adhoc

completed
2026-09-23T22:00:51.713313+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
271.2 s
total steps
386
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 lies near the table center, angled diagonally, while the cap is left of it. I’m moving the right gripper above the pen’s midpoint and rotating the jaws roughly perpendicular to the pen for a secure body grasp.
move_to
right_x0.3100right_y0.2900right_z0.1500right_yaw0.7500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0166, 0.7914, 0.6086, -0.3786, -0.0238, -0.0147, 0.9994] state[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0029 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4171, -1.5385, 10.5231, 1.7411, -0.0562, 0.0464, -0.0366, -0.8821, -1.2103, 9.9077, 1.8681, -0.0073, -0.022, -0.0757] 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":0.31,"right_y":0.29,"right_z":0.15,"right_yaw":0.75,"right_gripper":1.0},"note":"The long pen lies near the table center, angled diagonally, while the cap is left of it. I’m moving the right gripper above the pen’s midpoint and rotating the jaws roughly perpendicular to the pen for a secure body grasp."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right wrist view shows the pen running nearly along the gripper’s approach direction, but about 4 cm to the image-right of the jaw centerline. I’m shifting the gripper sideways toward it while keeping height and orientation unchanged.
move_to
right_y0.2300
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, 0.7994, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.7223, 1.4078, 0.7712, 0.0101, -0.0055, -0.0063, 0.9994] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3045 right_y=0.2744 right_z=0.1306 right_yaw=0.7189 right_pitch=-0.0654 right_roll=-0.0029 right_gripper=0.9994 state[joint_eff]: [-0.2667, -1.7573, 7.0222, 1.7314, -0.0708, 0.0269, -0.0171, 0.6359, -5.6547, 9.4838, 1.956, -0.1392, -0.0757, -0.0757] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.23},"note":"The right wrist view shows the pen running nearly along the gripper’s approach direction, but about 4 cm to the image-right of the jaw centerline. I’m shifting the gripper sideways toward it while keeping height and orientation unchanged."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe pen shifted toward the jaw column as expected and now sits only about 2 cm to its right; its near end already extends below the wrist image, indicating the fingertips are radially over it. I’m making one smaller lateral correction before descending.
move_to
right_y0.2050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.5964, 1.3273, 0.6926, -0.0162, -0.0811, -0.0612, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3086 right_y=0.2311 right_z=0.1222 right_yaw=0.6866 right_pitch=-0.0873 right_roll=-0.001 right_gripper=0.9993 state[joint_eff]: [-0.2256, -0.8274, 7.0496, 1.7216, -0.0659, -0.0317, -0.0171, -0.2667, -6.8444, 6.6667, 1.8046, -0.1294, -0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_y":0.205},"note":"The pen shifted toward the jaw column as expected and now sits only about 2 cm to its right; its near end already extends below the wrist image, indicating the fingertips are radially over it. I’m making one smaller lateral correction before descending."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe last small correction stalled about 2 cm short, and the pen remains just right of the jaw midpoint. I’m slightly retracting and raising while requesting the remaining sideways shift, which should ease this awkward configuration without changing the grasp alignment.
move_to
right_x0.2950right_y0.1800right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.569, 1.3098, 0.6823, -0.0296, -0.1093, -0.0864, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3079 right_y=0.224 right_z=0.1219 right_yaw=0.6965 right_pitch=-0.0913 right_roll=-0.0033 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.306, 7.2, 1.7265, -0.0317, -0.0806, -0.0122, -0.3214, -5.2581, 6.4205, 1.7753, -0.0464, 0.0366, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.18,"right_z":0.15},"note":"The last small correction stalled about 2 cm short, and the pen remains just right of the jaw midpoint. I’m slightly retracting and raising while requesting the remaining sideways shift, which should ease this awkward configuration without changing the grasp alignment."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm held completely at its current pose, so this is an inverse-kinematics stall rather than visual uncertainty. I’m lifting and retracting into freer space while preserving roughly the same yaw, then I can approach the pen from the corrected lateral coordinate.
move_to
right_x0.2700right_y0.1800right_z0.2200right_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.569, 1.3098, 0.6804, -0.0296, -0.1093, -0.0864, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3075 right_y=0.2238 right_z=0.1211 right_yaw=0.6966 right_pitch=-0.0932 right_roll=-0.003 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.306, 7.2274, 1.7118, -0.0708, -0.0464, -0.0171, -0.3761, -5.2581, 6.6393, 1.707, -0.0708, 0.0269, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.18,"right_z":0.22,"right_yaw":0.65},"note":"The arm held completely at its current pose, so this is an inverse-kinematics stall rather than visual uncertainty. I’m lifting and retracting into freer space while preserving roughly the same yaw, then I can approach the pen from the corrected lateral coordinate."})
tool
executing move_to over 7 steps (0.7s)
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 noteAfter lifting, the lateral correction succeeded: the pen is now centered on the jaw column and aligned lengthwise in the right wrist view. I’m descending straight to table level while keeping that alignment fixed.
move_to
right_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]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9998, 0.5167, 1.087, 0.8528, -0.2829, -0.1123, -0.0906, 0.9993] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3042 right_y=0.1997 right_z=0.226 right_yaw=0.6487 right_pitch=0.0478 right_roll=-0.0232 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.2376, 7.4325, 1.7607, -0.0708, -0.0415, -0.0171, 0.3487, -3.3299, 7.7197, 1.4628, -0.0757, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.01},"note":"After lifting, the lateral correction succeeded: the pen is now centered on the jaw column and aligned lengthwise in the right wrist view. I’m descending straight to table level while keeping that alignment fixed."})
tool
executing move_to over 14 steps (1.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteAt table height the pen is clearly centered between the open fingertips, with the jaws straddling its body near the rear end. I’m closing the right gripper to secure it.
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, 0.8104, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.5137, 1.7252, 0.2802, 0.844, -0.1078, -0.0986, 0.9993] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1746 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9998 right_x=0.2969 right_y=0.1934 right_z=-0.0015 right_yaw=0.646 right_pitch=-0.0358 right_roll=-0.0214 right_gripper=0.9993 state[joint_eff]: [-0.2393, -1.4974, 7.3915, 1.6874, -0.0269, -0.0513, -0.0171, -0.0479, -4.9299, 2.8786, 1.2039, -0.1538, 0.149, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At table height the pen is clearly centered between the open fingertips, with the jaws straddling its body near the rear end. I’m closing the right gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe closed gripper settled at 0.045, consistent with the thin pen rather than a fully empty close, and the pen remains aligned between the jaws. I’m lifting it 8 cm to confirm the pen moves with the gripper.
move_to
right_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]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0216, -0.0254, 0.9998, 0.5125, 1.7344, 0.2768, 0.8684, -0.1101, -0.1017, 0.0452] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2978 right_y=0.1939 right_z=-0.0005 right_yaw=0.6483 right_pitch=-0.0239 right_roll=-0.0242 right_gripper=0.0452 state[joint_eff]: [-0.3214, -1.2239, 7.0632, 1.7314, -0.0366, -0.0317, -0.0171, -0.1299, -6.3932, 3.8496, 1.4628, -0.0269, -0.0122, 1.0085] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The closed gripper settled at 0.045, consistent with the thin pen rather than a fully empty close, and the pen remains aligned between the jaws. I’m lifting it 8 cm to confirm the pen moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe overhead view confirms the pen lifted with the right gripper. I’m moving it to a higher, right-side holding pose that keeps the pen tip accessible near the center while clearing the left arm’s route to the loose cap.
move_to
right_x0.3400right_y0.3000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8146, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.5125, 1.3281, 0.382, 0.3901, -0.1093, -0.1024, 0.0491] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1735 left_yaw=0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9998 right_x=0.3002 right_y=0.1951 right_z=0.0751 right_yaw=0.6481 right_pitch=0.0089 right_roll=-0.0297 right_gripper=0.0491 state[joint_eff]: [-0.1162, -1.4838, 7.2137, 1.7265, -0.0708, -0.0073, -0.0171, -0.2667, -5.1624, 8.0615, 1.7314, -0.0904, -0.0513, 1.0281] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.3,"right_z":0.18},"note":"The overhead view confirms the pen lifted with the right gripper. I’m moving it to a higher, right-side holding pose that keeps the pen tip accessible near the center while clearing the left arm’s route to the loose cap."})
tool
executing move_to over 9 steps (0.9s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe pen is now securely held high on the right, and the loose cap remains alone left of center. I’m moving the left gripper above the cap and rotating its jaws perpendicular to the cap’s diagonal axis.
move_to
left_x0.3000left_y-0.2100left_z0.1500left_yaw-0.6000left_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, 0.8192, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.7395, 1.4872, 0.9382, -0.0135, 0.0605, -0.0063, 0.0526] state[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=-0.0001 left_pitch=-0.0256 left_roll=-0.0 left_gripper=0.9998 right_x=0.3349 right_y=0.2959 right_z=0.1672 right_yaw=0.6803 right_pitch=-0.0002 right_roll=-0.0378 right_gripper=0.0526 state[joint_eff]: [-0.1436, -1.7162, 7.1726, 1.7021, -0.0611, -0.0464, -0.0122, 0.4581, -6.4479, 8.8, 1.7705, 0.2662, 0.2613, 1.033] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.21,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0},"note":"The pen is now securely held high on the right, and the loose cap remains alone left of center. I’m moving the left gripper above the cap and rotating its jaws perpendicular to the cap’s diagonal axis."})
tool
executing move_to over 19 steps (1.9s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe left wrist view shows the cap close to the fingertips but about 2–3 cm left of the jaw centerline. I’m shifting the gripper toward that side while maintaining its height and orientation.
move_to
left_y-0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6296, 1.1721, 0.6239, -0.1459, -0.062, -0.0639, 0.9998, 0.741, 1.4944, 0.9379, -0.0299, 0.0525, -0.0078, 0.0561] state[eef_state]: left_x=0.2893 left_y=-0.1928 left_z=0.1214 left_yaw=-0.5541 left_pitch=-0.1206 left_roll=-0.0022 left_gripper=0.9998 right_x=0.3322 right_y=0.2962 right_z=0.1605 right_yaw=0.6894 right_pitch=-0.0244 right_roll=-0.0361 right_gripper=0.0561 state[joint_eff]: [-0.2667, -4.2188, 10.5231, 1.9365, 0.1538, 0.2271, -0.0366, -0.4718, -7.3915, 6.8855, 1.8779, 0.0659, -0.022, 1.0281] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.16},"note":"The left wrist view shows the cap close to the fingertips but about 2–3 cm left of the jaw centerline. I’m shifting the gripper toward that side while maintaining its height and orientation."})
tool
executing move_to over 3 steps (0.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe cap moved in the expected direction but is still about 2 cm left of center, and the local wrist scale is smaller than initially estimated. I’m continuing the same lateral correction by another 5 cm.
move_to
left_y-0.1100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5365, 1.1286, 0.5945, -0.152, -0.0181, -0.0319, 0.9998, 0.7414, 1.4944, 0.9379, -0.0349, 0.0513, -0.0078, 0.0561] state[eef_state]: left_x=0.2952 left_y=-0.1677 left_z=0.1214 left_yaw=-0.5157 left_pitch=-0.1141 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3314 right_y=0.296 right_z=0.1595 right_yaw=0.6907 right_pitch=-0.0294 right_roll=-0.0357 right_gripper=0.0561 state[joint_eff]: [-0.6085, -4.3829, 6.6667, 1.4823, 0.1587, 0.1587, -0.0171, -0.0479, -6.8444, 6.8034, 1.79, -0.0171, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.11},"note":"The cap moved in the expected direction but is still about 2 cm left of center, and the local wrist scale is smaller than initially estimated. I’m continuing the same lateral correction by another 5 cm."})
tool
executing move_to over 6 steps (0.6s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe left arm has now stalled instead of completing the correction, similar to the right arm’s earlier low-pose IK stall. I’m lifting and retracting into free space while keeping the corrected lateral target, then I’ll descend again over the cap.
move_to
left_x0.2700left_y-0.1100left_z0.2200left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5396, 1.1282, 0.5922, -0.1722, -0.0093, -0.02, 0.9998, 0.7414, 1.4944, 0.9379, -0.0444, 0.0513, -0.0078, 0.0561] state[eef_state]: left_x=0.2907 left_y=-0.168 left_z=0.1167 left_yaw=-0.5326 left_pitch=-0.1363 left_roll=-0.002 left_gripper=0.9998 right_x=0.3304 right_y=0.2951 right_z=0.1575 right_yaw=0.6907 right_pitch=-0.0389 right_roll=-0.0362 right_gripper=0.0561 state[joint_eff]: [-0.3214, -4.547, 6.7624, 1.663, 0.1099, 0.0708, -0.0171, -0.1162, -6.8308, 6.8171, 1.8388, -0.0464, -0.022, 1.0281] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.11,"left_z":0.22,"left_yaw":-0.5},"note":"The left arm has now stalled instead of completing the correction, similar to the right arm’s earlier low-pose IK stall. I’m lifting and retracting into free space while keeping the corrected lateral target, then I’ll descend again over the cap."})
tool
executing move_to over 7 steps (0.7s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWith the arm raised, the cap is now centered exactly on the left jaw column and its near end reaches the fingertip region. I’m descending straight to table level over it.
move_to
left_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]: [-0.3313, 0.9131, 0.8951, -0.5274, 0.0872, 0.0559, 0.9997, 0.741, 1.4944, 0.9375, -0.046, 0.0505, -0.0078, 0.0561] state[eef_state]: left_x=0.2942 left_y=-0.1137 left_z=0.2491 left_yaw=-0.4466 left_pitch=0.0287 left_roll=0.0118 left_gripper=0.9997 right_x=0.3302 right_y=0.2949 right_z=0.157 right_yaw=0.6909 right_pitch=-0.0409 right_roll=-0.0359 right_gripper=0.0561 state[joint_eff]: [0.4581, -0.1436, 6.3795, 1.0867, 0.1587, 0.2369, -0.0171, -0.3487, -6.8171, 6.8718, 1.746, -0.0073, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.01},"note":"With the arm raised, the cap is now centered exactly on the left jaw column and its near end reaches the fingertip region. I’m descending straight to table level over it."})
tool
executing move_to over 16 steps (1.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteAt table height the cap is fully visible with a gap below it in the wrist view, so it is still a few centimetres ahead of the fingertips; it is also slightly to image-right. I’m advancing 3 cm and making a small rightward correction so the jaws straddle the cap before closing.
move_to
left_x0.3150left_y-0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3305, 1.5261, 0.1154, 0.7727, 0.0792, 0.0662, 0.9997, 0.741, 1.4971, 0.9325, -0.0555, 0.049, -0.0082, 0.0561] state[eef_state]: left_x=0.2845 left_y=-0.1086 left_z=-0.003 left_yaw=-0.4449 left_pitch=-0.064 left_roll=0.0142 left_gripper=0.9997 right_x=0.3283 right_y=0.2935 right_z=0.1518 right_yaw=0.6924 right_pitch=-0.0581 right_roll=-0.0361 right_gripper=0.0561 state[joint_eff]: [-0.1299, -3.4256, 2.6598, 0.9988, 0.0659, -0.0806, -0.0122, -0.1162, -7.0632, 7.159, 1.7216, 0.0122, -0.0562, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.13},"note":"At table height the cap is fully visible with a gap below it in the wrist view, so it is still a few centimetres ahead of the fingertips; it is also slightly to image-right. I’m advancing 3 cm and making a small rightward correction so the jaws straddle the cap before closing."})
tool
executing move_to over 3 steps (0.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe overhead view still places the open left fingertips just behind and left of the cap, matching the remaining wrist offset. I’m advancing and shifting right by another 3 cm to bring the grasp point directly over the cap.
move_to
left_x0.3400left_y-0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3756, 1.6424, 0.2138, 0.8097, 0.0509, 0.0456, 0.9997, 0.741, 1.4986, 0.9325, -0.0574, 0.0486, -0.0082, 0.0561] state[eef_state]: left_x=0.3087 left_y=-0.1275 left_z=-0.0016 left_yaw=-0.4549 left_pitch=-0.0463 left_roll=0.0159 left_gripper=0.9997 right_x=0.3281 right_y=0.2935 right_z=0.1508 right_yaw=0.6927 right_pitch=-0.0615 right_roll=-0.0361 right_gripper=0.0561 state[joint_eff]: [-0.4034, -4.6291, 4.6427, 1.6337, -0.1001, -0.0952, -0.0122, -0.1573, -6.9265, 6.7897, 1.707, 0.0317, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.16},"note":"The overhead view still places the open left fingertips just behind and left of the cap, matching the remaining wrist offset. I’m advancing and shifting right by another 3 cm to bring the grasp point directly over the cap."})
tool
executing move_to over 3 steps (0.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe second table-level correction partly moved but then stalled; the cap is now very near the fingertips, just to their right. I’m lifting 10 cm while completing the forward-right correction, then I’ll make a final vertical descent.
move_to
left_x0.3400left_y-0.1600left_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]: [-0.403, 1.6752, 0.2527, 0.8032, 0.0223, 0.0341, 0.9997, 0.7414, 1.499, 0.9325, -0.0608, 0.0483, -0.0082, 0.0561] state[eef_state]: left_x=0.3164 left_y=-0.1353 left_z=-0.0019 left_yaw=-0.4521 left_pitch=-0.0476 left_roll=0.0231 left_gripper=0.9997 right_x=0.3276 right_y=0.2933 right_z=0.1499 right_yaw=0.6934 right_pitch=-0.0653 right_roll=-0.036 right_gripper=0.0561 state[joint_eff]: [-0.6222, -3.959, 5.3538, 1.663, -0.022, -0.0952, -0.0122, -0.0889, -6.8308, 6.7897, 1.7558, -0.0513, -0.022, 1.0281] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.16,"left_z":0.1},"note":"The second table-level correction partly moved but then stalled; the cap is now very near the fingertips, just to their right. I’m lifting 10 cm while completing the forward-right correction, then I’ll make a final vertical descent."})
tool
executing move_to over 7 steps (0.7s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe arm did not lift at all from the low pose, so I’m using the known recovery maneuver: retract farther, raise well clear, and reduce yaw slightly to escape the IK lock before re-approaching.
move_to
left_x0.2700left_y-0.1600left_z0.2200left_yaw-0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4026, 1.6752, 0.2527, 0.8036, 0.0223, 0.0273, 0.9997, 0.741, 1.499, 0.9325, -0.0608, 0.0486, -0.0082, 0.0561] state[eef_state]: left_x=0.3165 left_y=-0.1352 left_z=-0.0018 left_yaw=-0.448 left_pitch=-0.0471 left_roll=0.0175 left_gripper=0.9997 right_x=0.3278 right_y=0.2931 right_z=0.1499 right_yaw=0.6927 right_pitch=-0.0653 right_roll=-0.0363 right_gripper=0.0561 state[joint_eff]: [-0.294, -4.547, 4.8342, 1.6435, 0.0024, -0.0513, -0.0122, -0.0752, -6.8718, 6.8308, 1.663, -0.0122, -0.0415, 1.033] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.16,"left_z":0.22,"left_yaw":-0.35},"note":"The arm did not lift at all from the low pose, so I’m using the known recovery maneuver: retract farther, raise well clear, and reduce yaw slightly to escape the IK lock before re-approaching."})
tool
executing move_to over 15 steps (1.5s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe recovery succeeded. From this clear pose the cap is only about 1 cm left of the jaw column and a few centimetres ahead, so I’m making that small alignment correction while staying above the table.
move_to
left_x0.3000left_y-0.1450left_z0.1500left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7116, 0.9752, 0.8082, -0.5003, -0.281, -0.2092, 0.9997, 0.7414, 1.5009, 0.9291, -0.07, 0.0486, -0.0086, 0.0561] state[eef_state]: left_x=0.2706 left_y=-0.1639 left_z=0.2007 left_yaw=-0.3745 left_pitch=-0.0651 left_roll=0.0128 left_gripper=0.9997 right_x=0.3262 right_y=0.2919 right_z=0.1458 right_yaw=0.6932 right_pitch=-0.0798 right_roll=-0.0373 right_gripper=0.0561 state[joint_eff]: [-0.294, -2.8923, 10.1402, 1.6142, -0.2027, -0.0659, -0.0122, -0.253, -6.9812, 7.1316, 1.7558, 0.0073, -0.0708, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.145,"left_z":0.15,"left_yaw":-0.4},"note":"The recovery succeeded. From this clear pose the cap is only about 1 cm left of the jaw column and a few centimetres ahead, so I’m making that small alignment correction while staying above the table."})
tool
executing move_to over 4 steps (0.4s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe cap is now centered on the left jaw column and its near end is just above the fingertip region. I’m descending vertically without further lateral or radial changes.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5365, 1.0435, 0.6342, -0.3447, -0.1658, -0.1238, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561] state[eef_state]: left_x=0.2866 left_y=-0.1324 left_z=0.1306 left_yaw=-0.3393 left_pitch=-0.1698 left_roll=0.0292 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561 state[joint_eff]: [0.4171, -3.0974, 8.0205, 2.1612, 0.0659, 0.1538, -0.0122, -0.0342, -6.8444, 6.8855, 1.6777, -0.0171, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0},"note":"The cap is now centered on the left jaw column and its near end is just above the fingertip region. I’m descending vertically without further lateral or radial changes."})
tool
executing move_to over 9 steps (0.9s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe vertical command stalled at 11 cm with no contact, although alignment remains good. I’m adding a modest forward component to change the arm geometry while continuing the descent, which has freed this arm from similar IK stalls before.
move_to
left_x0.3100left_y-0.1450left_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]: [-0.5419, 1.037, 0.5388, -0.2466, -0.1757, -0.1146, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561] state[eef_state]: left_x=0.2826 left_y=-0.1299 left_z=0.1097 left_yaw=-0.3416 left_pitch=-0.1597 left_roll=0.041 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561 state[joint_eff]: [-0.0615, -3.4667, 7.3915, 1.7753, -0.1392, -0.0757, -0.0171, -0.0205, -6.8581, 6.735, 1.6484, -0.0611, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.145,"left_z":0.02},"note":"The vertical command stalled at 11 cm with no contact, although alignment remains good. I’m adding a modest forward component to change the arm geometry while continuing the descent, which has freed this arm from similar IK stalls before."})
tool
executing move_to over 6 steps (0.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe arm reached table height, and the overhead view shows the open fingertips still a few centimetres behind the cap; the wrist view likewise places it far ahead after the large height-induced shift. I’m advancing about 5 cm and nudging right to put the cap between the jaws.
move_to
left_x0.3400left_y-0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5381, 1.4395, 0.3874, 0.157, -0.1684, -0.1261, 0.9993, 0.7414, 1.5066, 0.923, -0.0807, 0.0498, -0.0086, 0.0561] state[eef_state]: left_x=0.2847 left_y=-0.1313 left_z=0.0003 left_yaw=-0.3303 left_pitch=-0.3076 left_roll=0.0588 left_gripper=0.9993 right_x=0.3242 right_y=0.2898 right_z=0.1387 right_yaw=0.6922 right_pitch=-0.1022 right_roll=-0.0391 right_gripper=0.0561 state[joint_eff]: [0.0479, -3.5077, 4.9162, 1.6337, -0.0952, 0.105, -0.0562, -0.1573, -6.6393, 7.1179, 1.9072, 0.022, -0.0415, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.15},"note":"The arm reached table height, and the overhead view shows the open fingertips still a few centimetres behind the cap; the wrist view likewise places it far ahead after the large height-induced shift. I’m advancing about 5 cm and nudging right to put the cap between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe cap is now on the jaw column but its near end still stops about 3 cm before the fingertip convergence row. I’m advancing that final distance and making a 1.5 cm rightward correction before closing.
move_to
left_x0.3650left_y-0.1650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4965, 1.6394, 0.5629, 0.1978, -0.1513, -0.1204, 0.9993, 0.741, 1.5105, 0.9215, -0.083, 0.0483, -0.0113, 0.0561] state[eef_state]: left_x=0.3339 left_y=-0.1465 left_z=-0.0001 left_yaw=-0.3079 left_pitch=-0.2944 left_roll=0.0456 left_gripper=0.9993 right_x=0.3237 right_y=0.2894 right_z=0.136 right_yaw=0.6945 right_pitch=-0.1099 right_roll=-0.0406 right_gripper=0.0561 state[joint_eff]: [0.3761, -5.4906, 6.8034, 1.2283, 0.0269, 0.2808, -0.022, -0.0752, -6.8855, 6.8581, 1.663, -0.0366, -0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.165},"note":"The cap is now on the jaw column but its near end still stops about 3 cm before the fingertip convergence row. I’m advancing that final distance and making a 1.5 cm rightward correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe cap’s near end now extends into the fingertip convergence area and its body is centered between the jaws. I’m closing the left gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.498, 1.7367, 0.6727, 0.1936, -0.1493, -0.1326, 0.9993, 0.7414, 1.5105, 0.9215, -0.0895, 0.0486, -0.0113, 0.0561] state[eef_state]: left_x=0.3593 left_y=-0.1614 left_z=0.0003 left_yaw=-0.3047 left_pitch=-0.2861 left_roll=0.0341 left_gripper=0.9993 right_x=0.3228 right_y=0.2888 right_z=0.1347 right_yaw=0.6945 right_pitch=-0.1164 right_roll=-0.0411 right_gripper=0.0561 state[joint_eff]: [-0.6359, -6.5573, 6.3932, 1.1795, -0.1636, 0.0317, -0.0171, -0.0752, -6.7624, 7.0222, 1.7851, -0.0122, -0.0513, 1.0281] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap’s near end now extends into the fingertip convergence area and its body is centered between the jaws. I’m closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
assistant
agent noteThe left gripper settled at 0.048 with the cap visibly pinched between its jaws, consistent with a successful thin-object grasp. I’m lifting it 10 cm to verify it leaves the table.
move_to
left_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]: [-0.4976, 1.7481, 0.6823, 0.205, -0.1501, -0.1375, 0.0477, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561] state[eef_state]: left_x=0.3633 left_y=-0.1632 left_z=0.001 left_yaw=-0.3014 left_pitch=-0.2765 left_roll=0.0294 left_gripper=0.0477 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561 state[joint_eff]: [-0.2803, -8.335, 4.5333, 1.3211, -0.0708, 0.1538, 1.3993, -0.0615, -6.5983, 6.735, 1.7265, -0.022, -0.0708, 1.0281] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The left gripper settled at 0.048 with the cap visibly pinched between its jaws, consistent with a successful thin-object grasp. I’m lifting it 10 cm to verify it leaves the table."})
tool
executing move_to over 7 steps (0.7s)
step 204
assistant
agent noteBoth objects are lifted. The pen is held pointing outward at about +0.7 rad, so I’m rotating the cap to the same axis and moving it to a high pre-insertion pose just beyond the pen tip; the loose cap’s wider opening was on its rear end, which will face back toward the nib in this orientation.
move_to
left_x0.4000left_y-0.2400left_z0.2000left_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4976, 1.5345, 0.8448, -0.2005, -0.1493, -0.141, 0.0533, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561] state[eef_state]: left_x=0.3584 left_y=-0.1607 left_z=0.0761 left_yaw=-0.2984 left_pitch=-0.3054 left_roll=0.0325 left_gripper=0.0533 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561 state[joint_eff]: [-0.2393, -8.2393, 9.6615, 1.6777, -0.1587, 0.0024, 1.0281, -0.0479, -6.7624, 6.653, 1.6825, -0.0513, -0.0317, 1.0281] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.24,"left_z":0.2,"left_yaw":0.7},"note":"Both objects are lifted. The pen is held pointing outward at about +0.7 rad, so I’m rotating the cap to the same axis and moving it to a high pre-insertion pose just beyond the pen tip; the loose cap’s wider opening was on its rear end, which will face back toward the nib in this orientation."})
tool
executing move_to over 8 steps (0.8s)
step 212
assistant
agent noteThe cap and pen axes are now parallel—the right wrist sees the cap exactly on its centerline—but the left wrist shows the pen tip about 10 cm to the cap’s right. I’m raising the cap and shifting it right toward that shared axis while keeping a safe vertical offset.
move_to
left_x0.4300left_y-0.3100left_z0.2400left_yaw0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7429, 2.2074, 2.085, -1.3731, -0.6487, -1.2415, 0.0592, 0.6838, 1.5131, 0.9108, -0.1226, 0.1314, 0.0734, 0.0562] state[eef_state]: left_x=0.401 left_y=-0.2185 left_z=0.1438 left_yaw=0.5989 left_pitch=-0.3554 left_roll=0.1368 left_gripper=0.0592 right_x=0.3413 right_y=0.2529 right_z=0.1237 right_yaw=0.5202 right_pitch=-0.1562 right_roll=-0.0342 right_gripper=0.0562 state[joint_eff]: [-2.4957, -11.8496, 7.1316, 0.4908, -0.2515, -0.0562, 1.0281, 3.8222, -6.4752, 7.8701, 2.1856, -0.6862, -1.0134, 1.0232] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.31,"left_z":0.24,"left_yaw":0.55},"note":"The cap and pen axes are now parallel—the right wrist sees the cap exactly on its centerline—but the left wrist shows the pen tip about 10 cm to the cap’s right. I’m raising the cap and shifting it right toward that shared axis while keeping a safe vertical offset."})
tool
executing move_to over 9 steps (0.9s)
step 221
assistant
agent noteThe left arm stalled with high shoulder load before completing the cross-table shift, so continuing would be unsafe and inaccurate. I’m retracting it upward and left into a relaxed holding pose while keeping the cap grasped and oriented.
move_to
left_x0.3000left_y-0.1200left_z0.2800left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7536, 2.3539, 2.3989, -1.6131, -0.6514, -1.2442, 0.0641, 0.6609, 1.5093, 0.9085, -0.0967, 0.1471, 0.102, 0.0562] state[eef_state]: left_x=0.4029 left_y=-0.2263 left_z=0.1597 left_yaw=0.6168 left_pitch=-0.368 left_roll=0.2114 left_gripper=0.0641 right_x=0.3512 right_y=0.2448 right_z=0.1294 right_yaw=0.4693 right_pitch=-0.1272 right_roll=-0.0174 right_gripper=0.0562 state[joint_eff]: [-3.2342, -13.5726, 10.2769, 0.6618, -0.4176, 0.1832, 1.0281, 1.6752, -6.4205, 7.0359, 1.3895, -0.0952, -0.3443, 1.0183] approver: 1 step(s) modified (delta_clamped). 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":0.3,"left_y":-0.12,"left_z":0.28,"left_yaw":0.5},"note":"The left arm stalled with high shoulder load before completing the cross-table shift, so continuing would be unsafe and inaccurate. I’m retracting it upward and left into a relaxed holding pose while keeping the cap grasped and oriented."})
tool
executing move_to over 10 steps (1.0s)
step 231
assistant
agent noteThe cap is safely retracted. To avoid forcing the left arm across the center, I’m repositioning the pen so its exposed nib sits in the left arm’s comfortable workspace around x=0.38, left-y=-0.23, while preserving the shared insertion angle.
move_to
right_x0.2900right_y0.3700right_z0.1700right_yaw0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.693, 1.6814, 1.8191, -1.5639, -0.6369, -1.0626, 0.0641, 0.6605, 1.5108, 0.9005, -0.104, 0.1314, 0.0834, 0.0568] state[eef_state]: left_x=0.311 left_y=-0.117 left_z=0.2577 left_yaw=0.5193 left_pitch=-0.3626 left_roll=0.1767 left_gripper=0.0641 right_x=0.3474 right_y=0.2451 right_z=0.1238 right_yaw=0.4918 right_pitch=-0.1456 right_roll=-0.0248 right_gripper=0.0568 state[joint_eff]: [0.5265, -8.1573, 5.8051, 0.5934, -0.4664, 0.1245, 1.033, -0.0205, -6.8718, 7.2957, 1.7216, 0.1832, 0.1587, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.37,"right_z":0.17,"right_yaw":0.5},"note":"The cap is safely retracted. To avoid forcing the left arm across the center, I’m repositioning the pen so its exposed nib sits in the left arm’s comfortable workspace around x=0.38, left-y=-0.23, while preserving the shared insertion angle."})
tool
executing move_to over 11 steps (1.1s)
step 242
assistant
agent noteRepositioning the pen worked: its nib now appears in the left wrist view about 7 cm to the cap’s right. I’m bringing the cap to a near-alignment pose, slightly short and above the calculated nib location, with both axes matched at about 0.54 rad.
move_to
left_x0.3700left_y-0.1900left_z0.1900left_yaw0.5400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6895, 1.6825, 1.8034, -1.5631, -0.6273, -1.0561, 0.0641, 1.034, 1.6852, 1.2514, -0.3706, 0.3668, 0.3073, 0.059] state[eef_state]: left_x=0.3094 left_y=-0.1161 left_z=0.2523 left_yaw=0.5223 left_pitch=-0.3778 left_roll=0.1934 left_gripper=0.0641 right_x=0.287 right_y=0.3653 right_z=0.1566 right_yaw=0.5432 right_pitch=-0.1764 right_roll=-0.0393 right_gripper=0.059 state[joint_eff]: [-0.3077, -7.2957, 6.7077, 0.4762, -0.4664, -0.0904, 1.033, 0.3897, -8.3761, 9.2786, 1.5018, 0.5104, 0.2369, 0.9402] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":0.19,"left_yaw":0.54},"note":"Repositioning the pen worked: its nib now appears in the left wrist view about 7 cm to the cap’s right. I’m bringing the cap to a near-alignment pose, slightly short and above the calculated nib location, with both axes matched at about 0.54 rad."})
tool
executing move_to over 7 steps (0.7s)
step 249
assistant
agent noteThe forward-pointing arrangement causes the forearms to interfere before the cap reaches the nib. I’m withdrawing the cap to its own side and beginning a safer side-to-side orientation, where each arm can remain on its half of the table and only the object tips meet.
move_to
left_x0.2600left_y-0.0500left_z0.3000left_yaw1.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7105, 1.972, 1.964, -1.6417, -0.6437, -1.0988, 0.0641, 0.9745, 1.6924, 1.2236, -0.4717, 0.4248, 0.3965, 0.059] state[eef_state]: left_x=0.3381 left_y=-0.1463 left_z=0.2026 left_yaw=0.6114 left_pitch=-0.4176 left_roll=0.387 left_gripper=0.0641 right_x=0.3009 right_y=0.3201 right_z=0.1304 right_yaw=0.373 right_pitch=-0.2677 right_roll=-0.0859 right_gripper=0.059 state[joint_eff]: [-2.3179, -5.6547, 7.8017, 2.127, -0.2027, -0.3639, 1.033, 4.9299, -8.9778, 8.9094, 2.5177, -0.4029, -0.9744, 0.8571] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.05,"left_z":0.3,"left_yaw":1.2},"note":"The forward-pointing arrangement causes the forearms to interfere before the cap reaches the nib. I’m withdrawing the cap to its own side and beginning a safer side-to-side orientation, where each arm can remain on its half of the table and only the object tips meet."})
tool
executing move_to over 9 steps (0.9s)
step 258
assistant
agent noteThe arms are separated again. I’m rotating the right-held pen to point directly left across the table and placing its nib near the centerline, so the cap can approach from the opposite side without the forearms crossing.
move_to
right_x0.3500right_y0.2800right_z0.1700right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3389, 1.6806, 1.4811, -1.5608, -0.6132, -1.2915, 0.0682, 0.973, 1.7103, 1.2114, -0.4942, 0.411, 0.3889, 0.0606] state[eef_state]: left_x=0.2805 left_y=0.0127 left_z=0.1742 left_yaw=1.1394 left_pitch=-0.4262 left_roll=0.3821 left_gripper=0.0682 right_x=0.2959 right_y=0.3154 right_z=0.1146 right_yaw=0.3773 right_pitch=-0.3179 right_roll=-0.1124 right_gripper=0.0606 state[joint_eff]: [0.0752, -8.8821, 5.5726, -0.1294, -0.3541, -0.0464, 1.033, -0.0479, -9.9214, 7.4188, 1.4921, 0.2564, 0.0464, 0.9158] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.28,"right_z":0.17,"right_yaw":1.57},"note":"The arms are separated again. I’m rotating the right-held pen to point directly left across the table and placing its nib near the centerline, so the cap can approach from the opposite side without the forearms crossing."})
tool
executing move_to over 8 steps (0.8s)
step 266
assistant
agent noteThe pen now points laterally left, with its nib estimated near x=0.40, left-y=-0.26, z=0.13. I’m moving the cap to a pre-insertion pose on the left side of that nib, matching the pen’s achieved 1.34 rad axis while staying several centimetres high and short.
move_to
left_x0.4000left_y-0.2200left_z0.2000left_yaw1.3400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3408, 1.6772, 1.4853, -1.5558, -0.6125, -1.2831, 0.0682, 0.4694, 1.8408, 1.602, -0.7971, -0.4503, -0.8452, 0.0639] state[eef_state]: left_x=0.282 left_y=0.0115 left_z=0.1756 left_yaw=1.1273 left_pitch=-0.4275 left_roll=0.3734 left_gripper=0.0682 right_x=0.3733 right_y=0.2796 right_z=0.1698 right_yaw=1.3349 right_pitch=-0.3311 right_roll=-0.1452 right_gripper=0.0639 state[joint_eff]: [-0.1573, -6.5709, 5.0803, -0.0366, -0.3639, -0.1001, 1.033, -0.4444, -9.4564, 6.5573, 0.4615, -0.5885, -0.0366, 0.6862] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.2,"left_yaw":1.34},"note":"The pen now points laterally left, with its nib estimated near x=0.40, left-y=-0.26, z=0.13. I’m moving the cap to a pre-insertion pose on the left side of that nib, matching the pen’s achieved 1.34 rad axis while staying several centimetres high and short."})
tool
executing move_to over 21 steps (2.1s)
step 287
assistant
agent noteThe extended left-arm approach stalled low and short, so I won’t force it farther. Instead, I’m bringing the pen gripper farther left within the right arm’s cross-over range; with the pen pointing sideways, this places the nib directly beside the cap’s current, comfortable pose while the gripper bodies remain separated.
move_to
right_x0.3100right_y0.3900right_z0.1300right_yaw1.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5819, 2.2364, 1.8366, -1.5581, -0.4828, -1.7378, 0.069, 0.4679, 1.8732, 1.6001, -0.8227, -0.4438, -0.8623, 0.0637] state[eef_state]: left_x=0.3363 left_y=-0.1188 left_z=0.0701 left_yaw=1.2808 left_pitch=-0.4443 left_roll=0.3426 left_gripper=0.069 right_x=0.3709 right_y=0.2764 right_z=0.1516 right_yaw=1.3556 right_pitch=-0.3748 right_roll=-0.1112 right_gripper=0.0637 state[joint_eff]: [-0.5949, -9.9897, 7.4051, -0.5348, -0.2515, -0.1538, 1.033, -0.1573, -12.4923, 6.6667, 1.3748, -0.2906, 0.1587, 0.8181] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.39,"right_z":0.13,"right_yaw":1.5},"note":"The extended left-arm approach stalled low and short, so I won’t force it farther. Instead, I’m bringing the pen gripper farther left within the right arm’s cross-over range; with the pen pointing sideways, this places the nib directly beside the cap’s current, comfortable pose while the gripper bodies remain separated."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe side-to-side handoff is still forcing the forearms together and causing high effort before the object tips meet. I’m withdrawing the cap arm again; I’ll place the pen on the table, remove the right arm entirely, and perform the final capping with only the left arm to eliminate interference.
move_to
left_x0.2500left_y0.0200left_z0.2800left_yaw1.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.514, 2.2398, 1.8137, -1.602, -0.4675, -1.7454, 0.069, 0.5808, 1.9205, 1.6279, -0.7238, -0.2695, -0.6621, 0.0668] state[eef_state]: left_x=0.3289 left_y=-0.0902 left_z=0.0684 left_yaw=1.3926 left_pitch=-0.4343 left_roll=0.4165 left_gripper=0.069 right_x=0.3809 right_y=0.3106 right_z=0.1426 right_yaw=1.1992 right_pitch=-0.4084 right_roll=-0.164 right_gripper=0.0668 state[joint_eff]: [-5.6684, -11.5897, 6.7214, -0.0415, -0.4225, 0.0366, 1.033, 14.2974, -6.0103, 7.8154, 1.4286, -1.3993, -0.8181, 0.6081] approver: 4 step(s) modified (delta_clamped ×4). 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]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.02,"left_z":0.28,"left_yaw":1.2},"note":"The side-to-side handoff is still forcing the forearms together and causing high effort before the object tips meet. I’m withdrawing the cap arm again; I’ll place the pen on the table, remove the right arm entirely, and perform the final capping with only the left arm to eliminate interference."})
tool
executing move_to over 14 steps (1.4s)
step 311
assistant
agent noteThe cap arm is now clear. I’m lowering the right-held pen to the tabletop at its current lateral orientation so it can be released in a known pose for a single-arm insertion.
move_to
right_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]: [-0.16, 1.5887, 1.4555, -1.5593, -0.5961, -1.1893, 0.069, 0.5968, 1.9266, 1.6291, -0.7258, -0.2474, -0.6476, 0.0668] state[eef_state]: left_x=0.2622 left_y=0.0618 left_z=0.1885 left_yaw=1.2314 left_pitch=-0.4546 left_roll=0.367 left_gripper=0.069 right_x=0.3785 right_y=0.3138 right_z=0.1391 right_yaw=1.1902 right_pitch=-0.4237 right_roll=-0.1677 right_gripper=0.0668 state[joint_eff]: [0.1573, -7.6239, 6.5573, -0.0708, -0.6032, 0.1538, 1.0281, -0.0752, -9.7573, 8.1846, 1.243, -0.3004, -0.0513, 0.6569] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.02},"note":"The cap arm is now clear. I’m lowering the right-held pen to the tabletop at its current lateral orientation so it can be released in a known pose for a single-arm insertion."})
tool
executing move_to over 8 steps (0.8s)
step 319
assistant
agent noteThe pen has reached the tabletop and is supported along its body. I’m opening the right gripper to leave it in this lateral pose.
