ChDCdqDFcq7ppkDU-whMqmT9chfBQKuIH-61KZbMXtcfXQIRFNDV-2M_LnPBd_gZ5ytqgEA4tfBED4slUoinb0ySKvyPw2ZfYYjq61fm8Ooer0xVAUAnYF2wtHOZpzpZiKzGn_L2wty7Jk_71V3IaaiygkiyGoSlzGZmhTIcoESg-R-ocuVjxKu-uz3N6niwfpI_Mu0q8Gy4cPjP3zyCG82EqUPMPjyZcfoYOohtNKVd8J-_PPHwXX6NkBWprwh7CG-vPQ==",
  "id": "rs_00bbfec0d3f8a6aa016ab44e08a66487d0b58cd9a72316f185",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.291,\"left_y\":-0.048,\"left_z\":0.16},\"note\":\"A pure base-y move barely changed the cap’s image column, so lateral motion is rotated with the yawed tool. I’ll test a 2 cm tool-right diagonal (slightly inward and toward negative y) at the same safe height; the cap should shift left in the wrist view.\"}",
  "call_id": "call_UgwVgf92vn7Kvenmn4FvcfdB",
  "id": "fc_00bbfec0d3f8a6aa016ab44e09fa1887d08bcc257b6e223e10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UgwVgf92vn7Kvenmn4FvcfdB",
  "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]: [0.3111, 1.1332, 0.7303, -0.4904, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9264, -0.7773, -0.8455, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1526 left_yaw=-0.6254 left_pitch=-0.0526 left_roll=-0.032 left_gripper=0.9993 right_x=0.3039 right_y=0.0137 right_z=0.1774 right_yaw=0.7468 right_pitch=-0.067 right_roll=0.0075 right_gripper=0.0607\nstate[joint_eff]: [-0.335, -4.0547, 7.0632, 1.3846, 0.5006, 0.1685, -0.0171, -0.3487, -4.0821, 6.4479, 1.072, -0.4469, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341bba4b83c4aacb458d388d0ebb9e3d1d21444945eeae99ceaab6410f800e10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e8c7f08db013da5ea5806618dcc7afff3fb6145320bb9db267869a6b2e189e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f922e275c3a33d3f8bb4ea12b05adc38d2a3d427c9f4cb1bb4756db1c4518a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.433 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0528, 1.7473, 0.6037, 0.2924, 0.5049, 0.3798, 0.9994, -0.4175, 1.2373, 0.9272, -0.7776, -0.8562, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3658 left_y=-0.1013 left_z=0.0049 left_yaw=-0.6937 left_pitch=-0.1489 left_roll=-0.0874 left_gripper=0.9994 right_x=0.3037 right_y=0.0152 right_z=0.1794 right_yaw=0.7517 right_pitch=-0.0574 right_roll=0.0094 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.8991, 5.1077, 1.3944, 0.3346, 0.1148, -0.0073, -0.212, -4.0547, 6.4205, 1.033, -0.4469, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2733, 1.0992, 0.7303, -0.4911, 0.7177, 0.6132, 0.9994, -0.4175, 1.2392, 0.9264, -0.7776, -0.8486, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3027 left_y=-0.0321 left_z=0.161 left_yaw=-0.6456 left_pitch=-0.0358 left_roll=-0.0236 left_gripper=0.9994 right_x=0.3038 right_y=0.0142 right_z=0.1777 right_yaw=0.7483 right_pitch=-0.0646 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.1299, -2.5368, 7.1453, 1.3455, 0.5641, 0.2027, -0.0171, -0.335, -4.0547, 6.4889, 1.0232, -0.4664, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1332, 0.7303, -0.4904, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9264, -0.7773, -0.8455, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1526 left_yaw=-0.6254 left_pitch=-0.0526 left_roll=-0.032 left_gripper=0.9993 right_x=0.3039 right_y=0.0137 right_z=0.1774 right_yaw=0.7468 right_pitch=-0.067 right_roll=0.0075 right_gripper=0.0607\nstate[joint_eff]: [-0.335, -4.0547, 7.0632, 1.3846, 0.5006, 0.1685, -0.0171, -0.3487, -4.0821, 6.4479, 1.072, -0.4469, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341bba4b83c4aacb458d388d0ebb9e3d1d21444945eeae99ceaab6410f800e10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e8c7f08db013da5ea5806618dcc7afff3fb6145320bb9db267869a6b2e189e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f922e275c3a33d3f8bb4ea12b05adc38d2a3d427c9f4cb1bb4756db1c4518a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00bbfec0d3f8a6aa016ab44e0c7c6087d09306b1e146d98349",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.065,\"left_z\":0.1,\"left_yaw\":-0.7,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The failed diagonal did not track its inward x target, but it clarified the geometry: with yaw near -0.65, approaching the cap requires motion along the tool’s rotated forward axis, not pure base x. I’ll combine a 3 cm tool-forward advance with a tool-right centering correction, targeting x=0.33, y=-0.065.\"}",
  "call_id": "call_LIMXhR9nIkF0vXSTZsJoRdqt",
  "id": "fc_00bbfec0d3f8a6aa016ab44e1122b487d0a34587ec34f4ef98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LIMXhR9nIkF0vXSTZsJoRdqt",