move_to
right_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]: [-0.2008, 1.6051, 1.4551, -1.56, -0.5838, -1.2274, 0.069, 0.5968, 2.0247, 1.3308, -0.3569, -0.2436, -0.6476, 0.0668] state[eef_state]: left_x=0.265 left_y=0.0491 left_z=0.1834 left_yaw=1.2212 left_pitch=-0.4619 left_roll=0.3615 left_gripper=0.069 right_x=0.3731 right_y=0.3094 right_z=0.0293 right_yaw=1.1941 right_pitch=-0.4483 right_roll=-0.1537 right_gripper=0.0668 state[joint_eff]: [0.2256, -6.8444, 5.4496, -0.1001, -0.4274, -0.0757, 1.0281, -0.0752, -9.4974, 5.6547, 1.2283, -0.2027, 0.0024, 0.6569] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The pen has reached the tabletop and is supported along its body. I’m opening the right gripper to leave it in this lateral pose."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteThe pen is visibly resting on the table after release. I’m retracting the empty right arm to its outer home area so the left cap arm has an unobstructed approach.
move_to
right_x0.2500right_y0.0000right_z0.2200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2008, 1.6054, 1.4551, -1.5585, -0.5724, -1.2301, 0.069, 0.5968, 2.0525, 1.3144, -0.3576, -0.2432, -0.6491, 0.9952] state[eef_state]: left_x=0.2648 left_y=0.0474 left_z=0.1822 left_yaw=1.2228 left_pitch=-0.4724 left_roll=0.3568 left_gripper=0.069 right_x=0.3664 right_y=0.3047 right_z=0.0108 right_yaw=1.2076 right_pitch=-0.4856 right_roll=-0.1263 right_gripper=0.9952 state[joint_eff]: [-0.1846, -6.5162, 5.641, -0.0024, -0.4615, 0.0073, 1.0281, -0.0342, -12.9436, 7.4735, 1.0818, -0.1929, 0.0366, -0.1636] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.0,"right_z":0.22,"right_yaw":0.0},"note":"The pen is visibly resting on the table after release. I’m retracting the empty right arm to its outer home area so the left cap arm has an unobstructed approach."})
tool
executing move_to over 26 steps (2.6s)
step 355
assistant
agent noteWith the right arm clear, the pen lies diagonally with its thin nib at the upper-left endpoint. Its table pose is still about x=0.40, left-y=-0.23, and the cap is already oriented with its opening facing the nib, so I’m moving to a short elevated pre-insertion pose.
move_to
left_x0.3800left_y-0.2000left_z0.1500left_yaw1.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2008, 1.6058, 1.4544, -1.5558, -0.5686, -1.2304, 0.069, 0.0574, 1.0786, 1.1484, -1.1427, 0.0673, -0.107, 0.9957] state[eef_state]: left_x=0.2651 left_y=0.0468 left_z=0.1815 left_yaw=1.2225 left_pitch=-0.4758 left_roll=0.3542 left_gripper=0.069 right_x=0.2531 right_y=0.0062 right_z=0.2053 right_yaw=0.0441 right_pitch=-0.5139 right_roll=-0.1331 right_gripper=0.9957 state[joint_eff]: [-0.0615, -6.3111, 5.5043, -0.0073, -0.4274, -0.0171, 1.0281, -0.2393, -3.5897, 8.9778, 1.2674, 0.0464, 0.2271, 0.0415] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.2,"left_z":0.15,"left_yaw":1.15},"note":"With the right arm clear, the pen lies diagonally with its thin nib at the upper-left endpoint. Its table pose is still about x=0.40, left-y=-0.23, and the cap is already oriented with its opening facing the nib, so I’m moving to a short elevated pre-insertion pose."})
tool
executing move_to over 22 steps (2.2s)
step 377
assistant
agent noteThe left wrist now clearly shows the pen nib parallel to the held cap, about 8 cm to image-right. Because the cap’s opening is at the gripper end while its closed tip projects forward, I’m shifting right and about 4 cm outward so that hidden opening comes over the nib.
move_to
left_x0.4000left_y-0.2300left_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]: [-0.6231, 2.2421, 1.9137, -1.5635, -0.4831, -1.6073, 0.0711, 0.054, 1.084, 1.15, -1.1675, 0.0708, -0.1085, 0.9957] state[eef_state]: left_x=0.3453 left_y=-0.1427 left_z=0.0818 left_yaw=1.1332 left_pitch=-0.4842 left_roll=0.3473 left_gripper=0.0711 right_x=0.2485 right_y=0.0045 right_z=0.2018 right_yaw=0.038 right_pitch=-0.5425 right_roll=-0.138 right_gripper=0.9957 state[joint_eff]: [-0.6359, -10.5368, 7.7744, -0.4029, -0.2857, 0.0073, 1.0281, 0.1026, -2.906, 6.106, 1.3407, -0.0757, -0.0171, -0.0073] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.23,"left_z":0.1},"note":"The left wrist now clearly shows the pen nib parallel to the held cap, about 8 cm to image-right. Because the cap’s opening is at the gripper end while its closed tip projects forward, I’m shifting right and about 4 cm outward so that hidden opening comes over the nib."})
tool
executing move_to over 8 steps (0.8s)
step 385
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6601, 2.4046, 2.0808, -1.5707, -0.4625, -1.6409, 0.0711, 0.054, 1.084, 1.15, -1.1717, 0.0708, -0.1085, 0.9957] state[eef_state]: left_x=0.3617 left_y=-0.1765 left_z=0.0523 left_yaw=1.1256 left_pitch=-0.4965 left_roll=0.3355 left_gripper=0.0711 right_x=0.2475 right_y=0.0045 right_z=0.2014 right_yaw=0.038 right_pitch=-0.5467 right_roll=-0.1381 right_gripper=0.9957 state[joint_eff]: [-0.7726, -11.0974, 7.1863, -0.315, -0.3932, -0.0513, 1.0281, -0.0615, -2.5094, 6.1333, 1.1062, -0.0415, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [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 · 13.29 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]: [-0.02, 0.7929, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0166, 0.7914, 0.6086, -0.3786, -0.0238, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0029 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.5385, 10.5231, 1.7411, -0.0562, 0.0464, -0.0366, -0.8821, -1.2103, 9.9077, 1.8681, -0.0073, -0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a4cdba538b80b809f2526d402aed88d7a30bf4d0b43110b90994cb81ac84b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeed7c5dd2805ef0dc9a03555a2c1dde309655c86db226848250d01efb20657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c4fffda510c8cd7ccaba0395fd9318094e6652b875839e185e01c5bfcb3230",
      "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 1 attempt 0 · /responses · status 200 · 7.341 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_07845568bbc1a7a3016ab44c22e19087d089f216bca74c7ecd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_07845568bbc1a7a3016ab44c28456c87d09424f8fbf21bd869",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.29,\"right_z\":0.15,\"right_yaw\":0.75,\"right_gripper\":1.0},\"note\":\"The long pen lies near the table center, angled diagonally, while the cap is left of it. I’m moving the right gripper above the pen’s midpoint and rotating the jaws roughly perpendicular to the pen for a secure body grasp.\"}",
  "call_id": "call_C2McsAA2QazcwGAoSnUa8Wko",
  "id": "fc_07845568bbc1a7a3016ab44c2d148887d09a649591a83b927b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C2McsAA2QazcwGAoSnUa8Wko",
  "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, 0.7994, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.7223, 1.4078, 0.7712, 0.0101, -0.0055, -0.0063, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3045 right_y=0.2744 right_z=0.1306 right_yaw=0.7189 right_pitch=-0.0654 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.7573, 7.0222, 1.7314, -0.0708, 0.0269, -0.0171, 0.6359, -5.6547, 9.4838, 1.956, -0.1392, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6454643a2a5bbdc420d01fe861bec578613dcf5072d6fe2cc76ab203b95846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b08cad1a6611d6930653c1e3c6154036af6c5458ea6857d0658c63da442e7e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e3d33e7f01071bfee2056caa1926e496dab704c41ebc6d499162e5606db62c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 6.011 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0166, 0.7914, 0.6086, -0.3786, -0.0238, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0029 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.5385, 10.5231, 1.7411, -0.0562, 0.0464, -0.0366, -0.8821, -1.2103, 9.9077, 1.8681, -0.0073, -0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.7223, 1.4078, 0.7712, 0.0101, -0.0055, -0.0063, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3045 right_y=0.2744 right_z=0.1306 right_yaw=0.7189 right_pitch=-0.0654 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.7573, 7.0222, 1.7314, -0.0708, 0.0269, -0.0171, 0.6359, -5.6547, 9.4838, 1.956, -0.1392, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6454643a2a5bbdc420d01fe861bec578613dcf5072d6fe2cc76ab203b95846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b08cad1a6611d6930653c1e3c6154036af6c5458ea6857d0658c63da442e7e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e3d33e7f01071bfee2056caa1926e496dab704c41ebc6d499162e5606db62c",
      "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_07845568bbc1a7a3016ab44c313c1087d091dadf77288a5f45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.23},\"note\":\"The right wrist view shows the pen running nearly along the gripper’s approach direction, but about 4 cm to the image-right of the jaw centerline. I’m shifting the gripper sideways toward it while keeping height and orientation unchanged.\"}",
  "call_id": "call_ERmEXKZKVVbfiSpqHcZbktMn",
  "id": "fc_07845568bbc1a7a3016ab44c36d65487d0a1603f9e88913610",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ERmEXKZKVVbfiSpqHcZbktMn",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.5964, 1.3273, 0.6926, -0.0162, -0.0811, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3086 right_y=0.2311 right_z=0.1222 right_yaw=0.6866 right_pitch=-0.0873 right_roll=-0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -0.8274, 7.0496, 1.7216, -0.0659, -0.0317, -0.0171, -0.2667, -6.8444, 6.6667, 1.8046, -0.1294, -0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4091374376aea1d9c4d4bf08e7187fc766d543cb3605bf7bbbe419c02f785228",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6782a837a316ff7d280a6ef89028e20a4c859e6edec59b53b42d45c147a84f01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d32e56f8649d3209191f7e7f2591e6b1cef7bc403fa925e232ba87392eef5b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 5.211 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.7223, 1.4078, 0.7712, 0.0101, -0.0055, -0.0063, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3045 right_y=0.2744 right_z=0.1306 right_yaw=0.7189 right_pitch=-0.0654 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.7573, 7.0222, 1.7314, -0.0708, 0.0269, -0.0171, 0.6359, -5.6547, 9.4838, 1.956, -0.1392, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.5964, 1.3273, 0.6926, -0.0162, -0.0811, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3086 right_y=0.2311 right_z=0.1222 right_yaw=0.6866 right_pitch=-0.0873 right_roll=-0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -0.8274, 7.0496, 1.7216, -0.0659, -0.0317, -0.0171, -0.2667, -6.8444, 6.6667, 1.8046, -0.1294, -0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4091374376aea1d9c4d4bf08e7187fc766d543cb3605bf7bbbe419c02f785228",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6782a837a316ff7d280a6ef89028e20a4c859e6edec59b53b42d45c147a84f01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d32e56f8649d3209191f7e7f2591e6b1cef7bc403fa925e232ba87392eef5b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEw97kDoKfbGdbIAZUxp-Fn7iCgKqqLFCG8vYtsZVW1NKpIhn_ac4Ncy8VUhf-CXRiB4v8jSDCEGAE0aGoWB0T6KxuTr6gc-KOioLmRc8X9UlhkAYQ5syzb5yd_y_mp41qHYxFiWunZhls4zuxqz5MfvRhqJhYkiWrMsalQnKjWNnYJvgDN6gMsYjLS5tfJzuwX16abbmLiRxqIL4nj-aRLwZgtCTjDMJ9HHHk03DU9Pe7HAA-LYmll00OfSeEiziqqNV3U-1nLT0Ic1f3daNYAmLhVBJS01zbb2nXo_O-0jT0XI5lNFlyFTRBziMCgvgBorVoCC5jpkyNBbJNXE1jZyzxdBy338uK2h-r704bMLegyLa2U4t3cZUZ3MVi1rm8GlU7xuEASkNxVJM1cGBM3hbEtricSJjBT2YeB-HYwyHwFhOm3A6Ksd5k2HrVzmLmhkwtX8C2CZMBCKnxNSMyLvics9MeeUXnCWclj2Rwq97jePbVNRWe9dhBsvm3tzeC7VkjP6CRUb3ILia4coNPTPyoRwcILcwem5ClogJ93POQL7XAxHw6lQfQhbiJZrheTgf44jf54vGkGJ7qN_EwCI4SulSD1e_a0nJjerVBOO-Ogf2RAeXj0MO9CBJSqH18dMDeiXyEk7UB0_Y48i50rwyUGeMel9sI0wKKQruvr0DynQi8iXVGxKshHpENJjDlqYfsCXp91sG5Lz_FRQU0mZb6QJLo5YgECxQPioGQ-POePJS8eW__4-DrAuru97K5ypiRUdlSXZEpr9JiAp6ocedsHJMFhZ7fPtcLpQydjlUjFzPddCIyGI9krpTP0CWnEIrQS55jNJLLR9E7T8P5HnRH-FBTCxHjxfykZSxN_wfx3nvRQiIdYLDItEm0e_BgadwSa-LfWD65ARPbWTnaGwtpk3_sNvRwbWMnejZPjNWVC9oH508FvIlfVxEFBVuyI9obOzerRHFiUg72qU57iE4i5MFNr-t1hucTD1WVZMokTGJNvPaPyKwdPK-i17E_N6-z_UmVb5e__B4MBR5fWMrLI5tpkzk5eu38y5mPkM7vH0FGhHD0DDGMfow9xOHS2njC15BgsR9KG7ByT5UdN829RhmvhYlPIR19NRFOneAIYDsXBBmDaNi8XagK-_KoJ3wvnnDYLlH11aZyklRwZTTWNy9EvYBCJq94-cafydRfoHks0Mmp-igqvFhfgJL4-xBbfO4zo5Jrfh3l5pI8uCH9Q4d3gA9yPz3zRKKVIc0gSFMPoaENZTbPk7d2waGA3Dg6X7im5XHWTTCrkvDqr8o3raf2CPMUNhQqpn5kFBb-Iafi26gKpxa_b_9K_h2DO73IcfCCNWywze4-ZcTX4go48iqVGmJazkbfMC_eTDSDx4Equ8i1tFQY30bqWoFlapBjnPtOr00PilqSROJtVHYVo9fCPYzr_Afi_3NQ8R0uPlE-Ah3pmxf-zLFfmq-m9HBryPF7_Sa-PPvjqhvSQCRE7ZMXgXi1c-62A6HE3Pa35HDLaMOphiOq8lzAYU-XRKQ3koheE4l-CDTHdCz-Byc3lgdTGFWMNBt45d5upkmNK6tMLPhX2m32QtXaiJH4OhDgFsbSrmeCjL3jFwmHPRcDmaZlBwrVjMX_WPl0fvDarH5_e_i56kPSCC5Og4oOdsOx0tuYD3z22E99oFpBDgSWQphEG5OC6RFiwl_ElZDY-6ioQz5nB0eHfFgvVoYy-yW-Jkn8Qt2759_YHh7HrOVfiYgXi_ork8pcrjfSri4O3jc2sbBKofu2Xtd4qc8sHEwXVQoCpRyeqjL6ZmrMKZpe9aXJkzr9KbvCRSapMx7wyuWH8OKzn8RlR88zOhC9_ZvrMDqyk4zznN0jYGMEt0N2htskHUfY3uFdOc-79EeNrQRUhNxBARkUw03FrhHbJSGKXmi-j_teUI5PeKeDVFsyCrKg1Bo9ryI7NFJMGxeuNRYjBfJuGuI6lq_z1v74oVffkiOPlNmNTLz_k3OxuSAePR7uOQBHGVAfTuOfsQdgKx5-Kk5qiEgdwN_ZZ1PF5iWy_6-z_YgdYp4uo1LlXV0jWkJUurXQ1jI9W6w8DpDOy22WPF6nPZIocOLwYKaO5peogLZNGszmYKZszx6i3CR4m6VXaJdxCMM9Q8UUm4RjuLSSC-x9Fyx25oXwE5Bhfd3egcMv5qJeh-KXHifkJeXucHIUHJ-_mNhpI88yKOsMxtzV0XHbp99Tt7B3BO__aEvinHcb4h3ZNIgL4c5Tz-wefQgNE0YK727ISuPyrwu8GCkYUfLUJuyNmOLcDGtGBexANl5_cz2NE1103T1wxBqeZUHn32aeUtk1faMotdXt0zuGfFYD_S8vMC2hfP4l51sq6d2zCw8BiD_Q8mua23RoRIl0RLj30eaHfwP1EyBoHPD-nddlrX_LAVI9Pw7bmvf8a3CEe1PouksyliEY6I9XR3XrRQNPegs6TBOvtP2cog-9MALVc1TCe1UC0YT2HvrxxaaLl9wFNfrkXe0ZXEr_MEDPiNsFP9g9xPlI2l30KZmugKprzvYofTlc_qwdhteb_FIok8dI8OAA_m23zmMXv0op3lAyVrKkjfddPitujmQIop2wEd_EX9sroeKf5-Ct3OQ_TY9KHEB2b7iNn_vvCjiwoKjF7LB_3ME60wHP1rQXFv5AP-BhxVRjTMGP6cYXEniqNdQqQi3roE4rxbY8m5_KwUNTcuL43xhqMGjUOvSlpswmvCyb6iBTm2fCx7hV0OXkObmtjkMswlLddJNxY-Ulr44w_1XQxhYgP4Kg2-dD7NJA4w_3tEujT9B5BKSQnqfhC4MVGbvHoiVDzwrpui-cVdAqryXj4rzAfhSGy8w7xRRYWfbEjL7jXOb_Ew0hJu8_OsFKmMu2no7BdhZYY9SdHvHbeoQIpfucj4Q4h1BG7Bfn8F5laJ-O9_6tQItpyrS5yOccmS_y0tMn5qlQZaklqjHnwRlXupxMGEInWze-lhnBmhlX-QrcAEcQtBkLRTeUyedIrjWBTFRYdZ5gIV8F8Cibdyx12ywgDlNyCCKWTMaTaDWxH8W6U0AKKSY969F_Y-cK7wN2AyMiTxWvIkOWEVOzShiRExDzC7yzB7LPT6EpkVdfE78J92J7DDasPQNwm2IHJomTL53Pp2DRYwJcMi6hfcoRy0AWrtJNM=",
  "id": "rs_07845568bbc1a7a3016ab44c392af487d09e72047d70196467",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.205},\"note\":\"The pen shifted toward the jaw column as expected and now sits only about 2 cm to its right; its near end already extends below the wrist image, indicating the fingertips are radially over it. I’m making one smaller lateral correction before descending.\"}",
  "call_id": "call_AJJK2WZO5FeIMobjyyW8kg9t",
  "id": "fc_07845568bbc1a7a3016ab44c3cf52887d0b4201c3fb324d34f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AJJK2WZO5FeIMobjyyW8kg9t",
  "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, 0.8013, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.569, 1.3098, 0.6823, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3079 right_y=0.224 right_z=0.1219 right_yaw=0.6965 right_pitch=-0.0913 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.306, 7.2, 1.7265, -0.0317, -0.0806, -0.0122, -0.3214, -5.2581, 6.4205, 1.7753, -0.0464, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4701e9ad645cb804685448ff5d736e154fd6e393d8bfe8082f90bbbe732d73b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccfb3c5024dcd8600b7e6e81fb4ee7a7cfbcc60cff184a45f78d897aee4c3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b466ce946a202263c1a9ea60fedac440f36759431dc43b97ec8b2c0367494112",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.548 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0166, 0.7914, 0.6086, -0.3786, -0.0238, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2953 right_y=0.0029 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.5385, 10.5231, 1.7411, -0.0562, 0.0464, -0.0366, -0.8821, -1.2103, 9.9077, 1.8681, -0.0073, -0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.5964, 1.3273, 0.6926, -0.0162, -0.0811, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3086 right_y=0.2311 right_z=0.1222 right_yaw=0.6866 right_pitch=-0.0873 right_roll=-0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -0.8274, 7.0496, 1.7216, -0.0659, -0.0317, -0.0171, -0.2667, -6.8444, 6.6667, 1.8046, -0.1294, -0.1343, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.569, 1.3098, 0.6823, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3079 right_y=0.224 right_z=0.1219 right_yaw=0.6965 right_pitch=-0.0913 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.306, 7.2, 1.7265, -0.0317, -0.0806, -0.0122, -0.3214, -5.2581, 6.4205, 1.7753, -0.0464, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4701e9ad645cb804685448ff5d736e154fd6e393d8bfe8082f90bbbe732d73b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccfb3c5024dcd8600b7e6e81fb4ee7a7cfbcc60cff184a45f78d897aee4c3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b466ce946a202263c1a9ea60fedac440f36759431dc43b97ec8b2c0367494112",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExDOaGSmIZSq0CkVDDxU9-4DiEofVjZiQlyEA9mcG_pAsxUT5yKeuGGMuXn0u3_Y15x4ZRYeFJHhT4OmFUSa_VKm169qIqINT92vwYS6mGQArDz_PBuItuvwvQhbIamOPNGtKopZJRnhkf8LImg1XASyLUdZGs3HvECxKj0XeEoHeccd9MUA93edE9CEczKZKllvJtn2svAUQePZRew8U5OC17w699ho0lXOlJHE-XsGaggaeKhLT_fvd3bcQ6Kxbb9P2zyETOYZLTOG58ISNLJARuzCj-y7-DbEiVDeBN7ufaGdZDWo8RgqLuQw08ShuihTGtRZc4QAUH_vilzDGwP9ER-ksNgm6WAMPMFIhoItYOYXQ_N5wonN0dwn3AiZnusF0dch1tIQVb8EonoTrGPkoSkb2V3jPohRJR0MICzhUeqHbdioC_x7WhEFNQpJ8x30_rcgUTuQ2_yqsYM2Y69veSriy9rl0NxYmuK-uGuwZTtTQB_-5ClkMU8vlHod2XVtFkN4XO5gQ3XFSuW862WYGWQUxrifcCfgG3QK7GccX-T4HcosgETuVURLwhHKcxwd1OLSe1ifNaYVzhw3qLbfLj8vGegK3sHEpyz3YWe9z3wEm2XvQ7fMC0GQkeA2zBG9YlmncT9RKPimDh9hXatt2ChNzcQLGi10KFj6xDlzpkXoZDhtazK_aztj_8EO2KrTxKty074RwmtIb5ffO8TDjDGl3LtUzhsufy_bZboljqORTSTTvuc6CEXqPnzNO1kWIlTaKq6qCgmvuDZes9Yg6kt06yu_L1-tj5VqCGCTXHPJNC_J9YISNQwVyWb8phwiVeOjErssiTjKM-uAw1StzJytwj-SLRBm-HrnS-KKX_XsmSVIpVkuqLTD9ERPIFJ4UAT0b0_Yr8be9dpFnEzhFrFGP-rdVcdIMGLOStpSVtxI0qzJOrkQxZD4zSPhdb66GH3zK0zianaqOzLb5_OMZXzCG_VMg0_7R2TaDfberZiGxJZ7hfjaQX0_T30C3Kav5McbQdTGTo68lJd2gmtg-eGCJ5B-so1SJfXGsa21qCEwh_Xln4TUrxDQkUTI7rknWiWDeFidqv16vNlVKSfwMJZLsMZsB0yT5ohwxpDsbLFQJpNYXcsfKV39Gww-v9WUWVHo5KPjy19z035vlMUKaYApHCo8Jc5P9cI-UCiSItEX95UYdo9gEY4yNqvpaHkcV_ihcS0Lw9ZWn4zY9PVceloVRZXhNdKlFAJObkonArrxJUnmoF6nyKVyU6dHt6VyZAAIBGoZPsCqH79FwjGgZx4aHpoqPusaNT2N2vdMg2UYWnBg9EpWsWEIo-pV73ChGiMcq5kYCKTYuZjqkNdHGoGCGMKJe3cYKw3UF07rVLBfWW8q5JLKnAVgl5Xt8Q73hvMXBLDk6cVqdDMCFISGvUq5OaDv1LYGiNekiNIbQ_bPyH4NnC6WTr1fm2JU88AdMF9rKkYS-e2mUDkjIWRyLkqygdSzcALQSE6PRDzu3xXeJYLPOKrc_8ZozwfXtNl7KjVWQatkrMW_lF_-P8ohTczKhu6xpX7rBRjTBC-5t821A8AHbNpDhIL7FMuaqQsLHqT5ne2dU7YCUXCOLpwjcL9Uw0D43uBfWHgQTxpBDOJeMHv1AyH3K8tVDOZUXxLVpHmvbnnC1c4kLWwjBheE6IrWI_TrTp79Em86M3MkSpr7ybO8Maf6CkPucAQrnZB8Zu5ecNIk0Btkg3l-eES_Mr_v-MFKccC1dlVwHusE-5Z5WKzj4jw1I8PiNYck1xqsie5W3IJSOElB9BbH_vqS20JtCkClEOdveZiOFfLzRaAtShyw7du58Aq2JRrszItKfsuUCBwhFwLr6MhXiYJx-xwGJx65HQxX2CuyLpuFixgxlnxNxxM4o_UEG9qErcchXm-ps4CSephe0XXm-DnG934rjll_w6hHlXr87NGfjBKZJqAJoq4DJ8SMnLcXRykGF3xtKs366wkFeqzVf-T1M52mg_MabakKLS5GKeTVYz52QT36dtqyvrL2iQc70DiqDviVkEeuFBodjD2aI53i2Ujky_gwzdivm1KwEkuQg9Dyvxscsho0hh49JdhZO3eBJl6XKYGz-MtSrWrDUtJxSxD1F0eX28ngoG_MbT7AKZbCof-Kz2xmFadx3MpN1anwd-UB2REyOoemIImmhmaIMl0Vb9yqnJcWvirOJuPAy3BZSVTeMttZ8FyyE6Dfk8dtIdUePromJR0W92Cc09M0FBNqGKHtOwjIhULexEpvwY=",
  "id": "rs_07845568bbc1a7a3016ab44c4010bc87d09fb88ba755c23276",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.18,\"right_z\":0.15},\"note\":\"The last small correction stalled about 2 cm short, and the pen remains just right of the jaw midpoint. I’m slightly retracting and raising while requesting the remaining sideways shift, which should ease this awkward configuration without changing the grasp alignment.\"}",
  "call_id": "call_ZIYsNStjbTKcol0jZxXMKFNe",
  "id": "fc_07845568bbc1a7a3016ab44c42518887d0a7c0b74076560dc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZIYsNStjbTKcol0jZxXMKFNe",
  "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]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.569, 1.3098, 0.6804, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3075 right_y=0.2238 right_z=0.1211 right_yaw=0.6966 right_pitch=-0.0932 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.306, 7.2274, 1.7118, -0.0708, -0.0464, -0.0171, -0.3761, -5.2581, 6.6393, 1.707, -0.0708, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09efadd635d707ef3adf467887044270f3e997995a91a69df02115f48a06969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3ad29618214a16bbdada077303bb49c92230ed950b3903cf8e4baceeb88606",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c408f4d03551c1b5918e0206cb3efe4e5f0f150807a90cab480384f0627e13f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.129 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.7223, 1.4078, 0.7712, 0.0101, -0.0055, -0.0063, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3045 right_y=0.2744 right_z=0.1306 right_yaw=0.7189 right_pitch=-0.0654 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.7573, 7.0222, 1.7314, -0.0708, 0.0269, -0.0171, 0.6359, -5.6547, 9.4838, 1.956, -0.1392, -0.0757, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.569, 1.3098, 0.6823, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3079 right_y=0.224 right_z=0.1219 right_yaw=0.6965 right_pitch=-0.0913 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.306, 7.2, 1.7265, -0.0317, -0.0806, -0.0122, -0.3214, -5.2581, 6.4205, 1.7753, -0.0464, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.569, 1.3098, 0.6804, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3075 right_y=0.2238 right_z=0.1211 right_yaw=0.6966 right_pitch=-0.0932 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.306, 7.2274, 1.7118, -0.0708, -0.0464, -0.0171, -0.3761, -5.2581, 6.6393, 1.707, -0.0708, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09efadd635d707ef3adf467887044270f3e997995a91a69df02115f48a06969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3ad29618214a16bbdada077303bb49c92230ed950b3903cf8e4baceeb88606",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c408f4d03551c1b5918e0206cb3efe4e5f0f150807a90cab480384f0627e13f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExGCV4wAH3KMKNboNmNZH0NbdqiHHYa8f0QJCVKG3w7LqSg1LCYuM7Nr3PPu3GO5qw7wu82dMelpq1-doPis5kHL2Z7G8Hmf28DiJ5QlY8mPa5EI504PV3mjEs7JQn_FEd1EPmyA9H0eflxZdtgZLUjixzMEeaNn6uIqksM7zxRJb-6UAv9f9nKA4rXBMxACJDTYPnAlZPbhriOnT9WWczBQOA5PkN_wyokz1N4FLmOB4PLXF6Dbx-w_SpM3A22qwTTMPnE7sWB6Q6EVDSXuNI_0wIUf4RS_cyi2vyF8dsE-XeG7n9yXhFsVVNDR-nNC9BOhcy7IHueAe1rd3ZKbWyWw8jP7vSgaM7FVE6l68pVXnVfy_7D-8cmz65pIs0_HaAtdyMqUlICKiGagkzWemcFVANhyiCplOhUhNQcoDqpMY1np98CSMhCHlYLXUrN3c3PEnqDbGJw_Bx5CLi3VobyoJBtDmU0Pu4xSKciRxfc2KeSAMjwno52eGmkbnXNavUS1aTO2OWVPGaniTajsii-M4xGwrGnBvEMwT7dXYW5dzVEiXZewa7CInMRM_fPajJQcL_OB-miwy99ityTECC2z0DIIa0cTpq8lajyyi6X-Vdh3DS39qKZHv3v3JZhC5_o9qp9UKbvLysj-uxGW3BMTmcebIV11Tcfy6irXDJ2eQaJ0mrxzgN7hhzjyaBNB2MdKRJTtOa0-MJ-_GTPYk4ZYFdqHqmZynuikdxGTnCP8dLXS6Q3r9qnAveF9ebtZGRcIst5UL_NzAEXGus5O99zV23o44s99RslGYwcIQkw-lfWu5Ro935NNCkP6zyrIlb2FSvKrnRJFOpK0wB3XWYfbwZhjcNH5Qz4HPdPIp54bEBHqLwgtbQnqggtwlVP1q8wRFFDqvqtxd-0z-JbwzC4NsupTPSuCJty1xQGdoPXGvUC4WnFnRxd7wbozvB-NerqH9QgW0a8ay1ahY3fbs4uPrEAL-oP1RERc-qtrnUQIXKeX_VjZc0mqF1FPuBJlOqeMOMfQWzwut3WP467QwuE8IbhNczfpOLIHJi7bNI7aG43y5UV3jSP6WBGKeHsLoUlsdfH4vNqie8AP8WDoDFmg7z0_teWZz9SWm4emjNANs4pv-ld-dJI2EJQCZ8Lxq_huCnY7HjrTtg1HaDkommh14ZKJrLZ8dWsli_Qo131E8MygIiRL3M1jKn9BaJzpqxQLkP-4Vwuh8fgmWixCjaWQZ0wPlbWnajaraOdMTsfjnuZLsSyefM3aV_dXw9No8na0iq2VUv4PvuqoJei_C85o75rD7Fj-FNOkVOqKM4n4yntjOGyl9pTG-IEMhFQRkHvrZEzCkh9uzSqzOk1jICU5NduUj2rFlzXAIjZhtxbG_0_xE_ZtFfuFPZw7u2y5_sf3u2SDKhyP2ingJ40DMrAQv2RxyIioBFQPgj82Y2FTck=",
  "id": "rs_07845568bbc1a7a3016ab44c44a9b887d085f7bdf9907801a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.18,\"right_z\":0.22,\"right_yaw\":0.65},\"note\":\"The arm held completely at its current pose, so this is an inverse-kinematics stall rather than visual uncertainty. I’m lifting and retracting into freer space while preserving roughly the same yaw, then I can approach the pen from the corrected lateral coordinate.\"}",
  "call_id": "call_4l067hvAS9etviSQbeSuYKYJ",
  "id": "fc_07845568bbc1a7a3016ab44c455ad887d083d4a0741327ff27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4l067hvAS9etviSQbeSuYKYJ",
  "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, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9998, 0.5167, 1.087, 0.8528, -0.2829, -0.1123, -0.0906, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3042 right_y=0.1997 right_z=0.226 right_yaw=0.6487 right_pitch=0.0478 right_roll=-0.0232 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2376, 7.4325, 1.7607, -0.0708, -0.0415, -0.0171, 0.3487, -3.3299, 7.7197, 1.4628, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb54d516cc522f9db04b5ab8c224f9bbff42f5544f2f61351d19459976d1945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3daf1afbd44f8076956b56304163121374c5560ef3a61fc3f7a3462ccc09ef31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8131210e60cc5e1d8b960ccaada656a5438f703b172697651b0bb9879b0093c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.841 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.5964, 1.3273, 0.6926, -0.0162, -0.0811, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3086 right_y=0.2311 right_z=0.1222 right_yaw=0.6866 right_pitch=-0.0873 right_roll=-0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -0.8274, 7.0496, 1.7216, -0.0659, -0.0317, -0.0171, -0.2667, -6.8444, 6.6667, 1.8046, -0.1294, -0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.569, 1.3098, 0.6804, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3075 right_y=0.2238 right_z=0.1211 right_yaw=0.6966 right_pitch=-0.0932 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.306, 7.2274, 1.7118, -0.0708, -0.0464, -0.0171, -0.3761, -5.2581, 6.6393, 1.707, -0.0708, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9998, 0.5167, 1.087, 0.8528, -0.2829, -0.1123, -0.0906, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3042 right_y=0.1997 right_z=0.226 right_yaw=0.6487 right_pitch=0.0478 right_roll=-0.0232 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2376, 7.4325, 1.7607, -0.0708, -0.0415, -0.0171, 0.3487, -3.3299, 7.7197, 1.4628, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb54d516cc522f9db04b5ab8c224f9bbff42f5544f2f61351d19459976d1945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3daf1afbd44f8076956b56304163121374c5560ef3a61fc3f7a3462ccc09ef31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8131210e60cc5e1d8b960ccaada656a5438f703b172697651b0bb9879b0093c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExKDHwh-MH5xriBC9NrYSAXqOJNFK_bv6TO87TKk1h35SqCwqyjK3p9MMjjM4y1Ih1EulpNGUsTsCfY7cO1py29cyFTOR2cBJMiuxAO56YpIbCI6gOfdjT2rr11I20mrpnY8QqaoNUIq5vqzyQ4BIm-8anH9vsw2N6odT1oXvY1woxWwm43c-UD9Hma22yRmcrrwF7aeM9ElhA8OO-HkPF1jlqKVEivlCMVFvSRJ5OMgbWO07DSxms-TKsRa_dKw2f0AHIkvmu3OvBiRhNZ5DF9P6Nj1-DBTKAYD6Ri3HYlhkqOv_Ctc9TwiRBnA3yC-Vfn6_MDd9SpaEYwhNuUCpR767xoF23Ck1q7If8kxLUVmYsBbDTXgzwssPMTMB5RUgOm_GZ2N5UQlNP0fguags6ijRkPjaeBmSnefYdtBc2InklKBWDccnG6SVXnJT4f-HRbLT8WOj3mLdmf214tD0qMY8ihjKciS7CWApdoDKFJFJXGdP0MB9xkrB18-_d5Fito1n_B7JplRt1S7-6IdB6_Rofxc1woJP7sIowkAtJhxI7T4czzeytqSkkRhZNeHT2kOhr0AFUHzCkeIEfH_AZ69n7Khx7a4aQZVlsQ85SC8HQqb-JILLpSL203RTesmSVxh3rhY6AIbacG896ZSF7dmOzR0RhpdyIgj7EytKhtgqwkHC1c227NlJdAos1aEKlGBsibLqZMPpXlMtiKlYa9Z_1T8GNFizpS9rxoJDlQrylk2GXITMuYZQex4PNfSg_t2B5BdUI5ten_9ix1ZxoHQATeH-yFm0NeFxBUogdkgeDtBvJlYWmxVptNkAzuP3d8JpMWlEcN50Ux6y9kaTdGGDdvXQ5E0jQfzF0j5nM0ojRsc4-H1SeI7nQcTgN9Pro05N67quyKkjT5ti-8FBKhzqJ1ephY_j0mfDCNKtvxWlgBuzkS5KCSs-smJDDGoxb5DSSX1WUaaHpZN0htkGpB-KFmvzt8oQt6EE2HCthsPVZnXVFPhlC9qaLIyJ5I-JNYB6OBoEXatmoiMwlTHZnMxdUyg6hGL4KUtmH8m4EeEkxf-EOo06Jmn6KsSo2cJazorI-m6rwpRH3CVTOQLrDOudpn-UJ6ayhLzK9heeqBRFQYt7EnIfyBqU1mv_MzDxvE11ZYZUyk_R9Y8QAr9t_NJJvC8C6pwJezqF2Yju3V1McdFY2aCUR5eyH7Om1GqITVN6ClY_fqurCKC8mpFCIcZppUYfOZCLvLQycGVqwQsMEoAHVRmgzbv6Qhq9F15SukJILZpdzfgBC3IfUSuvTXXRcJ9Kg1z1tAd0EwNBnnXvWHzwYeqH_iSdHRzIgFaEdRiBHY-JU6NGKt0bOm_pIIwn2vZ3smgWuCvZn35gy0zg-k9fX9V7nVZUfsTf_EkCwZEwbQfAvJ9y8ac6KYOfr0rWGiLouFUCJ86j7T5pmRIFRIoZR7Izahv5uWxHxoPNkvmyeFyC-IF6Z8bbQ3aI4JkmOeLFEEvpw9btjAjk6xYUzfKY11rhjiUZILhgVIGBxgYGkDjilmZEizd17i2qZnWM64NFAi5McA9L4V-9zIejUDzivBhXoh_xlqNCGOHlRtiu9rZzlmqJeSZ4E8j2rrUIIIWb2HGirnMmUtLw-0KwEsgZAKVxSCvmsGhMVnFsby4ySpErT5W-3tEyX-pEYv8wdfQ5F2k1XhI9iANAp45VPcpmPXchP-l1bGtCiHqF9cEcTU3PMMgSxqwi_Ls0cGaOsT_NFWymd3Pa0M-Mm5gtoSa9Bytxgx4fhRDA2cWrl4GYdkOTcFNiTtp_gunJtb5hmVER_P_NEALp367Zg3qtY=",