  "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]: [0.3111, 1.1336, 0.73, -0.4904, 0.7227, 0.638, 0.9994, -0.4175, 1.2392, 0.9253, -0.7776, -0.8448, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.305 left_y=-0.0209 left_z=0.1523 left_yaw=-0.6257 left_pitch=-0.0528 left_roll=-0.0328 left_gripper=0.9994 right_x=0.3036 right_y=0.0138 right_z=0.1769 right_yaw=0.7463 right_pitch=-0.0682 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [-0.253, -4.0547, 7.0632, 1.3651, 0.525, 0.2027, -0.0073, -0.2256, -4.0, 6.4889, 1.0183, -0.442, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07455fba2729f57640fcecb24aab50bdc6c0a2459aa7dd548d7018a4f33aa95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f3b854cc300f89809a342e806e85a68ca824bcb75b9af394265c868e58a53a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e4839ccc9510f2aeca4a5fcae7b7e5067032602145ad49cde66ce8c0a878c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.133 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2073, 1.084, 0.7097, -0.4339, 0.6819, 0.5602, 0.9994, -0.4171, 1.2392, 0.9264, -0.7776, -0.849, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3057 left_y=-0.0458 left_z=0.1619 left_yaw=-0.657 left_pitch=-0.0241 left_roll=-0.0102 left_gripper=0.9994 right_x=0.3038 right_y=0.0143 right_z=0.1778 right_yaw=0.7487 right_pitch=-0.0643 right_roll=0.0093 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -3.535, 9.6479, 1.5458, 0.3932, 0.0952, -0.0122, -0.0615, -4.2462, 6.4479, 0.9841, -0.5201, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1332, 0.7303, -0.4904, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9264, -0.7773, -0.8455, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1526 left_yaw=-0.6254 left_pitch=-0.0526 left_roll=-0.032 left_gripper=0.9993 right_x=0.3039 right_y=0.0137 right_z=0.1774 right_yaw=0.7468 right_pitch=-0.067 right_roll=0.0075 right_gripper=0.0607\nstate[joint_eff]: [-0.335, -4.0547, 7.0632, 1.3846, 0.5006, 0.1685, -0.0171, -0.3487, -4.0821, 6.4479, 1.072, -0.4469, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1336, 0.73, -0.4904, 0.7227, 0.638, 0.9994, -0.4175, 1.2392, 0.9253, -0.7776, -0.8448, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.305 left_y=-0.0209 left_z=0.1523 left_yaw=-0.6257 left_pitch=-0.0528 left_roll=-0.0328 left_gripper=0.9994 right_x=0.3036 right_y=0.0138 right_z=0.1769 right_yaw=0.7463 right_pitch=-0.0682 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [-0.253, -4.0547, 7.0632, 1.3651, 0.525, 0.2027, -0.0073, -0.2256, -4.0, 6.4889, 1.0183, -0.442, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07455fba2729f57640fcecb24aab50bdc6c0a2459aa7dd548d7018a4f33aa95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f3b854cc300f89809a342e806e85a68ca824bcb75b9af394265c868e58a53a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e4839ccc9510f2aeca4a5fcae7b7e5067032602145ad49cde66ce8c0a878c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4VwMGl55gflspMwsmF5KaYpw1EurFHpESSNPv84574XSbLNUAorfC9CnWF7wCELob-Aue54vIUKM1sCKcwLjNKpkjmZTjR7kTRQrJgnRgppQVBfvHPCNt8PoZVZw3O5Bsg2IMlVxMWcyw4sasKus_lSn0tHqwGHeOyR7gqeKrC5nzTmlBbHyWXPCdkRqUzP_3qxVAYLcFA2lFpoOQubYVl4birq6bUoJhopwULWj_6i6KpsULHolPyMbq-5FSPli3DoKKQBiScviqSqIntPNLb9HACoHfFFDEyq9rFvwOVRKeEtdblSb9pEr8d5RRHGfQJHI0jJSCyvcLTWUrI06OFgu_lySLOpBdPMEYRCv0eVWNEXLwJ29M2iO2ukQj9yaEwcp7_DdNJNMuAqeXzEkaR4yplsHlnyXd2iyz1r9i5r8ssNChg-rAtysSONPGFCVm7qy5o6MQ2BBPW-1DzqARiNzDR9v-1E6aECMdJYomgw74JQoB-N-BAS2A_arW8Uc17Phx2B8ms5ts3H31UP3LvdEGyprpzcRkprlCfoPn-wqjGdeulENkEUlSDfroitmqvhC2vn_b10ThNBViYSN2GR0EYFY1B1R_BwmK5jD0NfKEHuVxN0bunEf4wFZCErAa8dJltTqGQJSwSnyP8LNRVy4Q6R1sp4n47xlSvgjL0uUY6v9x7fYC_01IbrQdvbmWr8nDPmviDzXHwVfZU_UeC7nRmFV6z0B1IC78iSKi2zKy9vykLIgx7kZzFIjO7xS_kEcouFJGOYGzTIZIXiC5LpdYPsqniBUTRc6Quqh-chjeQoT54sRpMml_FrqDIWJJRiZ8MJ6jMGFfIEiSBRCCItJAsd3Kn9K9Eps1K2CsF9DZYrEgqDlUEZ8f_hmumrv_fqKB35SRZd9KIBQFF3Sb-rUiY9lVoPpsgM6GjPyKbRjlVbNmhBtPE3k3KOBhBtTxSuuQp6Pq4H43z__Qq29tij9qVP-42vWfVAV6UCH4xj03W3aF44nnWYusu-CwN0VbZE8q4s73bRJdxJNep-xM461en15Gr1o9xZYxfWAACQMoQNhtHslqG36xvEquUP3b1qg9hgR3prXrnhe3Zhm4xxMLoEjbnRuHLigvuAHdhFEt87r5RkMz9TJEnt-8plKzoyAeLMhT7b_EHsnJDcX_ZsuQJCrhP9DwflxvBYnx442DrW1axQoRDWQAGrbP0QwgbOAWuJ13iKUQ3EmcNAJuznM7DYwa7w4bJw-U0bH28I5ozS_phAw67imU5tuwRRZQxcPpv1iX-sSiHrZnUrpOApy0UrXBn4fHzrzQ6nGREYMjXg9rY7h47m3IxVL5sZcDfazVYd-dd3sMZeRUg5giPLqf7P-M_GR0JqJkgEpeo2GHoZRlU214_zDKVgvRWV3IV2cdyXlwLE2tmkT1K6p_egd5MGTcXwt4GT2bj2AI0oulq71LEsXsmvBM3xXfgTvoXKwsB9UmwpXncLfdYbi9bUWsixzxAVNoLO3gAN0SMb7qicnx76OYeYwBjoCiY7w1z_BZ_W9qjGV-r9aM6tvUNcmWhuBh3rxxDNkuI9cghDfcP8mSfVaTGpU1nNzX0KR95Dt8ZjfayFbwdwqpPOBOdhPbN4F0nR8od36JwUf20JK7HpqQFX9KwXNhl6et5DjIg41GoWpRrd1dv_Z9eLvWrug==",
  "id": "rs_00bbfec0d3f8a6aa016ab44e141d1c87d0ade0974e4f605b87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.22,\"left_yaw\":-0.7,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The left arm again failed to move despite being elevated, indicating it remained in a local IK lock after the prior low contact. I’ll reset farther inward and higher before one clean approach to the cap.\"}",
  "call_id": "call_IpgYLm835Oy4m9rkAKcOJbaY",
  "id": "fc_00bbfec0d3f8a6aa016ab44e151af887d08c3793b07438289b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IpgYLm835Oy4m9rkAKcOJbaY",
  "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]: [0.3111, 1.1336, 0.7303, -0.4908, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9253, -0.7776, -0.8421, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1524 left_yaw=-0.6255 left_pitch=-0.0531 left_roll=-0.0326 left_gripper=0.9993 right_x=0.3036 right_y=0.0134 right_z=0.1766 right_yaw=0.745 right_pitch=-0.0704 right_roll=0.008 right_gripper=0.0607\nstate[joint_eff]: [-0.3761, -4.0547, 7.4051, 1.3944, 0.5348, 0.1587, -0.0171, -0.3761, -4.0684, 6.4068, 1.033, -0.4908, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c9deb72e221d1401f627af996d25cb86b2def9a137e1a4c15114fef89905ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542d1b45f60a4a8983d357468c67e1b8a2cf265c28b627ee0fe782e41328e766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4417ab82bc10744f987efd5aebf7f53d0894990da19930a85d7ca21ef35d524f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.674 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2733, 1.0992, 0.7303, -0.4911, 0.7177, 0.6132, 0.9994, -0.4175, 1.2392, 0.9264, -0.7776, -0.8486, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3027 left_y=-0.0321 left_z=0.161 left_yaw=-0.6456 left_pitch=-0.0358 left_roll=-0.0236 left_gripper=0.9994 right_x=0.3038 right_y=0.0142 right_z=0.1777 right_yaw=0.7483 right_pitch=-0.0646 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.1299, -2.5368, 7.1453, 1.3455, 0.5641, 0.2027, -0.0171, -0.335, -4.0547, 6.4889, 1.0232, -0.4664, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1336, 0.73, -0.4904, 0.7227, 0.638, 0.9994, -0.4175, 1.2392, 0.9253, -0.7776, -0.8448, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.305 left_y=-0.0209 left_z=0.1523 left_yaw=-0.6257 left_pitch=-0.0528 left_roll=-0.0328 left_gripper=0.9994 right_x=0.3036 right_y=0.0138 right_z=0.1769 right_yaw=0.7463 right_pitch=-0.0682 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [-0.253, -4.0547, 7.0632, 1.3651, 0.525, 0.2027, -0.0073, -0.2256, -4.0, 6.4889, 1.0183, -0.442, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1336, 0.7303, -0.4908, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9253, -0.7776, -0.8421, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1524 left_yaw=-0.6255 left_pitch=-0.0531 left_roll=-0.0326 left_gripper=0.9993 right_x=0.3036 right_y=0.0134 right_z=0.1766 right_yaw=0.745 right_pitch=-0.0704 right_roll=0.008 right_gripper=0.0607\nstate[joint_eff]: [-0.3761, -4.0547, 7.4051, 1.3944, 0.5348, 0.1587, -0.0171, -0.3761, -4.0684, 6.4068, 1.033, -0.4908, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c9deb72e221d1401f627af996d25cb86b2def9a137e1a4c15114fef89905ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542d1b45f60a4a8983d357468c67e1b8a2cf265c28b627ee0fe782e41328e766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4417ab82bc10744f987efd5aebf7f53d0894990da19930a85d7ca21ef35d524f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4ZnzI_oTn8O5PJL72wY3s2UhXAfeBeUoBh2dwX2IdK1VCg2b3MXGlGWLu_wcQD1xBNcAxDPNuPBLt8Ll8kw6riXHrAkvA-dtDyAe5ofSHnhyeiWZ9umRcDKlLgsxdqafqgOb4WqiGL9DDrODSZvLGc0f4AX1bfLHt9nRiNCznBrL8p484u9t2IAjhsMViTNKYWh1LJ87_4v-ye7bqYsxFO0z0J6a2m1hTY9Ag8fNzUq9eLxpSNrhALHx6e7cqxOXvbpul8-5O_Z1Vx42wJ9f7RLQ5Akg1I86GFIUj-jlzNQCCL31k6LSHyrmfhyPvsUYmyI3GDYlXXCkZBbu1SCmSCVooE1d3qBZG9FxNY2q_sGABJQ7YVHWvsu9q2-XNsY_PUky1nrDmjsMSHkLZQK67VobFxrPj3-RxudllhhT50zt6NhCpECrcZ7Y77N0Pq3tbZNcU5ncFuGnbcfkPl1ix_AnMmFahOZI1Hmjg7pHTcpz2-rXNex-NE_K6Fzy3w1kEwnVAmL7obMFtlLUEjHBUy_o9vtdqTpmIhN6xnIsaFkkeYrDAfz2nHb-iqV9W9nHM_59GR-rdoLpFPvrnTcD8FTOOs4bGruYQSGhk5XRZriLh-9SfyuxAzaGzS6RIPiXGb24cbxRAC0JPHIbd4Cr8kPRyRg9jVBuOLBcvMrBN0kVGLnrkfD8FRLijewvv4nc_dYVzJFwk50-fi5gNm9ZvLEJKZJtWTjURyyXwiTgyUCVGLVcDOBoe0mnB4TGrmTiiinvefu7FkELnMSIn0iyNzFy5Z2FqRzint4IEF4oenXZsOKlWAdiwKGHq5atVoLv6rVI_IwKXfxTjFTqQZErm1E4yeeo2efGTxUIKWAIJ6e4i3nSJBAsrNSVLRnfKOD9hESUJqe4XP-udaiabcW7-5UwisqvwNuqIr8GToKhQ3WthrPM8pBY2n6DZLBjylefWG99tvsUuwCZ64wWX0yXBv8TInSxOfB7ovkv0XuE2ibONLe1mJimYnb58tWIgEMn4_K4HeguNsn-K5GuKIScNZO42A4AyqM1_kEaqNaWODo80IhRijlX_xZfq1lhPBLUGdrbzcfwCKN1kriAd7ceu9MYHsF2xS1fPZPykDlogK4N0lsuSRQ5VDt2UDTla4wLKnn_KyEq7wqmj2lZCbDR6Y2JMl4t0uboK3nqeX3KRmgqBVGHOVI9KhHSiZhlfXHwAhE_oPCqg_SW3RMDKegcAxpWo2iiA288JJJUh1qKT-gEP8e58xTj-0S3WJBiL9SCR3y-ui1ulA2cr7GlnFR0mf1FIs8bIpb53nStxzMhRPBjE0bUcMt51HT8zOdPouH5F7Umd59_ge4oN0qxdszUjKmcupYQqetmNXH09RlEanTrPcge6cil7u72gDCKoNSl_pD_zNrSRM8Up0gjSow_6YZQ==",