  "id": "rs_07845568bbc1a7a3016ab44c47ed9c87d0951126ae7193e791",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.01},\"note\":\"After lifting, the lateral correction succeeded: the pen is now centered on the jaw column and aligned lengthwise in the right wrist view. I’m descending straight to table level while keeping that alignment fixed.\"}",
  "call_id": "call_DOw9ZJ426MIy35aHEIlyzPJi",
  "id": "fc_07845568bbc1a7a3016ab44c496a5487d0a871c1a2437f6ac1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DOw9ZJ426MIy35aHEIlyzPJi",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8104, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.5137, 1.7252, 0.2802, 0.844, -0.1078, -0.0986, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1746 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9998 right_x=0.2969 right_y=0.1934 right_z=-0.0015 right_yaw=0.646 right_pitch=-0.0358 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.4974, 7.3915, 1.6874, -0.0269, -0.0513, -0.0171, -0.0479, -4.9299, 2.8786, 1.2039, -0.1538, 0.149, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa099ca991caec409e00c5f76ff4de0aebcc8f50c8ad788321abaa9201947516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74af71270bfd9961787df3a0d6cefdf37ed57a6b8e819fc381809340266d72da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc9a17398c8a5722a5bda6738c9d7d34869ab87c99cdd88db947fcbe433e05f",
      "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 · 4.516 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0216, -0.0254, 0.9998, 0.569, 1.3098, 0.6823, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3079 right_y=0.224 right_z=0.1219 right_yaw=0.6965 right_pitch=-0.0913 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.306, 7.2, 1.7265, -0.0317, -0.0806, -0.0122, -0.3214, -5.2581, 6.4205, 1.7753, -0.0464, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9998, 0.5167, 1.087, 0.8528, -0.2829, -0.1123, -0.0906, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3042 right_y=0.1997 right_z=0.226 right_yaw=0.6487 right_pitch=0.0478 right_roll=-0.0232 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2376, 7.4325, 1.7607, -0.0708, -0.0415, -0.0171, 0.3487, -3.3299, 7.7197, 1.4628, -0.0757, -0.0562, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8104, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.5137, 1.7252, 0.2802, 0.844, -0.1078, -0.0986, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1746 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9998 right_x=0.2969 right_y=0.1934 right_z=-0.0015 right_yaw=0.646 right_pitch=-0.0358 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.4974, 7.3915, 1.6874, -0.0269, -0.0513, -0.0171, -0.0479, -4.9299, 2.8786, 1.2039, -0.1538, 0.149, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa099ca991caec409e00c5f76ff4de0aebcc8f50c8ad788321abaa9201947516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74af71270bfd9961787df3a0d6cefdf37ed57a6b8e819fc381809340266d72da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc9a17398c8a5722a5bda6738c9d7d34869ab87c99cdd88db947fcbe433e05f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExPLWFwLJAXPlYZZgScv1bQF-0jyZWRe_UH1Bg8Dyi9Z5OYrrLkgo9RZsDqZKgvQZIQSpLHYPhk60gACUe3nlJ0amnVleN9_7lnuGyPiIbt20LwnobLdDrF6MOnzFoMWnx0jQKUIJrABrKY0MXvbkMlzMSwwoOxRlghdiqE-FR000AG74flCR0wSlqZvI_yPDfgsw551oYYGnY-vk25lv0Oas-OHPqhe2G41dbPNkyxaPM0rfksu4wt3Dr-hAFkvu6jgVd0ihPAYBcFF__K1NODY0J4yzVW6RjtMYX4Ghs-1a-kHrzBvBjEvzN5pNNIxVVSiu80QgtvmSG4r8Ufc-9dH27Cw5q1woEIAn7G-kSibsdhX0jkCFWK6YyDWTogcfgCfYGvy2rwu5hygjiCaR3_hetz_kVS6IJHqST6KirmREPcsTCBcYXxQYP6ZW8QKNJfnoN0A2D-Gi7Ipt7MbZw5Nqn_wW8wo2hBGbkOm1-WfD1EQ6rbyWoRjBkglUmBo1p83-KFDPzJq0n2gMEJx4iDhb0sAb6ZZvXWiGpYkoTfDxR02o-MvU1eQoc2omdos9X07RzJHHd3qYeoh9fkR4kzIkN3tPa21qkPLEHnJDIbprcBtZWu9a7AQQfOV_G-V8qrlFixvy6vnEkuthnrAFLdyK4feapenKqSSlxTmpQuV8dPdGbMLLRFoegwTnWZg5tB2Gqik5PReipmTtEs-yXl-xkl0uiEYfzHcJejstYqLVJSKmepuXfg3_OG5SgDG9Ee_mn291hhkdcV22k-9fw8Ui2R6-nDnUW3lenQePe3iUtntlIVkhbf57Lhyd6_6FNXadO9M0Kl-1eAfV9MGzkE9jalJr-0AbTEzIkU8bAYcge6JsdUuyHj2SPcgHBhAQ1uA0LTtc_HOMGee2Q7NQnMwj92sG5ggEHlWP2V6iCiRs6YmtrDeO2_adn6i6U4NsnzRwlKx8VKNNOC1yCoSySJfaEGnp62EntI-hGP7QpxT68lNz_MfeoigHAwrBKLT60xh9TVKAKPrWaIKGSQ9nXMAnN4FRrofgwybW3dXjNG39DiHgQ8zfE_7A_9CQHlxBXBOgho09nS869oI0eeLzoMh_aKN6zbC4ncv7gudj--ADjU0egWNULjdyWrZxu3Uj5b-tOv4sOWPdAN_L8PuDFv_H02VXT4g3ZmM87itjwWHWjrRlpU-SaothkV2vrNTMytwF-U3VEzTToivAwKSgK2hjwq_Gk5siJZ3f13FLpQobwzgWdCao73o2QWcwongvF3LfO1C4b-A1YpA47cr-WF3kn1hHZxxrA0MgyDnQAXuK-g3j5wCsN-CVifAAQjIfBp",
  "id": "rs_07845568bbc1a7a3016ab44c4d163887d09d817b41fb16572d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the pen is clearly centered between the open fingertips, with the jaws straddling its body near the rear end. I’m closing the right gripper to secure it.\"}",
  "call_id": "call_9k7Ul08JvhGdiskKJZv91rhf",
  "id": "fc_07845568bbc1a7a3016ab44c4dc0e087d0adb113a13b4b9114",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9k7Ul08JvhGdiskKJZv91rhf",
  "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, 0.8108, 0.6029, -0.3817, -0.0216, -0.0254, 0.9998, 0.5125, 1.7344, 0.2768, 0.8684, -0.1101, -0.1017, 0.0452]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2978 right_y=0.1939 right_z=-0.0005 right_yaw=0.6483 right_pitch=-0.0239 right_roll=-0.0242 right_gripper=0.0452\nstate[joint_eff]: [-0.3214, -1.2239, 7.0632, 1.7314, -0.0366, -0.0317, -0.0171, -0.1299, -6.3932, 3.8496, 1.4628, -0.0269, -0.0122, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e2bbef224570970c631a85fbadbb88fc3cdbd4e51449583d5263b17ed262cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bac7015469c706d5038429b9279665b8e94500d9d4632f663553ad9877b64cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6745fc5e9a09c5364c913ba333a592998f99557d6591cf142af91613b89d604d",
      "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 · 8.086 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.569, 1.3098, 0.6804, -0.0296, -0.1093, -0.0864, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3075 right_y=0.2238 right_z=0.1211 right_yaw=0.6966 right_pitch=-0.0932 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.306, 7.2274, 1.7118, -0.0708, -0.0464, -0.0171, -0.3761, -5.2581, 6.6393, 1.707, -0.0708, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8104, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.5137, 1.7252, 0.2802, 0.844, -0.1078, -0.0986, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1746 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9998 right_x=0.2969 right_y=0.1934 right_z=-0.0015 right_yaw=0.646 right_pitch=-0.0358 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.4974, 7.3915, 1.6874, -0.0269, -0.0513, -0.0171, -0.0479, -4.9299, 2.8786, 1.2039, -0.1538, 0.149, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0216, -0.0254, 0.9998, 0.5125, 1.7344, 0.2768, 0.8684, -0.1101, -0.1017, 0.0452]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2978 right_y=0.1939 right_z=-0.0005 right_yaw=0.6483 right_pitch=-0.0239 right_roll=-0.0242 right_gripper=0.0452\nstate[joint_eff]: [-0.3214, -1.2239, 7.0632, 1.7314, -0.0366, -0.0317, -0.0171, -0.1299, -6.3932, 3.8496, 1.4628, -0.0269, -0.0122, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e2bbef224570970c631a85fbadbb88fc3cdbd4e51449583d5263b17ed262cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bac7015469c706d5038429b9279665b8e94500d9d4632f663553ad9877b64cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6745fc5e9a09c5364c913ba333a592998f99557d6591cf142af91613b89d604d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExUblFUkMhGBV-n7AO3OpUBp4XUxCZabkcMtKS5VPkc6N9_m8mR8vfm94X35heD8Hau8_C39R5kKtS8Fc8FmuFNCL-IG0yyAkCD9zYRY_y0pdGdItzjzaIJ1SEeCh-mIXGlhQzPqNKWGjWL4-3B-h6fRdazV65U0QMRHwEOKgc8x3zvfSKMKyvoDVGITrZLYYWYNh5jQ6pQUADXxj0tMiZNgNN__6DcW2AEo8LbwYo9Ziw9GiXRg7HWIF7TEenpUHCTtoGi2QrZ1oHjMxBojVrDyJ-zB_93fskDgmzJKVMD50OyMgDdY1IxbqL3nuBrvvePururkQ4g9uc-eTqioN8193Z058NNSwsIptk6vHxpVrw1m0FtmDiB01zTZOuWP2YcPAT07SiXNbRMOgseGram6mkDTC1HWJtO3BX5RIDL4UH5Wkk4EnoSkTB20ZcWgUBekAYtEVAjYYBoKHpDWRJKAv8TZT1veexGSAaRjDpcNT54wg9HuV_d73u6aN9ecDSrS6SPrOTDUnC3x_avL4XIZ58AHPN2h-3S1kJKZcz4sGFYmGRaertRADTfKg_so2lWv9oyfrfYxB11i5mEogsHFxldysW3Lv_lNJDUyZHTKQ2d_rdJyEhPvTof68ow8C-u_e7j04At_aH2wU-ucEVauDqSE7EpzC87YLaRQW1wlFYXru50Jjcmi1mGuo34yyHizjLZpl3Jx3qSl5zENkduZK1PYakyVIw2-uRifVaB3lrq7_loXAonvoE_hn8XpuhLEk_sOiA3-92PBKzUM4Jw4ndq1MzaZH7MgN2vKu08mDoft91v189k9JfXpWeCl9POIHZv6nJ2FBkFGlWuiTsrrGOaUtrcqjUcarVbbOnkWNMbpEoO-IvUs3h3qR2JDApDwaAuQMhHcBzSPKi8MpyQEv3YtvXqDzZO_jRZg1HBWCxyvMYYLafsetr382FKd8-1nQ-bnbuqkjFYQTEZlU0kmeUYbgOqJ2QrebKK5r9iZtzhIejYQjctW0GMcC0CyZxy7Whz3sY2Nw0NofZ9awrYXZS7XhktAgZyXYk62yZAD5iLtOb3jO30mVMZ_4js0PL2eqUE4LG5zrlyBdsdM5FhuJbs3mdDAiFpBYnbR3rgyH3gywxdOARQNihVKxYeowIrJJORkWVTbsTeyzjV8o8BEqo3rsMZJZ9NJtsjz24DzoE4c8XTrTNoZN_SIxKpOqr45ltBpG9tWHQ-DcHZWrY3YUZ1jgHhc_er8vbCLGuijXkflBTO_sCPoyIwR9uY6sGV86kjtOZXvzVTmWrkThOiSOGVuNEAcKjdOQ2svTnqPEs=",
  "id": "rs_07845568bbc1a7a3016ab44c5298f087d092df547b8d1a019a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The closed gripper settled at 0.045, consistent with the thin pen rather than a fully empty close, and the pen remains aligned between the jaws. I’m lifting it 8 cm to confirm the pen moves with the gripper.\"}",
  "call_id": "call_qxAEp3oPRwaLUiIFE5rI2oWT",
  "id": "fc_07845568bbc1a7a3016ab44c5335c087d098eb259c9eeda417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qxAEp3oPRwaLUiIFE5rI2oWT",
  "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, 0.8146, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.5125, 1.3281, 0.382, 0.3901, -0.1093, -0.1024, 0.0491]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1735 left_yaw=0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9998 right_x=0.3002 right_y=0.1951 right_z=0.0751 right_yaw=0.6481 right_pitch=0.0089 right_roll=-0.0297 right_gripper=0.0491\nstate[joint_eff]: [-0.1162, -1.4838, 7.2137, 1.7265, -0.0708, -0.0073, -0.0171, -0.2667, -5.1624, 8.0615, 1.7314, -0.0904, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1e59650aa7a03bc4d68e2847865571daf23e0d4e62635d6741de9703331736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c032e045f948e2652b6116bc8c47d03f33193568c179821d8613081ec48fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9880ff31bc81911dd1e3ace7c2f353cfcbc201bc40778a27a59ea217c6b0ca12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.481 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9998, 0.5167, 1.087, 0.8528, -0.2829, -0.1123, -0.0906, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3042 right_y=0.1997 right_z=0.226 right_yaw=0.6487 right_pitch=0.0478 right_roll=-0.0232 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.2376, 7.4325, 1.7607, -0.0708, -0.0415, -0.0171, 0.3487, -3.3299, 7.7197, 1.4628, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0216, -0.0254, 0.9998, 0.5125, 1.7344, 0.2768, 0.8684, -0.1101, -0.1017, 0.0452]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2978 right_y=0.1939 right_z=-0.0005 right_yaw=0.6483 right_pitch=-0.0239 right_roll=-0.0242 right_gripper=0.0452\nstate[joint_eff]: [-0.3214, -1.2239, 7.0632, 1.7314, -0.0366, -0.0317, -0.0171, -0.1299, -6.3932, 3.8496, 1.4628, -0.0269, -0.0122, 1.0085]\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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.5125, 1.3281, 0.382, 0.3901, -0.1093, -0.1024, 0.0491]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1735 left_yaw=0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9998 right_x=0.3002 right_y=0.1951 right_z=0.0751 right_yaw=0.6481 right_pitch=0.0089 right_roll=-0.0297 right_gripper=0.0491\nstate[joint_eff]: [-0.1162, -1.4838, 7.2137, 1.7265, -0.0708, -0.0073, -0.0171, -0.2667, -5.1624, 8.0615, 1.7314, -0.0904, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1e59650aa7a03bc4d68e2847865571daf23e0d4e62635d6741de9703331736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c032e045f948e2652b6116bc8c47d03f33193568c179821d8613081ec48fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9880ff31bc81911dd1e3ace7c2f353cfcbc201bc40778a27a59ea217c6b0ca12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_07845568bbc1a7a3016ab44c56581487d08ba083e9728cdc6c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtExdhrDG080aiQQSPFEJAMY3kJ1oF82y548TthomOxDr0pJQqw9m2Y8XvT3LtNPpuUrPQnlBHRWGfP2yirVKcJ8zlh1PrtWwnpVv3TYyxdIwVjORbAcU3yduDegVkyTjwaqlGTfcrQFc82NYUmXcalUmSjsojwX5oAgO6t9SKkqtT9fek1_jvk1tWodyPjyhPtOdrSNqjrKGdhhUBSek9LaiImFUu8lNLp8QrpEiQqB-v0eown3VGpEcigsT8Y4EkqdWM3sZVQqreb10ydJZMDQHQHE2OWZydatML34g-TYFZs_fMI6_WQMa1H1-9q6i5P3qv_07hB82NHLHuNaCH85BPC9cdoJMrvkByzbZWXudtjLHwhRMMYm7gSsy0mA0KffrbY78for6jiHqE-o37bHBIHZUnHxgEm_LhZ6PQA5GOe7NvX93otn7Jq-nESpCvBpF8UtjUz2CNhEFDhMYUYrCREOzA8O_Q_9b5UONAQiOggk0DIczHeI5x9H4Bp59QS2qKnBtClmuLHq7ywu8hkxpnRBvf5zqkDADs8aT_TK3mcbA94sUwzP8xoCTSLyVJI7QOf5Lhe9k7MAIjhoOMbnRHUWFw2F0j0kAVuCifTSVOoiwr0X9WratMACeOgMQoTUsV1eaSUNfcSqoFYkoYyvpM-Td8TL-YPeLhPNklV_fwftEA4VDaWoAy5entMlu4AgTvoJJb5uWyKSHgJkbvt6kG5jBweaWwN2a3w3CDG2dWr0WPI731L3wM30b1lZo-ns9ZFwox338oQMmYDEoJmr3xCjm8xjccEcsVYXhx12ZDLrpsaCOpGJS0Bl9FglOPbMsPVyCSTHVuofETBq8NG0cVkxT_E_JrB5wqPrzePM_HVsA5iAjmk3mwsVo5JYGGM2UlDWQ2yiOpUkBdHvCJ2bMjXviuFDfrhj9i4L01E-KS7RVJru9WwaXKMnJerSkFTRaJd9jkay8uVLo8LGRH_q-KR0gk1Al8vTC9yxlQ7t3feKovXwNL0tAKiqdF8g2xLCMcc0hPX5E8mZSR8x-tqMtKwkN62gUN6wQ8N-ppkS1CUUlQriqfSXOvOGMDBMNKza-3KMe_MxAZaOXRFgm_DMA-eqADkncSjhEUWNAUt_HJfi1HDeCiaWrmtHGgIzZ8xdUuLUgxdp2qL9vtt9ZrsU3diQmWGgufZs-lUoPIrTd0a-JdW61BdcDxmvhmtXqM34kClE6l0YL1tBrhYNlZngSej-9Wz2R34vMHiHfCJExrkj9a3cGIqBgvRA7_xeObcicsEtYGk1B16ITPr9bybH7dX957O836iu-iVXZt9h3IVzYRQC9dsQlZLK95F2FvwV9HLXtSLEjohv5MlWUyMQW3sYvNfDjNvdpmuyFT820cmgqIROvQZ1q_yB7Ssf2xA6qikhftQWaA8arXPPwJbTLlaD88QAWtGNGjWhXVWZIPb5nfsNOQwMZtHNVKcRUSY3ZBOYZs4S2cSVAc_XZUdu7_FP0ImdVNNKMJnnyj_WCl19NZ1OSooOVXsTprMBcNRqTlRofVDPr2DEurItvNeAGSaLWYZJOr_yjwz0p0I_DjDYEZ7I5YKMQ9QsGtZ7A_aBc",
  "id": "rs_07845568bbc1a7a3016ab44c5b91d087d081eb99fe1906cc2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.18},\"note\":\"The overhead view confirms the pen lifted with the right gripper. I’m moving it to a higher, right-side holding pose that keeps the pen tip accessible near the center while clearing the left arm’s route to the loose cap.\"}",
  "call_id": "call_VxLiRm7eURMRO6s8fK06vRO5",
  "id": "fc_07845568bbc1a7a3016ab44c5c675487d0a9011b226fbb1c07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VxLiRm7eURMRO6s8fK06vRO5",
  "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, 0.8192, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.7395, 1.4872, 0.9382, -0.0135, 0.0605, -0.0063, 0.0526]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=-0.0001 left_pitch=-0.0256 left_roll=-0.0 left_gripper=0.9998 right_x=0.3349 right_y=0.2959 right_z=0.1672 right_yaw=0.6803 right_pitch=-0.0002 right_roll=-0.0378 right_gripper=0.0526\nstate[joint_eff]: [-0.1436, -1.7162, 7.1726, 1.7021, -0.0611, -0.0464, -0.0122, 0.4581, -6.4479, 8.8, 1.7705, 0.2662, 0.2613, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e819019f7e4bd1c3f052de53d167947eb01181f748be47ded01f3d54fee18faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:847fa82fb7b5ad4a2cab080f9fec2c891551759dadad2ec9e612f1c24c889276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eea98ca328022ae400d0dc2e7c1c5889662af704c2f8a3481e3bcd3601f046d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.049 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8104, 0.6029, -0.3817, -0.0219, -0.025, 0.9998, 0.5137, 1.7252, 0.2802, 0.844, -0.1078, -0.0986, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1746 left_yaw=0.0002 left_pitch=-0.0172 left_roll=0.0 left_gripper=0.9998 right_x=0.2969 right_y=0.1934 right_z=-0.0015 right_yaw=0.646 right_pitch=-0.0358 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.4974, 7.3915, 1.6874, -0.0269, -0.0513, -0.0171, -0.0479, -4.9299, 2.8786, 1.2039, -0.1538, 0.149, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.5125, 1.3281, 0.382, 0.3901, -0.1093, -0.1024, 0.0491]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1735 left_yaw=0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9998 right_x=0.3002 right_y=0.1951 right_z=0.0751 right_yaw=0.6481 right_pitch=0.0089 right_roll=-0.0297 right_gripper=0.0491\nstate[joint_eff]: [-0.1162, -1.4838, 7.2137, 1.7265, -0.0708, -0.0073, -0.0171, -0.2667, -5.1624, 8.0615, 1.7314, -0.0904, -0.0513, 1.0281]",
      "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, 0.8192, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.7395, 1.4872, 0.9382, -0.0135, 0.0605, -0.0063, 0.0526]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=-0.0001 left_pitch=-0.0256 left_roll=-0.0 left_gripper=0.9998 right_x=0.3349 right_y=0.2959 right_z=0.1672 right_yaw=0.6803 right_pitch=-0.0002 right_roll=-0.0378 right_gripper=0.0526\nstate[joint_eff]: [-0.1436, -1.7162, 7.1726, 1.7021, -0.0611, -0.0464, -0.0122, 0.4581, -6.4479, 8.8, 1.7705, 0.2662, 0.2613, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e819019f7e4bd1c3f052de53d167947eb01181f748be47ded01f3d54fee18faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:847fa82fb7b5ad4a2cab080f9fec2c891551759dadad2ec9e612f1c24c889276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eea98ca328022ae400d0dc2e7c1c5889662af704c2f8a3481e3bcd3601f046d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExgUV-aAzFrrFFP6FAnadGzQANvEazwE55WBAlbGxoJWUrpHp6fjzbbECY0K1EW3h80ulyfiUiElGXZDyjxRVU2FnDoJTUUQEBjs5cQ_pyEG5seJzobg0FUbkvZqbEFswU_ADwli7RrfXlHV4uoeX7KPRGKBvsVDy57kr9XVo0hOy0Mr6CFgf0gseAt61miNuMvg8CRkofm0X8NE-S6GOB6qWV7pGfoIbUFpkIiwcKjXx8W9JSw8aFbzgHozlgerbAv_YNAv7-mWwlHPC-uBuh44-mVwLD-rjI4FDgu0GE89akgLeMQmHJ62UJm7nw-gny3djw1Vn9Qt0qvb3ePJabreq_YiBnskqbiec-5QkHzx6XZL6UJoKDo9qwINNoIMHqSzS5SE64QdvovTMczNUyByuZ33Kv40akJlf4uSsnvLa3RlCrr7d457J6uKumAozFvrvJ7huuLi3mTaft-k3OCwTTJhGB3vVrfkFxethgieJVYyhjBRFwR5stGr8MpK-0NgId0mTD79KNV0lim1NRAOZ9uN7rVEB5qkAhXekgUwDEmuz-fQ2NNTJabNaEpFf9TOs3slw6D_eeIOAl8KYFPIXn_ApZjn_pKz3uX8I2SZJuVycSuV1r3fcDCWkORjr4wObxpAm7TWCR8_g8fAn6G9yTGuCN5wtG0u6Kg_l4ZqUrqp7hVg95aPCs4ZVSpvatnJUuLygWy4x-tN2H-vXY5lYJlUmwBvcCevwwAk887sK0RcRRI4SIciDbxioe9HhA2aAke_FaKAlc9OkOMy70RtV6DBv_JYIsKDbO8anKtH2EFYS1uDTXwWwqHn2OLx8gs5QZIuJ39NDRryTDb5BCLTX1FPfUzT0pYr5PDSj0vjeNc0UcjzlGScxi4JGsjq1eABTJ4t5JfnAarOr_12CN3huvvz9r2aM_R-NxQpBk88IOiisPFLYSb4i2yI1JflbcUnL9IOzmcV_qAPFcX602wNeRVXmuETvub__2rGYJUDBmDhXSPSIdFrltNsPv_hTUwCJ0xI4CiApC4djRhca2i78sPy3s-Ot6vp-eXp08R5-uut28MUzcX495qyemLlR54yKjcE47jZ_2h5rHmbQig2NjA3XOwtUTfe9GxbYmSPVFV3Vc8vriTJBipt6LIQ_fEVmd6NWRkfzAXE0cW6V5p6jFDbO9tauhvgCMvUzS1Jot_tUeOGy3BRSj11MKWO2f2JQ2g2IASt7SnR6qZDuid5_4zgqkexe2D2jcDgCY0MwepIBhQCv9JpPt_d7YkXEBMYFlx_0Wu04ukLWxRvfZsG5fh_89B_C3aqIr9Og4mPbFR8SEKNhkpVOYSe_vH1vOsnVSsEvXNCdfmtLk4K9qdKIf8hHiw6e4mlZxYfkWMEThL6gNe9x5f0DsW3veojEM4-L4fvV_G7Z9-7D6hyF_iNdNTtt7qP-S1HKKrgp_bcMhSz8WgHbBLEu4nS0_xdhwGhqCgDdG3-9rtaczzLevQ0A==",
  "id": "rs_07845568bbc1a7a3016ab44c5f2e2887d0a61a244153d592f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.21,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0},\"note\":\"The pen is now securely held high on the right, and the loose cap remains alone left of center. I’m moving the left gripper above the cap and rotating its jaws perpendicular to the cap’s diagonal axis.\"}",
  "call_id": "call_NCCUoY61XPyI59Nzlz7ReXKD",
  "id": "fc_07845568bbc1a7a3016ab44c5fca6087d0997b95f2e74adda5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NCCUoY61XPyI59Nzlz7ReXKD",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.6296, 1.1721, 0.6239, -0.1459, -0.062, -0.0639, 0.9998, 0.741, 1.4944, 0.9379, -0.0299, 0.0525, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2893 left_y=-0.1928 left_z=0.1214 left_yaw=-0.5541 left_pitch=-0.1206 left_roll=-0.0022 left_gripper=0.9998 right_x=0.3322 right_y=0.2962 right_z=0.1605 right_yaw=0.6894 right_pitch=-0.0244 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.2667, -4.2188, 10.5231, 1.9365, 0.1538, 0.2271, -0.0366, -0.4718, -7.3915, 6.8855, 1.8779, 0.0659, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1360525841de048a96e8dd4146e217f219d9879dedb2bfe1b52bd13be0003364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6c1ff693ac095ab9ffeb98b1b6e04c24112da841bde9299ad6ee13ea0ad181",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5722975fce12dcb987dd7a9e96e45c0f84d919ab8e5c2d1239c4f437e1ed41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.768 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8108, 0.6029, -0.3817, -0.0216, -0.0254, 0.9998, 0.5125, 1.7344, 0.2768, 0.8684, -0.1101, -0.1017, 0.0452]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1745 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2978 right_y=0.1939 right_z=-0.0005 right_yaw=0.6483 right_pitch=-0.0239 right_roll=-0.0242 right_gripper=0.0452\nstate[joint_eff]: [-0.3214, -1.2239, 7.0632, 1.7314, -0.0366, -0.0317, -0.0171, -0.1299, -6.3932, 3.8496, 1.4628, -0.0269, -0.0122, 1.0085]\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, 0.8192, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.7395, 1.4872, 0.9382, -0.0135, 0.0605, -0.0063, 0.0526]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=-0.0001 left_pitch=-0.0256 left_roll=-0.0 left_gripper=0.9998 right_x=0.3349 right_y=0.2959 right_z=0.1672 right_yaw=0.6803 right_pitch=-0.0002 right_roll=-0.0378 right_gripper=0.0526\nstate[joint_eff]: [-0.1436, -1.7162, 7.1726, 1.7021, -0.0611, -0.0464, -0.0122, 0.4581, -6.4479, 8.8, 1.7705, 0.2662, 0.2613, 1.033]",
      "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]: [-0.6296, 1.1721, 0.6239, -0.1459, -0.062, -0.0639, 0.9998, 0.741, 1.4944, 0.9379, -0.0299, 0.0525, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2893 left_y=-0.1928 left_z=0.1214 left_yaw=-0.5541 left_pitch=-0.1206 left_roll=-0.0022 left_gripper=0.9998 right_x=0.3322 right_y=0.2962 right_z=0.1605 right_yaw=0.6894 right_pitch=-0.0244 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.2667, -4.2188, 10.5231, 1.9365, 0.1538, 0.2271, -0.0366, -0.4718, -7.3915, 6.8855, 1.8779, 0.0659, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1360525841de048a96e8dd4146e217f219d9879dedb2bfe1b52bd13be0003364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6c1ff693ac095ab9ffeb98b1b6e04c24112da841bde9299ad6ee13ea0ad181",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5722975fce12dcb987dd7a9e96e45c0f84d919ab8e5c2d1239c4f437e1ed41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExlUv6I1BmQsFFLNRn_EOJkGhuhU8NocvIjtgZMOaMpDUscdOYmOGw2SORtdgmFudRKz9BoGkShqgpLO2hAhrsMZbKC8HO77-HiyxIMzB_GnzK4qqG-2xw_9FqS1qfmCi7XNnoQioR5oXOXFzb6J319vRmng7GalFPTDz_P4QMefRSm37uSEaXoNbd7GjB_uS9JtwWzFd61IkK71Vf4GrQyevDNOUpgURRuqWAGQ3ZF9yicST--G0A_33bTK3-L82-DzeZqW-GIh6eJFwbOFDe2YiOxhdOMEX71Tr3tpUMxnOQwaqucQL44RU27ZDnWevYmgzlKfFzFvml-6rJ-42zPQEhr68JeQovr83HF6e6ey7x5s--z8zmlT_c1kKM_CfBsyoTqJnWmdkuM-TdlLi_WqAu99GvQgVvtdh5IjoWSX4bjQM-v2biD6nW_ZCP2oLyVsWNYRkuUMHiU-jSkGDI4ZB02cjwGJnBha9M0SIsli0RErBoHnglZRhorZA8AbGNQFeONqvpaVSWGEqSw1QsPR0yUtDTLENdl8_jGAwWaTox8FB-lI_5I2fG695PtvK7xqv62VuCQ2mvoSvsulI8WCHb4bjrZ7jdligdtxVdeoj68VvZXVBKOI5u_QNhwkSrZn8-1rw3Exwd7eihBA4bwazDPrspgdEJeia-VbsrLztKBj3ymobbLuS4kH3UwwZFyJF6TWNbP-6Sqs-tNrMwMtvKUmrDDTMpu-ijzYyUhPA4nead4WfcXyXc8a6Vdh2fbw4oC3yHaJgAjXlbt8Rkm92Y-0Mghuw7DlBBrSYCK1VNqnqrJNCmfx9cAhjE-qI1O6G6ZMIXnCl-JZ5S4FKS9W7ny8ZJnW7Tzb0vWZ_L_6-wrWXUx4Fn5299LFtmYGQICuPpx2YYpKIz1WfgQsqjEGRs80srPNo5mEQMdzNSSqRbBLJqpXe82yvPFlg6ayEHs8DLPQDFSJ6nd0WgdhVQv4YkE9js7NQOv6e0xCn34uzC1kY5RBmmY9rAVWfA-EI29LwVsYvX85C3KyFqKTYg5cpUyf4HamA3bzU1NS3MLoXpWjaaKDuA0eSlSxIQuacE0zJoHSz8EaZo_9Jxam3Tgdq8QR0xI_sV6sqhPvOE1liwTgeH9_EFfc4VXt_JbPxSYLtuXoxe59tYJuFX_EtDgCOIaXp4z9HaH2cuVjp_LcwPuL96MLzLvAx7anljxj_vKmj3okkYeJWz708-_yC2NqduDHheVkpJ0ul1BummjvMhfpHCR-obxhzVihNiEkr5Rz_cQPgqVmaZ1_LGu5WXBd03WzoFnEoY2kGDBagvL_gC9Wwm7E3wWfCRfvhqldLtmqB70F_6cTNP2xALJo_pkeAyyQXXZnZt5utYCGLGs9hZKodfjbdsMNNcXSY7PLAbpNF9pL9GiK5AMCYqQ8K1v619Yv9cc5BT3MrhBoQAB-dIBjhzayujGT09k7dfxKIzQCRGfc80DOHtphaBilPFsfgZPP_EMsVMZhtC2qaDgPnzJiwjqTbcV2Vx-i1Fpcs5_H8IAqy1ZKxzINhoMjM_0qkXJVQFUJ8KjjcaqkfGa0L_M9RHjuLKzAkDwb2XaS4qQUBahYi3M0jK-JJ6eVpOY0pkz57xqtUXgD9mFzoNo_Cp3aX9Raiea_8FIPFjakdfkPTGwpDOdM0qcoACHI8zSv9g0ljN91mZy4LtKgNXQGhQiX6jIhCbYhN85T-o-JK8B2OiltIotxglbqQsfYnNs608fNAVPon96qKrKOBLpJw3juE0WY2xH8vCFVXUoXfI2Oi6KdN-cbMnHns-fPD0WC45k4H8ray2snx4y-f5uKsNIBvdTupyUGgYEeiQMQgcTxVa3EEcALqioZF4UidWAqx76FTCgU4R8QEUH0xNnx2NeU3xaF1Ms47XGxWgjbNHcux-N8A7OpL35hPKexZOnTo05Swz6gGt-jepX6bpo9SUoEKVVqmV7Qa1qGCFgHOXI",
  "id": "rs_07845568bbc1a7a3016ab44c635fd487d088321513f10ad3d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.16},\"note\":\"The left wrist view shows the cap close to the fingertips but about 2–3 cm left of the jaw centerline. I’m shifting the gripper toward that side while maintaining its height and orientation.\"}",
  "call_id": "call_TBmGWggJnLFChUYaNn5Wk120",
  "id": "fc_07845568bbc1a7a3016ab44c64d0fc87d0953c2db1592efddc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TBmGWggJnLFChUYaNn5Wk120",
  "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]: [-0.5365, 1.1286, 0.5945, -0.152, -0.0181, -0.0319, 0.9998, 0.7414, 1.4944, 0.9379, -0.0349, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2952 left_y=-0.1677 left_z=0.1214 left_yaw=-0.5157 left_pitch=-0.1141 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3314 right_y=0.296 right_z=0.1595 right_yaw=0.6907 right_pitch=-0.0294 right_roll=-0.0357 right_gripper=0.0561\nstate[joint_eff]: [-0.6085, -4.3829, 6.6667, 1.4823, 0.1587, 0.1587, -0.0171, -0.0479, -6.8444, 6.8034, 1.79, -0.0171, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae5f9e9bae9828ed81d0e10d4801858386a339e3e72307cbaf076e7fcea1bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d4d87ff72d697545533f4f5daaf8b1088aa4de265afbc8dd2dcb27d1598aac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80562757f4a1e1ddd15a981b9455c3dd03ccc98b3f906d47b25a78137c383c37",
      "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 12 attempt 0 · /responses · status 200 · 2.648 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8146, 0.6029, -0.3813, -0.0219, -0.025, 0.9998, 0.5125, 1.3281, 0.382, 0.3901, -0.1093, -0.1024, 0.0491]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1735 left_yaw=0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9998 right_x=0.3002 right_y=0.1951 right_z=0.0751 right_yaw=0.6481 right_pitch=0.0089 right_roll=-0.0297 right_gripper=0.0491\nstate[joint_eff]: [-0.1162, -1.4838, 7.2137, 1.7265, -0.0708, -0.0073, -0.0171, -0.2667, -5.1624, 8.0615, 1.7314, -0.0904, -0.0513, 1.0281]",
      "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]: [-0.6296, 1.1721, 0.6239, -0.1459, -0.062, -0.0639, 0.9998, 0.741, 1.4944, 0.9379, -0.0299, 0.0525, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2893 left_y=-0.1928 left_z=0.1214 left_yaw=-0.5541 left_pitch=-0.1206 left_roll=-0.0022 left_gripper=0.9998 right_x=0.3322 right_y=0.2962 right_z=0.1605 right_yaw=0.6894 right_pitch=-0.0244 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.2667, -4.2188, 10.5231, 1.9365, 0.1538, 0.2271, -0.0366, -0.4718, -7.3915, 6.8855, 1.8779, 0.0659, -0.022, 1.0281]",
      "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]: [-0.5365, 1.1286, 0.5945, -0.152, -0.0181, -0.0319, 0.9998, 0.7414, 1.4944, 0.9379, -0.0349, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2952 left_y=-0.1677 left_z=0.1214 left_yaw=-0.5157 left_pitch=-0.1141 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3314 right_y=0.296 right_z=0.1595 right_yaw=0.6907 right_pitch=-0.0294 right_roll=-0.0357 right_gripper=0.0561\nstate[joint_eff]: [-0.6085, -4.3829, 6.6667, 1.4823, 0.1587, 0.1587, -0.0171, -0.0479, -6.8444, 6.8034, 1.79, -0.0171, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae5f9e9bae9828ed81d0e10d4801858386a339e3e72307cbaf076e7fcea1bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d4d87ff72d697545533f4f5daaf8b1088aa4de265afbc8dd2dcb27d1598aac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80562757f4a1e1ddd15a981b9455c3dd03ccc98b3f906d47b25a78137c383c37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExpyAWqLKQvZjNzOURmd7YCuRzRfaaaVPW6MxXvjoQWwI09JeVgJVVog8KFi4BGNwxeF8jRj9xlBuMQSnwcred4FwXNa0RRYim9P1gbKHLJ0qwiWUj2zUdrpTXFQs6PDf-eJkU2u0bDZ1otCaRqDR2PPCXSMvOTgPjjMzPhSR-3RzZj_A98uimez20cnaZQ8Dxn8ZyDO9vV5pGUuuzXw91ybnKY0SGzVnehavJTDA3WiVOEeVJOEiPz9IHsJJS1jcEd6wpBzErDHXOSmu-nyWlP7PAD_DFpBpw7NkQBghVsRmrurJBF9efRZqBdDC9r4DeSqBPkeZJ6dvCUyfxKSQ8T3rrTA6-lr0ib4fRSQJjxv40gVzOeg5uEDtxxiZPmMf87-yycHTFypp0Z-H5sw49D6yaZoihidf_riIuhIV9sqyDxRIu7jJ7LR4A22FY-HRc9At45Au3SCI6fPSfwnnpYkhpcLG6u4lLVrJXKA0KoMhyo5LVgt0GHuJCA4Fnxjie5xDQljfAWJqTH9aSCvOL5fJUalp-TlUn9E8rzAQZ_GMsKwfPUbPyiAgDIX0t7FWDUOUPLWZZJDJoXsPXQE9sP64kCYrElos-bcTrm5oTqAtTyKQeKGlPYGgRuN8R0TdkzJ6zoQetzjSRMQjEjEnSmLGuuQUsO_SP5XM53HJSZE8V7I_crvgL5-JTzL3KH40h479tNkhzteWgEIiAMe3lsU_xn9HNqVJRyOWrdAUX0y4u9ylxLJOpo_mu3GopeoqmbuMzLzhUyrwXHSfSoXE__W2ZkfBSKX5bn315LTmEnLdFNLiENmAAlr3IlpqrrTHEFwUjxFyrT2I3NhXwcDbzRR3pzDzrISNW5h455RE1OoVZRqv314Giku0c2ZKR5FNOIl_IJAN5-gLwX7l9k7khto590UsH6AocCqWn8kU5V6IoPKhyC81v4PV7SS6Y0oq3deOl4hHQYbC6q3GbZKz0UegtMrlph1zPnh6k7Qx-N7SI398Q_YFP97s0ajydowPtnPO0nazQFB-944lXKy4mWQmEcl1BxeNObQj2AUpgLR4UeGnVTEwj27vw6AlIkt4M_V7zfgP63mpUwcjTyzRgKg1hHgyUkvt7d-belB1e3odlvSAC_8CEV8XExBKRUG1wIwsfhZFE2bt16UzZmUProqHin0FXKh4bG8SMAhhOJFzY-BGN5X60l30SdN7tOXoS-tC8pbI0kWggfP46zXThUkcQHhKv_aXE50UHzctFddH8vr3dOdsIO0hpbvcAaeD0ChfPSI8WjxKSfYqMNTfHz_41UXJQYVqR5gzdi5g1L9UKWRKyU2fBLAOdz4yAC9FXjFguHKR0BNIITo3X1Sy0IrlO_GshQAdPrWhxdTXMcyvAffib2Oh4-4ScLTyNlKrvptDrsbOAUd9MbaD4u0mXp_NhMEiRay66UPEExn09V5tsms8BPM09EnB5GoSahUmvI0ah_dwfy4cIsCvgVh_0GCaxYPN2dNMEI0MznA46NyWga1H1A7RyEGeWVO00kYy5xS1tWpO24dZAS--VHeqbG97DTZd3QJrCUiqwEWOvOtZYrM80Azz8yR4Fa0qeCnC6jj0s9e2ECCys1PO0Lo0Nq6KfsMzZwkaM8-NTgDABJilX6Yf1Z4Y6WZmndrHI07tC_CQU4cdF27hBDn85zAamfJKafnojJb_BBRngUPSFMCsQE4AYIFu5xEzO_xXGR9fp1NOTRroazjthGy2HqKLK__Wpb7yivaEa4j9jP4fD9-EA6QH_fV57wlK_cB-i52wKsiu2QMHLH6uW_MM1lO_LbxFWZTrsdtmtna4ktq5s7aMwH4hOHy3Dr_tvv_PkEv8NBvTbB-mYqOgShnsozEfg7ag==",
  "id": "rs_07845568bbc1a7a3016ab44c66de3c87d0b59341da3ee1e1ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.11},\"note\":\"The cap moved in the expected direction but is still about 2 cm left of center, and the local wrist scale is smaller than initially estimated. I’m continuing the same lateral correction by another 5 cm.\"}",
  "call_id": "call_vVBl206OVQbKMM8Q89ojuoQo",
  "id": "fc_07845568bbc1a7a3016ab44c687e3887d0a646d689a239a54d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vVBl206OVQbKMM8Q89ojuoQo",
  "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]: [-0.5396, 1.1282, 0.5922, -0.1722, -0.0093, -0.02, 0.9998, 0.7414, 1.4944, 0.9379, -0.0444, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2907 left_y=-0.168 left_z=0.1167 left_yaw=-0.5326 left_pitch=-0.1363 left_roll=-0.002 left_gripper=0.9998 right_x=0.3304 right_y=0.2951 right_z=0.1575 right_yaw=0.6907 right_pitch=-0.0389 right_roll=-0.0362 right_gripper=0.0561\nstate[joint_eff]: [-0.3214, -4.547, 6.7624, 1.663, 0.1099, 0.0708, -0.0171, -0.1162, -6.8308, 6.8171, 1.8388, -0.0464, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bffce1817426726f05f25b1c594cff9f2a80cd89c2115e3dba6cd59c49fc1d29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f52cab5c9a3799d855dcdb2d8c7869b15dd31f45327696b990521b50f4faea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22257a8137b4caa5d5cddfc805c2bc523f05caae6c23a5be5a645e20ef97621c",
      "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 · 2.641 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, 0.8192, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.7395, 1.4872, 0.9382, -0.0135, 0.0605, -0.0063, 0.0526]\nstate[eef_state]: left_x=0.2961 left_y=0.0015 left_z=0.1723 left_yaw=-0.0001 left_pitch=-0.0256 left_roll=-0.0 left_gripper=0.9998 right_x=0.3349 right_y=0.2959 right_z=0.1672 right_yaw=0.6803 right_pitch=-0.0002 right_roll=-0.0378 right_gripper=0.0526\nstate[joint_eff]: [-0.1436, -1.7162, 7.1726, 1.7021, -0.0611, -0.0464, -0.0122, 0.4581, -6.4479, 8.8, 1.7705, 0.2662, 0.2613, 1.033]",
      "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]: [-0.5365, 1.1286, 0.5945, -0.152, -0.0181, -0.0319, 0.9998, 0.7414, 1.4944, 0.9379, -0.0349, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2952 left_y=-0.1677 left_z=0.1214 left_yaw=-0.5157 left_pitch=-0.1141 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3314 right_y=0.296 right_z=0.1595 right_yaw=0.6907 right_pitch=-0.0294 right_roll=-0.0357 right_gripper=0.0561\nstate[joint_eff]: [-0.6085, -4.3829, 6.6667, 1.4823, 0.1587, 0.1587, -0.0171, -0.0479, -6.8444, 6.8034, 1.79, -0.0171, -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 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]: [-0.5396, 1.1282, 0.5922, -0.1722, -0.0093, -0.02, 0.9998, 0.7414, 1.4944, 0.9379, -0.0444, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2907 left_y=-0.168 left_z=0.1167 left_yaw=-0.5326 left_pitch=-0.1363 left_roll=-0.002 left_gripper=0.9998 right_x=0.3304 right_y=0.2951 right_z=0.1575 right_yaw=0.6907 right_pitch=-0.0389 right_roll=-0.0362 right_gripper=0.0561\nstate[joint_eff]: [-0.3214, -4.547, 6.7624, 1.663, 0.1099, 0.0708, -0.0171, -0.1162, -6.8308, 6.8171, 1.8388, -0.0464, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bffce1817426726f05f25b1c594cff9f2a80cd89c2115e3dba6cd59c49fc1d29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f52cab5c9a3799d855dcdb2d8c7869b15dd31f45327696b990521b50f4faea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22257a8137b4caa5d5cddfc805c2bc523f05caae6c23a5be5a645e20ef97621c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExskdr3mb1lGOFOlN8FhvefqJVwTAJuaVC2gSq3FicmFSeETALkfuMbRkZ1EAdjDRG6R_gtnxB1QFqbhY7iFEy-i-gAqSaTIVSCDYSOCnTMkYzaMCrPHzE6hq2yAGy1xPqDx6iOgMg_KRez60nNRQXSw74-Q2fWbbmSJ-crkTJPYJg8ZgKJq7CsjUrbFYN_RYKBiiy3XrzlQXeVg_mPVUd1BjgfszIYidKG-vBjHItt_6lD8thB6t-Mi-mv_CIF5LKxQyB6kNmODlliGMC-LvqaWDQ7QsNqRafNDyoS6d-g4nlG2MpRC9aIN39r4bZkibtN-IveZkMqzx54y1oJoEF6Ds13Xk3znKNSje8MQ-ovauBZQ-1LCs_zmTbeneCXIZHeJR0U_uzkk13Eh-U0ch3Qa6xvfwupKUV95efLeUMtgBLg5U_roEMwMLWQr2godYlgnjbNDfy4Oh1MoejGRZIph0Za6YB3HW9RizrcREOTkAM-JZ2EYOUVkkON2RgknwnclxOa43K5ve-iJXlm68nUOzpOt6_NjpbnGmQXs4ghTie0ipC9e5oHn1w0wB-2-gHJpcPmQfDAKvQi7Xiv5RuMF6zGEOCZ9AOCu7Va7hOZhdZ-adWPzlQ06hB8wj4Gsr0Py2mvM9dLOJpMNMfKn6psPfR9TZAuvQ-WtiTEqPQi7-blopQfDWccJHhVbOBzLxckSmJdgioi-RMvTIZJyPg0eB4Bt3gxmZ0nWEUyK5dMWTi0MOzzx98OyqTCTqfpOX53g1nNzMWwlQXieZrriM_cywYu-hfkUHgL7rn6BSqX6vC96pYM6TQXD47hl4CAxVWWZ7qQiSgBnTnwVE7LqNVHFG61IvxO4KmW2tzJcCS1t0cRTFMZQqI-bgucuGr2tAfdKTXSxsX3lEzJ0bXaIP80HGP6WNNmZTLrtw_N480zk5AaLNw1GQ6Q-vmy6XoAEipM3Q8NWcQ9XAb9R8HgRaQMaY2LeojgppdKA_Z0A2RLQtEksc3wIJ8iP6Gfd7S6-JLp6xNLJxE5rccv0tzuQCkUTS6tTv9pcZ_LEL9knKQ2_pT0vawL2lew71Ccyu_V9ott0hdEIZkY1-yLAOQXVtVqLzumWwtj2ZFvxURS-JBQ91kOHgmrOjWCHYEL5Y6geKwujTG0Iq7g0DZupc8jy6aw4giyWW3YeW0zqZm3JzyH_QthbdT9AbF2SadjqZJtPm2nDMJS9tCoI-vXH8FsNEXsQJbteuyThurRT9x62blky1yWzYHEI2WwRmDL5nTzY4dbwNxNv64mRtxs4WpOExadxO5Yzo8Em67lR4ZaKtzFrwxhBGR61goF1VIXDknzrGk4",
  "id": "rs_07845568bbc1a7a3016ab44c6b15f487d0a7279cbe55eded54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.11,\"left_z\":0.22,\"left_yaw\":-0.5},\"note\":\"The left arm has now stalled instead of completing the correction, similar to the right arm’s earlier low-pose IK stall. I’m lifting and retracting into free space while keeping the corrected lateral target, then I’ll descend again over the cap.\"}",
  "call_id": "call_ZBqhJI25BRFKcEhR56c1vht5",
  "id": "fc_07845568bbc1a7a3016ab44c6b87a887d0b9671ecda1cccceb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZBqhJI25BRFKcEhR56c1vht5",
  "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]: [-0.3313, 0.9131, 0.8951, -0.5274, 0.0872, 0.0559, 0.9997, 0.741, 1.4944, 0.9375, -0.046, 0.0505, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2942 left_y=-0.1137 left_z=0.2491 left_yaw=-0.4466 left_pitch=0.0287 left_roll=0.0118 left_gripper=0.9997 right_x=0.3302 right_y=0.2949 right_z=0.157 right_yaw=0.6909 right_pitch=-0.0409 right_roll=-0.0359 right_gripper=0.0561\nstate[joint_eff]: [0.4581, -0.1436, 6.3795, 1.0867, 0.1587, 0.2369, -0.0171, -0.3487, -6.8171, 6.8718, 1.746, -0.0073, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd06fba1f810f1b7e7f076fa816795fc7999073e2a52cfb3b1a503c2e71bee5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7553d00b3add5fd2c4ce3e796083d88984d51d0fb71c45de1fc1a7ad08b12131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f602360118889b4933ec90bd0c3771d6e50ddb3cc075011579d1712ae04d30",
      "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 · 4.401 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]: [-0.6296, 1.1721, 0.6239, -0.1459, -0.062, -0.0639, 0.9998, 0.741, 1.4944, 0.9379, -0.0299, 0.0525, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2893 left_y=-0.1928 left_z=0.1214 left_yaw=-0.5541 left_pitch=-0.1206 left_roll=-0.0022 left_gripper=0.9998 right_x=0.3322 right_y=0.2962 right_z=0.1605 right_yaw=0.6894 right_pitch=-0.0244 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.2667, -4.2188, 10.5231, 1.9365, 0.1538, 0.2271, -0.0366, -0.4718, -7.3915, 6.8855, 1.8779, 0.0659, -0.022, 1.0281]",
      "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]: [-0.5396, 1.1282, 0.5922, -0.1722, -0.0093, -0.02, 0.9998, 0.7414, 1.4944, 0.9379, -0.0444, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2907 left_y=-0.168 left_z=0.1167 left_yaw=-0.5326 left_pitch=-0.1363 left_roll=-0.002 left_gripper=0.9998 right_x=0.3304 right_y=0.2951 right_z=0.1575 right_yaw=0.6907 right_pitch=-0.0389 right_roll=-0.0362 right_gripper=0.0561\nstate[joint_eff]: [-0.3214, -4.547, 6.7624, 1.663, 0.1099, 0.0708, -0.0171, -0.1162, -6.8308, 6.8171, 1.8388, -0.0464, -0.022, 1.0281]",
      "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]: [-0.3313, 0.9131, 0.8951, -0.5274, 0.0872, 0.0559, 0.9997, 0.741, 1.4944, 0.9375, -0.046, 0.0505, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2942 left_y=-0.1137 left_z=0.2491 left_yaw=-0.4466 left_pitch=0.0287 left_roll=0.0118 left_gripper=0.9997 right_x=0.3302 right_y=0.2949 right_z=0.157 right_yaw=0.6909 right_pitch=-0.0409 right_roll=-0.0359 right_gripper=0.0561\nstate[joint_eff]: [0.4581, -0.1436, 6.3795, 1.0867, 0.1587, 0.2369, -0.0171, -0.3487, -6.8171, 6.8718, 1.746, -0.0073, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd06fba1f810f1b7e7f076fa816795fc7999073e2a52cfb3b1a503c2e71bee5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7553d00b3add5fd2c4ce3e796083d88984d51d0fb71c45de1fc1a7ad08b12131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f602360118889b4933ec90bd0c3771d6e50ddb3cc075011579d1712ae04d30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExvlVwqxN7x_Q65gvf_bzZnY4OkhNw-lK_Gs2kofHWE6cr_q7iO1-kUJkUweSOex2PIh6SnNsZnEfa0oqe8rC1ADDehQsDWJPDz2EesQMIpE3Kf7C8BVF1LaAEC7obi26vRiqNdvSeYPhcCqb80hHxQAeb7XWCtImXklUVcAbrUQtFjzVVK4g2iNQ9s67QR553SPFYY7IIySqN8Wa5NJL7F4G0EG93eo5ptxe2mW4iZLtHbQrVTJf8NwDzj5ud7p0XulX2PjCnewnjR9xgQg-eOtm-3B6IiqYOeb_RpydoKgKwrMHNbVa4JilvhG1bu5LHDv-rjXdCQnGMOYpUTJNA38rrn9FBMR0OwFL80DWjRo1eYgLmz9jTKAxe7ZPF-UVIbKmTcWHKheHKMnRKIeHc-ZtylsNmUCvAxrNhw4__n4OE56BPSA0I4FJ2UfgIRMuK4vP48tsNxuitc-EPY2MFIbzyjyiSmb0FhUz27kIEzguKoEZc0Q-t8XnEL-M0OC01woE-b0xHo5q2WIo4DD_3fWmxWy3S9Zq9cfaExROgeN2QJuBMmtB-mgU6nyMs4GCnzRQR5LYHra3jlSiUw4q_WA61qmA4osvKmj2GUyRFi0ljiOycjrXcDEDMByxTNMegib6_CJrJoud5XRl0q05vJlAi_3Ngwqra-jZNGcBi33lfbTqWBSCZgKDEHR0O_4Tg28OIHWsTBwkyWTQTfghIz8x2CNJrQVhgLCNvT0fH4q90BpJBP0Ti6D13auAuo0bp43Ob0WE5gp3HFE7vcBVMsAGzveCNq9Xatugf8fh_JXwwK4A23VvTvk8Zvj_UXexMhaCUxdx1bD3spyd6Ath0zUv6ECYVEQqLMG3oJesG1-Fm5JdFkdwPzPcuPQO04Xeuc-MbJfJeUD_ovIwceSp0i1moD6TyTNHIjlmfhMmphXlMjBIz7e6mo1EduXp3cM__0eoWOHjPi5rkWJdwhSWyZ3Wg_P1EV697X5h5cE-HgUcH3btd1rCovOTdzk2xlP1jL74L3N6TTLh3ZsMCuG3-hB6PrggTQFlVQI7WmprDVnJepGTnkJwhaemqT2p7rxdZckLHz3JbXpwNRuRIvYUR-IfjqUJuugTzluVCo6wTfZVnDEgHQGeb9m2aUci-Xc85V2-IxvQbh29k06ZqCuJTTEIHfRLzG3H1bE4yp4IEMqQWHYhGdhpUMZGKUWLZLtLwEYWslkdc9IfDiq2hCpXvtJtOgGyskOx_SUN2vBEafGbYGdLNAuYQmPUOgzrEve2eDXAHNhambsqONceNJS9CVCtg7js-eLOAXZ3mK-lSWphIoTLNb-BSIyq0OkgX6MzZxdfOH5da5b2oHYhODw_0owNEPlpg2I-Amg-YwJ99C972NaHkABM4SPkykNQJSPWMFrxrbC8OVFVOgOxGifFCMT6YG1VCT3YpFOsL_c0IXPhi_1eY9G9wTTiqle1XlD6Il",
  "id": "rs_07845568bbc1a7a3016ab44c6e5e2487d0a7a62173627a8e45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.01},\"note\":\"With the arm raised, the cap is now centered exactly on the left jaw column and its near end reaches the fingertip region. I’m descending straight to table level over it.\"}",
  "call_id": "call_dZpHSRpzuBNuoxqbNW26Lmqc",
  "id": "fc_07845568bbc1a7a3016ab44c6f0dc487d08f7c16ae4928ca0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dZpHSRpzuBNuoxqbNW26Lmqc",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3305, 1.5261, 0.1154, 0.7727, 0.0792, 0.0662, 0.9997, 0.741, 1.4971, 0.9325, -0.0555, 0.049, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2845 left_y=-0.1086 left_z=-0.003 left_yaw=-0.4449 left_pitch=-0.064 left_roll=0.0142 left_gripper=0.9997 right_x=0.3283 right_y=0.2935 right_z=0.1518 right_yaw=0.6924 right_pitch=-0.0581 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.1299, -3.4256, 2.6598, 0.9988, 0.0659, -0.0806, -0.0122, -0.1162, -7.0632, 7.159, 1.7216, 0.0122, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e2eceeec2a53530cfd25e71352b726f6ecfedc220a1546597f5a204dcb63ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f881cf79bff5789535ad27ba43de54baf517ebd1db42805ddb791e1688cdcfce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec50d687d58571cd0f01d51d1746fa7ee06f71841841308588ba44447e274f2",
      "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 · 6.243 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]: [-0.5365, 1.1286, 0.5945, -0.152, -0.0181, -0.0319, 0.9998, 0.7414, 1.4944, 0.9379, -0.0349, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2952 left_y=-0.1677 left_z=0.1214 left_yaw=-0.5157 left_pitch=-0.1141 left_roll=-0.0058 left_gripper=0.9998 right_x=0.3314 right_y=0.296 right_z=0.1595 right_yaw=0.6907 right_pitch=-0.0294 right_roll=-0.0357 right_gripper=0.0561\nstate[joint_eff]: [-0.6085, -4.3829, 6.6667, 1.4823, 0.1587, 0.1587, -0.0171, -0.0479, -6.8444, 6.8034, 1.79, -0.0171, -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 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]: [-0.3313, 0.9131, 0.8951, -0.5274, 0.0872, 0.0559, 0.9997, 0.741, 1.4944, 0.9375, -0.046, 0.0505, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2942 left_y=-0.1137 left_z=0.2491 left_yaw=-0.4466 left_pitch=0.0287 left_roll=0.0118 left_gripper=0.9997 right_x=0.3302 right_y=0.2949 right_z=0.157 right_yaw=0.6909 right_pitch=-0.0409 right_roll=-0.0359 right_gripper=0.0561\nstate[joint_eff]: [0.4581, -0.1436, 6.3795, 1.0867, 0.1587, 0.2369, -0.0171, -0.3487, -6.8171, 6.8718, 1.746, -0.0073, -0.0269, 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 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]: [-0.3305, 1.5261, 0.1154, 0.7727, 0.0792, 0.0662, 0.9997, 0.741, 1.4971, 0.9325, -0.0555, 0.049, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2845 left_y=-0.1086 left_z=-0.003 left_yaw=-0.4449 left_pitch=-0.064 left_roll=0.0142 left_gripper=0.9997 right_x=0.3283 right_y=0.2935 right_z=0.1518 right_yaw=0.6924 right_pitch=-0.0581 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.1299, -3.4256, 2.6598, 0.9988, 0.0659, -0.0806, -0.0122, -0.1162, -7.0632, 7.159, 1.7216, 0.0122, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e2eceeec2a53530cfd25e71352b726f6ecfedc220a1546597f5a204dcb63ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f881cf79bff5789535ad27ba43de54baf517ebd1db42805ddb791e1688cdcfce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec50d687d58571cd0f01d51d1746fa7ee06f71841841308588ba44447e274f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx16LhxmGzWtwFJld210Q0w2V51MudaVElmubqheItELkzKDgOHQc7lFYSyoDeWbREjdA-6Cs_Y3CKkP_1YuGLTIP6eVNP62FTbFYHfp4u_cTc4uLSByAa4k0GUHZkD-ASg-xAfmRuntt_d6OR_4Ila2K3UcDlCVrScHpympf_ylpdO84R8wIdUudZfhUTT_8lgGRa5ZCEVoXUVm21wgRdW7i5Fw_1LpX7fZ3F42GIqkm__YLwhW6iucJEPA50gi_yGY6k_rSljurnt0AuRtBW6r87u16KlH3tMJbJHPsMCWNdF9jKqpFWyVJIT4v97-_ibGegPgWBxS10M3xhLf86N91oR9tq1JAdh3WLGWpbT_TlriRamRAwzfbyg7WjjHVndZUSXVbzfKDgweNgHrUysi7OrcVVedERyS4eBFH5tpjwDXHQrcJYwvFAWZmig3LV_CliHIXGuOgfUQ2B1RyEepK7QoD_2TqId9Cybq1lIpu6eovNoBdTByL_bwLYogHEBCJ4pojD1yC4BtkF8bWmniQD6-R-RFePj6zduoDrNVy90E2y2BHBgQM1WR8hX4eWlcW_5tZemJik12zB69qVhPUqP5xR6o3mKQfSytS-Qbl1VK4pmkUGgu4FjEIGwd0Qq7Jr2wxHhE7qN1sBhS1Fb4fiQu-hrbucMfoOciAvRAn6z-z50f_bCNy5m8N4bIN9GcEDWugZvEELhbeaTdg-3ercfXB_my6u_rFINlENdbrciMFYltigYDGQMyLPMHGlK4_0hBNtjqn_Ao3iVHDbXvKIZgsnlSayHrHx-hECDM6ohdNLcOASHlzyg9aIl0koXAZgjbmkznp_w2vPK3VX1z-2qDG3rZcQSe-mxicMtGtVVf2fAMgcAOTMVEtjqlsGKIpADJsMlC-GYvROYSYAYTvbOdmssj_Bdbm_ppBvLZ4m4hOvVRBEDUNgTk-9YH6eb7y3rcsKYLBMNgGa-yo9Ek89iDQW3aKoP0agQ28suAit4_pxzthyz869qhML0iKQxpau_fsqx5KCQqCrwQQ_HkBv02IQrKXUK12BTZ-svSVkdu55vWfpQotbPAkUG0jSxty0E-H2h7JQ17jZi0653ZHpiLdxR8H3zJTxfmskHM_Xqi0yibuY0nnlVqJ4tdu9zGHGwHm441p11pDtk7LLuPvJtvZCUzitOBoGzePD2SJsC8tA7uF9Bnt9KWXuC60q6ylPY_SElghIcb-Obbcu0uon7pnzAImFemP6-R53IUspUvyBTLM0LgwCYewQMT9_m8Ngp1OYA4fearHDuAppDDC6D9A9vwQ6KtEQ6jp_-QLUe2j6bQ4onnjvvFcNuUhZQln3Fa_UezXnoSPS3b6sIEuXfB3Cfay_-hwr9mDvYzfOPbg9F3wQtfQoE59Ip8scqgojS8wNYjBd9M3xjU06_jCjeWj_R3rR664gEKu8Y4FwUgsJm1Fj4MHRypl8Ul7arTJI0tylYnmB_fZz43ICfF_MLk2pBd80GRLF78sOIg-_HrnoF-X5vb97oH0kw0_O7i5_pTP5c1zLeoDHfABsIb5nR04YYWnUGyzG9B4lpQlUgg8al9lYM5w5QLV5Yzz0igmeLz-ynSn3Rj__-KK2WJHEGJT0KMs4XmMqqKNwtIgbHGPIx0ahQzTNvVfsMMNPrwXwcatcFl3OETiaNl5ypqwfToIgBC8VIom0PtrdeMBT2LgqJrUTHEWYmy07gdtGfzDFIhwTQ5Vniqx5fZ-Ch-zYeXZFH-CX8HUZ5LH7SgkeGC3QwM9Cw5FfsV9HSL9C6S8UUi2nJsxMEi7f1QUP2o9fAS8YTuf-7saD8QJwgnyjQrvKtvjcv91CkDjw5WSYOtHN2n8ZqUKGAnrGlx291zzMLA-rAI-hl08ijK4KaTqTX3pXvsMaI5dEbJYmBuVuuumDiTptmFy5uPsn8C7Et-lNEOpXxySI71QURrzNt3vw9d-YHfqMn40ICWgBs7sGDpcsnZ81kvaJWBpxrWvTMdSjR7mAvfq0FJY8eeZ2k5atazFPkbFQJUk1ZYu7emXzq5tVkYORF3fKurr7BQDv7xWM2OMGz6E8Q1ELS-OrHG3LwNAzBkIlwORw_IEFvOTbAeGQGbczcK4YhAzLYc_WEbKM7LVrD3Y7YHA6yHFrME9OYTkzFl4CPWWDjQAb37gnRKbXHzkTGK8gbtA6h-ktMeVoFVDOucfT2Z0l3GLmPgVkSoPNiX9s5Zyk-5zcqWilQSfLV3YfTsHAOj9Jw-CbQOL-_2N_MaVhRggyP4kmWhrJlLt2YuI76EHQhvhagSLKNpdy9IqpQocZq66nBKOcpTA==",
  "id": "rs_07845568bbc1a7a3016ab44c7297bc87d0b67bf73ac2ea1d7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.13},\"note\":\"At table height the cap is fully visible with a gap below it in the wrist view, so it is still a few centimetres ahead of the fingertips; it is also slightly to image-right. I’m advancing 3 cm and making a small rightward correction so the jaws straddle the cap before closing.\"}",
  "call_id": "call_iTeRf3Y6eWHGWaQzhgsMPrLB",
  "id": "fc_07845568bbc1a7a3016ab44c74e9d487d097cb68b06e5c579b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iTeRf3Y6eWHGWaQzhgsMPrLB",
  "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]: [-0.3756, 1.6424, 0.2138, 0.8097, 0.0509, 0.0456, 0.9997, 0.741, 1.4986, 0.9325, -0.0574, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3087 left_y=-0.1275 left_z=-0.0016 left_yaw=-0.4549 left_pitch=-0.0463 left_roll=0.0159 left_gripper=0.9997 right_x=0.3281 right_y=0.2935 right_z=0.1508 right_yaw=0.6927 right_pitch=-0.0615 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.4034, -4.6291, 4.6427, 1.6337, -0.1001, -0.0952, -0.0122, -0.1573, -6.9265, 6.7897, 1.707, 0.0317, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acfbb19a8e81edca2ff7fe5c017b7133c5fe14a61b73286de70739954296f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a495cd455515aa40899d5bbf123c30cfa77724c4193fe8371109b58cd2bd85b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133a972b9f8a3c74b780110cce80fad2a8fdf79b600e9fc2cf72c1133300caf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.755 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]: [-0.5396, 1.1282, 0.5922, -0.1722, -0.0093, -0.02, 0.9998, 0.7414, 1.4944, 0.9379, -0.0444, 0.0513, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2907 left_y=-0.168 left_z=0.1167 left_yaw=-0.5326 left_pitch=-0.1363 left_roll=-0.002 left_gripper=0.9998 right_x=0.3304 right_y=0.2951 right_z=0.1575 right_yaw=0.6907 right_pitch=-0.0389 right_roll=-0.0362 right_gripper=0.0561\nstate[joint_eff]: [-0.3214, -4.547, 6.7624, 1.663, 0.1099, 0.0708, -0.0171, -0.1162, -6.8308, 6.8171, 1.8388, -0.0464, -0.022, 1.0281]",
      "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]: [-0.3305, 1.5261, 0.1154, 0.7727, 0.0792, 0.0662, 0.9997, 0.741, 1.4971, 0.9325, -0.0555, 0.049, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2845 left_y=-0.1086 left_z=-0.003 left_yaw=-0.4449 left_pitch=-0.064 left_roll=0.0142 left_gripper=0.9997 right_x=0.3283 right_y=0.2935 right_z=0.1518 right_yaw=0.6924 right_pitch=-0.0581 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.1299, -3.4256, 2.6598, 0.9988, 0.0659, -0.0806, -0.0122, -0.1162, -7.0632, 7.159, 1.7216, 0.0122, -0.0562, 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 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]: [-0.3756, 1.6424, 0.2138, 0.8097, 0.0509, 0.0456, 0.9997, 0.741, 1.4986, 0.9325, -0.0574, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3087 left_y=-0.1275 left_z=-0.0016 left_yaw=-0.4549 left_pitch=-0.0463 left_roll=0.0159 left_gripper=0.9997 right_x=0.3281 right_y=0.2935 right_z=0.1508 right_yaw=0.6927 right_pitch=-0.0615 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.4034, -4.6291, 4.6427, 1.6337, -0.1001, -0.0952, -0.0122, -0.1573, -6.9265, 6.7897, 1.707, 0.0317, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acfbb19a8e81edca2ff7fe5c017b7133c5fe14a61b73286de70739954296f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a495cd455515aa40899d5bbf123c30cfa77724c4193fe8371109b58cd2bd85b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133a972b9f8a3c74b780110cce80fad2a8fdf79b600e9fc2cf72c1133300caf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx8SZ4vWn83QVAi9SaXKZ7i4LvZ125R3A7IpHV_4jxEG2FXBl-DY8y60MDtbV2JLJJJbiUgneHNb9A4aBMW_ojNCn5xRzPhIEMz9W7fINvUC24Kssj9FYdGMeRLZWfyYN3y8YI700MkCWXtPpYDyN2X-JxivinmClYDv70cmC9u1xFMhWqzmcG60NGNOloj9FHyTItOfKqfmIG8Du8tf5J_9CbYwHdyHtgsTIljxCwJKVcy2ghBGdEWKotMnwaBYEL7YZT-T5AuGFYIsVuaEnna9EXGG-nkCLrapZjbIMCl-xV5T7DAKCVIsrEhKuu3_MMCRMnwr8szVNQcc8ocYaTZn24NrKGaws9iCo_sNq9e-lv7RLMPEmz7Rqef-cc9ELzg4mZG712vjBZkuT2Z5ryjNprN2-66ojX0LCifaXRlClCAJ9daZxlmcyGoDBTZqoB6KFb8N6q6iSOEhvqa6QOLTGnogQ2JALJRFSqgHk2FoavjtsVv09cJtZYZ6p0cHqf8ZhMueK6cR1ZRjbwkNozcTxYi-t_ACw1YadPMd0kgAIfSeNhJbgnZomh7QH4ymZI7kvyc-rSPbpJ8KHt7wjRRlJSqXpbcHAKZxh7EBE4yobkVcNGNuHBvepMzNiVWru349p8DnrgvZE5pz0gCkCGMDn67wHyJuMUZ72axtj5M1TE18Ac6c9561Ew9k5KEUwHHOloDyTNxtQ1yqh-tDYBqmKb7ciBgP0grRJZVwpR1-B89kge1ud5-WK7wTlDfKuwEqf2hN092G3lxhgWVGOx6JRkeKWBFolth1IjwOFBp1GoSLfU6gSHCrPbxP8ebmaRdtjtBsETb-cFPOfqjewWFB1MHmq9P1jFy7Sy2RhIT2_NYlSQjO-VNuthcSRdwIHJdu0bX4pjCKCe-fgFmRUS0DFz3Sr6n4i8i7tDUEmXxW-DKc3bULaBnzFOS1I1ZNeCLSiUu2SkYYvcQ41XRUjEtaDG9aRY_qBKERyY-3qjAM81mbSVhvQuRQTyzJeAiFJOKtiqI-jz_TRTTl5jmOqj-wrrEJRavcAuoWQLe0E9WXdZwHNiDxG2itYLNtSR-dEsweDVRlZvrbFKzGiW9ajfWSfxTZjYRRWi8mOnwoOxLGH93QXS25dDS8_lqg7wu7M_Q8TyZ6tVevJ2bwBAg_Nweo9rurO3Plo03BFRqbzj-Eem9qrBokTO_jJ1Kw771mQw1eK7ATUT1kilYCESJ1qpm-PYRJIAV67pMIELHiFkuafBLhfqJxCZUh-oKq5-EbgZXzt4O4JdTpu9fHuKKWvKgWrAKMTqOdhqKCBgVTSAJopUbmLoYdcc4AnkpfmjrQ9A-YCLcT3XMggI1G0m4IIgP1PLZ0SzHleuIHbQUnxJYv9Fwa3z3CE0AZCQ8PzYU8-nY6WPfdVRQkNFLXdZm4XxFx74eMsglpvrrCb4FtmWK-y5MryhqoHpIRh0CQ7ePpssjqoLRt1PlpuIRlR-rkE_sO57RzMDYQSJ2zUCSEHBnjvcnO_4ct8xTkKJhgu8isb2HrPi8BSCsCB9lBkSHdYlM4NDAM3AOvdN42g8hbLbDR9cUVk-oq3K27AJNhMycdiQ90tfnjbnyLOD8LKq4iveAceTaCAO62mZBQTugb7BX7M6tSK7oEL6saUR8Yv5jTuD4O3GpOhMSSWF4oz8Z2VBAr6F8O4_7TEzES1aEErbzLEKnWZQteZPK6dKSnnXsxK2qNmQJL1QbWJbxFEnlt_kX91GrRCxpKE8LCQ8hKAuqEZRRB_KhchEv8vK03-hJIqkVNhaF5bVeYlSKAyhdNGOTz4KUQQ5KBV2xXJ_e-UEwFuOnopGnjXT1fjeUr-oIPmWEzHY8-QzBw20pY0PFF_aPY0Xv6hxg-tofzrhjqCByo83jLiZ8C3k65GLbwixAAK5uG1-3IRhzYqG7ZVSNZaqR8q0R0ce46NzKDB86uNFFhWYGsO67OAMVrIRu3q7aDuNz5txCYyMzukpwDSJQ8DjfdPyN4NY6Q2INa3OwhWrQebtqTfjsO0NH5EXkqMT9i1o_tNNKAkMQ7bwNOVbyrwq-c5F21u6v11Tozq0X1kJrfu7Ko8ZYTYKlFUFaYxDzkLe7BKtK7wnR2ZiD_R2spg31Q2BmtQ7d_q2G9zw26JNB0IOvR9SZylH8IBMgpkJZCq-b-CZYSrFK98PohoNgrCQ4PtzGxxObJ9S5iWPYnMtFUo4-h67L43rjwajZ-GXFwkc334bJ1YQlsW9sZqkvv4KqFaDYzA1SCT0qvTfAYSXAlX9MCH3H7hF9ZFQGqwlUlAXNkTNbBmOzgeTMuccaNSv0efMg96_YwgG28M6eFZ5s8V1iCxaAxgkcBQKycDKOh-LDUvaYQvGS68s508CQ31UO8IRwqdFMOgdaS2e3ixbg7ELRFhq0dZU32nJpcPd-EIw2mkZcZJJbspEd6B1au7j82Eg-U9_Agm_OGJbog-qLffAwyTBehLXtNPaKUcaSIMQoaAbSbxRPuqb7h2gSbZgWKLPlwrHguWKnm_uaMSTikEZ9KdGOETue0zuK5PwujtVPdgCwwzQHqiG06onFRnLrjfDqC-fX94YzIAWyV8Ui2l31A-YDRCEBmi0UzJ2UfhBtnB1s_Fkeo4QJXs4Mo8CqTUVJnBB9DGKx6ptrY6g2N0oxgwjIrahLp7hu2hhBCfk-tXvgvwHmqluBYzor8E1PoekQLxX4bCg98Hqs7aNein_0CQAZMCCgUyB8KfgW6ncSloG_hQW6SrPfQ4IcilOeCiCEceZA1hk4THGGV1hm976LULfzRIUUS9GJD9X4pMsuBWXKxODZSUDNj9a6fcq55W_-K5FZlctU5orzwRyAsB0Sk3RcbpTA2dVX1nbw9RquoWj8r0dVFctPfGnqtvVbfMRECxTmKlQegDLlpNNAt4ju3P1hU2UMozYTUHDExmfj-EB0psXYivpD8YGKvnLEQmCu3_oGMN6Poo7DrpbznStwznJAjKYlm06sR_c74iyTEmXvgBbZMmsPdI98Bgs-bT8mNxOEs-QLl9eIumSL9ilA3ArQ4Us-VwciC3lIPRyZgtHwegpWXA0yb299iW1EHns__pop5ESbR72yLHPwuuSwGTztADV4UaVR5SHqyo4KCgrwVki5fS-Ck0ctTYsaldWCm_FpoacC3vi8CZePhrcUq_ceoemq_7fmZpLc9whArVLj2VFXy8uESxaGnYzwzrMglDJfFNXwog5QpPbYKfUMpmcZsWVOolOP4SoV4l1OtTs4KOo-pNJHtGuXIoDaDy94MkoJJw-PMFh_r9j9ICmhZgayZdFg_nlxG2P3oQ-v7TB0D-YMiwueCTz0NHgeU-WhGSn2WhtqW9Ti69Ki5zKFd6oKSBDXJ4AsX9r_aAqh",