  "id": "rs_00bbfec0d3f8a6aa016ab44e17bc5c87d08a07063f8440eb61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The deeper retreat also produced no joint motion, so the yawed configuration itself may be trapping the solver. I’ll first reset the left tool to neutral yaw at a nearby high pose, then reorient only after the arm is mobile.\"}",
  "call_id": "call_9p6a44d2P9BQ502R8eFDGewc",
  "id": "fc_00bbfec0d3f8a6aa016ab44e183f3c87d08bedcb49ee711135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9p6a44d2P9BQ502R8eFDGewc",
  "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]: [0.0109, 0.8272, 0.672, -0.4545, 0.2398, 0.1612, 0.9993, -0.4175, 1.2427, 0.9215, -0.7773, -0.8383, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.2913 left_y=-0.0352 left_z=0.1895 left_yaw=-0.2882 left_pitch=-0.0181 left_roll=0.0061 left_gripper=0.9993 right_x=0.3033 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0762 right_roll=0.0129 right_gripper=0.0607\nstate[joint_eff]: [-0.0479, -0.253, 9.2239, 1.8095, -0.0562, -0.0952, -0.0122, -0.212, -4.0957, 6.9675, 1.0281, -0.4957, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d060280c795f43e9ca77f440e542fa31a8ef17edf1dda6aaf469d6a8ee7b04e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f606fe4ad87de191cb2911ec38c859e82246e1cb7af12075d2015588fe6554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082722f35d6fa72d8843ddfeb602f707313e52310b9979747f5d1030119d9e67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 4.723 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1332, 0.7303, -0.4904, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9264, -0.7773, -0.8455, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1526 left_yaw=-0.6254 left_pitch=-0.0526 left_roll=-0.032 left_gripper=0.9993 right_x=0.3039 right_y=0.0137 right_z=0.1774 right_yaw=0.7468 right_pitch=-0.067 right_roll=0.0075 right_gripper=0.0607\nstate[joint_eff]: [-0.335, -4.0547, 7.0632, 1.3846, 0.5006, 0.1685, -0.0171, -0.3487, -4.0821, 6.4479, 1.072, -0.4469, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1336, 0.7303, -0.4908, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9253, -0.7776, -0.8421, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1524 left_yaw=-0.6255 left_pitch=-0.0531 left_roll=-0.0326 left_gripper=0.9993 right_x=0.3036 right_y=0.0134 right_z=0.1766 right_yaw=0.745 right_pitch=-0.0704 right_roll=0.008 right_gripper=0.0607\nstate[joint_eff]: [-0.3761, -4.0547, 7.4051, 1.3944, 0.5348, 0.1587, -0.0171, -0.3761, -4.0684, 6.4068, 1.033, -0.4908, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0109, 0.8272, 0.672, -0.4545, 0.2398, 0.1612, 0.9993, -0.4175, 1.2427, 0.9215, -0.7773, -0.8383, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.2913 left_y=-0.0352 left_z=0.1895 left_yaw=-0.2882 left_pitch=-0.0181 left_roll=0.0061 left_gripper=0.9993 right_x=0.3033 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0762 right_roll=0.0129 right_gripper=0.0607\nstate[joint_eff]: [-0.0479, -0.253, 9.2239, 1.8095, -0.0562, -0.0952, -0.0122, -0.212, -4.0957, 6.9675, 1.0281, -0.4957, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d060280c795f43e9ca77f440e542fa31a8ef17edf1dda6aaf469d6a8ee7b04e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f606fe4ad87de191cb2911ec38c859e82246e1cb7af12075d2015588fe6554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082722f35d6fa72d8843ddfeb602f707313e52310b9979747f5d1030119d9e67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4e5qVTQX_IZmwQE5RXY-4Mn8D2WJoIJbJMu7wp3XfrGcGWHyGbTqtV-IfHqi-39R5-J9EccWiao4nRPKBKd4KV-jrgAGmr5IBGVQUTyaZHlJ9rDeuKsCMk3bftZzWPCvPCGmf94fiQ5nsnp-FvoAKhi0AYSJ4swgOuuLaAXBo4bygXwN5RbRIM4vtWaxPntesvA2IELApyZWXaSizy9ILdwU7baFYqGQkAtiU4k9t3Z0nyZTALU1ZDUCIr7DS0CTnoS__Xrj8nVcPoAD7f9BR6EfZFVYHVEBU3jLqwdc-WkiFqC5QEKkIPqTVHL_cgmQ8tkM5ejFuBmjeRu7BRYi-vYbXYozYP-sqp7fuBVZ9zz9-bIUbWZXpsKNzRI_p_7yYzyjjIR7RgGj-UAzFA8zvGf_0kdYjRF1XmsfrLr3-C8zqh1pe8ygvpOPpCKTgSnkkdfBJJTP5yoxguJSIlkEkaBl9-PgBrx7WxNrd4Z9WqXO4JTwDNY4JF2JX4j-UvemIwNaUXxQ3LdlDzippZrFqI_S_Sl1s26qPrG5y4wQh0bcKNKV7PK723kBNwb7J-wwR6R7enp7mPjHntYjiWoBXGSGDQ0vJVYLFUxv5Hu4zfLIxn-wZZfSu4Ho4E-ch31GaNXnSdTvXRT3gRL54Jb257fipMIKkUjnyb_PlqO8K3H4-L3YHrood6s0nsnHHTEsfEoQwnf4dJivtX2OIvKlWTbVoZ4_lkRGmHpFIgTV0sERSRNzyOWKc5u0rZct5sUTfebFB3nZKwZ5we7b7fLgTeXohvmY9-8CUXQBgmIKEj5kkwbxIZgfm9Lx3ZVOVocporpwpOnXQwkoOjhD8AEVdCAOjWBA_UdamF-iWcA48JcsYatwgBtMr-WFtbxF-7WXNEND1ENla3LDHmwUxv8D53eH6RXs5QRZ0MtE8m3B-Wwda_bIQPsupmpf8biIYAhNZMUsL4P_l2v-EnOxOW-3bOMdWOZ4bpdHBxL1ui2XhOkgu-psHwcNvd4kdpuGou1wmh6QCco60G0RumGrIlxgN8W_-cmhW5g3VZBJwWob1wGtBM1NK0k4SsvxfkC8KZhNamy2ktVo6RJ7LuuiKHiBEVdiRJB1OWXzvADYDCkPa9tHBPqT3uZxBiOHvqBK1jFejvoHarXwphicnVc8b7X5f-JYtMPGng1ja6D50Yrg5GJHTJzebr2F2VlVOJZcDG9DLSS50HFvJlhGPwgGtASzLOZzmRrH1Hw5CoA1OnL1VTfw1aIKYmA2mXSrPEdtg9gfKufj00nDy_cPIXXcJibfxwSOPT5KTNcsdYMVCj6y61LxO3dhnv03D2_HljLTmk4Z9rwW9Mt2ieLmHj-M3kr6u9y41kAaWbqPD1gFJA5sPfRfJXVfIC14mxYuCS_O0tEOy5l-M-Q8gou-bqwvNH1t20_YVzESiR10hcPCSWXtrRaYijp-okpl01iFH84nVlgKbhaj9UQhvs_5qwbMjrUAnDFMMVkQACkfRYY14uSu3odgfl71zHQ_4DY4SpiuVuKW2EL93zfXPKkCkv_8wAC5lLeW6CHBJIIXiYs-4FcQlyB8mVbR4z32R84ggIRKlL0wwE8vJ6_GuVYUE7jjX6f1J8EWyc5x5wVaBKPci3yAXTwYxZCpTN-fAMlDDsoanYV4ZiNJEo3Jh2YoA8iQk_k5-eVuLgtAy8RfnGx2eKnKwg8hFPFFkDFY1O9-ooJU-qBj10z1bWLP14QeAEHEzF-Ynu5s9m0t23ic1GhzNujrooH6aBiP896-FfZtKbMxfAtVUuBrqvkudSEyOndwwaVu1hvygWtHb7Xpb2MUTuDvh3lk0AwWsdrQ-efTm46mArYRFUJg9_I0-LvxOQR2IxtC2-bRgCbV0OaQyhqrY2hD-0bWQhv1goH0Ey9wBoWirT2-fAmbKMxU_hEmnUrVDKqx9sWYAwyYnn3LcobBJVaQ34WHd8z9zuIrzQ2AhvhXmaFbmAIKgzLnzj5IisW5MI9o7H4Rt-B98YppK30D2A1vCkv632Nd__Ly2CIT9jCXQAFksTfrrStBeUce68k_iujjVwOMTzWaqK1KnnwCV6OJQqLgT5l2y81viSHw3URllBrx2yX0t39R-eCFn1TsSvYDyJeb0PdOnSHzWLbeY4jkGC83iew-2-RUodhmWjbInKWFlrgz2e4VxI7xMPe9E2946KgraLFBihgM-9771hiKSivCQ=",
  "id": "rs_00bbfec0d3f8a6aa016ab44e1bae6487d080690fcfcb1d8c23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.065,\"left_z\":0.12,\"left_yaw\":-0.3,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"Resetting toward neutral yaw restored motion. With the cap at column 143 and below the wrist center, I’ll now advance along the current tool-forward direction while shifting tool-right to center it, postponing the final axis rotation until the position is stable.\"}",
  "call_id": "call_nBKPhcp2Q4QQyTkAd6E7C9aw",
  "id": "fc_00bbfec0d3f8a6aa016ab44e1d7a0c87d0a6d7d705b95c834a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBKPhcp2Q4QQyTkAd6E7C9aw",
  "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]: [-0.0288, 0.8349, 0.6727, -0.4564, 0.0292, -0.0261, 0.9993, -0.4175, 1.2427, 0.9215, -0.7776, -0.8383, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.2952 left_y=-0.0101 left_z=0.1845 left_yaw=-0.0503 left_pitch=-0.0465 left_roll=-0.0297 left_gripper=0.9993 right_x=0.3032 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0764 right_roll=0.0133 right_gripper=0.0607\nstate[joint_eff]: [-0.1846, -1.935, 8.759, 1.8437, -0.0952, -0.0904, -0.0122, -0.2393, -4.0957, 6.4205, 1.0134, -0.4615, -0.0122, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976367e561d58dcdf366c3f8f81dfc7c00573d2d88c8dd3a9840260a9a43df9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64cf446f84a20ee23773f9da7433d5162f995d17abbd4eddf7c724e232e81e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ef7dc4d086aa8cd9bacbe556d24cfa7f64a812b62afc6c608014a19b399fd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 8.034 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1336, 0.73, -0.4904, 0.7227, 0.638, 0.9994, -0.4175, 1.2392, 0.9253, -0.7776, -0.8448, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.305 left_y=-0.0209 left_z=0.1523 left_yaw=-0.6257 left_pitch=-0.0528 left_roll=-0.0328 left_gripper=0.9994 right_x=0.3036 right_y=0.0138 right_z=0.1769 right_yaw=0.7463 right_pitch=-0.0682 right_roll=0.0089 right_gripper=0.0607\nstate[joint_eff]: [-0.253, -4.0547, 7.0632, 1.3651, 0.525, 0.2027, -0.0073, -0.2256, -4.0, 6.4889, 1.0183, -0.442, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0109, 0.8272, 0.672, -0.4545, 0.2398, 0.1612, 0.9993, -0.4175, 1.2427, 0.9215, -0.7773, -0.8383, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.2913 left_y=-0.0352 left_z=0.1895 left_yaw=-0.2882 left_pitch=-0.0181 left_roll=0.0061 left_gripper=0.9993 right_x=0.3033 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0762 right_roll=0.0129 right_gripper=0.0607\nstate[joint_eff]: [-0.0479, -0.253, 9.2239, 1.8095, -0.0562, -0.0952, -0.0122, -0.212, -4.0957, 6.9675, 1.0281, -0.4957, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0288, 0.8349, 0.6727, -0.4564, 0.0292, -0.0261, 0.9993, -0.4175, 1.2427, 0.9215, -0.7776, -0.8383, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.2952 left_y=-0.0101 left_z=0.1845 left_yaw=-0.0503 left_pitch=-0.0465 left_roll=-0.0297 left_gripper=0.9993 right_x=0.3032 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0764 right_roll=0.0133 right_gripper=0.0607\nstate[joint_eff]: [-0.1846, -1.935, 8.759, 1.8437, -0.0952, -0.0904, -0.0122, -0.2393, -4.0957, 6.4205, 1.0134, -0.4615, -0.0122, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976367e561d58dcdf366c3f8f81dfc7c00573d2d88c8dd3a9840260a9a43df9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64cf446f84a20ee23773f9da7433d5162f995d17abbd4eddf7c724e232e81e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ef7dc4d086aa8cd9bacbe556d24cfa7f64a812b62afc6c608014a19b399fd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4jSH9GFQ7e8GjqIL-nCGWDdUQZ74ePewgxnhDIgNw4tuLrpEypGJ93izUGsdQQtW826ce7xD261GD_R-z0RQuYW7XTNzoWfELONm7wqUrZFbLhJ611bFUuhFSpb4AWuWswTcJFgY5iQZMj0saDDQY5pw7uuVkRieoM4Ksko3Ittr4S7yr0AdAYSqnMBG2Z554Mcn4yBOiy9afo9nAfnNI6agHSQqmWZETG7q1PqEvi-kTgtrvCahqZ5WVEabJAC6lLYHczJzMPJg5AFiLNB281DxC2Dia1BMTpx_fiVcUFrWlUUiEhLuTyjP38jeU7wt_iPnbTa2X0IN5dhJZ89zYWcYndIfqQLkpDR2P41QOgB_MiUN4wGuuiKA4AL7-CEG8abLpg1RtA_CgIQB9iMvK179dpQqkxbtzDZOfUpTZe8ZiY002Pf1PjcL-wLaCcgjFIw9LJOTu9Lv2g2wT0ULE-DE8GOGIimN5tCLZUGk2-iADIqELIsrgj9qV9sMLon0XsRSZbkn2L2ALjiM7W8VuoejjvqGtx1NtxjFyVC_42bYMCKWBXD9yfJwYa0CyyibxlYzaz5mNC4nB6iYREk-kSR2leuPDmw2mvkkJxFgGihbvCphV1d41AgEPDh5swqv3IiaMd9xqoMiijFKczqRVBu7K9Y_hbMZf0thHtdfvA9eZV4VxlPnPHiDpUzDSWUj0Oj_P1LPHX24yDc8x8OzzpG4PEpOdoeMTFX10J985GsuZQndjCTJAkB4xLvhV_Fy-fUPReAkPrcf7z6LcvsOq6o6nlicEVO-hbl18yT1KmzgsA9R5TBgbOVm9SZ4WNsjuA3TEVz0ZU1qdcz8jY5t18nc5dj_QtOR0YpWwNS0EpQkDLjkiSTFdvRUucDa5cbhF4qGESjWB4OChaKn_enTAbO5yuJKh8zk43Wo4Mbm_pQKr7XZl6cpLogZn3SzqT8Y8Az8aPb4mXgGmfjK-1WxOG2mqd7nP2rzakx4AVEcaXfbbDRdwMjYMaqksTgLSwIkYFuyhERE5fW3ZybYBeErOsT8OE11CZSTSWkp73-jvg_6cEwLsu_pJl73yGWNbSgIXHMGmXq_Eb5A6qCtCLEWWrXrGBZ8Yzg8EkkkSxtnSPtvdO6pXb0j1T-kq0cfu6PXcbEqnXTLu2ELzJzmXTAFxDkeFa8f8AWneVHz8DcQtmllL1o5_uJe6F2ytSurAGsuMGdkvImv_cQChlrU2YxKtgCWvAdlydeMbp7rU9g9P3pzXUwgGIYZqQsx33Gu2hDvl3mbcnsDZpkpoFZovDIw8QnwzeU-hS5L-2DQrmzMgSlSERv4jZIh7OWlBWgtQW5wUrCPapfmulwn5VojnM8_BRz7V5kwXxMM0-ad_yv8wEP7t0eCDgv5lpBcQ_6M0gnBL2A_rg1otGHGFj58-UKLovjB1cP10qTywJM7SEiJM1mH7iNjpgF4T8rZyZ-FsuyLcaDEudyP8VDz16wZsunfl0Jsy3OjuYnkRPjULG1VgwU5SGmkZ4JWdXmbgqwbXDRgUh-FZhPD7smMU_IOVimizMqAlEtupswtmBEjEyciLLH1CsuypzRBjFjbxPmadkSXmbl5mZneWC0FxSolQaSFC_bDWGofTsm1PfMMOPhD_83RddutSb6Nw6mWmUSFEvcPQexPKqP1y4bWB_lqJitOJLJyv9oZEhZVavlc5GEmrdvegpSjwwN7L80MycwCvrELWLmRjjyGd1LEC1zFHqalB3AUEFPFQ9x9X5D5OVheNanbxxJanpttja6RJzbrZondqp2FpL_DgoTD1rM3Tk3O_dP-48cYNYYkmXgZ2IObW9sjDAR5eWyPJvsiTx7IjLgUhQ9_OVtF6TPE6C9vcU8Z7bBcbwzmXtAV8qaIj4GD-LdMf5rIzwbVGQCU9jqmw9-dva4cwHqg9yOZC9L3J4jGjOdM8bATAbwZc26LfKVsuuEnAEAv67PmpHgOZ4LPJQsgQj3fhaKAErIqWzssWLnoRgWeqY3venVWM4Voou15aQfwHvAweqjikL1hus5TeHWl3ru_Ta4lx6U68uYX3sOUhfjyNV9ksrqWryh8xZ9D6s6QJBVxH_1wtFH4wI_so64POouBvT4DtdYGlA4QYHwo47fE4VK03nhUe34FfH4Wmsotmf3B2-3FPqcLQubqBeR1O6J1L1HbqElfLJI8irtJl7TJiWphtvxJzlTo9ZPEbGazatAikh5IU0DI1mEkjPo-mK2_wfbKy3nP6_8eM4fTAZTBx84pVn6XTz9aa1_IC6dWopEPfdpDiFhpo-MmxCiDjL",
  "id": "rs_00bbfec0d3f8a6aa016ab44e20d6fc87d08297d2a4e13547ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.12,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The arm continued finishing the neutral reset instead of tracking the small yawed approach, and is now near its home orientation. I’ll exploit this stable configuration and move directly above the cap’s known table region with neutral yaw before rotating for the grasp.\"}",
  "call_id": "call_qpILerfoaYv0bcFlQDi1TShc",
  "id": "fc_00bbfec0d3f8a6aa016ab44e22b3e087d0bc31901a921905da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qpILerfoaYv0bcFlQDi1TShc",
  "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]: [-0.3447, 1.15, 0.6033, -0.2096, -0.2073, -0.194, 0.9993, -0.4175, 1.2438, 0.9211, -0.7792, -0.8364, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3236 left_y=-0.0737 left_z=0.1103 left_yaw=-0.0731 left_pitch=-0.1644 left_roll=0.0056 left_gripper=0.9993 right_x=0.303 right_y=0.013 right_z=0.1732 right_yaw=0.7432 right_pitch=-0.0791 right_roll=0.0151 right_gripper=0.0607\nstate[joint_eff]: [-0.0068, -7.3504, 5.8872, 1.4286, -0.0562, -0.188, -0.0171, -0.1436, -3.5761, 6.4068, 1.1502, -0.5153, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1290175e702f0e96c4a2b40c9637543e69c423aa00c1d87290b49f777df738c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ced2c7257a56648cab91fdc10e82ad6976bc48987cf5d8f09886e95341f5ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a9b3cf45705fecdf3f4b631137cdba8fe2e46a7308a9aac71b78a4c3baeeef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.116 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3111, 1.1336, 0.7303, -0.4908, 0.7223, 0.638, 0.9993, -0.4175, 1.2392, 