  "id": "rs_07845568bbc1a7a3016ab44c772dcc87d0bbabd5f9545898c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.16},\"note\":\"The overhead view still places the open left fingertips just behind and left of the cap, matching the remaining wrist offset. I’m advancing and shifting right by another 3 cm to bring the grasp point directly over the cap.\"}",
  "call_id": "call_64ae7XFigrScI8njJyxsEo2E",
  "id": "fc_07845568bbc1a7a3016ab44c7b8d6487d080b3a0c452462b53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_64ae7XFigrScI8njJyxsEo2E",
  "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]: [-0.403, 1.6752, 0.2527, 0.8032, 0.0223, 0.0341, 0.9997, 0.7414, 1.499, 0.9325, -0.0608, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3164 left_y=-0.1353 left_z=-0.0019 left_yaw=-0.4521 left_pitch=-0.0476 left_roll=0.0231 left_gripper=0.9997 right_x=0.3276 right_y=0.2933 right_z=0.1499 right_yaw=0.6934 right_pitch=-0.0653 right_roll=-0.036 right_gripper=0.0561\nstate[joint_eff]: [-0.6222, -3.959, 5.3538, 1.663, -0.022, -0.0952, -0.0122, -0.0889, -6.8308, 6.7897, 1.7558, -0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b3dee7c8ff3a8efd13aae805a84927f92b969f7280de66f4045be8ac658872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8db398d72d66c6c03dcd59f4794b7cc42d3cc4ed73d94262a2f97601e4a764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a5b06c61f0f857bdf6f42334c03a3f1c01fd369c256749c43754b73c013081",
      "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 · 2.869 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]: [-0.3313, 0.9131, 0.8951, -0.5274, 0.0872, 0.0559, 0.9997, 0.741, 1.4944, 0.9375, -0.046, 0.0505, -0.0078, 0.0561]\nstate[eef_state]: left_x=0.2942 left_y=-0.1137 left_z=0.2491 left_yaw=-0.4466 left_pitch=0.0287 left_roll=0.0118 left_gripper=0.9997 right_x=0.3302 right_y=0.2949 right_z=0.157 right_yaw=0.6909 right_pitch=-0.0409 right_roll=-0.0359 right_gripper=0.0561\nstate[joint_eff]: [0.4581, -0.1436, 6.3795, 1.0867, 0.1587, 0.2369, -0.0171, -0.3487, -6.8171, 6.8718, 1.746, -0.0073, -0.0269, 1.033]\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]: [-0.3756, 1.6424, 0.2138, 0.8097, 0.0509, 0.0456, 0.9997, 0.741, 1.4986, 0.9325, -0.0574, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3087 left_y=-0.1275 left_z=-0.0016 left_yaw=-0.4549 left_pitch=-0.0463 left_roll=0.0159 left_gripper=0.9997 right_x=0.3281 right_y=0.2935 right_z=0.1508 right_yaw=0.6927 right_pitch=-0.0615 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.4034, -4.6291, 4.6427, 1.6337, -0.1001, -0.0952, -0.0122, -0.1573, -6.9265, 6.7897, 1.707, 0.0317, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.403, 1.6752, 0.2527, 0.8032, 0.0223, 0.0341, 0.9997, 0.7414, 1.499, 0.9325, -0.0608, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3164 left_y=-0.1353 left_z=-0.0019 left_yaw=-0.4521 left_pitch=-0.0476 left_roll=0.0231 left_gripper=0.9997 right_x=0.3276 right_y=0.2933 right_z=0.1499 right_yaw=0.6934 right_pitch=-0.0653 right_roll=-0.036 right_gripper=0.0561\nstate[joint_eff]: [-0.6222, -3.959, 5.3538, 1.663, -0.022, -0.0952, -0.0122, -0.0889, -6.8308, 6.7897, 1.7558, -0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b3dee7c8ff3a8efd13aae805a84927f92b969f7280de66f4045be8ac658872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8db398d72d66c6c03dcd59f4794b7cc42d3cc4ed73d94262a2f97601e4a764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a5b06c61f0f857bdf6f42334c03a3f1c01fd369c256749c43754b73c013081",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyAwhE6uHrdsNC9weIfB839KeE4t4mzsSRllSKLtMCXJfUlQL3jSs1G6A4JVRjAML5nThEN6dPx8VOHmgTnVaYgJSJCPc3NwzmRH1ibvmZUML9iZ1UQmjzIDCIRIRdgOuYUUaPHxjeOWAUWpjrmUutSnTOSPsjg1pajDyj_E-0sMuP7QzexK4MK3PHW6QBzsvzZEDOPq6BFFPT1zJfhijrjFduoDLMXg2zMOPxawn-BjjLOUnvzcfzQsNFCoIgZQMIaDdJuEcYGrnMX06ThV4Syv4DU_K-OmccMNmzLZySofsQEl5mfCeZOP5vNFpPgussDrY-PBIj_QTe-W2qvAiELEZ9GzSZGWVHUZiM8CZOTWX6D4gufbxaC6AydKQPn7gjwDwp-Wmp7xMb0CmX13ArD_anbQB_CIgpGiAvacqBkIq7wVpDwRTbm1K3GFNuWFSAE7-cK80QcyeQ5KSrW8uLqPvfg6VNKy4Sj9PP1G-2ghAyUyDga6ApAI1K_H7RhRRdiP-q_1AIpQpEacFfCHhtmhA7rI8HzRaYBxxaOefh6st0TaJlnaE7yv5JNCUsTIR_DOqiiBZHVbxnBT8rdiAbqK50Mqm01BUEHw-5zv1tjbNgW4n-WPzlNodcCk2lCC6l4V4_1Ooz2aB1LbQ7m_g9IIdJ5FJ5AktCdrBexB76iLcw6nDohGkjY_ySGpgNpZ5DNsHB228LY5UG7YD6GM-7jFN3bytH2LQ9jfMwCdtzAzP5pBc4yII4dWXmypa72XAvcAIVVkJTFBdwcmUcIZtK6Xm8f8D_DwzqebECT7R598LC_7LUXahBcW5JSVdaK9y2fuum2mYtex5zGiAAswqFLW9gY91cipq9LGtw2ZAYADYwW-XgulC3JjAmuFJZUap9dJgSzAKdY63eNeOO3xBPQ65NEIlhovgKnzGgs8s09b3tOp4EXHwP65dZQnVt_XwEOxHC5Utv34h_5Ebf8j_WGhVAfnlUgBF7mwpzUpl8nEM3PvR1X4XHH3N0YJJV6xfzhmzEy11sxivGE-scbGwwfcdvDnlnMTFWKTppz4g1LskGszC9fzNPG5O8wCTaMq1lxzG9X97jwa2YU41GQJ0947X-gA7dwlVAOJk-WFa5ExQ4_h2CHXqvfRv7d2FHuBs1D3J9bhBZDN9dnvVMe14TUBavOsiesnyFGZNI4gRDb2QoeRuLNxAHBDlT29XnUpfxBPY1eHp2TSxUVWF_U04Rg2YCRXt3eJfkTlrpv1bsELI0_0VG1Yq0twpy9j5z-aNvg-Y1hZ9PeFuoeeqNZ_BEP4APCDdT6oAqL9zOXXNzMpUIqKaniP1cnD2_4joMyx1TThLY9IDTFQfJA_oS2gtov2ZTg99vf1d4_ueGmnC1dUOcS0z2XOb4mprtTzghhU-Hhz_217tDmObWR9sapZwE1zIlreaUgmKDv17khD5WVOjeTRJYSs0_lAI6xcm6wZNR1keK7WYn3FL1dGRFTMa7BUPgllUfJfWneg9CY7Pbi0VVOtB7017no1UH7OmyGx3HVXGdMgucavhM-Tj1HYwJb44T3cxrGLjg825F9brnfC1x_Y-_04pKjgme_sajbvCeKlgdoPchCjQIrRtJF9cv_KhB7LHh5-SYrsvyMG-oWYhSMhrx5c1kfE2B0MEHcPMI3NTKhAoAWSzxzi-Zo7wksDj9RH07mZOT45aDK1PuhqFIGad1iCAkAlbcS2dWJdIOSejOwj2J6PPwvxUIrqkDkMaTr__TDVzVCZYUU3MIJb3Cdara0W-hAqryeNHEGkpDyy9yx1VZUvo7ED3ATqKwhg3ZIyVK8pG8hcDifvflSSIcl90hZFCSEFMllc50t7LW-",
  "id": "rs_07845568bbc1a7a3016ab44c7dd3ec87d0bb888d82a9c5a81e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.16,\"left_z\":0.1},\"note\":\"The second table-level correction partly moved but then stalled; the cap is now very near the fingertips, just to their right. I’m lifting 10 cm while completing the forward-right correction, then I’ll make a final vertical descent.\"}",
  "call_id": "call_rkpuNBcH6d3MiJOhqt44YeUM",
  "id": "fc_07845568bbc1a7a3016ab44c7f5e7487d0a95cf4b45f928bcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rkpuNBcH6d3MiJOhqt44YeUM",
  "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]: [-0.4026, 1.6752, 0.2527, 0.8036, 0.0223, 0.0273, 0.9997, 0.741, 1.499, 0.9325, -0.0608, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3165 left_y=-0.1352 left_z=-0.0018 left_yaw=-0.448 left_pitch=-0.0471 left_roll=0.0175 left_gripper=0.9997 right_x=0.3278 right_y=0.2931 right_z=0.1499 right_yaw=0.6927 right_pitch=-0.0653 right_roll=-0.0363 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -4.547, 4.8342, 1.6435, 0.0024, -0.0513, -0.0122, -0.0752, -6.8718, 6.8308, 1.663, -0.0122, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d292435ddbed6c38035197819edd64cd1d30f5c68efd5ddc8f3ad1268a6150ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a37e7da149fa5bd7b97a953f3077c13419d754bc5da4f133a5246f3415899ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a65206e7d41f7f32406f0722dbdbfa7686c65552538dac8eb99a2c568cb530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.752 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]: [-0.3305, 1.5261, 0.1154, 0.7727, 0.0792, 0.0662, 0.9997, 0.741, 1.4971, 0.9325, -0.0555, 0.049, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2845 left_y=-0.1086 left_z=-0.003 left_yaw=-0.4449 left_pitch=-0.064 left_roll=0.0142 left_gripper=0.9997 right_x=0.3283 right_y=0.2935 right_z=0.1518 right_yaw=0.6924 right_pitch=-0.0581 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.1299, -3.4256, 2.6598, 0.9988, 0.0659, -0.0806, -0.0122, -0.1162, -7.0632, 7.159, 1.7216, 0.0122, -0.0562, 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 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]: [-0.403, 1.6752, 0.2527, 0.8032, 0.0223, 0.0341, 0.9997, 0.7414, 1.499, 0.9325, -0.0608, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3164 left_y=-0.1353 left_z=-0.0019 left_yaw=-0.4521 left_pitch=-0.0476 left_roll=0.0231 left_gripper=0.9997 right_x=0.3276 right_y=0.2933 right_z=0.1499 right_yaw=0.6934 right_pitch=-0.0653 right_roll=-0.036 right_gripper=0.0561\nstate[joint_eff]: [-0.6222, -3.959, 5.3538, 1.663, -0.022, -0.0952, -0.0122, -0.0889, -6.8308, 6.7897, 1.7558, -0.0513, -0.022, 1.0281]",
      "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]: [-0.4026, 1.6752, 0.2527, 0.8036, 0.0223, 0.0273, 0.9997, 0.741, 1.499, 0.9325, -0.0608, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3165 left_y=-0.1352 left_z=-0.0018 left_yaw=-0.448 left_pitch=-0.0471 left_roll=0.0175 left_gripper=0.9997 right_x=0.3278 right_y=0.2931 right_z=0.1499 right_yaw=0.6927 right_pitch=-0.0653 right_roll=-0.0363 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -4.547, 4.8342, 1.6435, 0.0024, -0.0513, -0.0122, -0.0752, -6.8718, 6.8308, 1.663, -0.0122, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d292435ddbed6c38035197819edd64cd1d30f5c68efd5ddc8f3ad1268a6150ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a37e7da149fa5bd7b97a953f3077c13419d754bc5da4f133a5246f3415899ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a65206e7d41f7f32406f0722dbdbfa7686c65552538dac8eb99a2c568cb530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyD-J40VDufEA1wW4Wk4wjjeHrdPo-Q27WI2u5n57gc1vm7NgbLR5T2Mg54jVX2D-u1fGmMe2XRFx5mkWz4QMP11qai5-jkQbPh2jgL1B9QkWs-79bkV2hBBg02n5HzvJOVYb26eqRlzbzaRfSJmICuJv0txjqVsA32vFW7yB60-5W-5mKH2UeluqqF-I3Tw_hrnUi8SKmxZToa7FyaeyQfkolDfs4M22Hbd6SZiMziBTA2pPTBB5vJ-HAjYjDMeaJnyCptUwKo9cJ0n_ffJwBakyQ2Mzm2o-iZCq4jQtqwk5pNWTdQNsSdUpv3zVElC2RywyZ2_qgToj_MCoJKE-XSns8vzdt_Wl0r1byxIifvI4pR62qEa0EH_xhfCDp9i2CxG5VZWl3D-QrLx1y5rWJkMQtoVRSmNfNQs0dxzuy4KMsQ2ksuEurbU33AwbBDe6SvKZ0uEmd48uRuzQthgvbjT_l2CEk53EFc2tJeFEDHF3z2IEZtHA51PpUywD8ib2uTQ5PsydPHb1GLPYOL4Tq5Cdi2J6LsJH3ZeajnKOXjmhn8iNrRhLuIe3BGFsFm5cMM3SdMXIfysgJ0Tf36hcWwF9tZdhU4bouNI6rF51mHbEqpE4uqWe374YrYfLGEumTjapJOJrvWiu28hI4kKYWqD1IcmBfo7Cm-QFQCFq5amvEjmo7dRu5xPCewvMqGvHMbIfkAAyYCrAVXfzQl2wVww5SGA1jespiaEYSfwJ1rHl2j7_A_mbKXusPfkSPYXouUtSBX5_DZJLQtLLL5RHvtPSxTWS9tiX5rn3KOrKD0pPgsG_idNhNZLvfgxNNly9TGZOnNqMpxF9rjy8s0EYIrF5Z2M5n0m-wAUEniPchGdhdhFzFXAsisKMzXu9XXBn6d9_UKKRWdaBofdVIzBWzahg5oIqRcVv6qhyCBUqz3DpnJwzGyKS8MgsCc3Sf3qqx5Toih52urHNSYKOK4eW0SFUdV2oM1pgUVEAr-Lm25ZGrAYTTcvWULSTia6SMBl3ohgE2Osa5dZqFchy_azz_wQauSfQtlro2uLyhqMgMgG_QAGOMONI1gX8co1xE_7o97unNFMDHkOt-YPsgYrydrEhIAS6Sh5mhIKsxfsy-ulaH_hzcRp4yTvtW_Zcsqlku7NxKN63W-QeArO4DN2sUKWZlHI9tBuhoh5l3q-S2TSJ2utHzAo37Z92-ivdP_QF3Qnxoiq3WguR4SUrR5bkuwbqhJXacQXpdmu49APP_BN_M1QwASWUrNzFnPKpBSYNtsbYwMA3d_KiZv5_oLkO0UTxurps2XCMSsig1nvTI4pTfHxzd0G8kezJyFX0PtRzlg4_LOr67ZmhGWbSaJc9dSKmloaVSmr6K9Stmy1ekm7suoyE3SH_vH__U4Bog5W6VdPUizZqvA3-gvSPQGndZFSg1hhDzOOUVeV4U7RSbvmJgc1wgNGw2K1h1faPfgJl5OE7OW2prE0BEO6_i5jhejpeAaoIgOS16ijJF8nHV2AW9KcFbND7W0ShPpU8b7Tft-sztVrDETFcmFcf41e2-h_iFquhlWkC9hZ7Mp5vAstheF8M_-MPEd4xgMUQGeThb5Bn1Q4g4RiGUJsqj0yn8Lmg==",
  "id": "rs_07845568bbc1a7a3016ab44c82007087d0973a456e8e1e92fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.16,\"left_z\":0.22,\"left_yaw\":-0.35},\"note\":\"The arm did not lift at all from the low pose, so I’m using the known recovery maneuver: retract farther, raise well clear, and reduce yaw slightly to escape the IK lock before re-approaching.\"}",
  "call_id": "call_NIgXh2mYhJlTYD5aOeoXB4F8",
  "id": "fc_07845568bbc1a7a3016ab44c82c7e487d0b7714c6db8d8e82d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NIgXh2mYhJlTYD5aOeoXB4F8",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7116, 0.9752, 0.8082, -0.5003, -0.281, -0.2092, 0.9997, 0.7414, 1.5009, 0.9291, -0.07, 0.0486, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2706 left_y=-0.1639 left_z=0.2007 left_yaw=-0.3745 left_pitch=-0.0651 left_roll=0.0128 left_gripper=0.9997 right_x=0.3262 right_y=0.2919 right_z=0.1458 right_yaw=0.6932 right_pitch=-0.0798 right_roll=-0.0373 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -2.8923, 10.1402, 1.6142, -0.2027, -0.0659, -0.0122, -0.253, -6.9812, 7.1316, 1.7558, 0.0073, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e7d241881ed4f74113f13c901a69f8dc902283fd11a439b1917bac0f8a97e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95210ad42a305ac5f28ba91ce1f6fb87399ca73e02ecbcf378ffd81d2974539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bf8b8bd28320521a5e15942592eee1a822f12de019b15d7fd16e6d0f133eb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.112 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]: [-0.3756, 1.6424, 0.2138, 0.8097, 0.0509, 0.0456, 0.9997, 0.741, 1.4986, 0.9325, -0.0574, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3087 left_y=-0.1275 left_z=-0.0016 left_yaw=-0.4549 left_pitch=-0.0463 left_roll=0.0159 left_gripper=0.9997 right_x=0.3281 right_y=0.2935 right_z=0.1508 right_yaw=0.6927 right_pitch=-0.0615 right_roll=-0.0361 right_gripper=0.0561\nstate[joint_eff]: [-0.4034, -4.6291, 4.6427, 1.6337, -0.1001, -0.0952, -0.0122, -0.1573, -6.9265, 6.7897, 1.707, 0.0317, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4026, 1.6752, 0.2527, 0.8036, 0.0223, 0.0273, 0.9997, 0.741, 1.499, 0.9325, -0.0608, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3165 left_y=-0.1352 left_z=-0.0018 left_yaw=-0.448 left_pitch=-0.0471 left_roll=0.0175 left_gripper=0.9997 right_x=0.3278 right_y=0.2931 right_z=0.1499 right_yaw=0.6927 right_pitch=-0.0653 right_roll=-0.0363 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -4.547, 4.8342, 1.6435, 0.0024, -0.0513, -0.0122, -0.0752, -6.8718, 6.8308, 1.663, -0.0122, -0.0415, 1.033]",
      "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]: [-0.7116, 0.9752, 0.8082, -0.5003, -0.281, -0.2092, 0.9997, 0.7414, 1.5009, 0.9291, -0.07, 0.0486, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2706 left_y=-0.1639 left_z=0.2007 left_yaw=-0.3745 left_pitch=-0.0651 left_roll=0.0128 left_gripper=0.9997 right_x=0.3262 right_y=0.2919 right_z=0.1458 right_yaw=0.6932 right_pitch=-0.0798 right_roll=-0.0373 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -2.8923, 10.1402, 1.6142, -0.2027, -0.0659, -0.0122, -0.253, -6.9812, 7.1316, 1.7558, 0.0073, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e7d241881ed4f74113f13c901a69f8dc902283fd11a439b1917bac0f8a97e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95210ad42a305ac5f28ba91ce1f6fb87399ca73e02ecbcf378ffd81d2974539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bf8b8bd28320521a5e15942592eee1a822f12de019b15d7fd16e6d0f133eb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyI4PT7DY5OgW9r0YZNMMkJ8wvHlZomKofnAFZCj3nkRBCrguFMSS5cRJKAIeY2F1Uy2y-nARGow_8ytGZeKcZ2UppnadyYYd4WEeLKPU2Ae0_V4V4Xgbh-gK4XC_MmLYd3zMyeZ2lPaHdS3kw4p4VXtzLCDY-skqsQiERhTso5HEaafoRKYRCjmG4Zi_cBuY1bFG7-_aIm7eTRLOwH5euk-VDp3qezTqiREICpR0b0uECnYECbI6S7v8FjXN3s3U6ittHcqIsNnbG0cJO5nSh22QwVObtB7hp9R-kKLQVVrbAbKGlbcaojWLEaAFFYgBkWxevqGLL6YkDZhcA6J1AsaSq8PJHOTEd2oJ8MhQ3eCSzqnZ_52riqEmLI5c6MfytvqQOAN2iOV7nnvAzqG3A-3n7lLxJ0eGTEPWZMwIf4O0VuI5Id_Ov3S5JCp0OPY0UW-QkB_jFUJ_ocelxBN2pKosXrbZwDY5XZlrkAECZ2bF5e2N1D0GDIwb_Zirc6mNEPYluLXdfpZAbYf2eZZ8tEhSYyfSLeKdzJSwdKDDn9GgcjFLvkxzZ59CrPrEbBur4rZ6lLVw9YcoEoQTeSbpI68JBqt1-E2ZjusFhqBYBbOIAiyL8BOv1BUHiO5sgKRpcb6YCrI2DBoODmHMLfn_kBFi4KwAZwqSVC3gJ_zVx0MC9S-_1-2kloR7U2AOI9PZ_GhFOTiy2GVuborF3yH_DoRJ46C2ImEGBnw2wiFRwE85o9yG-ELYhX8UhYulP9xgK3Gpc0s4Kxk_boXjIUASqyKBavxquLeeEa1VBzOm17qGhAgXZ5vCxFdC05ZZbAK4LXgexsX9wnh8L1fQ6zxb35qUJA1nRt7-b5tEU-n5nU0j9yY3OXjQQSKq9DCI2Qv66UE00yUWTnAeF2jSfeMT3YsCHXK715Thdhc4kvELb_S2qrKAGrxB5jnbARnMfUO9sHSUYBva9FQ8LJdeXKVSqRYKn286l81y0t_3ABgeAOcPzXvtilr4BN24T6u3Nj2plYYEO0HFdFnj5jtwmPotGKxEFPQeP96e1vVRYejOdaUDUhse_m8uKnIXRAAh9MIRIeMRuJUitecQeuY0mvuzxT9qYE4ZIs1irYq_Sy68Okr2O5oOvQUsUiYcpDX8l03NPue8MG7PournJp8EnFU6GMIQjpqBs51Uny53mJQ3U72ZdLYBnYZTqG-Unqb50O9f2tkwhYxRQYhSoaI532pAcH7wBH4nHfGloDAbLqG2OM2f0O0iDDZRz4PjvImC74i268eQFJ1yjoWXXVrD3On-3ziuTHaDuovTNxDfWDHe90YLJL7-R_YJoTlN9Qqr0gfIsdNvjEedhk9RbvVgSqh2FstOET39P9KAX0HXbil8VTlxwexZyNal1efMHRhIksZXpZeMtGXcZpyxZyZciXJ4Yq5kjbltCrDhE51jFRe3wG3_jNW-eCloSKSiKTvtDkrrW6OQFLSnaVW97lIzM6pE9DD0_oXQ0dn0UsoegCnXck29D9p4PA1iB4N0sHTBHQ1krjVJxg3Q1l_POhpjNHJAgmsA8FtCfgmhajLeGC-7dwZlrZWA-gG3hDpOui4WEceBGAlRDLkJ_ASftm8LqsxFqergGAWlJgX9b6rQiZA7BGsFiojtrCDL20_AL6ER2pLoBA7eOz46oSR6zYrf1acElkd-nnumKkHGDhCZCYr4NnHhI70VPz4FZ1LEnZ0UnM6uK4mEZnlqTa-f7zXUdHA9zTrWQvc6AYigAZJLV9KXh_0WtgvGeLOadAXf36om-mo9wvKMJeCYH7BN116LuH4XHYcjnbJ-9yr5dufXLHHUlAPHI4i8OEDZUdSTY2xr8K_kfrCMdqyuiiLHtBm_ocs_aJAcqhkh9KRCvz1UkzURXcFz0jgOr_gLWpvQMlQrj8kpFHkMwYgMgV06DW-OcmzjhSaA==",
  "id": "rs_07845568bbc1a7a3016ab44c8644c087d08c71667e101fb297",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.145,\"left_z\":0.15,\"left_yaw\":-0.4},\"note\":\"The recovery succeeded. From this clear pose the cap is only about 1 cm left of the jaw column and a few centimetres ahead, so I’m making that small alignment correction while staying above the table.\"}",
  "call_id": "call_G6yUrHg4l3sH7QBSAHZyAImZ",
  "id": "fc_07845568bbc1a7a3016ab44c8805c487d0901d960ad8846783",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G6yUrHg4l3sH7QBSAHZyAImZ",
  "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]: [-0.5365, 1.0435, 0.6342, -0.3447, -0.1658, -0.1238, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2866 left_y=-0.1324 left_z=0.1306 left_yaw=-0.3393 left_pitch=-0.1698 left_roll=0.0292 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [0.4171, -3.0974, 8.0205, 2.1612, 0.0659, 0.1538, -0.0122, -0.0342, -6.8444, 6.8855, 1.6777, -0.0171, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033674d0885225d60a0f65f3170170295a201109c00b1e7e1be996e2ea04421a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4347f052254f0e853ce323c938c61f0e807f431878a8f49d9a1ce30778c82061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbacf285e3514cc6c64995e250e69b336e02b420d25c3029dd0747412bb8d1a",
      "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 · 3.966 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]: [-0.403, 1.6752, 0.2527, 0.8032, 0.0223, 0.0341, 0.9997, 0.7414, 1.499, 0.9325, -0.0608, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3164 left_y=-0.1353 left_z=-0.0019 left_yaw=-0.4521 left_pitch=-0.0476 left_roll=0.0231 left_gripper=0.9997 right_x=0.3276 right_y=0.2933 right_z=0.1499 right_yaw=0.6934 right_pitch=-0.0653 right_roll=-0.036 right_gripper=0.0561\nstate[joint_eff]: [-0.6222, -3.959, 5.3538, 1.663, -0.022, -0.0952, -0.0122, -0.0889, -6.8308, 6.7897, 1.7558, -0.0513, -0.022, 1.0281]",
      "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]: [-0.7116, 0.9752, 0.8082, -0.5003, -0.281, -0.2092, 0.9997, 0.7414, 1.5009, 0.9291, -0.07, 0.0486, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2706 left_y=-0.1639 left_z=0.2007 left_yaw=-0.3745 left_pitch=-0.0651 left_roll=0.0128 left_gripper=0.9997 right_x=0.3262 right_y=0.2919 right_z=0.1458 right_yaw=0.6932 right_pitch=-0.0798 right_roll=-0.0373 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -2.8923, 10.1402, 1.6142, -0.2027, -0.0659, -0.0122, -0.253, -6.9812, 7.1316, 1.7558, 0.0073, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5365, 1.0435, 0.6342, -0.3447, -0.1658, -0.1238, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2866 left_y=-0.1324 left_z=0.1306 left_yaw=-0.3393 left_pitch=-0.1698 left_roll=0.0292 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [0.4171, -3.0974, 8.0205, 2.1612, 0.0659, 0.1538, -0.0122, -0.0342, -6.8444, 6.8855, 1.6777, -0.0171, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033674d0885225d60a0f65f3170170295a201109c00b1e7e1be996e2ea04421a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4347f052254f0e853ce323c938c61f0e807f431878a8f49d9a1ce30778c82061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbacf285e3514cc6c64995e250e69b336e02b420d25c3029dd0747412bb8d1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyLL1YFZ48eKUKakOsdxaFdu9xg5nsZqh2fBeFInMo3alViDJqZ3dAe1rSegIEabUHU6cLOMvMbAuPMHFrTK2gnKRnbUy6tqo5m3TVc-BXa7fjpbuDt3WxwTHISa2JWoOPYGaO0xzYl6nbT7CqrOnnbG1ymzku96dW8rvD1nOO_xWPg3fllYgoHcgTj4215R-aOiYpbjQ-z21Qc8L3-CeTxyucR6CFMzOJ6szXBj4mayWtnbAGCrWfQ-ZTSXksBGWFSjA6jWzK0r-4ecIVr9607zqxj8vNx7I7zLVilarpDsKaPPKhvmpf6vqfUybvwxhcQVwQNFmYOCz4fuGVWgwUBu0VxTYL8_L1SBKmsOUP4cgOTkkQg4dG1iYibos_R80la89vhZRH7qiBTPOkd8dH3uPVg5mAeS5SxmsvMRLMJpsxqUHGq1ToaUxSCPLvMWv5t2UR5iQM8THc3WDWNqEDpIRyevwkuVePjZxcVVw53O6b1WLxcxP_xFLXxbDYxYCAmdOzQTC91oJLEArRXx7SpgmfTHbC9t7KorUtZeyy4RZYdhhInb_vyS1w4O-qZG3ptlth-zNFmJqqoZoOGZdZE_t-SPSZRJYwrGxuxqUNFWyXnHASe1sUX1rxARl9Z9Q0K5kSrI9Yin43lcUjzIQISu6SklFNhs3fMUbNpct3-Q0d9o2H6OaJ2Nc4msy4LJ9JX-O_LagNay4ygY-x54JQfoQBHMs8lyKCf_rQ1dsvQQcW_L-jdVLwlbNkoS1QMWkQyHVodRgEPOEVyr4HJmRVA1PSJMH9dYYHmQ21DVm_rZ9nNvRrV6UwTRNdo0iRQx9JRyK9Fc4J8ZMQwRltt165Xvo7Dj3Rq8eWxav5MmKM_MV-rW7OsIqPY6pQYiqUUCSjuTCIPcgPVw39If_ZBkc_XeXU1WHuJfOwiS9tKokuZDPsdzId92taCZCiwKm1z9fqZZuB7O03lUesOF-Sj_YT4cyKAunxhUG0BTT0oSOHMPUp9y38_KHizrSf9eeiU7dS7UUscjQzOgzm7VzGbSjW3ygLuCOj0-TpAIYxYcwV2hjAdw1TMkh6FnK_0iCW6BS--Zj0Wm-uCpZL3x1HStf4yWlJRMniLq0tjMs_kXNFsSU3XwNLCD1I-N_-FSYjWQLyXSiUCPJAGiOttqhmuZwfK8vIMYH7Lq6MFQwMBNWSZVjLSYYkvuUHfVmDac-JxE5KD6FwrAHp5nODoZPjgMfz1VmwKzxT2q1DuT1nk5MR2NLecnaBUgk4ayIFb26ttT-5Hx7J5hny38aSNrFpjKNlCATIilyXUN7pGQ-3UfgyklpvWPfpVRGoqfWCBFMxXRHSt",
  "id": "rs_07845568bbc1a7a3016ab44c8a665c87d09ef5ca688cfe3b3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The cap is now centered on the left jaw column and its near end is just above the fingertip region. I’m descending vertically without further lateral or radial changes.\"}",
  "call_id": "call_p6LzHCMNXi4WxxC3l0PQOWY6",
  "id": "fc_07845568bbc1a7a3016ab44c8ada7087d09f8cd25772b3f00d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p6LzHCMNXi4WxxC3l0PQOWY6",
  "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]: [-0.5419, 1.037, 0.5388, -0.2466, -0.1757, -0.1146, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2826 left_y=-0.1299 left_z=0.1097 left_yaw=-0.3416 left_pitch=-0.1597 left_roll=0.041 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [-0.0615, -3.4667, 7.3915, 1.7753, -0.1392, -0.0757, -0.0171, -0.0205, -6.8581, 6.735, 1.6484, -0.0611, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aaf5c6a313d77ce6b098127db2941d4407986e3b0ba2b53b12c8377b5e965c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5465ef549cfaf999d3a7c121fd7835279ef52a2065ebb2145dc800f01c2f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee267c6f02bf57a1400954a50fe30e94c1d3ed93a241011f1ca0ab203f3c4bd9",
      "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 · 6.83 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]: [-0.4026, 1.6752, 0.2527, 0.8036, 0.0223, 0.0273, 0.9997, 0.741, 1.499, 0.9325, -0.0608, 0.0486, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.3165 left_y=-0.1352 left_z=-0.0018 left_yaw=-0.448 left_pitch=-0.0471 left_roll=0.0175 left_gripper=0.9997 right_x=0.3278 right_y=0.2931 right_z=0.1499 right_yaw=0.6927 right_pitch=-0.0653 right_roll=-0.0363 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -4.547, 4.8342, 1.6435, 0.0024, -0.0513, -0.0122, -0.0752, -6.8718, 6.8308, 1.663, -0.0122, -0.0415, 1.033]",
      "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]: [-0.5365, 1.0435, 0.6342, -0.3447, -0.1658, -0.1238, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2866 left_y=-0.1324 left_z=0.1306 left_yaw=-0.3393 left_pitch=-0.1698 left_roll=0.0292 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [0.4171, -3.0974, 8.0205, 2.1612, 0.0659, 0.1538, -0.0122, -0.0342, -6.8444, 6.8855, 1.6777, -0.0171, -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 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]: [-0.5419, 1.037, 0.5388, -0.2466, -0.1757, -0.1146, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2826 left_y=-0.1299 left_z=0.1097 left_yaw=-0.3416 left_pitch=-0.1597 left_roll=0.041 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [-0.0615, -3.4667, 7.3915, 1.7753, -0.1392, -0.0757, -0.0171, -0.0205, -6.8581, 6.735, 1.6484, -0.0611, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aaf5c6a313d77ce6b098127db2941d4407986e3b0ba2b53b12c8377b5e965c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5465ef549cfaf999d3a7c121fd7835279ef52a2065ebb2145dc800f01c2f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee267c6f02bf57a1400954a50fe30e94c1d3ed93a241011f1ca0ab203f3c4bd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyQPp5uN69BNH5Annnukcde03HgQZCZa7Vi7-LXy3GUJYCyY4k8-21Jv16jIvlbl8LHE4seRZfkjP86H6bR3x01qt-IvvHr2HTgKcQbRQU0Si719cQJxuALzqRIl_Qk4C7N7JxHlhI3-xPbl_5l5aAXEROjQ5NmIhgC_rL84SahqbRtmV0y4S_7WsFmSHW2BcohTmCx4q6sV3Z8Lq0iWmjGPoOynvZyr1j_kD6DPzuuQInkekdSED0Ra-USHEpWPQbYoMPOzRGVkqJL5k4BD4jwYmiLa8pKVwVNb4itE-nLRxbqGXCtUG-LsEoJ7PgY5-rJSqHHo4SyuPdoZj5YDIuYaSUOoNTUFYjvl4kSdGi-KejFngg9z0ZCVvQmzAUGLTJLuVmqy8aII5kolDenrCy_j8vKLXDycmvPqaOuzF-xMTtniIme5Qu7-s5lGg6MV-W5fAmgScRkN8PItWhuuVFCEblMetL4-djrAypB8kEJsaDpRBS6Pj9g8-saGNw8ZsmyJXusLQkpRM26rP1GTlWyL2bIytebFEOCSI1qKVjjA5jmcN_YwPKPiyChwq8KybfbMASN06AS9bzUStAni9WGwP74kV8x9CdUN8C0IQ_Rh-suaG-dKyjADloNePEtr0Q9hvj3HjTsI7WcW3K1cZZQGUKj_eNohb66Vf1XWRMLs67byeElCFEfjKAiU6_BhMUagbDd9cXTf81brr9ydUA_HZmorV0bideVv5OUXAkq5gS_VyLK3SovcpeY-BAfQXtd6v5Ow5xVt5DZBsMeX8hxfU_3lggYbKOY-hNs_ctRY9ciUpZI1D9fdrXfOjKq1QJin3fsk8ZBO0Agc33gz1cav3bJNDwQANj70LhmBFcTMjHZS6xGQaYia9eZcbE_1a88-MvrkbNX2imBsyZw-_TXAuXBJIEk93TGC43yvQ6GpT2CPqzk7Uq7AxIzptjCCbL_LiJe9Xg9pNMOMLYXCchGif_weaK5vYPM1Z30-3J-XKPuGgKLd1IE8jPKfmRFj43sDyqQXh7t5ZoL445t1cXd5VMtozXXHrPgpM_ZpjQwqrbKETQO6VHwzEy5JdrBopX_rb4DT0UW7lqffgnlfwuAWRqnNTXqe8KylIStIY6Slzmh4GxYBrDq4Y5h0gE7n79kV1YV6XEn3j9sCKXUCSbipIbGMKT3Zdb2R5lgMueKS_DOge8xKkA0Phy2z683QtS1XTsywxURVs9TfmmAijTRu_7AfK98mN83Y3FECSNuY-QEiaeJsWBBp_l5vFPF7r6klxPyp__Km0ZUeF8w8rTxn2UAV9pnBTsU6Jxga0oMVTk867ky3wsswEntwoMcjXv1lp5FYWzYJDTlcL13giVyx_81BwRl4eFVbOoSiCraQNvaHP5agvMnXopCf4DXv5AgiNwdOcODJ9f_C7OwOpcD2VULCl9naIXqDicAhNBwSXNlcX1lOGtefMu2ytz4qFzKRUy_PiEUIlCAls5V_E_r7p8biMRmqj1qVCFOCqX-88US5KoqcsAZcOQjgysvUPBgcRcLCwbgJYgMgPZtff_0_BQgeIgCjef8ES1kLKNe9JAgCiiZeRI1hkbDXXHMMpG7uNHRtxCpLWV4nESjlc2Btu7jB065u35ihznEnKubdT2hNwYEo69PHjrBrMY_P9N1wZn9SuGqxesghYyyDtbVdQyPbPD6gnqxLcQGmhgNjECh8lZ2dnGCt0Kbq2CaA4pt7SxhpRdtyq8_jKRPXrcSIPCu6um4yesqwK2Yx98gZ_cW9IrkWYa-EzexKSE2_FmGztxjPp3boZH7GzTbyHYcOGDYxM9OJA3nfyAQJ6Lvg77yLBeNraBsMrsl2WEGbYuqOgnIpnb2kfNDQ2Db60RPKvN2DmX0UFT811lj2XHGRmkEzwlTFIml_cnNQySN2HayWyB-o7FctaFXSw0AWmZYQxOJE7ogdZgLciZawKA_EMOZlivWAg8gHSCO5HrddS-rDSdOzc7WzYC8PhJLPp_n7GGgmywj7is6LgAGwi2QAeHguhCwI7M8iwpuCb7iz7edWFctFhKEz96qbvXAax5RT8Q1vAqvNH63QcjfdIgrEuhLHVR-DQcttuydQ6aSMoMUZKKST-uJobDUwcnW-bVSUnO_2kw9iPWbKV4ZRc-7T9T_IyKBT9q5tugLulH51kUpFor03_Ah27Ca3SYV_g19aioRzFxCK0VOddKopO9XrTYx0vAOVMx0uQJTlRi9Dt-fwBcAktrIDVxmlX4hrHMjlmtPHpPtnNGBDfD0p6OShZZ7fm3-yK1xf7weaGDr5sFolAwsBaO0Y7wmxq-sX_cmQg==",
  "id": "rs_07845568bbc1a7a3016ab44c8d4b0487d0b5ecdcc47ec02587",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.145,\"left_z\":0.02},\"note\":\"The vertical command stalled at 11 cm with no contact, although alignment remains good. I’m adding a modest forward component to change the arm geometry while continuing the descent, which has freed this arm from similar IK stalls before.\"}",
  "call_id": "call_BC7kFvjLV0rXhsa6uRPGp2GE",
  "id": "fc_07845568bbc1a7a3016ab44c8f492c87d0a6f1793da7f29a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BC7kFvjLV0rXhsa6uRPGp2GE",
  "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]: [-0.5381, 1.4395, 0.3874, 0.157, -0.1684, -0.1261, 0.9993, 0.7414, 1.5066, 0.923, -0.0807, 0.0498, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2847 left_y=-0.1313 left_z=0.0003 left_yaw=-0.3303 left_pitch=-0.3076 left_roll=0.0588 left_gripper=0.9993 right_x=0.3242 right_y=0.2898 right_z=0.1387 right_yaw=0.6922 right_pitch=-0.1022 right_roll=-0.0391 right_gripper=0.0561\nstate[joint_eff]: [0.0479, -3.5077, 4.9162, 1.6337, -0.0952, 0.105, -0.0562, -0.1573, -6.6393, 7.1179, 1.9072, 0.022, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6307fdb84b44f448aca3d30f3f0038f54b0027b8b667042e021e71fbffba7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec122ff5a22aa88bba0efb81aa66ce51c5813ff273292c7f1941232cf545426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e06c305ed09452da3fe2cb7b11a8b3220dc04877a06197810b9168ad07b8cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.729 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]: [-0.7116, 0.9752, 0.8082, -0.5003, -0.281, -0.2092, 0.9997, 0.7414, 1.5009, 0.9291, -0.07, 0.0486, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2706 left_y=-0.1639 left_z=0.2007 left_yaw=-0.3745 left_pitch=-0.0651 left_roll=0.0128 left_gripper=0.9997 right_x=0.3262 right_y=0.2919 right_z=0.1458 right_yaw=0.6932 right_pitch=-0.0798 right_roll=-0.0373 right_gripper=0.0561\nstate[joint_eff]: [-0.294, -2.8923, 10.1402, 1.6142, -0.2027, -0.0659, -0.0122, -0.253, -6.9812, 7.1316, 1.7558, 0.0073, -0.0708, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5419, 1.037, 0.5388, -0.2466, -0.1757, -0.1146, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2826 left_y=-0.1299 left_z=0.1097 left_yaw=-0.3416 left_pitch=-0.1597 left_roll=0.041 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [-0.0615, -3.4667, 7.3915, 1.7753, -0.1392, -0.0757, -0.0171, -0.0205, -6.8581, 6.735, 1.6484, -0.0611, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5381, 1.4395, 0.3874, 0.157, -0.1684, -0.1261, 0.9993, 0.7414, 1.5066, 0.923, -0.0807, 0.0498, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2847 left_y=-0.1313 left_z=0.0003 left_yaw=-0.3303 left_pitch=-0.3076 left_roll=0.0588 left_gripper=0.9993 right_x=0.3242 right_y=0.2898 right_z=0.1387 right_yaw=0.6922 right_pitch=-0.1022 right_roll=-0.0391 right_gripper=0.0561\nstate[joint_eff]: [0.0479, -3.5077, 4.9162, 1.6337, -0.0952, 0.105, -0.0562, -0.1573, -6.6393, 7.1179, 1.9072, 0.022, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6307fdb84b44f448aca3d30f3f0038f54b0027b8b667042e021e71fbffba7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec122ff5a22aa88bba0efb81aa66ce51c5813ff273292c7f1941232cf545426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e06c305ed09452da3fe2cb7b11a8b3220dc04877a06197810b9168ad07b8cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEyXaSrLlH40PPKmzszcL7aQvGUUUSrdu5UONnHdZG6Rql2B7r-YFFpaUv1-Rzu6z61HnmRl4zYtZOil4le3y-Twj46rsPtYtp4zmE1zuMJrr7Iid8Y1V6ym_Vp6Vg33B6EluP6DnhjsVD3T_90VCoetIc6aAqUf40n_oADCLI545ISbxStwZkYqBn1AmedBqmf1EeuJHd1h7l4drGww6ez2-5h-RnpNntHvh6VAu_4SHiV4vaXsFj456GSZ3E1jQoIakGmCvxhIfsvR-602scd8bYHkG_w-PGSY8dHsnJn9i9HRlOmwFl9nHMQfg8GCQPFxIXH6cp9NMo-Y4USYZ0LqHZOT-wsP616KJW70N_nbRfn4QQfrA6PKrVTtrYhXTpIrRTKxH5HfAWg4r9LwJhvgFrW3JuK4BDsZL_DN4gWyu0y_PkpvKhY7DOhQ6QotQg6HzqlUITjG6h6C77IZ0RxGDiWVbtHcpSK3mXSQVr7Wzj7NDT2kwDK_zozfTiNsVE3EM6vWAP4i78pSVI3fwO-ta2-NqQnyQxfyAoOiQ6KhGPByV35n1MH6CM-qv_nFAsdFBPBY2q_hP1iBtkMitOSPE-Ird62MnoSRU0-cCg32VDoQgrMWW5MzRRSucEdC9BK2-ii2yUEQiMRIetM8_Ulg2Pt97qh_xbjQsnXwp6Qngg6Og2nodzHj0jEFHzwbWgKNB_Al_dJZS6qI48M552k8SmDz4hGXTTE8LOMknvdMedZuN689ZObl3GfTctWcop4emfhFZLlwScsk5HpDP9pWcu_cX8e6OEv3Z-uZ8fGzIhZC-hREzISflW1IGaE0Sok9W5xV7wGP5nBaailndAlvhEHS_vzDcR5UbA-g2niJmVS4rFgoUtICEvPpz03HEumoovE7gTMJVz2T9gemVfKOe_QI8wDKGZUiGHy_XDsnzFTVwcxNCZmbUFj8cWE6HeljoY2OtjmqoMJ25ckxhUCuVAbsVRBarSybmf1RGxred_K-KEkvftvAud4vGW3OofywnvtfQsK7No5D5Xe0EadG3R8ADcC802PXwAOYMhLNzZn3PB2ax-hwvVqMd0meHyTHZtsl9lP9ahmRtf2LAzHq-znwzm-b7Y4o-wRetmES3_MwJvs10i1Yk0EQU50BFiaApba-dL9pt2iy8CH9FBfOQSPT1jvG18fa_6758YNXB61_dA4KsDhRJGzOpSAUz18GEpjNpKE0FXX2UcCGdKWpdHcFMUedMroWPFPgqsdxLv_5fX3a9L_VbiR65bC1odvQoiwDmTDLSTq4K005NqiNN9nE1qQ4dtJT3xVcJ5yIzS3cbJYf4mq2FPfnVor-UvA4Ktiv13xLKXiZrb3tucj8ceCEy9-MA0t4RBIhPMmsq9Atc2NGOE4lVkwVkBnxA3E5M64YiPNwdGpZlbM0v1fEmdFyQKPf-YnkypMhbfrSt1Nu2NlDiKUQaFgr5fXaFhSDuLiuBWU96c2huZSxUzHOsFem35wHllnlEpFbsKCqXDo6x8zuiIanJLNlU2jfqGa-LXRAODwkZN-fpfKi39uHBDSKgseQQ21EkHv6CsRVEjIcUFt-1QZ6HXX2yOVbmlrb3JGpd9oJ7FYhM708sz2Lj16PmNB7BpzxX2wcr88Qqk7hmXFi0RlDzvtBJoOotDmQRnI4nBS8ByuD_Llmf3-cHkfBwiAj9DRuVrvOezDc-7RM2YuNJwdOr3ucxvOeR9SfSUVZm19p8ZhL2UhyYV5jhq4Ps2TVGsT0K_eIPJO_yKCijRW8QzlsoGZzA7qjKi9jYdTZLk7dtBAgH3M-ElKHX5_A2NUmCeiKaj4jKczNrKnmGlalelPHBwe_cVC7yokyIMV5eFSkhu7TujeUaTJXZgh8pRw05jW6J_Q9SirjN-CaUzFJYKEQIQjpwZs6S_Olnx5J799LTT15Na__Zu_cCP2iV_A2RXj13nXzSqVNzcGC8a1rUsYTTHZX4VV5-JwoUzyF0kbLkwZXhOkzAstr_vwA0e7cGnp3st3kpuMwQT0kOCI-gG8kFFvKYcNCE7sk98oijMUvMoE3NqPQgDcxVP5Dy9nSJZXBhcj-cK7z08S-zli0MhGzfKpq1sNbkrbc1-cuFu-g6er5fKC9XSC0R0k_e7Pkk6Fh1F7XIBkFR1nB64fTOcND3NwoKH2Id8CTwNbqk_ViBYfzdU6ewOHa8E5vc8NcoC8NQdZTYJTZ_oiCgGLpNsU6qOBkoc9oAr3Yb1XMgR2HCEYbNYlJY7MI0UEDhrKqufFRt8QmUxYrvNia3CxmBlR1hwm_p1HMhA4x",
  "id": "rs_07845568bbc1a7a3016ab44c924ad087d0815e9e49d5d7762f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15},\"note\":\"The arm reached table height, and the overhead view shows the open fingertips still a few centimetres behind the cap; the wrist view likewise places it far ahead after the large height-induced shift. I’m advancing about 5 cm and nudging right to put the cap between the jaws.\"}",
  "call_id": "call_81eJwfABw6aKKbBgcIXdBf20",
  "id": "fc_07845568bbc1a7a3016ab44c95f64487d08c19aa1ca5153d49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_81eJwfABw6aKKbBgcIXdBf20",
  "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]: [-0.4965, 1.6394, 0.5629, 0.1978, -0.1513, -0.1204, 0.9993, 0.741, 1.5105, 0.9215, -0.083, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3339 left_y=-0.1465 left_z=-0.0001 left_yaw=-0.3079 left_pitch=-0.2944 left_roll=0.0456 left_gripper=0.9993 right_x=0.3237 right_y=0.2894 right_z=0.136 right_yaw=0.6945 right_pitch=-0.1099 right_roll=-0.0406 right_gripper=0.0561\nstate[joint_eff]: [0.3761, -5.4906, 6.8034, 1.2283, 0.0269, 0.2808, -0.022, -0.0752, -6.8855, 6.8581, 1.663, -0.0366, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a087469aef71f394be4e5b1b38053e0e7f12c264b3cdb0745caf39e8d32e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5894bce26699e122f88013378b8855beeb02292e25e68e5cae69c6104718a1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d0487154d26975f2ac9105cca81c50b45db3bc13d852a9b078d07fe9d1e5bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 1.742 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]: [-0.5365, 1.0435, 0.6342, -0.3447, -0.1658, -0.1238, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2866 left_y=-0.1324 left_z=0.1306 left_yaw=-0.3393 left_pitch=-0.1698 left_roll=0.0292 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [0.4171, -3.0974, 8.0205, 2.1612, 0.0659, 0.1538, -0.0122, -0.0342, -6.8444, 6.8855, 1.6777, -0.0171, -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 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]: [-0.5381, 1.4395, 0.3874, 0.157, -0.1684, -0.1261, 0.9993, 0.7414, 1.5066, 0.923, -0.0807, 0.0498, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2847 left_y=-0.1313 left_z=0.0003 left_yaw=-0.3303 left_pitch=-0.3076 left_roll=0.0588 left_gripper=0.9993 right_x=0.3242 right_y=0.2898 right_z=0.1387 right_yaw=0.6922 right_pitch=-0.1022 right_roll=-0.0391 right_gripper=0.0561\nstate[joint_eff]: [0.0479, -3.5077, 4.9162, 1.6337, -0.0952, 0.105, -0.0562, -0.1573, -6.6393, 7.1179, 1.9072, 0.022, -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 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]: [-0.4965, 1.6394, 0.5629, 0.1978, -0.1513, -0.1204, 0.9993, 0.741, 1.5105, 0.9215, -0.083, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3339 left_y=-0.1465 left_z=-0.0001 left_yaw=-0.3079 left_pitch=-0.2944 left_roll=0.0456 left_gripper=0.9993 right_x=0.3237 right_y=0.2894 right_z=0.136 right_yaw=0.6945 right_pitch=-0.1099 right_roll=-0.0406 right_gripper=0.0561\nstate[joint_eff]: [0.3761, -5.4906, 6.8034, 1.2283, 0.0269, 0.2808, -0.022, -0.0752, -6.8855, 6.8581, 1.663, -0.0366, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a087469aef71f394be4e5b1b38053e0e7f12c264b3cdb0745caf39e8d32e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5894bce26699e122f88013378b8855beeb02292e25e68e5cae69c6104718a1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d0487154d26975f2ac9105cca81c50b45db3bc13d852a9b078d07fe9d1e5bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEybdbMRg4S3MpqimmWy3rI8kVGeHguc9vuhwj2b2EtdSC3xHNYmE1rJ70113NJ5QCuhLlppPZt3jv1QtBR_2-iCb-WTl-ILbjXTVG7usaooHJFL3K1INPvzLi0KwjZPlmkbCirxTZKlkFr_lI8mhTkQfMPg75VinLcZZ4SteMkK5-rIUNzXiwof1aYDCLjO2Ck61lSPQFNE2lRIxbLVcmcBRVCgFe1WFIYQya094yG_ZnOkO85Y9P8thloaMvioSrM41bl2bgz5Ufu6mlfVeyTXxE4oOyOLAtBJgTvtCbT0CwTwJka17weixZtzDDWGcd0Zr-fd-4777aThjLjbzIeFTgDB2-XwoVY-ozQrlTpoASX09dvFawhVr2f8IO45AlF48WdmcKeMkLXN6mtgnB_oTxzISmBw93H8d35X7q7mfmXZ8vm46GInEV4YwDGSoFioNhF75Y_PLDbxEVoFCqAdyVx5nZsZL1iniLO58DBMLG4CLMlDkPU-aaDuA86d6L-5LiHFdq24O4bbQQhiO4Fx5FMQ4amJ6U8tifwGJEF6Rcei5t0cn6SyPXer8-tN1UbgjSaAznIREH3E2vIx7br-GpEUSUaBdxLCndXMptbAdsvw8LNTedcXxnC8gGy2poLF9lTlNjg_MgmF5EzWG5iJRFP_j-c8ED2D_Us1YTP9hW55fj_1rQotHTSbwAhKAVA25jMrMmBPJ4T3X0XlrgyPt_-HDRw1TNPiJoh4t201vXjRPzwdETCd7XepA0rkK6bCgU380Hl5Q9kX_Dy2t3GNqSWml4pZqgdOfTlK2N3N3ZKLxFfSrINlq18AuiwXIH57qVReg3ihFFmGWC1Vx97uQYPw7FsHF04wZTw6uv2Lm20BEJc-vcYDG6WLwRDxry0MH5TfQnxEwLtzFw2YLtwEOg2nDULtwN5Qab4HByzowJ9tAyJI3jn6A7CmCgE7su0sbEMmB3vZcVZuvC0w8KqYAVjy3RgSS_mDOBSFriheRDQThFO6c8bZXRyBRA-8FtxLEQo5R1Fc1TKhB5H2WyI7lRDwooRGN2NBe_C3N_t_ny8w6xD_fHlhve5KgyHZk_BXl_deISt56Rsd1EJSliy93oXGubkhlHZk5xixYB1lRBVlIcWErZ8OrtJ25vfgi3Mt9twqCpG23mE29ywPH5x9dzSoxxW344fUyGSVCu4PYG1EEJG9VWLPvYV0ku8xFAz0ISN2mFDbNsocOd-tTH4RBMOowDVsgOR57gv-autW8n0zeXbbkoJTgozRRZGlnEY7y2azf7ERo1BoGLsBlJTyLendBptoetLQvTUKY-iH3d2Tua7BGp30zzJCYwSppJgbf7sGIjmDl_Ii01xt2w-lPplkdKlZc3sfXaLOaQ3WrqlhrCA6bWx_sr0xDD8w-8Wbk7u7LCJgeXxNu1_TQUyelRaQX40GEh5flbr7xyBbHaNHyj8t-2UA8oYKAX7ReVQISPWMkc-x9YRRZW3eJI35cmshgNLMV1KDimMwysRd2sOx5zQSjk--B4WGZ48jUvf22oIPw-WV23rWj_X7ZrRMCiQJPR8cotvwHbNrZJZFqXTtJ8gtzhMP1KUIHq0mSFAC-_K5ma8Mt5vDP0BKolGdhKPpJX5-okOMRolAVca-G5aGU9Jmmwkvte8HkItlFo86mh_m3uY-CfHkTkoja-yMRdarWK-SLMYBub2hGIoZS26vrthaW4auva7pBicJp9iynJqVU8m838gCueM0GOXC10SDYwE_z5C7ujd__xvNDusb46DTUGfEa_CJGMHT2R4RpKJVoftPhjH3lUDZ_CyVpA==",
  "id": "rs_07845568bbc1a7a3016ab44c993d0487d09a5e1ac19a9d16d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.165},\"note\":\"The cap is now on the jaw column but its near end still stops about 3 cm before the fingertip convergence row. I’m advancing that final distance and making a 1.5 cm rightward correction before closing.\"}",
  "call_id": "call_c6fqhtgGPzXTydUhMt4rrKnI",
  "id": "fc_07845568bbc1a7a3016ab44c9acc5487d0818666b6a52f72d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c6fqhtgGPzXTydUhMt4rrKnI",
  "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]: [-0.498, 1.7367, 0.6727, 0.1936, -0.1493, -0.1326, 0.9993, 0.7414, 1.5105, 0.9215, -0.0895, 0.0486, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3593 left_y=-0.1614 left_z=0.0003 left_yaw=-0.3047 left_pitch=-0.2861 left_roll=0.0341 left_gripper=0.9993 right_x=0.3228 right_y=0.2888 right_z=0.1347 right_yaw=0.6945 right_pitch=-0.1164 right_roll=-0.0411 right_gripper=0.0561\nstate[joint_eff]: [-0.6359, -6.5573, 6.3932, 1.1795, -0.1636, 0.0317, -0.0171, -0.0752, -6.7624, 7.0222, 1.7851, -0.0122, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4547da15dfb4eaf65082ac8713ad842cd3a3fd8eb4a6ee439463b38403f9735b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fdca35b023ec710008d363ba91f763af6f70eb47d194358134ac322ec2de7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a35cc4b7309f3ca8c040999fa03f2a0471655112ca69338300ddfb6bee4ec4b",
      "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 · 2.367 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]: [-0.5419, 1.037, 0.5388, -0.2466, -0.1757, -0.1146, 0.9997, 0.7414, 1.5009, 0.9272, -0.0731, 0.0483, -0.0082, 0.0561]\nstate[eef_state]: left_x=0.2826 left_y=-0.1299 left_z=0.1097 left_yaw=-0.3416 left_pitch=-0.1597 left_roll=0.041 left_gripper=0.9997 right_x=0.3255 right_y=0.2913 right_z=0.1444 right_yaw=0.6933 right_pitch=-0.0848 right_roll=-0.037 right_gripper=0.0561\nstate[joint_eff]: [-0.0615, -3.4667, 7.3915, 1.7753, -0.1392, -0.0757, -0.0171, -0.0205, -6.8581, 6.735, 1.6484, -0.0611, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4965, 1.6394, 0.5629, 0.1978, -0.1513, -0.1204, 0.9993, 0.741, 1.5105, 0.9215, -0.083, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3339 left_y=-0.1465 left_z=-0.0001 left_yaw=-0.3079 left_pitch=-0.2944 left_roll=0.0456 left_gripper=0.9993 right_x=0.3237 right_y=0.2894 right_z=0.136 right_yaw=0.6945 right_pitch=-0.1099 right_roll=-0.0406 right_gripper=0.0561\nstate[joint_eff]: [0.3761, -5.4906, 6.8034, 1.2283, 0.0269, 0.2808, -0.022, -0.0752, -6.8855, 6.8581, 1.663, -0.0366, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.498, 1.7367, 0.6727, 0.1936, -0.1493, -0.1326, 0.9993, 0.7414, 1.5105, 0.9215, -0.0895, 0.0486, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3593 left_y=-0.1614 left_z=0.0003 left_yaw=-0.3047 left_pitch=-0.2861 left_roll=0.0341 left_gripper=0.9993 right_x=0.3228 right_y=0.2888 right_z=0.1347 right_yaw=0.6945 right_pitch=-0.1164 right_roll=-0.0411 right_gripper=0.0561\nstate[joint_eff]: [-0.6359, -6.5573, 6.3932, 1.1795, -0.1636, 0.0317, -0.0171, -0.0752, -6.7624, 7.0222, 1.7851, -0.0122, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4547da15dfb4eaf65082ac8713ad842cd3a3fd8eb4a6ee439463b38403f9735b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fdca35b023ec710008d363ba91f763af6f70eb47d194358134ac322ec2de7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a35cc4b7309f3ca8c040999fa03f2a0471655112ca69338300ddfb6bee4ec4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEydi73iUKHO6LRN_zRDxq1Ojl3T2uM6ZgSVAdwwD-eu1qdQIjziAtG7u1VObRTegci86ymbjZzb4CBWZETU2pbSnjQyV_GDIbEdZYvI3EUQUIXwzskQncMiTWzGHjnNqWlMrGm8edRsdwFROD-hBR_uhGXVt4v4E3OzRTCbBM_22JjcjrPcjcLLtQ6u9eVqL-34k4XVQHKD1PGoxyXrYMRzuTg1WSsncWUF-dJXp2XngBkOi5Qk061yGfLuxTXDQsgQolHhBTm3Tji8BOOupeZZwwkX5LVfs052LuXWqCs3adKSqIY9afl-A3SEhyTJysFIsH776RtdvMHK3UbA49hzDc8aSMujwbOD1uMusTfzQzg6N4K9KdqcTAxmNTyiLxg40puykPf16TlO_e_h1SGgh1aSVYSpCCK825M1PkcFFS2wuitkorWZXAvngQnOcD7vp-eDmCA23pZbtRxZXg1ZHuvbkJkH6gxCqJ0PiGsjFUhBy5zaRGpRAYAOuaXFvORGjycRarqVtWtdKvMPn3xYY5EMpXogLIfYznR07WChYluNJT0KJqbInd4Fu9dyucVdKJwzo4Dusdjqk9bHvaKzLEyn1pXLTcCqKvfzgsOXxLUbYcqYKKlYJgmUL7rL-imekAT-FZmgLnaLJ0zH0UQgc4dfvttiEhU1nwxBbVQpksSUKXYsGfLBGqbLtK0sos61DbUoJN3V_tbiNy-z4BlImr21afkTVGZCptffNJ7Ij_1dg_0TwUSwExAkH77QxpCcGjn_THAx_7vvxWCNSt_KbFfgismhf67WxVH_O-R-fVgrLTWYLVh2jEPA-ADSyugs8apP9TqcYapqBv1Yhe2uNQp3CrDOkDxK2vSvQbPnDtJdOGNI9j_K_oRQUlQB0MhQuOk0rsX0jQljSB6PA-YO325v2VvEN9-KeEz1igy-SuTreRjEqLbNk6mkX4tkOU757rvHkOCLuyPDErAdrvRW6xXZFDR38QXXf154FOXSd8UKCMRHsPX1AAmBUKf-VXp9cFgjtN3G17LCCMaqBdS50hm1BdIye5Gw0qPL3c9D12JI14kGXyR8pRmk8PW6pTirXAdcbf6zKFWskrCo0-YUTqmP4bC5EXOsHuI8utzyyzVNUbIO_OhDrq1TN73n5Tx9t5MlJmeTSXO_yGOwCq2v2ii75h0prqe9t0V6g6fqhEAvoCl_cVD5r56htLE9nMsS4MqnMNVGaQMsFkudD-GacSw5MOiPbixepTgXPybt1c8CZhPgmyLNrTgfERbDP2_S",
  "id": "rs_07845568bbc1a7a3016ab44c9cea7087d084fc87f620e2f540",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap’s near end now extends into the fingertip convergence area and its body is centered between the jaws. I’m closing the left gripper to grasp it.\"}",
  "call_id": "call_JPbNh73t46ZbnV7rqtB7urAH",
  "id": "fc_07845568bbc1a7a3016ab44c9d187487d09d06a222835dae11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JPbNh73t46ZbnV7rqtB7urAH",
  "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]: [-0.4976, 1.7481, 0.6823, 0.205, -0.1501, -0.1375, 0.0477, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3633 left_y=-0.1632 left_z=0.001 left_yaw=-0.3014 left_pitch=-0.2765 left_roll=0.0294 left_gripper=0.0477 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2803, -8.335, 4.5333, 1.3211, -0.0708, 0.1538, 1.3993, -0.0615, -6.5983, 6.735, 1.7265, -0.022, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a3d42fbaa1ef511468e2985736d1f7a40c2c2deeb7ce1a4dc73512ec8d6a29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c1f8e3bfac1c1503b675d515838c29c3ec4c0559ffeabe84ff243bd17ba995",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15162891602f732cea3f863111a00af96c9a642c1866b42bfd2c558a077bbe90",
      "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 · 20.27 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]: [-0.5381, 1.4395, 0.3874, 0.157, -0.1684, -0.1261, 0.9993, 0.7414, 1.5066, 0.923, -0.0807, 0.0498, -0.0086, 0.0561]\nstate[eef_state]: left_x=0.2847 left_y=-0.1313 left_z=0.0003 left_yaw=-0.3303 left_pitch=-0.3076 left_roll=0.0588 left_gripper=0.9993 right_x=0.3242 right_y=0.2898 right_z=0.1387 right_yaw=0.6922 right_pitch=-0.1022 right_roll=-0.0391 right_gripper=0.0561\nstate[joint_eff]: [0.0479, -3.5077, 4.9162, 1.6337, -0.0952, 0.105, -0.0562, -0.1573, -6.6393, 7.1179, 1.9072, 0.022, -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 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]: [-0.498, 1.7367, 0.6727, 0.1936, -0.1493, -0.1326, 0.9993, 0.7414, 1.5105, 0.9215, -0.0895, 0.0486, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3593 left_y=-0.1614 left_z=0.0003 left_yaw=-0.3047 left_pitch=-0.2861 left_roll=0.0341 left_gripper=0.9993 right_x=0.3228 right_y=0.2888 right_z=0.1347 right_yaw=0.6945 right_pitch=-0.1164 right_roll=-0.0411 right_gripper=0.0561\nstate[joint_eff]: [-0.6359, -6.5573, 6.3932, 1.1795, -0.1636, 0.0317, -0.0171, -0.0752, -6.7624, 7.0222, 1.7851, -0.0122, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4976, 1.7481, 0.6823, 0.205, -0.1501, -0.1375, 0.0477, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3633 left_y=-0.1632 left_z=0.001 left_yaw=-0.3014 left_pitch=-0.2765 left_roll=0.0294 left_gripper=0.0477 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2803, -8.335, 4.5333, 1.3211, -0.0708, 0.1538, 1.3993, -0.0615, -6.5983, 6.735, 1.7265, -0.022, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a3d42fbaa1ef511468e2985736d1f7a40c2c2deeb7ce1a4dc73512ec8d6a29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c1f8e3bfac1c1503b675d515838c29c3ec4c0559ffeabe84ff243bd17ba995",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15162891602f732cea3f863111a00af96c9a642c1866b42bfd2c558a077bbe90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEygJnaKKp_SXD75YSFaYzE8u-UEHn5kz6W7QoKYSGu2BdqYRHGf6aiIm6mp_kNe2U2AleedaaOibc0KkZsahCHvPx_snWNA-QxmZ8PTLj9bzoVIjB3jWExTUIHwpaYzyqB6ROoKTalC3bS85obrf_Qmy2wF8vlobbzJmB19H2Px1Bzal2R9-LZttYqAyy6WX9Wz6R_-PvOZAhZ3yrRa-15jC6iGXqg4ui8NTVRyGHCC5QvxXXefPQv7y4UL-4UFGXM1og5NAKP28EfO4WExJqe6Fosl4vklJlA5Z-IN9QSQVNSzJ6nPs3b4RboYfLhZT0KdSVEu9ZxCPEIk7gKtjSCryJ8TAofkyEEPBFmwC5M17f2oJ_0nbPOcMPth_VP7cg0h9Uzzc94UgLJ-oxeUa6VuQpYFGyhlCtb1mGPXEH8Nx9Cz8_hljuaauXlYglaHq4TDMKV5HZX3_1ajrTZE58M2JCYsSRMkIg0_kC4bTYzvse1HNym-K-1C3kJ5Hm6qfNxuRPY0lpJEIaVSVC5BpH9k5UKwe-vHw1rdkJyWYfiBfPAGjhHsPi8IlyksB07ng-4UWpnickLJTlZAYmUPe9l1cW-ueIy4AoFo0OpLEe-xwIBomx775U7RWN0vfaJzwd07FlhsKDRGvsNrTz-evenFik1tFz6XR8oz7qmx14LUW8CfvM7H3IzseoCrlCA2kqN5R52t9MXT8Z5CQiLwD2V3kstuPn0QEu0cycskziODDyKVFVllmoIhjCVGeU4RzRo72hVhcWiOv3v9tPNsjEZ7tNk6A_VuxUUK6DA1KP_s0NTWqkTLPDIWIbKKebbkF3I2UnFNIAcVnYzwWuOSjqQcR6ThLCCeBzlOdEOY_oL-KHpI_4lMRojWSyHm2ICea5V0wA5LIkEczgTb6vu3fMyIb2lipaqBun0P-gYNdr_pPmijbPm3XArVDnohTlieriZeuN-tK4VRGTeAEPbgP2x0MxXJMhIN2J0r-QmOwu_OV6Vr1qQoRvqrLhQYn0979Od2gEFQFCeaq-jvPFW6irsmorHK8DjO0TyRbqDkrrjcPsP8p0PJqceOxkyX4qnqxylIeAsfrCX-_MT63xsHRxLav500P_43HZQLFDAwjt8fQT_Ocxof_bjmOBNSC8CnwlZJRAFGyt4NjR8DEgYRdxrUuBoSpO9c3vvPscPgzHZSlH1TPDhZ_yWJZJWSjU-OyH-4yZVZx4oIcYDJRYvP8sFrJHuIMslzirO8ouaWjcv6WhA=",
  "id": "rs_07845568bbc1a7a3016ab44c9fc28487d0a71bbfd1b4b7a8dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The left gripper settled at 0.048 with the cap visibly pinched between its jaws, consistent with a successful thin-object grasp. I’m lifting it 10 cm to verify it leaves the table.\"}",
  "call_id": "call_jv3fIOlmuQJB2rpTqRF1rCZZ",
  "id": "fc_07845568bbc1a7a3016ab44c9fee9487d0a5acfc3e8a765a14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jv3fIOlmuQJB2rpTqRF1rCZZ",
  "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]: [-0.4976, 1.5345, 0.8448, -0.2005, -0.1493, -0.141, 0.0533, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3584 left_y=-0.1607 left_z=0.0761 left_yaw=-0.2984 left_pitch=-0.3054 left_roll=0.0325 left_gripper=0.0533 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2393, -8.2393, 9.6615, 1.6777, -0.1587, 0.0024, 1.0281, -0.0479, -6.7624, 6.653, 1.6825, -0.0513, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e03137ef4762ee01365e8d2421742967161dfa55db3c5ade408d5551d1c42b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31799ea44567c9032d30eb8ec6f7ad8c909ff5d88e9783941014aa39540bfa76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078ce939c82a48a0eae8ccf49e59bb12e2f093dc29996a67f87702b6419e84d5",
      "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 · 9.551 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]: [-0.4965, 1.6394, 0.5629, 0.1978, -0.1513, -0.1204, 0.9993, 0.741, 1.5105, 0.9215, -0.083, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3339 left_y=-0.1465 left_z=-0.0001 left_yaw=-0.3079 left_pitch=-0.2944 left_roll=0.0456 left_gripper=0.9993 right_x=0.3237 right_y=0.2894 right_z=0.136 right_yaw=0.6945 right_pitch=-0.1099 right_roll=-0.0406 right_gripper=0.0561\nstate[joint_eff]: [0.3761, -5.4906, 6.8034, 1.2283, 0.0269, 0.2808, -0.022, -0.0752, -6.8855, 6.8581, 1.663, -0.0366, -0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4976, 1.7481, 0.6823, 0.205, -0.1501, -0.1375, 0.0477, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3633 left_y=-0.1632 left_z=0.001 left_yaw=-0.3014 left_pitch=-0.2765 left_roll=0.0294 left_gripper=0.0477 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2803, -8.335, 4.5333, 1.3211, -0.0708, 0.1538, 1.3993, -0.0615, -6.5983, 6.735, 1.7265, -0.022, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4976, 1.5345, 0.8448, -0.2005, -0.1493, -0.141, 0.0533, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3584 left_y=-0.1607 left_z=0.0761 left_yaw=-0.2984 left_pitch=-0.3054 left_roll=0.0325 left_gripper=0.0533 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2393, -8.2393, 9.6615, 1.6777, -0.1587, 0.0024, 1.0281, -0.0479, -6.7624, 6.653, 1.6825, -0.0513, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e03137ef4762ee01365e8d2421742967161dfa55db3c5ade408d5551d1c42b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31799ea44567c9032d30eb8ec6f7ad8c909ff5d88e9783941014aa39540bfa76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078ce939c82a48a0eae8ccf49e59bb12e2f093dc29996a67f87702b6419e84d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEy1-fdNe9TDBd3DzOuOh1Jgb8Wu4iZtM1vL3ECi4cxPMErrDHKjvsABxcrBJ7HQ1fbMzjOP4bZk6mUZZ6Pe-0ADzia1A7CI2-OPR1bCuLLQ95uQFJGHGRp3Ej7t_5FgH9HObospDziRx57Sea8EiA-lenrpgxZ7MrXQio0ydQbWdW9u54HmM-QxH-hRnkcH7yxjZtmBh2L3PFkXOLHpAMGoJFe7T_edyOl5Tw00ipyw5VIV67dK9EXI2DnTVvtmwhK56yEj0zOUZuvz0_b3Kk6wE1YNoMftUyl5blBbCyicQxVPDmalh0SPy4UICH03CYf1iCsEMGi-C35JXAhDHrVXk4FbujF1MeMHIZ8sy6U5UudEN0Nz0SqepcpJ41kU4dyWK0-hKl9UwRtEDSqAv1JyVY9OFAz8xafKApzcCG1cNwGiCF6-4fFUDgzqlBlKM-GIQxwA7rRDJEYm1QYDO3l_RmgQ6ZKdfZ8hvak8MCqSuS6NAHeCOIBoOqCpl_4rpMypzHiQOtww65AkcyogQchcLfrgcLQzqQ0vg78U78knFIZCh5ihPR00LAM8qK9pgV7Bi5cwqtE62634GT1j1lZ7FXwwOWl3F3YmEShLHZH2v_syfwyM79p_FWgo9dSp4oKh3l5CU5d8XcdhQ4KSON4lNYhQVafk9HChVHBDVpryfefx7eDHtl7P9h-odkMl5wuCHkWSqUTun5OcOnw4wSBUoEI7BenC8jDAAnwWpjiEigg_TiDRvDkLB7-LtEin-q1ry5JfxjgIE6XvzBXUT8sYZ51McPM1W57bgffXXEu2xTO9OcCASxYoU4J1M-payHpcS_3mKCNwFmrCINtiNCrf8CNXTJhGbR_Oi9pfmh0qcvuvKJi0V1f4czGS_NqgfGtu7tFdTNz-eeMuJHOrsmbwzHyLsMrFyE9QPt-GqTK42tZHdsK9uKpnde8U8JmkI22xaDzEB2-12l_W2BELdlc764E2Bo35XRXXXdqKMUYWeSklihh54-QqmNuPrOTiT5lE49bw3TNP-j-B6EPAXH0Zc3REY3HHn7s2Pfup7VHF2i6p33xpoEwIcOldcfC25sRutWmkxBjbhBLTVFAOccLrJ9DoM0Fsf0WF84zk-ml9AP1bhic4Q58G8LhKQgI10ltM7wy25L95Bc5TOdSQw6n_E4RrV-AVqAXKPaL5dkoQfmo-vRpOlT-yhKOlWi9hs5z6zEWWgX2G1Z7algX3Aq0GTFxpypl0wf7zJxofO_3x-cvwOfjuL52bSBNcf3exBT45szvMQdRUzF_PVwJHeO7yB4QxkHDhYnCN9_hD4TKJEmWkZCu7fcJhxn0FfoB1KPimviUYQpVzTKr7cfd5fsq6OIstSUd2XFNd5qF6oApaPcpRr4T34CxR0HZDbeAxqTel5QMd9zCaQFnEWn9KNJOcAdIffHGPJWsE9mBrQIoP5qNDHxF1w1oLwxTvUShFlQAJrztw3juTTw8ieHRBHD9IJpzMEU3cuET_AwcI_MtlVx-jLEeYNR7vUdW6RFBZlSp4EQkMvtQvQZxP004vgbi7_tWQR-vxxC0PKA5EbTojhI89TJJKcZRzdsWk-LYTK-kjFnjQG86rpwiOco-aaRpGnfkm0wQnFZpFCRsrs57iA8WbfcpXDp6K5kWAzj0z90_T5mRjDXwdK6U2Gq7eDy9jUpEssU9wl7v2Dgu2fzpZeXABNz5JmxsjQQVpNnRrBMFlEDmhb6E_4rmqLhfdk_0B-w973SxU_a6Np4O_kodvzJ_jtJ_aH4-lNPfzKabiHiVN9U8fe6jOMZj5Q02mRLvAw8Njsob3b1438lzZn36f_Ixm9sDpdQZ8v-ko14D4qk1iRVeVdv92XZ_ANs1RB-iAFcAO0DYLRNeyQcOAsFrCetHj6wwUtShpEAEaBXX3gUOip0dVbCrkUv_UEZQEE5uKdPz5aM6z33LWWZ4rv1UkeRXNmEQsD4HYztvUlFH8y3nTou5pHOnmK2tvFuCkOOcKpYLUSXmQiyKXybRuTsFAfkpF-jfltG5UBe-L8Iaqw9pVDJAg1h-tPLqzeyUBkqDdENTuEyWrU50t0nPtOivxqI732b2SYTBBdACxg3Svg2a4VSnHRDvOQrNWVbb0EAEOOU0Ne7VHV_VmH4gaaI3n7T5C2uRgVTFlztUjlBuCZKg2GakeTtxBtTFlp_W_0JhQ8aC8GZJW9RAGT-1GfZEnk-mM8UUZSs16TrawoaHGhQ23zu0RjCDV_Aj1QpZezyHWED_caTT3gjH_uFXQFdrPRGzsqHJl0Uksc1IFEM-cCbz-96ebsqAfGvnwrHcTmnN84KNgIRRqvEBEWsrOKnDCKQFzKYOgS0L91rUzEwOsmuWATbKc2hRn_xes7QCbzRIb9y6d2dBt9azBAJYGUrVvbY7SIozT8_oTk70O1qu6l-8zBL8Pgn-EEBnRWAncRMYg7B6ZexaO9jS1kcL7h3cDn-5vZoaEghWV9Qq0GOegmat7YLxhtbjgOtDH4Y2ZdGbFezB6IuKwsFmWcnlwI7qcegiGLla1LSPvYbe3554sxvnYM4TTxOjTQgnOlepZkGYgWBXOmMWKJhYS4eJ1YG3ugaW9oQWO5p6yIkDk7E5BX99jwZEraLCVMTTiYKzRb-K1SRBENG_jiYMSFuIKMhFQXbH_MePBkqv-UsDkd6H4SRDqbthu0QKT5IVv_uI5-jCtp1vQ1l8Ct8CBIuPIeuLP4BMOc5RoZXv2uA_kD7RZfJRteuyxFFhS9HLUa24r7ggu-QYlYMTOX11P0pyQuvv9UVjNDeK7EgQy3xntczUls0v_jzP-Cq53fv7Uqg6rGCCIWdSADTDVfux5d8D09Fme26LMLJYD5AGD3ei7pYFmt8xtYBZrdDzmFE_HXjntkFWZO31MycQB6Ap5vy5V6zvwjpaAGnCyksLA5WXDmNagqJmSksq-nUNnX2BrFpWTiFQozfkU1UiEQ3PSf_KkxzVxzSVIESw68UAYuhUy0VDJbL2YfiC5lecS12g5bxuNGnrXRiS5aPoyGC4fhRVdtLwPCYdEUhRvjxHpuhOof7Ea5c2ZoYHeedWt2Ie37hcC31T64Uve8GKoi0UoCoTkwYjSLFnqM6lBqlf8rbfcXAmFRch3gRnAoeREIBE1Z2pNze6C9GRoW7Tb3Op0nPSQi6TEHKmAjUpXcrx-WN9T9Bn1INkZjyrx0Q8WWxMZZxfM5_EAKrqiOko9J_1P-OZyThmE-RWnOx5b2Z-5ZLsKql5ba7j4WdJ_SjPhsfs7Eg47HKaYnx-ADuVA2ouY-5R7HluZDgYF7McKpZdC0im0gB5CxrK_feq-3I0RQQygx8OON1VCy6gKTnuS7t0sKMwnGotbHL00op7lThgYOXZYfTrMQTaMopIH-Bga8-WRtXKWZuP9Cx9MPRXmegBzROPlISyq3rQdRPa9dKR8riB5Q7c7sP_JfK-XYREQeZVzHtcWbk1YbSLUld2YamV5P3j_L431OMmxW_0EJDGa8cyXK0CRuY1M7ND0you3oF0TcTWs4K9dE6vDMO7NyfSh3E_iGHf_lCuMIHtMM3uZdLnyX9wOIvwWeRye_9P8QYC5eQVOlfWEUowvQB8pVglkusVQ8irAUPcvYtHnbf48BGjMkEBepPg-gRjlj8XLtPoGPMyhpFh2HJe6xRUjAS_pDKDsgJq8IRHgz2K5k2pR6vkvObQpO7fphlLYgAP1c8k_fObKtAcQy1S7q-QsxG5810Ah17-8q0nLNleV434AB-QmbMwnHsTv6TLJ5Doxp3VEIm5ltJA3g_N2ifMn8lS4rREdlHqh7-bUHh8M0673sGT7R2tUS99k7_Q5vgTA0KHbkz9JthmdNEqUllJR1WOC6LvwAlfDM6FxyQMBmsO2p4zO73Hpr4v3Lrh1tgNCOpsW5SvPRRvS0_ocNHkM3kJ2OchPyydxoG0OeHMbwR6ksdbs9NSv0mIIERn08tJSl9y5Cl3cx2L6bAXXk1GFTatEb8VrEdg4llAAFjYFls6FOwsYY-dv4Zinhn5ag9VNqUsCsyehoW1dfzZ4zOJWU67dMBIU1XobHOXrzNAR1w1CT1ROgCnzeuEV",