0.9253, -0.7776, -0.8421, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.3051 left_y=-0.0208 left_z=0.1524 left_yaw=-0.6255 left_pitch=-0.0531 left_roll=-0.0326 left_gripper=0.9993 right_x=0.3036 right_y=0.0134 right_z=0.1766 right_yaw=0.745 right_pitch=-0.0704 right_roll=0.008 right_gripper=0.0607\nstate[joint_eff]: [-0.3761, -4.0547, 7.4051, 1.3944, 0.5348, 0.1587, -0.0171, -0.3761, -4.0684, 6.4068, 1.033, -0.4908, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0288, 0.8349, 0.6727, -0.4564, 0.0292, -0.0261, 0.9993, -0.4175, 1.2427, 0.9215, -0.7776, -0.8383, -0.9516, 0.0607]\nstate[eef_state]: left_x=0.2952 left_y=-0.0101 left_z=0.1845 left_yaw=-0.0503 left_pitch=-0.0465 left_roll=-0.0297 left_gripper=0.9993 right_x=0.3032 right_y=0.0131 right_z=0.174 right_yaw=0.7437 right_pitch=-0.0764 right_roll=0.0133 right_gripper=0.0607\nstate[joint_eff]: [-0.1846, -1.935, 8.759, 1.8437, -0.0952, -0.0904, -0.0122, -0.2393, -4.0957, 6.4205, 1.0134, -0.4615, -0.0122, 1.0232]\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 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3447, 1.15, 0.6033, -0.2096, -0.2073, -0.194, 0.9993, -0.4175, 1.2438, 0.9211, -0.7792, -0.8364, -0.952, 0.0607]\nstate[eef_state]: left_x=0.3236 left_y=-0.0737 left_z=0.1103 left_yaw=-0.0731 left_pitch=-0.1644 left_roll=0.0056 left_gripper=0.9993 right_x=0.303 right_y=0.013 right_z=0.1732 right_yaw=0.7432 right_pitch=-0.0791 right_roll=0.0151 right_gripper=0.0607\nstate[joint_eff]: [-0.0068, -7.3504, 5.8872, 1.4286, -0.0562, -0.188, -0.0171, -0.1436, -3.5761, 6.4068, 1.1502, -0.5153, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1290175e702f0e96c4a2b40c9637543e69c423aa00c1d87290b49f777df738c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ced2c7257a56648cab91fdc10e82ad6976bc48987cf5d8f09886e95341f5ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a9b3cf45705fecdf3f4b631137cdba8fe2e46a7308a9aac71b78a4c3baeeef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4s3BpqdpV4THruPBHEUI5Np_w1HGgP-HDhsI1QaPcg80dfqDYrCIu3sbqRuAYUH0uaWlhcxvVi5Jkk20ibUKJgulzbF2pVGwuMXQ3zgtyJF3xYaM3XZQxuANdgDDBy4vgBk6oS22ldYnucNnpGW1tLDO_MX1V8gfBEyqAKwffa37GW4TTgNpu1yPZnFF64UVyEn8mRf-f_Bzg_3Oc8f_WnvPdQbEcKP_BqaATc3uaBmos539cil15fdBMCaeiaTA-FbwLhtIhIorJUgG907TTwgBKTaPZBihVtFYiHroPsSp7YL28SbtsZhkVZzMrer-75BdGzY-AxhEho_P7FyWGGm6FsdvR77q8IKqe7NP50ZMhYMEPuVHcgSpkWU-cfTK_gCoi0ThRoYmdru3-lUfErmPc_mqsYAlB6A-rxatJPkJVLSNIZvARBMUr-8uX_5quWexNUJSHu92v7nmWyCBF82HzZPYDpOUI3XdUN1YYNPb1qd0R8cyhsNXOrDKeJjTCAGyRlYr8zvoClt2vM6AUkaS01qk2BgWYnRoBik2IIXjwr-UcSFq_vCMwnR44OnDSGGJE3qBQdAbDuFej9pJCU1s2gicPN0D6eOSQaaw4ryz0yPVF42CH-yqeeZIZkqAshsNM1AFZeVAVT2AJoL20OS4kmv9NY0KNWOa_VVETyZWuxoxPnRNTB-P8dgcFJ5v919w2n-zfOxz0RWO-yweiOr7wCL9lSHnV3hghoOdGI5xL81MKkq35Jmkex44mfMwP7IR1Icku_XrOU9d_egW7TW9SRoUGfqSZc-AgAzKpJ866BbrU32dpyTubCG9lLmZnXKaBuR8Pw4-Inatu8iLrToIUA_3eRSEQhU4VXUKDW7O4CBvQfCzVP3_1Bi_z4aMYkWojGuugEtS-nLvmRkVabcJxMsqYzU0EsXxd0mKhUpHRPBOzsjkwYobdzr9L5yiI_TUOq20U0fVoi_LWghu6W4GCKIUHUwM0h5lnoL7tQvETDb08hund3sks_RGl4Ax4X3WwdtWn0C-LSyrGn-yfef-qPvrj-2J5QdJ0X8wqlOkfeU-VNq5ZpV_gj3_kLj0kB4cQTFza8SL8nDNUDXxmVEHwdj1OIqxJ8JI16JTMIykq6-6sPNQEJZJbDVhWHWOkMHyxXJ05qAEbKuQb4QZXZokLc0bmyaSx3Qnj-4EWRVpPn7K-ZW2WLYaz1xSVR7oilPQQtGIgqjEkOxPFY0EHhbPe_YTy-2rXFt5YO4M2mNF67qknEhk56RKnl8ToFRqESpo3eLH-7DnIaiv5vtFsORJsA-RzDWKu82SY4AYvbI1VlaunCv3bKcRZ3R3NGOqHoLAinayOJF8c4SRGO7MFmO-RWTWPYcIFH2RyeXpR5VRDg9n5qsMcsNWzjrhSEfg5U1sgfhg8PZPyAA2nFYDLZPq-1LDcURg2G9hzu9YhgoC_cgrgEOk9t6dOrbQ-ZCweSxPzqolXYXngxP5gCPZgBkXdX4e-wWCBj6JMOo1qFlPXH3z_8rpDSm6MEZsq0YC7aZVmgbr_WpXX2Z2ry8GfkK09A0A6_Re8UUKe5y76msc9a5euJJkjqXJyOvQm93S6kQ_aIJfaSb6Qnu5Ca5MPMjH_S6-U-7lp26Mt3wwyDENrQJO1EAKnoLIS_H0wVKgWQG5aWs1cHXKYnS1ARPKedkX0OVX3J5rU3R3ufLjeE7qYtf2CPhaMXX2J8roWGYmkr91MXRR-98dxKsZZTJTqJCq0sRPIJAJsVsfNbvDqE-XDxizylpOQTFrz5c8OZFW0YBkxU6XkPCjGe8x0k0kCkxliatCsN5s0mVaoE_MW4p9dP-_YHUNx7IfCJDj_vtLPns9B-zLCsLICo-So9JluI-_us9XkM4hxOuX7Pp_IhzVb6LhlzDMGvDuHcyLmcoocZ5gz_jzHnwwBo27IM-Ojf3vA35NGHcFlXuZlvWOTkJhHrsNCDi9fNkBciojlXf6AI944enYqkX2br0rq46DNAm_qk1wO4WJAbJM7a45XUAoyriVXOy2oF6YxRHuFsFMx9MOt94OCq5-HCR972f7BXkSLGp-8FSDdcTi3ua-s938A1o3M6pTF-cUVrb_bWiZeDWc6hAZGztEwgagrLdX1i4BKxbpS9cvgfXhSzQ_1chgPpU0XPxDlFZIzi4OrAWOLMDWsxIoOzprQqzrkwteL-peJiIxozn2Kl4PYlHgrnysXGMSPuIGwth-PSXh85vxDrPWY1HVsUwzt7IobG3JSYGRY99qL-pUvQX__adEowhqvUQ71vhf2DBazoqj308FZrgKNHNA749HeARCFuhGFDMV3cD-7fmFCKMYf6wBYHlrg0jYySD_q8ods5KjdfvLGouuMv2AYkOrUI_ZKwfwXP5TdZJkVmdM_h8DswgfStpsjIqAdamTLdEgBUt1438QpSx4__-qZZW9I7tKjMKEeQ79Pjnc8s0s_fLOPNb0fF8pVwqSMN5S-qvVjvlpxgDk9pLvgHOB7t7vWm5vsgx0dI4M9YnawZqZc-Vo_QMZY070NIhLRU7nzYFFWxMfednCSD9jbQrC-yi4mb4zic6AuFic1rC7p3AE8e90xGe8IpDOCiW31eSR5