  "id": "rs_07845568bbc1a7a3016ab44ca3169887d09d81c03541d3b96a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_07845568bbc1a7a3016ab44ca7b9f887d0a94c37f5214b5b10",
  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_07845568bbc1a7a3016ab44cad2f7087d08f2f878d101e2a1d",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_07845568bbc1a7a3016ab44cb292a887d0aaad151519b1cc2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.24,\"left_z\":0.2,\"left_yaw\":0.7},\"note\":\"Both objects are lifted. The pen is held pointing outward at about +0.7 rad, so I’m rotating the cap to the same axis and moving it to a high pre-insertion pose just beyond the pen tip; the loose cap’s wider opening was on its rear end, which will face back toward the nib in this orientation.\"}",
  "call_id": "call_OwRYPkkwxCcwpkwHXoLgt57M",
  "id": "fc_07845568bbc1a7a3016ab44cb4915887d0bff93eb20ce54f35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OwRYPkkwxCcwpkwHXoLgt57M",
  "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]: [-0.7429, 2.2074, 2.085, -1.3731, -0.6487, -1.2415, 0.0592, 0.6838, 1.5131, 0.9108, -0.1226, 0.1314, 0.0734, 0.0562]\nstate[eef_state]: left_x=0.401 left_y=-0.2185 left_z=0.1438 left_yaw=0.5989 left_pitch=-0.3554 left_roll=0.1368 left_gripper=0.0592 right_x=0.3413 right_y=0.2529 right_z=0.1237 right_yaw=0.5202 right_pitch=-0.1562 right_roll=-0.0342 right_gripper=0.0562\nstate[joint_eff]: [-2.4957, -11.8496, 7.1316, 0.4908, -0.2515, -0.0562, 1.0281, 3.8222, -6.4752, 7.8701, 2.1856, -0.6862, -1.0134, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d242dc82671acd6854b320cd15304ed62011803aacb06c5064364854693c7004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5db53799a2b11fe0c7bf898d7c72845454b04b8e4a48018e654763dae5090a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c910572d507e5f114308c663ef2157a004c0ea92dfc82c22abb391b1bd6cf5",
      "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 27 attempt 0 · /responses · status 200 · 6.034 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 111 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]: [-0.498, 1.7367, 0.6727, 0.1936, -0.1493, -0.1326, 0.9993, 0.7414, 1.5105, 0.9215, -0.0895, 0.0486, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3593 left_y=-0.1614 left_z=0.0003 left_yaw=-0.3047 left_pitch=-0.2861 left_roll=0.0341 left_gripper=0.9993 right_x=0.3228 right_y=0.2888 right_z=0.1347 right_yaw=0.6945 right_pitch=-0.1164 right_roll=-0.0411 right_gripper=0.0561\nstate[joint_eff]: [-0.6359, -6.5573, 6.3932, 1.1795, -0.1636, 0.0317, -0.0171, -0.0752, -6.7624, 7.0222, 1.7851, -0.0122, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4976, 1.5345, 0.8448, -0.2005, -0.1493, -0.141, 0.0533, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3584 left_y=-0.1607 left_z=0.0761 left_yaw=-0.2984 left_pitch=-0.3054 left_roll=0.0325 left_gripper=0.0533 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2393, -8.2393, 9.6615, 1.6777, -0.1587, 0.0024, 1.0281, -0.0479, -6.7624, 6.653, 1.6825, -0.0513, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7429, 2.2074, 2.085, -1.3731, -0.6487, -1.2415, 0.0592, 0.6838, 1.5131, 0.9108, -0.1226, 0.1314, 0.0734, 0.0562]\nstate[eef_state]: left_x=0.401 left_y=-0.2185 left_z=0.1438 left_yaw=0.5989 left_pitch=-0.3554 left_roll=0.1368 left_gripper=0.0592 right_x=0.3413 right_y=0.2529 right_z=0.1237 right_yaw=0.5202 right_pitch=-0.1562 right_roll=-0.0342 right_gripper=0.0562\nstate[joint_eff]: [-2.4957, -11.8496, 7.1316, 0.4908, -0.2515, -0.0562, 1.0281, 3.8222, -6.4752, 7.8701, 2.1856, -0.6862, -1.0134, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d242dc82671acd6854b320cd15304ed62011803aacb06c5064364854693c7004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5db53799a2b11fe0c7bf898d7c72845454b04b8e4a48018e654763dae5090a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c910572d507e5f114308c663ef2157a004c0ea92dfc82c22abb391b1bd6cf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEzA5A2tqHeDD7Byid8nG_yUPedAWeZqO9vwj1QFostkpv0CD4MawZOwRQQJ4OOdIRzzXZwKGVnA2CwFoR3UNFtVsBz2qn1c57hdPsYd3oL_KVFRh-d1Ji6SSPgRBYqr1JcuxYHbDfuJWTxuuA5LFcYvY28DjoP73xAuKT-zcZK5fpXSXsB5Plov3f4TEa_ZCx31bITWgTS7lNZzMC1r2zyUbVvP_2Y7xuGF4cEtrUgdifY9Zw8MgNKi9fcpVuFFbFc1NR_tkewngXSrQgIjfpC_zDCvBtQzYlW_fx8URfcOppY0J09piDDgGLeUHJbPmS_lEyKGZFiJX7wkyDd4VnlWB9YJvvPVtoSo8PUfkldFummqZ3KBbMIZuNdvqGAV_0Hhhw3wiXrT-T_YfsrXJwIFFZP3aTwWOWo6h5jW_DzBVZ6_QH1tupfERQnznScW05AvWBk1dPq9bJTsm8TeDa12ZUDnHF2jlDjQlUXlhS1liDg8adCsjsE1zgC5KJC_thKIwp--PhqrghNN88Ff03vAmbZx4uH9UIGk8LUyUIewKhqHUBLCfVIWeZiu6scdQ2bw7siUfrGosr4_tQIxtiIhtrWWDBJzsNr2JYOD4G1o-RfcUlmzlz-xUuAS7TVpHlL_1EMVY3jqH4nOxv3DIMKZXk0BSIC6qPpRiH5sl33H0LFz2gmbncha5cwXBq2pm4owOPAK3Jw1JBfKrVjANS9D0RufqDtDsw8X6r8Kv9XTNgMcMge_EBiv8amENiPP0ZHn711CbAhg0wB0RcZOyB4DD6fLuNi9H7Bn7WFBQTYIGOa1jEjdoZ1pDt6M_7R6GyquE9xhQzm0gDOo4soXZQ9AXUUWIsHibN_ekpCiWxgaOryo5nSdW8z3t3DwFvtW5wyQdDvsdnmobWTOGhGzfcKzz3VHBWE7nGwRJPiesnDm_Eol0r-5fa0K6BTgN4GrjbX6fHR_hsLOPqElarblb6Py3PmnILkpzDK1EnJKlEdyYp1mdAbCnt9BSAlzWfLC2k5wImKb__AIhgBQoeFZHb8scI1GRwQdLYCpmrEv_JNj_5D4stz1bbDO5JY25BBTZ4Qjd9D-lvezlvufnlTS8VUhxOGwK952VBzx1saPVYQdueLKcMoKGpA-tqj4aZ4iOJOvq33UvWYy1BCaqObSmQ6Ft94ICHkxR0CR3dIT4zfPVrztnnqzG-LPN2VfVe-1t-7WzR1upYwwFK6f2e7QFMdnZk55CtddUfza_-oJ8nnIe1vDJfR9wbdbUiMa_mB1T03dxq94G62TBCBDUEiaINVhMyoAHnvx_KKeDO6Z6eqX-SOG30E9LeRtT_HKsFQfpD6-8VEMvL2bNVPe4Roze7_sUnfNOiQZB7IyAQx6qG4iCUdNQ_LoQOOhjoMinWMMQ8CClE_Cba962_-3sdPKVeZKrVp3sSTykOgiA3At6_0gigVcx4epjJnV1MuNx1dqAJf7rZYFIZ317VzaN4bJU6ExZ2Xb_JlH2CzqBLzf8Tau4hOkht5_CamNx4rDc7fPqmoq8PCoCObpv6IwE06hvDHJJvUTeLvUl1nBp6RmnHuTxID7dySUQ9704m9Ue6aM_aOic3lxghnkvJFE_9VtkeBb54h0w_ahVklKnBpc13gtHG3aEZ0L6V6cCCxVzgNVcmDp--S32zTiaX7a7kYSubznG4ouKqyxjJQC3aG6pIQLY4AKH3_fv4FDTL_XVAn8w1jZbyaj1bLg5Nl1PPVllgrqNl5Yzyntmx-WCs26T7JUmX1Uee0AoMJ6lCTO8AVxKP1im_HAtSECWAHDecIHCAEToNQOMWGsDCPNs1CArBTAvS7sBZhbUuk5wkGv_msM6YpbbzeB2tjAjRHzuNT8DHCNrCLQ27wWKQ2-SXtdhGaDt-1QBbHUZhFWY1zYwaHBleAOLXt7knS-t8Fg6LCbE0NQyG9bqZaEIt5Av4QyzK_osUGn4JB8x8lAWs3Gsm2tN-PVTZ1cJFAPlRggt_YvHZzHZYURlM3gMBAPxRna4GrpuEU9trn1pw1gmur_6gBXK01YsHAiuqMsb2hZd96jXsmMU8p4ASlkHjF1bwKbvTNwCr-Xd6sg2c2pwbqmQr3-o8G2WuYiPQT9m51DAaFtcFIYMrn2S9jK4Wg7xfQTJ3_oHe32WpZ-bv505L45oSyNRKnu19flydAFeP6B79N5dXFeNW8_s0krj5w9anxSFUalgMe9CFIDDOFMGqEp3If8sy_REwfGiQXTq_9eFqKiEBWzDNk9Kb4hDooUWTen9-5A1bSmkCaYmR9uYk309i6g7JeV9ZLG5K9gX_he4ugkMlDRqNrT0W1FDhvlwOMuQ_KqecXJp__KCli7u8JXEsQfIj1E_vwW5iQ_b3MEvXfkKJA3KdM_2_pCJTyfIlowpPxfvl5ajRNqPUkP3WuzJnHS0cpRhjPNm4Z3kvzHXN74DuqDyxAZ1gIm3AgA0FTYwHv_IyIi46JCrrhM7nimiTIgF6tRCeeOwg6EOrMDR635W1vyk271lGcGjM9Wm6SmmZEGCmB2M3BacpfEbl1BDhPaKoDePqvJdqvi08YeK6p8uC2EPI7kYZ05eddteI2kTDeqg-k_Oh8b5h0Az4h-YdGog26c61TMtEO5DhyjjOSp_ZKGOA-XX4am39FiLJy1T_TJkJ0bLc0YUT7-cjd9J8SgqGuixPMt4-EdP702uyZjyO5CM7ke8utp0iU965DUSZP9qj7TgNEY4n9GLoBi8dk3aEn3YwZ0yqJW6CplVqjOvCRFHqTznF8eGDv6W-vebbM7z3foIoeG6PgvtI16sQh1xw_XVW3Albh-RxqmoGE-clnc1o2uRVEA508cGdYNjUHQ_Ru8Ub_xUIThqrZjJHjdcsZpjkBu3Kt-VV6e0GgYjfFTxcwVYyEWZ0o-V_3TaJk6HLMDQhCmMDkIA88jaT-PjEbgaMDVjkbtNw601r8zoFdROBNQFJ3WBcwTeRHawr-GP60-rJNEO0ImMEtdVvcuSPhtEGJ22O0FLUzmykuEDQHw23-Q-KDTeF61q9eVsjOtrAqoGE0FNV_clArRrdWuLXZo27fjGug38k3MTW4d66wgimAnlgAAClguLY6iDX7IQ17OP4tZqWgGQ6pRahbl6uXH69RJdGScnpZo0M7y1Y2V3it3ZImd-4GsZYBBsaInbgJbYm_26T3i5RohLOhiyGHiou9QmBzYk-gQjDuIAjcDiKgPEOLpZqyi29sHKtdqwXhGFglBLJj16ilfTM1XxjZI-9HobnsOnxHBoZp6odqMryIFq0upDLmQ98BdeW2Qp4mNSO8-la0p5UYO9Sjc1-_eZ6L25lotAEqi1SLSh9Q-JleJ5R8e0_kAlZgyx6Df9oRR9mD9JBlr3ed7SQjN24cdnf0luFUqVovBglfePthS1GmqMGc9mcrsCFJFxP0Gp0-grIybGaAqSm-wLuJ9YDdxVIgJlUHdd8BmD_7UT5aSF6zLzUxKCfZwBHb9jN0CVwNlYDUUfqeOwN8ABtnJLdI00lOn6-PZ9w3Mhr9_xUmFtmScv3Ib2EAyTEETUBSreDEFnm--m8QaMB4-3Z6PPI-l9J2GrEBuxlYjuv5OQyUY3UBq_ML6-Iwz-XONDDDTkLyf7jGP3mmAElREn-1D0hwbklgR6KYFMfbQ2kZMbQ5pX_EnXWuH-1wdQIZEn_PcTmdBLzyJJetaaked_6GhFPLFD21bzpG7smCE4m76vIKoX074n6HzBMpUux8CMj8IK_HWz4aCEh6QIjB7OLIb1Km7-0IoUBn69KrrX8ev3ftQbR9eJN8dd-ksZVQLgYUpxAMlN7_Ov12LVIomQwCYv6BzEeUCvhU5GLdvcR_SP_QgmG4hx29xLE-qWVM8F2atGXQ=",
  "id": "rs_07845568bbc1a7a3016ab44cb7c2f487d0bb05082fe3679437",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEzA6H8q5erIjnFIKsAVwkM6MkReuHdQl-Rxserj1TRav3WCqNTIlCZqp8DYWc5TyfLQN-apaqI7_lnZwv6nN9In_5DktAObQ7hR4qFRk4fSbjYBWQrL5M4z0WHWRjKH2yFJWaVpfN1CMj_jiT9KqOzV3gL70r4J66mUbh5iT0K0K57s-cmcR5QQFmoTPfA-FFjpKi-14jD45XzPfcfMWF4MtFu3LSvvYKmZ9YoCqdbf3SMnfyad1sjnwBuAmY7j_4DrhR9BHg8iXml8SeLMVol3BITC1ebMqUcaV3PwGYWfXyFArXvK6-hKUGv_wLJUpwmeF-ydFporXQiNVdQE8YZOsTXA87-giN9gpY8t35xdUUXlovsg5z33Ief-TAlq1BxHFA0cxhxaAZOCnUZTQ0VUObKr4Og62mZR9bGuALsK1yuyneoGaj-LlSvtdA_cWu7dH98AEsP12dbMiE4VAHSImKR80LVnbpS5yx9arEAU5XxdZ8T9klt3dNrvqv2rLIoEUMpwvhM7pfm7M93CvBxJYsYU7WMd99tj0NagtkSYKZdKkdo9UpuN8qK76MV85y58BrjNAZfK6tU1NCDzXjlo3qsdg87IuKHMo4JO3cGeXtcdJlcR5pxaqlnzkqDqrJrs6nfSamIQJ8rDaOcK6Z0MpyF0DtHUj2S3n-5p2Xqowqnz8xK-z5F4s6zOWi2vk9Vfai0e1w2QJIHTfYyBD8QE9GscwPRVrwcz9vpaIkFUcHIsRFg84ejjKAOqq6i916877aw45-EB-8tWs755y2HZUein9QV6vC4ApwicNWBEu-vvnEn4aC3ydAAcvQIXWAs5EdFs_z-a1lpSJ62GJTUxWSnZEozv54U4dLLWa71-nwBkqPuTEf_LlCEV9svdelS7JVSm5xEc6VyiL7vdB2wQ9aQXndgfVC0wxpgbS9Qyd3fC5c8VDHZJkltkmsEleBwJ0HfoEqkEFs8J8DQ51XdbnvJdJ3KJx0P8CY7Djg-sVrU2tL4pFg_W21uDN2kdMfro_ngi0KtNE0QLVB0SFf2UAfiGmESWu4uI9bjxFhTKwvbmKJH_MOsYHtZ-FXoho6wPEn1iOOt9JYhYA2047ToXD_aMgSzgAqreFscds4xaHWNdqDhv6-IAmGfUXm2jirsU9FelCtsbUxOlm87koz66kJbxg93jmpra3dWZSSBtaaq4u-TlCCfO0Sfk-4axt5sXFp0U0K34-tNuOZq2r3GUF5LxOA4Espf_XpaDirivXo4N_EAxzkkPwOYVkaMJBT3KNWzhOuNtBWzO1rTNh9i82RbYQDCt5EHX9UH72Otocwm5JiD7QZMxSaf2g0b8IxSiEIeTdkEoAfh_ZmsT6kyLu1PpCXTyNR4KiJPrU5kV2w_zbtfDz2JSHOOEu3GIXddNuWfAT5jHf64qsoKNw-TxcLFBlDvd1I2vr-ajmSVuaTQiqoBdhS-l_b0KJqsXs2uO0jo0cG7bLB4z3mwtqdXwoEfVIOrkkIg-TJ2Jnql3eYpIy4Qp1J_s6SNKGA18Ga7_woVKD9Rmn8_oq1aUDbTgIjD3tf0kLBZckY-bRn5bm6bgN_p2VXzv6uu9U1SbNTaz-BGcEKLUpIbQQ7QgJ53tmCnujJQeSGnx7YLck9PHuhI3TzbVygLEY0oZrb4fAiJqdnUCg0zrtsYnoOeZiOZX3IJHgi_sr_Fhhr3gHMxqw0o-g0mLekbtbP1ZzyHhabCsbcXHKKup0JeEMBZJL4kkhxYGxeIefg-PHEcQKnl_kVbUwhj5qAPdPX5cD2jCOMHNFdAGhqUekGJfvLx3TcDhxDn2-bF4TF5aIP-My1WYOXOqzNFNLlcLeKHSktgRMsbAeeBdrSjWusWLx57b4vNQMl4gVFw535yXrlNhX5Kwheo3sQR5TgCLUp03g0Ea3pjTrBl3lQM9Qz4I0MUVoP3c4wkgTBuaBNzNtCxMdPIIuUJDrZZvOcy1UgsobQk-sCxVHefUl5lOk-E3XDccqsHkHYwWvae4rd-AkdqsaKQ0HlrluxMVgNovNDFP3LBBSVMq",
  "id": "rs_07845568bbc1a7a3016ab44cbcf8a087d09cdffbbbce13370b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.31,\"left_z\":0.24,\"left_yaw\":0.55},\"note\":\"The cap and pen axes are now parallel—the right wrist sees the cap exactly on its centerline—but the left wrist shows the pen tip about 10 cm to the cap’s right. I’m raising the cap and shifting it right toward that shared axis while keeping a safe vertical offset.\"}",
  "call_id": "call_74WZeFC2bcwO7NaO2XEhvR8R",
  "id": "fc_07845568bbc1a7a3016ab44cbeb4e887d0b07703fade0c6f07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_74WZeFC2bcwO7NaO2XEhvR8R",
  "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]: [-0.7536, 2.3539, 2.3989, -1.6131, -0.6514, -1.2442, 0.0641, 0.6609, 1.5093, 0.9085, -0.0967, 0.1471, 0.102, 0.0562]\nstate[eef_state]: left_x=0.4029 left_y=-0.2263 left_z=0.1597 left_yaw=0.6168 left_pitch=-0.368 left_roll=0.2114 left_gripper=0.0641 right_x=0.3512 right_y=0.2448 right_z=0.1294 right_yaw=0.4693 right_pitch=-0.1272 right_roll=-0.0174 right_gripper=0.0562\nstate[joint_eff]: [-3.2342, -13.5726, 10.2769, 0.6618, -0.4176, 0.1832, 1.0281, 1.6752, -6.4205, 7.0359, 1.3895, -0.0952, -0.3443, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d1049125b776154e1f9d159884d5cf4fa0771d4503b8a40574306f94e5dc07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ff66c168fd837c1470f91b7d9fef882e4a92c69e28a0fa55bae23bbeeafc14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754e2f98137c68cecac78e1235a2ac9584ed91e643d03232e5a3e552acfd0cad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 6.98 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 111 changed as sent

message 116 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]: [-0.4976, 1.7481, 0.6823, 0.205, -0.1501, -0.1375, 0.0477, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3633 left_y=-0.1632 left_z=0.001 left_yaw=-0.3014 left_pitch=-0.2765 left_roll=0.0294 left_gripper=0.0477 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2803, -8.335, 4.5333, 1.3211, -0.0708, 0.1538, 1.3993, -0.0615, -6.5983, 6.735, 1.7265, -0.022, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7429, 2.2074, 2.085, -1.3731, -0.6487, -1.2415, 0.0592, 0.6838, 1.5131, 0.9108, -0.1226, 0.1314, 0.0734, 0.0562]\nstate[eef_state]: left_x=0.401 left_y=-0.2185 left_z=0.1438 left_yaw=0.5989 left_pitch=-0.3554 left_roll=0.1368 left_gripper=0.0592 right_x=0.3413 right_y=0.2529 right_z=0.1237 right_yaw=0.5202 right_pitch=-0.1562 right_roll=-0.0342 right_gripper=0.0562\nstate[joint_eff]: [-2.4957, -11.8496, 7.1316, 0.4908, -0.2515, -0.0562, 1.0281, 3.8222, -6.4752, 7.8701, 2.1856, -0.6862, -1.0134, 1.0232]",
      "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]: [-0.7536, 2.3539, 2.3989, -1.6131, -0.6514, -1.2442, 0.0641, 0.6609, 1.5093, 0.9085, -0.0967, 0.1471, 0.102, 0.0562]\nstate[eef_state]: left_x=0.4029 left_y=-0.2263 left_z=0.1597 left_yaw=0.6168 left_pitch=-0.368 left_roll=0.2114 left_gripper=0.0641 right_x=0.3512 right_y=0.2448 right_z=0.1294 right_yaw=0.4693 right_pitch=-0.1272 right_roll=-0.0174 right_gripper=0.0562\nstate[joint_eff]: [-3.2342, -13.5726, 10.2769, 0.6618, -0.4176, 0.1832, 1.0281, 1.6752, -6.4205, 7.0359, 1.3895, -0.0952, -0.3443, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d1049125b776154e1f9d159884d5cf4fa0771d4503b8a40574306f94e5dc07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ff66c168fd837c1470f91b7d9fef882e4a92c69e28a0fa55bae23bbeeafc14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754e2f98137c68cecac78e1235a2ac9584ed91e643d03232e5a3e552acfd0cad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEzG_nWcqE-T4i1wo6rxfP5BhmT9nnfrvSjT2QueBq5FuE-SWXP1i6YZ00gEiM2kMd0xK3QE_xzxw7-0cUKGF0B3GXhrcz4hADP4a_Ud0WURTK5FC29m3OyzZAErkcFeUtApV5CG62T4H0HNx6-eBRpuvXyAUpEEJYYA6PCCVW4DFCBt4IcAUUH3z3xUjb5_tkUj1sj4913oIjnn3Ovjq0W-__DVjla8JWmTon62aiobIFH6L7zkKP-mn8TSmjbqc3AgOXjVlVZSi6NWyO3Lnkp-3Hc8jonwlziUqnQOx59CF7-hXtYa7z4LG6rUCBPs09radK6jodEyzsGqndZrzLXu2zDhKp192RuVptQbohmM3g2cKnF166jbN4BD044vaXJOwI8JrI0zIeQPk9MjCjJy5cRB7FRi_O3S7v9i5GYFI7-jkANpJjjeaySJW4ifurQELr3lz344uXmNMH4kKqh-wC-A57nd0EKMsE5ogIAIyFVsvVp6wSygSJb39pktRbVnbP8PBX9zZ0emoMPgSIqvXaclcok7yq89O7V0P2-hukmxZH7Cid1ldyzjqajJXDA-V4F9yCA-HVotn3JrWOdJAnc5MQDB7nhVJbFlWB29cQZOu7SKt2KE-cTUDJyClyyU3ZYQ0qpdbAvroHqq-Y1o4iqw4U73vUAbxQnFZ1TLmv6yNijQ_Zfr0zn65BLW9bb7DFpt8OR7EmI8R2NAjqYB_5ynHiEsKOuDLkCR5Ta7GiCMCKdK6VJAn8Y0rAaMYqu1y0Hho8MuuKGBAIUC9FXxpmWJDyFqaf7FprF2KJTYF-SCf4eErThAgs1aQ9GtcEM14aV1vBDvdOtyY4TJDW1wdFeQBn2bWhODQf87MMVmKZRCzVrQ6fjtQInyKgg-RpmpZkEAc5QJ1Cb5ZMASyMp21rMcnYdZnOhLP6HY_NIApC2oniOf_Cy_FNLY4VTM7_WIEdh63Am_ssxh7jcUDmCvSPnFjej8ejlGzg8CgSc8W12XnwPEgg4d8m2ihCUjHN3jFaUPGsMvhpQhrPuNOtXVnkEvdjv6e9-ebycc7_mpVKFPOtSqjZ2mVqYVcDiaShM8EUXGeBaq-LCii2NpLKa05qYHvof4BX5jef5FrGOo6dfB-xPgoRiJ0xe0KIEVs2lDKuzD-7K8ITL3Cu4jO0qValLc4Y7iPKpn4MIF1RjC1k0rIG5SVIMWJUBBFKcFX6jb52jSxhaN2lhJ6rWywGynhyco4cD1hbrg1ufvtE0A9JPfitVeRNFT559dGdOqjXRsk1YabNegwcQwr4YiLohOyvLBDdntbrITZ5w0G_Kge0kNDkqXURP7s6Y6_qVtA0zaz73mYG8rNdwhydVPar45LN8OI-knOjekDnaR1lHcZUR_D8NKEdYF0YW4AuIJ3Fh7z6yupxFIAViNvBXsvb9Vg-UCzcjJQEhL6wu3SXf32Z65Q6w3iDsoH0bRxooVRJUR74cV2_IxszGikSY4eJeO9OLwh-5qhSJE8hOLkuK1qN4tBG2RLxowzoV1QnjSM2_vHZhy8G9OB8MbNY7VS_6-scbB-nMe9NRzTKTODF3Qwi1aG8sdOOZOSk8p_or_1-41LUfbFDbJCBhSb5T8lZPA-QnWXmzIypiL4S_QZ5Hw9CkOPiHZzaJGWtRsYEf2MA6yp-4Rm_ONXTInfK8m8rl9iKDPLR9mKKwZSIfDf3L3jH-FWm3TvDeNyQH-mQDrcgNytmZD5Edq1MuWwYvTKCi2WxvuE3WPVPv707GuCr0mcdeo2eis2Plk7mO2LLpBEu2WLfiarzl36gB3xgx7BATDIAK2_xYrNIOfxMhMdnj3xB1-HixSbCpoM9ZPJu8MsziKfj-ygj9_f-aImMouaYF9k3RyLOVEkWVUvh63TxzKzWgOvZ-5JSOxNs13YYuAjOKIwe3ESOdBGaAdSLZmpyhoZx4wa2WVpBx37-pQMA5EXW6NUU46QefQUWCiMxkxWaFGlkpUn-a4VStIVCtJ_D8bNbwv_rVBX8RsyOl7VkgOgMXWu4-0HHMTd8NfGjmg2fYgy3nfUqPhCDDwCg4LtfqBF1Re2iNilJxhD5BQ_i3W7R-0KdrJuwoynSfqhs3tEnm8dIXcxXht2_5qO3QGCw04bA5pZEOUVsnRbEvZJ1xIY8kbE38b3ph0wS4UAw9xFonfE9k1JUONsPGgv6Ktz4UbxTynLmo6lVhqtccgX4BwfHLYzWFe_h1xIYIijD4LZewCMSPg2JlV4D4EA3jZJMe_yJXDkjYO3lcdxQhiEJL61myrypZtrYNxm2lbspnaXrkVpe_a7wFSDiUuplUHVdbz7A7mJwvdAG1Nlmd-86Z9SGxXKUciNFWfBgdPNHnppoSQniO3xwXYSR5v10LE8hu0DDYeH2wpdcxWExluuJJ4GcxcleBvdIUa2kzMK-toyQkHsvOb0p03fm-RKfPdNwnGr76YzE7Uk54navVus1_bWI1G2O2CEjQrSa_dJrNy-XyOWBoqUsh6kTTZnJ-r3EwLW5gnXqOaAO4Duj0kTrTYtbf3RePhfaAKpkXw8HLGj_JOrKqUz5IJJhxBZ3ZP1kPwiKGb0sWq4uKFIdpoyrkYnEv97DvLE6I4kNrx7cCOYiaXcUQI2rbCDzIO7wW4mhaP4IoJxCJ_CR7gOvqfKeAtw5DQRrnuccy1M5FOxl-W6ixCjYPuLMWSVlucAV09-kZHynRvHLuYaKIz-bODRV5Ln2VeNE0k1ARLKH3QTgdjLxGuxvsATs4W9J-bJnV-jMJtsc_xpwkEWOUaYu3dZ1SA2NVDTAliOQNw4pqPXVquSuHLjWiDUcKG8YSvSg511w8_raXumvi1q4gYA80gg1CorQTTIBiWwF7wLwBPHpPAo4AOhwKN5KOIAtcf-QNhLTweGNwnNZRj-6tHxCsPJe1v-hUlkPse-FcZiCXu1LZiQapGfzY6Oj5gq9PKu09Ums_wOD0mOBvI-BDfMW_v-aKWPoss2_AaM65ZgUGkSsr4jLhnixDGVG-mqtrKnomxUcO_kRn7jd7OZajiVOZOZ2Gdv3O7EBsq3k5MiHwsFtMu15P4t4Ec2osXz30RlgpcBa4Fh9C1tI_JWUWYN13FyHh7dh8=",
  "id": "rs_07845568bbc1a7a3016ab44cc2a94487d08face969a60dca09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.28,\"left_yaw\":0.5},\"note\":\"The left arm stalled with high shoulder load before completing the cross-table shift, so continuing would be unsafe and inaccurate. I’m retracting it upward and left into a relaxed holding pose while keeping the cap grasped and oriented.\"}",
  "call_id": "call_kjvlM0YYBEDBSLBzr5Z9ep8A",
  "id": "fc_07845568bbc1a7a3016ab44cc5c10c87d0ab3e5d6dee5c10b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kjvlM0YYBEDBSLBzr5Z9ep8A",
  "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]: [-0.693, 1.6814, 1.8191, -1.5639, -0.6369, -1.0626, 0.0641, 0.6605, 1.5108, 0.9005, -0.104, 0.1314, 0.0834, 0.0568]\nstate[eef_state]: left_x=0.311 left_y=-0.117 left_z=0.2577 left_yaw=0.5193 left_pitch=-0.3626 left_roll=0.1767 left_gripper=0.0641 right_x=0.3474 right_y=0.2451 right_z=0.1238 right_yaw=0.4918 right_pitch=-0.1456 right_roll=-0.0248 right_gripper=0.0568\nstate[joint_eff]: [0.5265, -8.1573, 5.8051, 0.5934, -0.4664, 0.1245, 1.033, -0.0205, -6.8718, 7.2957, 1.7216, 0.1832, 0.1587, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26ba40a3c56a6909b8155d100caa104bc61dd09267b5ace14c8481d12fc20dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19975614d896e0238c1c5725b27cea8b2ee49d1b717a355b0797ed010b64e13f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3361dc56a12208e831a2e4a6c2f9bdb59d34e8f179704855074886bb8c12fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 8.593 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 116 changed as sent

message 120 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]: [-0.4976, 1.5345, 0.8448, -0.2005, -0.1493, -0.141, 0.0533, 0.7414, 1.512, 0.9211, -0.0982, 0.0483, -0.0113, 0.0561]\nstate[eef_state]: left_x=0.3584 left_y=-0.1607 left_z=0.0761 left_yaw=-0.2984 left_pitch=-0.3054 left_roll=0.0325 left_gripper=0.0533 right_x=0.3218 right_y=0.2879 right_z=0.1323 right_yaw=0.6948 right_pitch=-0.1271 right_roll=-0.0414 right_gripper=0.0561\nstate[joint_eff]: [-0.2393, -8.2393, 9.6615, 1.6777, -0.1587, 0.0024, 1.0281, -0.0479, -6.7624, 6.653, 1.6825, -0.0513, -0.0317, 1.0281]",
      "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]: [-0.7536, 2.3539, 2.3989, -1.6131, -0.6514, -1.2442, 0.0641, 0.6609, 1.5093, 0.9085, -0.0967, 0.1471, 0.102, 0.0562]\nstate[eef_state]: left_x=0.4029 left_y=-0.2263 left_z=0.1597 left_yaw=0.6168 left_pitch=-0.368 left_roll=0.2114 left_gripper=0.0641 right_x=0.3512 right_y=0.2448 right_z=0.1294 right_yaw=0.4693 right_pitch=-0.1272 right_roll=-0.0174 right_gripper=0.0562\nstate[joint_eff]: [-3.2342, -13.5726, 10.2769, 0.6618, -0.4176, 0.1832, 1.0281, 1.6752, -6.4205, 7.0359, 1.3895, -0.0952, -0.3443, 1.0183]\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 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]: [-0.693, 1.6814, 1.8191, -1.5639, -0.6369, -1.0626, 0.0641, 0.6605, 1.5108, 0.9005, -0.104, 0.1314, 0.0834, 0.0568]\nstate[eef_state]: left_x=0.311 left_y=-0.117 left_z=0.2577 left_yaw=0.5193 left_pitch=-0.3626 left_roll=0.1767 left_gripper=0.0641 right_x=0.3474 right_y=0.2451 right_z=0.1238 right_yaw=0.4918 right_pitch=-0.1456 right_roll=-0.0248 right_gripper=0.0568\nstate[joint_eff]: [0.5265, -8.1573, 5.8051, 0.5934, -0.4664, 0.1245, 1.033, -0.0205, -6.8718, 7.2957, 1.7216, 0.1832, 0.1587, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26ba40a3c56a6909b8155d100caa104bc61dd09267b5ace14c8481d12fc20dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19975614d896e0238c1c5725b27cea8b2ee49d1b717a355b0797ed010b64e13f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3361dc56a12208e831a2e4a6c2f9bdb59d34e8f179704855074886bb8c12fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEzOVV4DTklKoPM76Br3MODS7LH0HqfM7BOYvUPXmp-bh_VNz_iLHvnPdxOWavJZSLxuSlSdfE9K2fp3T78st1lUXld2YUJFnQMO6HEtMXoU4Pew_wQ1JJI-mOBnHi_Tt1yR2BaW3gUNUswI9OsfBgwTBIoEe5plNfcZHgiH-wmaQVhuQkyNQRapzlcWR6KaRe-6-HaTyj4kyMMPZSB51Ric47syIbc5C2FU5qks8SG_o4ZwP2Pp1rugmJ1Z9w_xChewVt3cDth3nYBKMkejvwzApL70fjVif3XTWJ5I3QRNuPgQhGlJxGSdBW_pwSno0AtcR2jf0NunGVp75tHHgX2DSCT1_yAZDnEN_RpYPV5WQ5EZvw4y3BDn3QWC9dyG_B6h2PkT8SHPNnKsTBE9MWm09ekdZJ_x1M-uVXX7TZx6zolaZ3CXBjJqHGDs9TiAk8VdgAjl1rH2M3kA4sE0RdnVYM4P-nErtm_Xhz8WWDbRIa5L_rWaPe0lvsu8BlQN0oGjs8AyMF6Lrh5Zzuo4EgBMdwou3S65wvT4flqW7n-lNuAcYTuu0xMNt-pcSMgkOLUWBxtcM-W95IlkQwPrjpH8oAZeMU2CGvApN7qWMNtDxNl1TND85r_hKesolDJzZUGaCiy-AY25RQJ-xYLp28a6rmwYFUXqR6fF5MesrCst_f7R9kWDrRqM2UlTpD8YyK3ek3DZrUgPv2TWu4vBquW29CXkeiXc9t8DWnUCMy3CFxljBUin9lTDNGwY4NrM5eAAEOuTV784RucpKlA1Om_lfjOkIWNH3LBBgHPcG11mOVwDGs_Ha3LtdDX16KjQNwTuIzpEFY7k-0lTJUSZXT_Rlj99uQ_nvdKwBlsmHsbVT3o-cceZ5EUZKGbMgtw0zmhb9taMPKuwA1CTT25LzS8bEIoyY7p-JIEQTQUqMNfFfcAzD0IAAT8F-NF04kFRBuM9mWeVVuYY87Vl5b4jkJSyAUrV-TuXdZcZ_dyMX5idi5JVS6LOR-hZbWExb4NfFt4BTgF0aOE-rP6EEVZTNU0aHC6t3z92TmgM5PsrEzuO1eq2jQGUC6nNTK5g1IccIwUz1lojqIMwJNo6BIMvGsiKKeEaVfGj36pTBro8wwLfrFsGyTtylvZatjEgAYz98PtLg5GRs6jKlPcpPl1JSLnqDvTAY-eGmPTltXuF_C0qsE5kMwB7oBvRCgmj_KLditmxEe5i3llU3HOdmPkreCsIIVuVkw20dT0aPk-PMmQDi198lD3I9dIcT9L2hsBvPQCNWjX8CBgcjnvP9iWAVKLg7S1Yhq4wsNKfWKO1oqjoobI0UKo-FOb2yESU6yQ5hvtkCL9L1EieLFasoUwl_QOCazhBnOdRnsirU8cpYaJ1iD5HXiZzZ-ERsK6VfEQuSxTd7Nn6voDqbveK_pa4EwoekQPgVAqvJZT3lrTjf8Vx8tPjEFdy5jInKp6Hro82LGGaxU49VSjSZBAnC5k-qPXo40G5IcuzCopSyVdO1XlLcQkIqE_JlThLM9uChidsnxOEHWVobvS1IDRNqybiMJ9Nb2fMov1aeaOlyFbyNTqydYp70cStPr6V6EGDq-YenawqKy5C7cV9v0URs8G4Pwzskizz1hry_rnBPKUBn6JooT9-JJVl3KcM1cS7T2uH4OZawMum7SLn1yM7Io445_htr5DruECA3ItV30qZLm7DXkZTVDyA5gZWUMhcmkOya8AmZhxs1a1MnfUvcUz0bhho-Z0imPTk0xXHwNbs3_8SoAXO30WxiOJ4YLwK77gd8JiKGBe13iuywT6E8GUVG_6DgaNeQnzjd3N4L4k-ZqTRb5Xdq10D9NTpujsLzvm7c__ODgPzZz9vJH3RWXSAehXiCw-NNpzUPpL9hQJswpCp7qdm0_xpFrFzc2k0HMp8khAFPp3an5vDwGftDjwi7wUBuixjS1RycqjkhRXTYAzNym_t7w9LIzUA6GJTa6GrD63NQ-wdyShPMFMp-OalzD3XHjmTDQv6poWS2OBdDuAnfoAyolfZDbLBBkCm16WRaAdK9StoxbmooOg0PabUpqCxkEfZaWbUF6w8f6ldgy0Joex7wDxG5N2U95G_665XzNahb6WfvYwWeshd_r8vGZjwe5VpB13i3Z9gDn9h_yq0A4tx7WJDEaBQPQLISjZ20veqwj96Ecdch9Ii4SZHSqrn3Xjm_h7wAptg01aHjB6sWR82CHSknMRb8VfwZEknXFlZFiWzkeK8oQKPLzO0ZFfbNRLaN9FTgKlkI1bubYm59UHwONRajWBdb26d4Ct4DKR9wjMOwH0NNkmSAvd93FeSv9PtQw987nUOhhc7sxEUrNYrxjFbt1AUsGShnzkiC1M3gdVun-wIb_aaCMsCMAR3HVC9SziiA9oXSHjsLGJ8q1ZlEp8itLdl4SrkKa-EieDKkpad2oWt0D5NPy7Ny6fNEjkqhg1gPnib33mHUGfin9biBbdG4T25Cmowxe10jLFVUaTiSArNWolZheCWcjVs0-jk3zRuXlBvtNmXt2bwHbMdhE1EjWupEM9F3Fx32rEZrJc6OulT3Y_HDCePeswXMLqC-M_shEnLIO0aqRv_X9iar3YfKhF1Gx5VXsCrKdcOhqFExhO3SIoDdnZzP-piPG5joMNByjWtgeREu665SFoJ5dXSmR8DceQ2Nq0Kxtt3xI7vP2Nt0mog9lSiIGSEe79Nj2BnEC0pAgxnMv7TiDKhCVPnidUv3Du2U4gFgCNGASHn-ECuKzqZvgF7NY0W9iu9anSLg_FXTl9QTdfuf_4Gc9U7WD3Dieoeqmer1U764WQbtupMjSLDuLE2mY3N89tviOmtbUGYoM8SfeY1v5Xjk_-TXwAISs18_qOHwfkFLrlqlQEvM-RZoqzfEP2cMl8vPGzbqq8iYsLhs0MBKjoyoW3tDzEQlC2QGeyHsqe8PbYrgwtLHuPOge-Pr0Qv-4r8NnJcUznmJ1ZEqvEaG9HZ_aRzem0xuLVLeUv_hyJ7UoXG7q_5BasjRV5QGCkz2RAP4PWMPqswgmO-QI_H3bK9wZ4FXkuLLzmIphA97pmzQIHexJDwd4SDeNQ927lt0lI8IYNZmw5e5J9fPzRY_1B1rKIpxxJs2oZeumDdM4Al8HQiHSxc-sMceIz0aEdH_2iUAYQEI7b8zU0CDi_Sn8Y2r4tFH9QUADeU4Vn23FUPuFSZkzf9Lw8o3dkHomxPe27qegC2QF1e5KhTmpA_0Uw0WknYS1LgGXMcT1-gBGT6r8gmGHvESorcnGcyIW3m-0W1qCTH0sqCAiA61_-eSArsHT-erXDZLyoarW5nqbPfjmAEqUtAxdSccwapcZ892Olyc84JR87qVWC6JxiCbyVlRm99XR3QdsidjQG2AIKylyKzd44pjF1IARTxqLPdcMgKL8gTm_to7JmsTOg-4zsuLeLGAbBDh7MoXbGwwZxf86mBUnZpckD88t1L3syiJUeULvAPJUnT4zKoOgkd55Bm_sH8Oud9WT-xjuvCKLIMszGxNYFKGXK8KISpa2nOBxvc_JrpsZWlNhhSj3aFGSOYDGVDwejzJVZ7okQg323q7Bq32Now3y8WuxF2AqxWD8jlnRFZ8Js1BNCELuNejLWnVzss50pfDE2WLRcVOkQHx0-tcUvc0FtJIvRVDMYIiw==",
  "id": "rs_07845568bbc1a7a3016ab44cc92e8087d09cefa80c593505a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.37,\"right_z\":0.17,\"right_yaw\":0.5},\"note\":\"The cap is safely retracted. To avoid forcing the left arm across the center, I’m repositioning the pen so its exposed nib sits in the left arm’s comfortable workspace around x=0.38, left-y=-0.23, while preserving the shared insertion angle.\"}",
  "call_id": "call_EVtW7Zt7zau9aKVm4FJwiuOF",
  "id": "fc_07845568bbc1a7a3016ab44ccdd72c87d08935fac256632290",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EVtW7Zt7zau9aKVm4FJwiuOF",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6895, 1.6825, 1.8034, -1.5631, -0.6273, -1.0561, 0.0641, 1.034, 1.6852, 1.2514, -0.3706, 0.3668, 0.3073, 0.059]\nstate[eef_state]: left_x=0.3094 left_y=-0.1161 left_z=0.2523 left_yaw=0.5223 left_pitch=-0.3778 left_roll=0.1934 left_gripper=0.0641 right_x=0.287 right_y=0.3653 right_z=0.1566 right_yaw=0.5432 right_pitch=-0.1764 right_roll=-0.0393 right_gripper=0.059\nstate[joint_eff]: [-0.3077, -7.2957, 6.7077, 0.4762, -0.4664, -0.0904, 1.033, 0.3897, -8.3761, 9.2786, 1.5018, 0.5104, 0.2369, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec19d82b3a3cb94c5bb96fcdf713fb1484c968ceaaadb79bddaaa8164c6196a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401056f5d06adde9dcfda0be67aea9b2cb864583e4e3a1293dd8b36ae7ac8f42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f4fa573620d8c297a4d04b10e1a6945fd675eaf5a6ed5fbdacb2a202600ded",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 9.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7429, 2.2074, 2.085, -1.3731, -0.6487, -1.2415, 0.0592, 0.6838, 1.5131, 0.9108, -0.1226, 0.1314, 0.0734, 0.0562]\nstate[eef_state]: left_x=0.401 left_y=-0.2185 left_z=0.1438 left_yaw=0.5989 left_pitch=-0.3554 left_roll=0.1368 left_gripper=0.0592 right_x=0.3413 right_y=0.2529 right_z=0.1237 right_yaw=0.5202 right_pitch=-0.1562 right_roll=-0.0342 right_gripper=0.0562\nstate[joint_eff]: [-2.4957, -11.8496, 7.1316, 0.4908, -0.2515, -0.0562, 1.0281, 3.8222, -6.4752, 7.8701, 2.1856, -0.6862, -1.0134, 1.0232]",