Rxt8sdL_xl-5Ql7vzsMZ5DMRTqKAnjSX04Wwu1Pl8jmipcWFGYAPAwYRtaVU2dhxeFrfzA7P6G6P8oZD6liA-ioFkFwPftVrsV1uOfkWR-t5Ilk606J7H1Dss7k70l4y6cpxncH2rm_27cpP3Axx_7_ACPTVAUpLMB0dJNW0ZSULQmjHyrLIpguke4GTRWfQwBUkJYNpt0Nu-gz1qO3NAiFJwYsk-v8_cfxdGenc4lqfKfgUxT7k_3o6p4QcCcIM_MzThxtJoLnYnO4L2U-_ArZTsKk20kaAC_UoXfI1XaZMtV4mfL05DmLVpLeDj9o8DT4Cxev0co1lkEKZ8cn56Ggqed0Z8H420nDHp4_NSwFIQjRqZydhp8qf2qjAq2VK9lwBe6QqZEWWe1Uwi3g8YoyO8pZ5-UJ6drttq1FldBqtzvlIEg4lm6vYBMTOrX4MLyDiodtfk-3O1AenQqu55xtYPAKHsr_qoKMsmAiCpBezY_MefwPSLy03ZRgh69-XpBF8GPLUBt_Lp6HDvzB0rea7GyoufHFIWGVEtHtRRwd2RAtTUYjQ3j8XtoaTnsKHfxT0PAmUIJKZR2uqgJqUsIKVa4PDW_hlZBBe1_upeg_nxcENEzKmZDRfEWcLmEyVdBPyLMgYxyMnroErGE17pKmzbJaLUfN-crVfPbYOa3ULXSg2qR3mwo3I5uWmNalRHOFg8lcJtzeHoIVHmfZsfpG2JvjBytDgqQEucvHC9HJhZftJT_BX6SsmBltvTXg2CZ5R9lCEr-ZT0zfXnSbhuRC_rN3LLKE8CpWLS3GOUKOAlZJvfpxg-X2yTvIFYFaJNBv2ajYPd5gYOCep4DEeTxP4wwrOczlsFQxllT7UbePYzOqUi-OAEbsWbpy5CUZFS3vVizVAT6SGvk4nDwMkVQw-mT5oJ7Ze-fL7Eg34-4GHRNWNYA04P1JcxkuncJQ4tMPqslHNPpM_vyuwcsRBQtvtDjNLucYs8PYJKFe3V0IMFjKk7aPDVflt6gMbIW7p9SOuFR3EqkqqFUifhMaBJ4BCtOYbFSUN4muEXoouMDdyQ4VttvGr5rbwlzxz3FaWKProWVe6dKiIVoj9bcqYQAVDrSwR75syV3sdhRkhZWWiox16Ue5v0H1NMMxxQSc7qEb-OiOrW_q7qDKSm-mLCHhAS62DtsbSVENa-pV1PeqcRVKUIF_Wbw7h9aZAzzaymeDmkTFdOnDDkwuCicjoGMK2OFPAt84s2mdgAiWdLcioILYgeRiIIQSypBdetYEFEjIqmwZMRj0N1xyRduhbfZmq19RKHvXXuZ5lZ6o60QTE5dyMXJWsAJGkWQPAHDjqvI-uFzA1I-06I3WUb_IiuW4Xkj2O5tzYAGA==",
  "id": "rs_00bbfec0d3f8a6aa016ab44e25767087d094a6829562415e9a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4sozdZ2qDbzkIFhTb5mhGHN_PMD410XcDRnLIOvxt-jDg_b73q7GKTtor521UsXnjdrm4uI5_Dh7k60h3DR8IlK-QFTL-RG5qOdSEkDohYOnsRYDa_8CAiGxJ2_A--6VtLz9wBnJz19LEd5bB6yJQwVr5Ts9v95ACAXAKLL2HOsOhiebvmB4-HSkdPjKKRqpKiYVd2ZIp-iltOK_ca0JT8Y_TiuhU3fp18sElmF2bWMtmbcOUM6-SJDGtOGrym-UmRu2azJImXvM3xn9u1JXZWzbMWCcBv1TWJ-uMOqvBb3E38UCfd3ri_JxRXvLZJZNp2YKvjECmcK9OuIQvPEYRhncrbbEp0pXdNjmZyw3cTM4Xf2t8oOdw_NUGjjlGGks-hj43w19HVZoFrOEXOoVkfpV4Y_93vWpIEzHkWl_foKGtL9i3pPvVHDEzdDRGFnvbsxBtCKqlpcr_hI86A0dpQaRZ078oPOSyXeGYDWzZYlUjBCAhhidYIHCRtQkc5p_YghcZHzbM7OTrg1RFnmWoyto-3IrRCDvZmgLntqWy0Y2--_9xmFuBwrFXiaL4mIJ2F08M5WEqIsVo0pTVg_6pllkGuSf2Db6HnhqAG8n9CZ3DVxRcQPjSiM4_iUSEvwiTwDrRGlAxmClx1URwlyGZcZ5bqsK2WLnOPZ_f4xS2zXoo4WLceXgMUFMMMHuGxHHDz2nAcB5LMMqooF-xtfJ9GMAdaw8_GRYRLpD4W2N3FHbLduP0vqsxivpASaY5TF94vVFak1kt4f1PtVlatigsY6GKtiCEe64vGV3kaSMhQD6IUOaINvQ-bi5sTJ9Fc8X1NxLfbZvkWLru2EI1A48FrmqJVA6OayXHyVbcTzj24oOG3bqwj7Eu9sIPIZd_IHlWLtaKzBKaKLmER5sebRJoXdPJKU4RPTdheZhjSb9jQ2wy5aqs-wfeWzYu-r9y3UIwnjL3q5HwHuRNIf_UU16U_ZzRVYEAiTIngT8H3kdNQPCuXsRcXbcO9bkVCzhCM4cEq-6uKC8zbRbaN1FXjmnIR-uR6XinRopQQUc35WImpoi8lBKHdd3q9BnFE6SZe2LcEwGehaQb134-D4N8OwsHcul118m_vgt46pOVkRbqek8IgcKoeayKhAIXw2sUXKQ2k-NgcXFilz14ITHGnpJyLZvJnak5Icx7TtWAlBsOvr7TJHtXvpyrfpSqaQg-T_W6qgNzXvSs4mGeFWPoeANao8UJ9FiFSB-CQAWfC4DzzUsaF8jCTnajts2Awz-0CDqryT8M6MtmD2wBZ8nmAVeiIpVSdcS7yxTxUU_ABoY8w4ewY37f-MhIcVsNrNj-fwa3Nrf_T4Tp5sT5t5pBOPt56nw==",
  "id": "rs_00bbfec0d3f8a6aa016ab44e2adc2087d0a7a11170e225950e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.2,\"left_z\":0.1,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"Using the verified base geometry and overhead position, the cap’s world coordinate is near left-arm y=-0.20; the wrist’s large image-right offset is consistent with our current y=-0.074 being too far left. I’ll translate above that world coordinate at safe height with neutral yaw, then inspect before descending.\"}",
  "call_id": "call_oQWXEoJtw0CtHYrHxdJtSUik",
  "id": "fc_00bbfec0d3f8a6aa016ab44e2b4da887d0864e7495dc20ac3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oQWXEoJtw0CtHYrHxdJtSUik",
  "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]: [-0.4061, 1.1641, 0.5205, -0.0505, -0.2802, -0.2337, 0.9993, -0.4171, 1.2438, 0.9211, -0.7776, -0.8307, -0.9516, 0.0641]\nstate[eef_state]: left_x=0.3257 left_y=-0.083 left_z=0.1022 left_yaw=-0.0549 left_pitch=-0.0902 left_roll=0.0021 left_gripper=0.9993 right_x=0.3033 right_y=0.0122 right_z=0.1727 right_yaw=0.7405 right_pitch=-0.0832 right_roll=0.012 right_gripper=0.0641\nstate[joint_eff]: [0.0752, -4.3556, 6.5436, 1.8339, -0.1441, 0.1832, -0.0073, -0.1846, -3.9179, 6.3658, 0.9939, -0.4615, -0.0464, 0.8474]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9099ebe4e48b129ea597ebcaaaff25c0dd313d6833bff1b90a9c2372067edfc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75898940977b14da31d5e8165a25d10358d0d2052b0aeee8f92d004f283245a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e72b7002bbe3548b2df411e00fa45618287c2088287983eaff2acda6bc3076",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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