      "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]: [-0.693, 1.6814, 1.8191, -1.5639, -0.6369, -1.0626, 0.0641, 0.6605, 1.5108, 0.9005, -0.104, 0.1314, 0.0834, 0.0568]\nstate[eef_state]: left_x=0.311 left_y=-0.117 left_z=0.2577 left_yaw=0.5193 left_pitch=-0.3626 left_roll=0.1767 left_gripper=0.0641 right_x=0.3474 right_y=0.2451 right_z=0.1238 right_yaw=0.4918 right_pitch=-0.1456 right_roll=-0.0248 right_gripper=0.0568\nstate[joint_eff]: [0.5265, -8.1573, 5.8051, 0.5934, -0.4664, 0.1245, 1.033, -0.0205, -6.8718, 7.2957, 1.7216, 0.1832, 0.1587, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.6895, 1.6825, 1.8034, -1.5631, -0.6273, -1.0561, 0.0641, 1.034, 1.6852, 1.2514, -0.3706, 0.3668, 0.3073, 0.059]\nstate[eef_state]: left_x=0.3094 left_y=-0.1161 left_z=0.2523 left_yaw=0.5223 left_pitch=-0.3778 left_roll=0.1934 left_gripper=0.0641 right_x=0.287 right_y=0.3653 right_z=0.1566 right_yaw=0.5432 right_pitch=-0.1764 right_roll=-0.0393 right_gripper=0.059\nstate[joint_eff]: [-0.3077, -7.2957, 6.7077, 0.4762, -0.4664, -0.0904, 1.033, 0.3897, -8.3761, 9.2786, 1.5018, 0.5104, 0.2369, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec19d82b3a3cb94c5bb96fcdf713fb1484c968ceaaadb79bddaaa8164c6196a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401056f5d06adde9dcfda0be67aea9b2cb864583e4e3a1293dd8b36ae7ac8f42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f4fa573620d8c297a4d04b10e1a6945fd675eaf5a6ed5fbdacb2a202600ded",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEzYPrmioiDA__n9I9EQPuAePWjOBu2aohhkvJ6MJ2l5btZ_NYHofSNire2sIqegaG8MnRvDAKHNvpFAqBcKHaVa33P54pHnLy03cERuA1TM0FTZpIGXIA7-mpyPD81w-p7c4XNGxdAyTpTGLmEvGyk-_UP7rUeBLOZxaMjAMYZbsfeUXQgFM22hYcqGME6gfiGF12foENzTSi3l1Ic2xpLCPi98KmXRksbvQ2doWYWcnnRTH7W0bfr-A47qhi2Rm_5VCRFUIfRaf4EfCwCTlVXLWKRIEEedZzWjfCIfrn6F5SEDwW2fJ8n-P5fVgJwuQuhXatLXwDGX93EN5k-SKP0IPjPFaC8QFoj3MIufsg74oJBtlWmUpKf1OD1iVBtJ78DETVLGvRH5oaBMjO0yNq2BYIGzSc9fJwYPefULBNbwp-nVWsa5eWG7D4An1qVnYzNGdgXIhlcUOFmvyb51nOCAkXxv1TXohfF1E6R3pW-6faVUmceiAJMZaMzTStPGZRC-4MuVyzYVFQdg0jfNdzIX4PoWJFEwt-GkIRFNmDjf8h_zH0Cf2usBjrUgpioj6UbiJgDUOPzVZjVHsvyEWdXVnwzIAV0oculxwPXSQ4jyeQkKLgG-J7ZWwTziEX1JTNWDdeySOT61EaM1ymvFldJkiYOT0HT-VMTLeaLJxZlLauKIGXCvFQnQDKAVCC9pRr-IfXfEdaaJPYzgY5osoRvVWZEuKjkBF8yHrUfaVpFOpNww5thX9XbeSN_eWEOzjAErKuj1HtALXgl8ElujY7vq9ONR4C86ymdZfZBj1d2pSM7hHnZ7-N0KUGMgLMbOvykM-63oi5ZSqLhord9afoKAbSHzNKpA-RYHLrx4Ain2iq3mEZ8RlPXGKjZtyDgpDS7u9HN1JByITY0zO4hOQFFZ97cxKns3FuRF2s6oTGkBim6mUDl0IhncD2Y2NdYzyHtVM--CzEbJwym9a9dVl52L_broQSqf9hHLtbLzDGnOk_U9O0sZUa2vRtWvxIvES4l0kP-OeU1obstNBvj43W1PeEadVGtrLPhI6FXSR4PWvAlbyHZBSLHZy0jhaxbxB-twoYLRbr1KwXMk45k1sy2pXtp8L3fFhTXlAz7u11P5NXznHojTIJ6wNUA1huAmW6wEbozXm-LTk6b05viSTLF8P0VgdKM-thpBwxr0x2snEVyjSimKQg9BzORgomm9C8petz2VqJgk9CDB9bd0Omzonac63H4u2eOQ4uFQ6maOwZXuOkc29Ml0BkOMGg7RW07wVcHUZqMOSfFs9D-oC7MhjBWlNRHhbtOh5OLC0j9IRpOBfCKl-WQ9kJa8XLs1thKznffzjrQnsNq4F8xN2zUdBBMJjOYwe0wOYbz32eOwTK82NyTHFo0Gt6mhLj4VmbJ77KjoZh4WD3xMEcEkyDZbQYugk9v_wbYYAhJVmPwAqYRhFN2M2_m3ucqzm8om6WBPntNQz9Bk2ElJlNXbpuAQ9828_SN2dP34Drab359yUn62SWiYbGL0pHOkigMcIBGXE7gd5jN7mz5aYXZGWInsEf5wCDDxRO8CFOWej4Z2W-CCkx8Jv0x6iRqYdtbZARrIrDOu2JE4RZ76vDy61fEu84Gm941wiaS8dNMtpuS9qy5P7qVnoxxUyprNlkDYACD_KCpAB3T-ObjJhIB7zTsCwrgvCuPwqab2jYU0FtV3ln4v14MQviGUvlmJwY0hZHsuC5GYfbEO8tLBDZL78YSWTKb27jTnY1jSy4Eo9RFjldNRX4hZPfICogVDSiM357P02Lc58uPh8G4CrMOGiCtl96tWVHd9CFSLOX3oRVFKZq5Fo388Bc7OhyyU5Bbaisb6HgHUKPKnZoZmi5ADRbl56jFj_Km2_jvVOG74lCEjYFKk0XEN10k0UeTwyoQSwqAYTPIeUbLYMDGpJrywNdAkdKPBxZGFEGOp-jenlsD6_XnNq_20SMkUon5M9G-T0vl_WCr8JICa_0zaPrgCDv5Wxu6jDb_CYTy584TOnTgZKfgOJtGCAmtoyH3-kuYOixRWx-vmaVBfj2-TjfOPBxeLXOcvhid2fG_BNYaiFanZnpn_MGHIfRRnO04dqwPJWzKuLyH0njOoD2y2wdMkNfwPV15OSwU3QVfExMWGWu26ecfft396pkbNfD_oX1UB3yfgjsztnJLcpDlgePK2mURMXCQ7-Mtav7Oe-mKjoAAaalT3Z_h417CARQm5z-ioMYPaKpV1wAJjJwwaiaGpofaQD3XYBHOp7ho_01DNKw-LYHeIYRkXZ0RgPZkFPqwFNqeRLAQEgxyjJ6HtQ56SAYq1KunhYUTzrolyTmeyQg0tbooK_YyL_q_ayxLudoGhIwmJpUcfxxFUrD65YT6PYxypzpIurIQoEKr_wgpcKWqxVw-tLTn9bfVBUhFIH8wIlxz4YwcRxuHtQtmRz7NoM8wwRH7m392j49rSGja0bet42IZ13fvwYWsuQs-o0wJSAN8xLUoSY3UhSn9mrT7Xyx-PxdLpkGJq0hNBaaui7P2arMwWO7YAwRAueeug_L_qxE8ooixTD4if6S3fbrEb8SV5CifTijfl2ngAVMQiu9-F1x56exwBqrI7oSnTZrjiOmPX_K0bD7WjqiT-djpLbXPJuPA0fdofoM4KEyaM-DXDS_fw7UTAtiY3sURQPz1bwFVfQk_hzkiswIyGkb6ygcfnHRc01eAEAm7P34kIZ2ufoxR32RRXLaZUFCPPF4O6KlYaghWmw-1m3Wgm73tEQKFdUa4s_okuqroTEks-cdZUEf9qN59JVSrny0-ghzQhZkjYGHxKzHl-ksQ9r4ITb3CIjsIxvIMSeNXBhtKulz2bs73x-IDeht9iSQyASDPYVeY3N_7pOcXipJfC-UiSpvkiKRq5VO0HzR1X-MTmNiJQ91mDxK9tUbWp51v1U9RJPNDups-Wgt-7GpRqVhDZbEx1hE1KkVRuGk6-PEWZKr9IfSUnDDSitEFKaqgOiNgvfnlFx4JkCDvzdFG7qTEykCzBg1aspbcRwt9hZU8kphTqAtq7tKye3FWNozMjVoVJssjp_yAAEg8Ay8xydmbEnX3AgL0dTwINTv69Mnt1zKnTIerzQS1dO8_hJzkdl16EM8wWXIEJCbQZ9FdRcF9eIVSuLAcMdx23a7ry4EpzOnkjjHi4L-xQyYaALuFlfAaMWfaXRbEX66N-IC_7jD5NGkLtTH9YYnj6lkXcEiv0AasGePGz0sGNHZkVE7FSmHocrSSPqAbNAM7XhWa4F760oslgekZCIgcjRgNQjotvWk73ZuF0r4WDHbYNdQ9BCMhdjTrEouTjO92wknmwy7gwnTJleOIYmjUgxgTHgH9YpDnHFY142mopvzIKDPty3omdzGwFIh9baAsDuyYDqpuN1Pb1VTfgLVYYZdNRIiHl5vSSlQ2TPsSUxKlNpDBbmxrzJJp00fWhvr5Qmq9hzYsQyo1VNL5_21zTMP2GCbrveNS1cQGZOvshUqG1SkC5BaUUr7hN9OCD0WjdNp7c-DTFmk6wcjvPHAYnJ2A-cU5H0dtpjYiMsBRpXTSZrVfgn46B3LlGkA1V1DRR8wWP4uuUrpcBFYxJRj1-X8zYErrwUVA7swe9T5YOpxE_wX6SES4jo2kLlLfMjbU7ClvKFEjTDpJJkDKOUnHssg3lCWdU4hUPcSmI4pRO-k3jsx2CW6MwWgB4Ht8H-1ZIiQCQGzMJDjOUYygm9xtBZu53pypCANpEnHjWgPFMxVOAKaI2eh5hbhDfYpdRe-lmUa8jIxxj7GebJtRrz-vABlKA6OUf5y0bzGVyirqNORePlk9UlVjoXKdcSh9xNjwkWJKpVWMfOAoCctZKy5mv3bDingUb9ssWDmg=",
  "id": "rs_07845568bbc1a7a3016ab44cd1e32c87d0a4b4093b81aaa554",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.19,\"left_yaw\":0.54},\"note\":\"Repositioning the pen worked: its nib now appears in the left wrist view about 7 cm to the cap’s right. I’m bringing the cap to a near-alignment pose, slightly short and above the calculated nib location, with both axes matched at about 0.54 rad.\"}",
  "call_id": "call_GDA0mQym6fK0lq4T7HTpG8y7",
  "id": "fc_07845568bbc1a7a3016ab44cd716b887d092540ed282c95c4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GDA0mQym6fK0lq4T7HTpG8y7",
  "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]: [-0.7105, 1.972, 1.964, -1.6417, -0.6437, -1.0988, 0.0641, 0.9745, 1.6924, 1.2236, -0.4717, 0.4248, 0.3965, 0.059]\nstate[eef_state]: left_x=0.3381 left_y=-0.1463 left_z=0.2026 left_yaw=0.6114 left_pitch=-0.4176 left_roll=0.387 left_gripper=0.0641 right_x=0.3009 right_y=0.3201 right_z=0.1304 right_yaw=0.373 right_pitch=-0.2677 right_roll=-0.0859 right_gripper=0.059\nstate[joint_eff]: [-2.3179, -5.6547, 7.8017, 2.127, -0.2027, -0.3639, 1.033, 4.9299, -8.9778, 8.9094, 2.5177, -0.4029, -0.9744, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35415d21984bd265eaac64fade9b580f898f078fc81af58aed0cadfe828bc3ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c53b66bb66e220ebf08997f5080d8905c1dc980a641b2b5a2727585ec0e8fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12e810b4580c883040f6387b1d3f25aa0087f8a6af7f024b65817d0573ab4bc",
      "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 · 2.362 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]: [-0.7536, 2.3539, 2.3989, -1.6131, -0.6514, -1.2442, 0.0641, 0.6609, 1.5093, 0.9085, -0.0967, 0.1471, 0.102, 0.0562]\nstate[eef_state]: left_x=0.4029 left_y=-0.2263 left_z=0.1597 left_yaw=0.6168 left_pitch=-0.368 left_roll=0.2114 left_gripper=0.0641 right_x=0.3512 right_y=0.2448 right_z=0.1294 right_yaw=0.4693 right_pitch=-0.1272 right_roll=-0.0174 right_gripper=0.0562\nstate[joint_eff]: [-3.2342, -13.5726, 10.2769, 0.6618, -0.4176, 0.1832, 1.0281, 1.6752, -6.4205, 7.0359, 1.3895, -0.0952, -0.3443, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6895, 1.6825, 1.8034, -1.5631, -0.6273, -1.0561, 0.0641, 1.034, 1.6852, 1.2514, -0.3706, 0.3668, 0.3073, 0.059]\nstate[eef_state]: left_x=0.3094 left_y=-0.1161 left_z=0.2523 left_yaw=0.5223 left_pitch=-0.3778 left_roll=0.1934 left_gripper=0.0641 right_x=0.287 right_y=0.3653 right_z=0.1566 right_yaw=0.5432 right_pitch=-0.1764 right_roll=-0.0393 right_gripper=0.059\nstate[joint_eff]: [-0.3077, -7.2957, 6.7077, 0.4762, -0.4664, -0.0904, 1.033, 0.3897, -8.3761, 9.2786, 1.5018, 0.5104, 0.2369, 0.9402]",
      "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]: [-0.7105, 1.972, 1.964, -1.6417, -0.6437, -1.0988, 0.0641, 0.9745, 1.6924, 1.2236, -0.4717, 0.4248, 0.3965, 0.059]\nstate[eef_state]: left_x=0.3381 left_y=-0.1463 left_z=0.2026 left_yaw=0.6114 left_pitch=-0.4176 left_roll=0.387 left_gripper=0.0641 right_x=0.3009 right_y=0.3201 right_z=0.1304 right_yaw=0.373 right_pitch=-0.2677 right_roll=-0.0859 right_gripper=0.059\nstate[joint_eff]: [-2.3179, -5.6547, 7.8017, 2.127, -0.2027, -0.3639, 1.033, 4.9299, -8.9778, 8.9094, 2.5177, -0.4029, -0.9744, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35415d21984bd265eaac64fade9b580f898f078fc81af58aed0cadfe828bc3ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c53b66bb66e220ebf08997f5080d8905c1dc980a641b2b5a2727585ec0e8fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12e810b4580c883040f6387b1d3f25aa0087f8a6af7f024b65817d0573ab4bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEziNHQLPiYN2FEnjfzHgfn-QHppCA_xZb1m080wqLq1X_F1DZ1Pm8AVxPT9-3T5u1OqN11A_OO_4wUTK5OsQG9RJ0BREEALOGnErU356_FY8FCikVxbrWzfPPsWQSL7O338KB3AfEr0ERO_IaOJvA0Vx_r5ajiozdDicUoNoPnVyeTv8b5uFf5Dxi6fUpFqy5SnSZ4ba23cI12xWmpFt6tSDF45IlMwE5GH5HLicvsJq82V83wYobv3DyMRoD4N3jQltyVsfcLA69o0bbFNOa_PHQyEcVwdHbixHEwwg8boOlEp8aTR4-zdUy6_urK6Ao_9oat1SMLOb5tpleG9RW0i_M4hdUds2baJVy0-of6Va7r75AZ_CYBxgRUzNXR3YEZTDkh1LuPtgRPYtA2UDbkVZViZPwnziO4WUK2TWY0Vwn8h2FLXCqDOASgzoLnOHfk_3wv2tdsrYE3PMhi28IkZaliVPJtk3fWtDF2vzMR4859sXUAVT79aOCilSNHRxUjH1MoccWPnmiBLmKFuyH8kSErOvG7c3zRpfL-nKrNquZ2eJJEG3ZTl48vmPBjqULdEHRrt4tq59A4M0Y50QhdqX2uWDoU4s8afx-apiiZ8jJCs_Qcnc0LlTfX11DDa4jAZorOK3oz3ltu-9eMSs81O3_boaLLcb7lPW-iImMr7jzosi5UePNrScYxvJWkZycFt8Ij3Z5oOAynX_Oc4jku5EUq00sIZa1Ov0ldvFNzHxKJMkpi8RuhA47BaPaAPAQkjJ80oSCBpS09FkQYTHGYoOhDTnvLvHgg9D1zOfjEaCcutx3L-f1mH9MvU68nfwVNuIihBr49pQR-r85oU70HKwgqWrVKrcRh6W_8oib2ANY4HN3oB_gH7j7SErq_xzTw9lPA6Usf6OB8ZV3NQzgxm5t-WnO0mt3qOlWChXZ9H04MmTU-5P5JRr6MsQwinPGtvvnIsufKmn92rr3o2Gz5Xv78hFjsl6pA0nVdeeG695GgHtRBn4xw2_OlDdxjkqd2z7262kYNnBH6xnxECGIFINj24y6bTwel7ETogH3OVXFFR4ntpuaFI-qX4-EjgaTcGz2-s7W-HBVh9qOlxmxp7_MwuwQkXADjVlfWam7Y-rlK9k7hB_-Qe0-dNvmifhv9jPHhM2BBOjP3Na3HfLklurxGBLvmcd-iKH5NILKpF4kZ3BYlMP_E8RCuQ5BTajsHCYoEPTCWTn5uiyz_BWCIywA1uYthQCxqvtxTnlzS5nfGbtnVxpnbsCvS4N3BZqZiAZGLxwKwEvIM-YFjbZHR-8-3Ad5NkZJoMsjF5UqJWToBZpGLwwsxKYWeNJmG7VStpf7wqh5q21p-3OR10QAbk-PxMjtjaEcpRZ3XPwmzfU4r8jJ8moIOKasK1NsPN0hdRERHK36FzrJf8iawQMc7oWdPPT9mNQV6FMSPEBXZPhgmGz00v2C2OfKdjTQBlZAtsL0aez_n77ap3weZz7Bnhi-Oou8p7B7uAgK2D1H7loIOXrUMloMpkz5J6GQaSRMcvh8gHj-_i8ffjnwJwNuVVCvgCs_lQnUNHynHvZ3AQ53aiHC_bWztqY__XW1a8WWnXBc-BEjDK-yGd5Pdg7Z06aUgqMvvuknHzGr3bxDpzV5hAQS8rsKVAluMnkBxb8SdXglsCX6WDtg5LPZRITGKTSl7BXemOHfL8QeF9wroMV_edB36xGZesLq7okCkwHoeYwtTQUabKnFZakdnwa_9yy-xfS5Sc0MUysTVGy6XSRjXGtyjk85a8_6HcqoUQlah7cRXI1I3mJ1cwyUW1fpUapPLFzkt75Oydda008oUWx3PAfp__D03klkYPnDBsh9cPZE3PGdL7C2fHxxNsAl5FsQ3jW1Pz3nads69_HjwFWOT1rfWjEgDArADkgfXQQVpaHnXcQsPXs8_hWyloe2JylImhYEX0SgMPM0gnslcJSXCRlFnFBAW98r50itijNUJHKjHSNM_h_49Emq4VwHZLqikXbsu7_m--QzVLNIeTSosqc4XPIE34dlUs8KjBXoNTfg8xcaHDQ7xuHRkNxSWAMJP3vq8MxLzESCOvDyti6WSND2V86V0FOWGnftv4Z-2Jyxe4Dvu6OZQN8f7ibEJjrJcPrVhjgY1DrdmFxkRvYq2dkjOh1GXUhGI1rZlrdHJA42czikW1NQFLxZqw0KmFD_ZNnYI-R4nRQzPKUz2tHPTPdIqBmvZnc_S7yR8U3tw0W4ZEe9bFllYNiFXcATw_fh_RZ6tnbDK950TMURS7K08_A_UrIG2Zr6iZ835iYgTD0c19qKXL2__En0YOeXN6-KS681jW0HSlvzG0CSHLPK8dcPIohiFAbZ-swoQJRVv9XiCQ6hIAxUmxDQSfKN7x-x41hdn1GxibtmWExQzS4vTDm0IDXxxiH1hGTfolvj5d9d3_t3iv-MOroc2QtU1mSRm8yFZO4P4wRICAibIxLJqiAKRzLF8GmTrYEU0PPuS3wPVCxnJhiDq2MXYGL7FBaIkRHX1QXhvYtoXQgAQku75Txz-BvkmXbGogSULpmVWB3gcC-4efZPa-5MOwJSFcl58j0aW3Q9azIR0nu4BJY0zNeo9SscrldaGq5b0ZI7jtVom9TV9JSwPOqdMeTW3iw8Ncnfdc0v2-2jzM8D49NrsOhLCBVvwzRWJca1-9pk2QxDneAGHdwubkdSzZJefA2jOCwfMzBExAqr0WVh86_qUJW0lN71usf5tYtk67iz_B_gvq93OvnCyTI-z7Yq7JDobe-gGm2Hq4rvPAu17tbxa2SWB7bYoQdOOLHjByairtfY-CfPdZ0X7_dA7b62TpQTDtXVeX784Dw2F2Z7qzFL2VpbhUuvnH45O13F612d4Z6m2-H4qjwyaqVgvEhxKF4eoGcFe37_UKOemxFhtpIs7BKLnZWB-jhXO9oKu2JxZOElxD3uu35Hmtni9R8YrdAiivMkHMl72TLfiZUsMb6uO7eEBAgzBlybU3v-K1NneAiviq4rlf36cP0cGorCz25j6IT5WhjTJhlvXUn14fmogusqxqyBzjNFy-34aIygM5XKJeUFDvfCkMvIs68qTMYp68byaHxu11rDjPeznFQAIK7DSMpAuNzhnnswWWV1KDeKgO1GyxSVUHTp_v-a962phuh8IGJFnDEJQoVegS_2YFixmpnY9LQU0860b9lffI2nxEwx1qB47vFMBY6hrEjSGUKdv5EEeNRJ6baRZSoCmstiYsFmMqLrvrv3HgwmNn0bErVUIrHke-pRfNfTIIUoS_P2qmUru4Uxw5VmXhKGdQBZHJGXkgQGXgA9M9KiKova8vR8bE3QLYAfIzRzA6N9wT8-dH3mfvFqH7USPPLvsKIDAQm7YaSSvGxnE1eYeIlw-TbsLTZowBbf_whii2ULhS9IaF9fmaqHnpUYKL6FhhWMCGlO6CKW4eTic6gBJGU4QrslFIfB0tP6QoNbqlqEBZboPNkeEYVDhJ9dPuNpmPYikVUUQijIjm8bok-p0uGoiOiKW_RlO4rDYFMNhwpIcOzb1vPZ0GuHGP_XQn_jmAJLu_bZQh-EWgm_pOcH-H4QJEF1VwzEpLx4jn9d4aBbB44PKrc7_mfieoTN_VmsVx-Kke5H_uCM_734WP7V1ISbkgZVqdTzQo-0_-AjQ3sDLuxlcVh2l__VBnwrtrfjcivfa6bvetL8qeIkR03Qyr3zx3-hGctowBUfZEZmn_-FTJmPdYNlwhiBAuc39aBEAX9zx3Nkgs-R8HtZhy_uPUlKufU5OFcvMEE6L30pduZH6LQZUqqBL8F-rLuEHp5NnlF-Sphe8MlqeelwY6ItcsG2C9AdGWiZh8H_nbSA7I9DGztzSeWs4c6D1YqOYrZBK05epX-SgURF9_F5m0_3jQcVq6EeBIAHrRdnRtp21b5sbT-E-0vfuzj3ZLNUiWvPQBsvM-HWZYbIleOviP5fuoBOHPY1fb3o5paUc2NewT4PUdy67W2cDuH0XSjyqESR0gF6RSWJN8AvFfldI1Re_JJlMdXcpaBtHThv5wtZf-P_uLHZPQVRXEj4qzQGxe5u0mkEN0h9p1ySdWKs1046iFWu261mzQ97Pp7tzNs3GM-I9nh-ohFlUFds_mIk7UWgm6UCaLb5hSB1N_iP7uR2npRZx3ZV8RSaau949U6pMqYbsIGB8zaBG33oCI8eUFuzYG5jtAWSYnQ2vhT-JjKFd2YNuf55W2aVAFBU2iU7euh88vwRvNe31t_6IppBMMkNQHtINHz4tk6tCrivZCmbvdjKT-Ys04TEl4L4VF01xL62TJsGBOLD__7hPMU207uMFb1zoHKuvTOpaSb1ox85ql",
  "id": "rs_07845568bbc1a7a3016ab44cda4b8487d0b9be86c9e6e9f47b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEzimUXGJffzZFkG3w0I44KWPeHwcGJnkDdz1gLE_g9EZjKyYfU0-XL4sQqlesYQ2wWug_IGP-3-xy3EfB9J5H5d5G-wB5xI3dobkxHKMdY_SvVvs-0Wt9Y46JKdoA6L6TshIa2HnKRz0DQk1mdAaL4PoPCXVmvsaugB5Qhzk_ZWqIWvltE2pGBmKQcY9qajIF5c1WzPIe7z-P135p_fX4iHsT3SjLrs3xyF0YtmR7eL7lGp8gV1fgIWw2aOOvRWK4Ag6Qsy7F-OG1EUlwFEaUTqaru0u4FEQDXqsfglghZWyU1RDJzxRZZesnvYLUDFssp5MMrS8MuuPGp7sGx9NXK1faW9iGAmqUnwmq0dhnxr822u11WBa7z9TjdiCDNTS2vuCLIYlpughwhEtHwl8t5upFCHVsdTCVOZTWq_PMAlYtx5sfEq2KZyavbIFQUplGI4O8SXvltngJZdFrE8_h8JlXh8gyaPsf0bXhZ8Va6IUyumhAxswy71tr3by30V2xta_00TUoLMUL9IF7QPVjuvijwY3C3jPpZegq1Di8g7qFZcdA6RsPcTJ4EWvhS2bHaTMoGLnsAZIw1LWhCh_4poICpYFTCGaiaBCz2j0GCKrbb1Kg_2ajTnKz2I6Q_QTOKCSKunE83Tt21iBmz4NbZwFBwsvgottK7hOguE8ZPQzJZxylADq6DI8o1A6nb2eQQPCojB-QMXf73NSC2gqebJyptUpxK7wIKmVWiEzEb-z3ObbXQxUBBaArvQUpZjANDoRN_3ynszJEiTUBw8wrKdJAEAzFznkIXsulajO4tdCFDi8vbCOY4aB729cwmgJKv8e8c6Mr1bX6HYtSU5I83mlbD8GU9lgOxZqPjYSish-MTGu4lww0adTcLMN5AfsFZ90I88eb2Hey_fSRpW_TgzJvuz8fXIcU_sdskk7_SmbKf-QPCUefJFrrwXI0KDWrzRzQwmkcBb2x-Z1hnJJFP_BZwLeznP09PP4roJsF6S_xqQjIQfhY1Rg4TL_Qa9ImSnLT1ZAFyx_8z7t7cT4aEf4m-TSPgAdvtlOBj2rIjrdEt4l1PopHeKmyXvVK2Ccbrixf1OYOYYcrTRS-XP0z53yxjjH-RRuEH49VTjArNtE0IYt_b7EJctk5EW-ff9mXqxPaVnJmBBXxHz_Lo8K9RXONsEnp8qF5m9nFjEUfYGO_BPhXoJe07iwlCUPBnmiQ1yojZIrO49iErevF7mwodU7HHjkIDz42cAAx39882euayYdjdMC8zbtd8A06q5ORPEqm3ZpTxtfWLywDsxIQUhBE3YnifXR_kgWnXYCSR6SQt0TBgvCCk2qxYweRZ8lb6xmO2Uglk72kCPPZxGPXeKohsRKIALzlzrMzDgGg-6dHSZ0mzIunCG-kAR027FDDJSEVTVa5-k73ZYL6MlMultMSyslkL713nku1e4ZwNDMj9yoU1qUNCpYKlwwGix19bIMbZkgyFl4Uf0D6mwwERI7RdmnVq6DV7gyrka7jpVvUfTYPszIflPPGlkjg5TqwP1UvqKI0w-E7hYe5rIjYlbD5qD6r3fRf1wRXquFonNxVmrERLZj3CKftN-lD_agIyNzCvbRR30bC176te-L5rUwY-z23x-DWT5m5RkKHMWGijwHeUwREKy5nkXlCot0lVXKcIVjw7WEERn-sGA9iZExW9UaSnCmf-k8Tsl15U1i_Ub6wzzNjlKqw7P4CdVF9RPpNNENb3KZSPd-qf5tqj1IO9QciGGsgV95eR9AMMyPmu2qnmpavsv4ZIh1VW-3wFEQlfeCqekPwUmL9BCy9pCUon-sZYfU8P87CKj49zajxf9BZVioMlnuSKWChBrFDWhetbZy-u32TurOcYOpuctmKxoXbvVyGtH9KFXzwLpwwzgzzki5bRVqHCwEzllM64MsJbYBgjFdUt6Cvd4bT3hMRzzf12iPWeF0ei0s5RVCAEVY4oiMKx03zD3TuwU7MvNwTgayADxArpdtkd5RQD3p9o4VpqM9WFHCwyi1BNf-F8pMr2OXA2epgipbb393vtXofI1eTAOflgKbO8vvMpbH8etq3hIDbu58PAAm7XQvtaluAY6ToKynltb8ntDz6iBYbH92Dm0eqaP5-pSCv-C7dfc-T8R6oIN6oO2NvtRrGaQOaKFn5emDjQQpu4CBtAlFrSqBVF5A9HXAFXJLHKxOIGj2lkq6v-R2OLxsBElyrTPgpUcXng0j03BceDkvB736-MpZR_RqQv8K6e-zIa5Y4CXntNZCslJy_bs5DfbNh3tHOR-FwlmH7Z6s1NRByNu",
  "id": "rs_07845568bbc1a7a3016ab44cdfac2487d08d1d8386608baa47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.05,\"left_z\":0.3,\"left_yaw\":1.2},\"note\":\"The forward-pointing arrangement causes the forearms to interfere before the cap reaches the nib. I’m withdrawing the cap to its own side and beginning a safer side-to-side orientation, where each arm can remain on its half of the table and only the object tips meet.\"}",
  "call_id": "call_ExjxDXqhAsZzvvziUgIxMVyU",
  "id": "fc_07845568bbc1a7a3016ab44ce1d33887d0997f3dbaf4b47cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ExjxDXqhAsZzvvziUgIxMVyU",
  "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]: [-0.3389, 1.6806, 1.4811, -1.5608, -0.6132, -1.2915, 0.0682, 0.973, 1.7103, 1.2114, -0.4942, 0.411, 0.3889, 0.0606]\nstate[eef_state]: left_x=0.2805 left_y=0.0127 left_z=0.1742 left_yaw=1.1394 left_pitch=-0.4262 left_roll=0.3821 left_gripper=0.0682 right_x=0.2959 right_y=0.3154 right_z=0.1146 right_yaw=0.3773 right_pitch=-0.3179 right_roll=-0.1124 right_gripper=0.0606\nstate[joint_eff]: [0.0752, -8.8821, 5.5726, -0.1294, -0.3541, -0.0464, 1.033, -0.0479, -9.9214, 7.4188, 1.4921, 0.2564, 0.0464, 0.9158]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b028c448fc496ca473091c38e89ed5632869ef8c213891890cc5ee357b366d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70bf80ff7c313ce40b44f993f4053f4557ec804d2f1f5674014c1b307b14b2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a84e595a19cc74cc37fc97cded57655b2d021a5f9176d8e9a4e09240413277",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.441 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 133 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.693, 1.6814, 1.8191, -1.5639, -0.6369, -1.0626, 0.0641, 0.6605, 1.5108, 0.9005, -0.104, 0.1314, 0.0834, 0.0568]\nstate[eef_state]: left_x=0.311 left_y=-0.117 left_z=0.2577 left_yaw=0.5193 left_pitch=-0.3626 left_roll=0.1767 left_gripper=0.0641 right_x=0.3474 right_y=0.2451 right_z=0.1238 right_yaw=0.4918 right_pitch=-0.1456 right_roll=-0.0248 right_gripper=0.0568\nstate[joint_eff]: [0.5265, -8.1573, 5.8051, 0.5934, -0.4664, 0.1245, 1.033, -0.0205, -6.8718, 7.2957, 1.7216, 0.1832, 0.1587, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7105, 1.972, 1.964, -1.6417, -0.6437, -1.0988, 0.0641, 0.9745, 1.6924, 1.2236, -0.4717, 0.4248, 0.3965, 0.059]\nstate[eef_state]: left_x=0.3381 left_y=-0.1463 left_z=0.2026 left_yaw=0.6114 left_pitch=-0.4176 left_roll=0.387 left_gripper=0.0641 right_x=0.3009 right_y=0.3201 right_z=0.1304 right_yaw=0.373 right_pitch=-0.2677 right_roll=-0.0859 right_gripper=0.059\nstate[joint_eff]: [-2.3179, -5.6547, 7.8017, 2.127, -0.2027, -0.3639, 1.033, 4.9299, -8.9778, 8.9094, 2.5177, -0.4029, -0.9744, 0.8571]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 1.6806, 1.4811, -1.5608, -0.6132, -1.2915, 0.0682, 0.973, 1.7103, 1.2114, -0.4942, 0.411, 0.3889, 0.0606]\nstate[eef_state]: left_x=0.2805 left_y=0.0127 left_z=0.1742 left_yaw=1.1394 left_pitch=-0.4262 left_roll=0.3821 left_gripper=0.0682 right_x=0.2959 right_y=0.3154 right_z=0.1146 right_yaw=0.3773 right_pitch=-0.3179 right_roll=-0.1124 right_gripper=0.0606\nstate[joint_eff]: [0.0752, -8.8821, 5.5726, -0.1294, -0.3541, -0.0464, 1.033, -0.0479, -9.9214, 7.4188, 1.4921, 0.2564, 0.0464, 0.9158]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b028c448fc496ca473091c38e89ed5632869ef8c213891890cc5ee357b366d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70bf80ff7c313ce40b44f993f4053f4557ec804d2f1f5674014c1b307b14b2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a84e595a19cc74cc37fc97cded57655b2d021a5f9176d8e9a4e09240413277",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEzlgkhgFWgNX1SZdU1ZmTdL97TVOrKUm4a3IA05WGkn3845GBiuM_BRfhNJ40qzObNxOiXbxkH99RiVnqSEC4JIUWrKork7LWaXet8TdvOUHLQLACWOy8Oak8B4ns58VS9sOVhmYjEgpO3sLcAUKlbRO6xbNGSA9MXg8PRMKIKqLotmiVF_ReZVhT1s5O49z1XAWM_fs6pWV1veHPPzMXg45Imf0USjRUv0eNpF8tpf-dAtIuPZFraGUZevWtXbm8Gnrahgbx6dDF8-S0JuLnEgt73yn1ZOaVE2SgBc8BTynIIqdeeKnG7Ll6eYwo9s558WnBNFkeie48mE4UiSnL-_e5SAzv6ymnlPlSCcHSPSNncj2JMcwp0dXPLaTemjo5n6LK43xUeC4vK589uDexvqcYoxfAuQGL4wpzsi41UiHcYbkHL7xAHX2qNj1K1LU-c5wlnIkCte_S5MvEjclMYE_TVJOcnpmeFsQOyib2MbIyYW_Hr9-9VwO5WnK5SxTQBvnQ6nJw5NWRAbl0UeNMGgKYeTQiaD8Ypv0ia9zii4BLQ9MGdPleVmR4yI3HOQ17Oe9AN-HG_jToV-_h1ehN4muXzBa1L6B8S508Q_gM3F5hNio-8rQS7rgzQ0AOETwk_2VUGlLVXscaAofYxU6an-rohHQfCD7WLBK915_8LY0ct4yVq0Xm73HGCqe59QwkPkguyBz-siBMxad2fNqWNJs6JVIAMxoY5wmkODqX9jYVoz3Q1yFa5s-K9_V6eaO5zoSdVt1IBBGuCwmbmG11U-UnCijoA0t0bCkBQfALApqXZdktWMpBdwx5_Z_YEMi_rQ1hoCKf6OdI5TascmritVboc1lqQS5oWAkgY6zl8c8vz-p_rc7K5KhhaMcRGU3bmx5YOTMzJ2k4KfOwOJtHqphpXhq-Rvp2Rmh_KjwYwFRhpdxRkkG9aZzxB1aSDaw2Hyu5Aosi8MaYYrbP4ljBvDn2jWirITl-xUZWVd9y8Zm9sUYxWMdRNLL8D9SSA3L0BPCSCCos3xr86QH6kGxu_Q8T3Fgw-ykAuPbWJIcqAAWrDYZJuTKqaevAGwIBhOXk3FCyr_81v3WXeaKSs2wt31Q--teC4WY4voqBuFnn8V3eERn7UOcHjHQH-_N5qeEk7Bi7utenuzS1TklR-NZTef5zI0kOWlgkUcKVCb244NzqZha6ijdQQQ6y_qYNn-V3txZeY3It3-b1_vpGlfghNdCgPWqSIZBsNcmfKhrX62LuS1c6mSVFr0LRIUJB5Sd-JbaYcWObsRUwjt1DY2M67tO-GOAJGz9XahEo8HKJTbSNeQInGWINRbdRtdqhiL8xhj9l0iw5b9_fYCCLILUW2g_g==",
  "id": "rs_07845568bbc1a7a3016ab44ce4d3f087d085db4b6ab1a1664b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.17,\"right_yaw\":1.57},\"note\":\"The arms are separated again. I’m rotating the right-held pen to point directly left across the table and placing its nib near the centerline, so the cap can approach from the opposite side without the forearms crossing.\"}",
  "call_id": "call_RT6WCwGLMWs3c5IRRolOb1Pv",
  "id": "fc_07845568bbc1a7a3016ab44ce53a8487d08da8a2b366fd031d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RT6WCwGLMWs3c5IRRolOb1Pv",
  "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]: [-0.3408, 1.6772, 1.4853, -1.5558, -0.6125, -1.2831, 0.0682, 0.4694, 1.8408, 1.602, -0.7971, -0.4503, -0.8452, 0.0639]\nstate[eef_state]: left_x=0.282 left_y=0.0115 left_z=0.1756 left_yaw=1.1273 left_pitch=-0.4275 left_roll=0.3734 left_gripper=0.0682 right_x=0.3733 right_y=0.2796 right_z=0.1698 right_yaw=1.3349 right_pitch=-0.3311 right_roll=-0.1452 right_gripper=0.0639\nstate[joint_eff]: [-0.1573, -6.5709, 5.0803, -0.0366, -0.3639, -0.1001, 1.033, -0.4444, -9.4564, 6.5573, 0.4615, -0.5885, -0.0366, 0.6862]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b08615b474f2c1aaf08eb360a24a38f9be7772aebfe05a672ec13281a4a7aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f715425fcb1c79d85cd91fa03e3c2e8c1a4ea7b0b61798db3e3d2d4342e3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e21df7bde2df7ddfaa72b3bf178a27979230aed0dfe6450d7f4d064d4fdc9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 7.174 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 133 changed as sent

message 137 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]: [-0.6895, 1.6825, 1.8034, -1.5631, -0.6273, -1.0561, 0.0641, 1.034, 1.6852, 1.2514, -0.3706, 0.3668, 0.3073, 0.059]\nstate[eef_state]: left_x=0.3094 left_y=-0.1161 left_z=0.2523 left_yaw=0.5223 left_pitch=-0.3778 left_roll=0.1934 left_gripper=0.0641 right_x=0.287 right_y=0.3653 right_z=0.1566 right_yaw=0.5432 right_pitch=-0.1764 right_roll=-0.0393 right_gripper=0.059\nstate[joint_eff]: [-0.3077, -7.2957, 6.7077, 0.4762, -0.4664, -0.0904, 1.033, 0.3897, -8.3761, 9.2786, 1.5018, 0.5104, 0.2369, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 1.6806, 1.4811, -1.5608, -0.6132, -1.2915, 0.0682, 0.973, 1.7103, 1.2114, -0.4942, 0.411, 0.3889, 0.0606]\nstate[eef_state]: left_x=0.2805 left_y=0.0127 left_z=0.1742 left_yaw=1.1394 left_pitch=-0.4262 left_roll=0.3821 left_gripper=0.0682 right_x=0.2959 right_y=0.3154 right_z=0.1146 right_yaw=0.3773 right_pitch=-0.3179 right_roll=-0.1124 right_gripper=0.0606\nstate[joint_eff]: [0.0752, -8.8821, 5.5726, -0.1294, -0.3541, -0.0464, 1.033, -0.0479, -9.9214, 7.4188, 1.4921, 0.2564, 0.0464, 0.9158]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.6772, 1.4853, -1.5558, -0.6125, -1.2831, 0.0682, 0.4694, 1.8408, 1.602, -0.7971, -0.4503, -0.8452, 0.0639]\nstate[eef_state]: left_x=0.282 left_y=0.0115 left_z=0.1756 left_yaw=1.1273 left_pitch=-0.4275 left_roll=0.3734 left_gripper=0.0682 right_x=0.3733 right_y=0.2796 right_z=0.1698 right_yaw=1.3349 right_pitch=-0.3311 right_roll=-0.1452 right_gripper=0.0639\nstate[joint_eff]: [-0.1573, -6.5709, 5.0803, -0.0366, -0.3639, -0.1001, 1.033, -0.4444, -9.4564, 6.5573, 0.4615, -0.5885, -0.0366, 0.6862]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b08615b474f2c1aaf08eb360a24a38f9be7772aebfe05a672ec13281a4a7aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f715425fcb1c79d85cd91fa03e3c2e8c1a4ea7b0b61798db3e3d2d4342e3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e21df7bde2df7ddfaa72b3bf178a27979230aed0dfe6450d7f4d064d4fdc9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEzs06fPOfB7_At2L_TMxvQlP5ZRGudLQbV9p3CFPJqfLhg2Lv6pb3JuP3iRlF743xEuO_nv3qGyw2pjI1aGvUVnPOM2vp0lNvDi3QIEZKNEvErIN6V48ShisFn0eXLi4juuJUSV2_h-rAR3uQVzFjZ-yK4FMP-cmZF7q0YWbTQQsO2z66wPiJrv4r9qBst5b9WpU4eZtqS-HDqoU9LBFIMWMgoLUEOTR_DdckK-IpvfAgJeAGsWW8MshTzSyHorcVByQ7-EGnvXi4HyLFYpDxhm8lmHVCOELlbga7P6yiKoKtj1UCyFtP7I5oBeClLbD06faMw1B8InFbwkYb8mEWjPRjYjYIV4poDd2pF5RVMa6EaAP3Ti0AfNayrncdNx-JdrW0-m8pgJEQcMGGzYplcxFgny4ctS1Tau1QLhz-UJHzD-Jh0KTb5eTEgZG1zO0ls9VH3U0r7Y7oHZlJ52vA1idcnGIsuK921qbYEVPIYh1tzaB2ym1G6NkVZGkqy3YnLNrKRQ_Qhl1crj15cm6TbuLbjVSAC7JmjKNtDH5WvrgSwYzLAIG1viHaAuZW4izSF0XBLF9nXMmrgX_YdRZjSB4SfeOwKgr0mNL-1y_qzSgcD_kyUers6xjbuaRgT-MP6tGFotRH9sI5fffB7L3N02EKambvb9RdiglOR0UxWoUXvm1Lttq-3198FljfUiHfxpnOzKcHhQoQlAhDoabhszE8x0fPlCMTm6Exa5fSchLv1F5odHpYJODDNTzr6TOVZryc2VgjB4ska8_4Ed_4NOB4fV5k5_22XjuQ0MbwB7VEwBIxoSLixrisHoqTi-Sa0rBaLU4WtgeQU08PWtiKGjwX_bTLuGStVPmiUK41D-NmGoatDxxId9rvgKFdup7ahFHQgfysL9YlviVdCVcoBq0-DZgQ6vFXx2FzULg_eHpayBPQt24kQ-bdDcvspxJr8QrJyv-ihhYGB16keABFzJCPd6gFM2Y-MYJzjQP6ddUlT7t45OfdRQs3-mhyg_kErkR45S0np4VGlnu8soDO7p4Tncf4RAxN4ICh1HeJHRH0GZjpBKcYIlcyFFGvUGQIsfGgD5EtgmAlxiziPUeyZi6uxw4JhsYEE8rvELWdFMHjYyi6mhXXPQ5e_AHIVTicpWF_XNjGd319gw0rbZfcqp_HhsQCFWGFMkUqsf38KiEFS0z-36RhPb6vUnYE0fH9jKzh4ys8HDnQjw_dzwEsQdAjUkSBV4vhyjcz08zu8ZUeuaIFAi_PKhmc-5MjA-hdbiWBGKWGeiwhew5ZvDgBJzd_dY8fDCXnr079ZmQGJK8V-qEB6e1PfbxMVHVl_RNDqJb1MgHZPqO6SBWH0rlWw5nbzqROFBcMcPRdKO_1gGqvQdJkD2cvGKjm-K4N78W80kOSUlpMDOoNQBdSM-euk0iuvcWHj62TE4tcJnpb1D5FdhKP_CTDinOvWV26Qav-Pssbdf_jYoLUcSV4J8Z0RrdLFNGdvMFlOIW6MzsB9fUdXxXeg4BoKyeplidb5yxrB3t5Ut5dtE5niBejonyiaF5inlAkgya1x7ntM6gTmrnownc_G6VZIAUsDMDnftn0txJcLYYfv0-N-SGyZV0FEP5-NwgFpgeAL13gjE6l3p8gVhySU4qhmdnaquVqQZT_ghRRxh8VIAzEe9_-AmHGhnhlEwA2RxqFZLpXEC2CIa-0taf4DxbRPTaDC73NuEnJywexYItPjJAYXCQPv7_UfmwNzjGn1FPBJWR10BJ1-tKLYzMGDGqT5VnmBQRDaVcsztLTGj6k8ZRU3VnjT5Ls5E0nupBYnRNpr8MNHmAmkkO3kyrLQ9ghYK6oQtNMUy-EF5Ae-ISCUPf2RnBsY8ZlXMpNdeAgZjWfvGgOb5pdbJU0k1DeKyNvQLa3vi38ur0otj4Zw8YmfHDA5nZxSNRWQkpC_HgI2-XrB_QcFYOkIdS_08-FzFK2BSnWQtPp6ud1pjkhFYVVnwdL3Uyz7YG05cLTKXa6KNvjcWf-yc3ZlN4A1qNz3iV6P9TsmbTeY5lrybHdG6XWj6V6PJ4fOGhYySGmOstOFFk-4xs00_kWkxtcmCTYSqc0vmKjdTo4Y8OOSnYUT0z6hspyfQyArQ6ekEl2cHveulMTrzdbVLnryHqfY4SWfZK7Sjpql8oqY-lTBDAgN6RSXp1tg6hYUr1ibir4VRMDGCV3l_kDhI_wdjXxz4UdRngM_PLeLd1Wt9KD5BMPxex-FNiBnPC5DOVCnY7SHzsMw2CJwQ_GSKtPW4sP6UqarlC0CZHYTtJKIgHuNhWlT48ZNJtOdt9KhV25T32UJVLnE5xKbqnMgBrO-9F_ByAYrUBhFRy5HMCyCWc1fVvK4zadUM6cy60XdT7Kb99mlty5O5Hlo_7x5P_jfDwetMYiBrz81vlwF0zcJ9xAAky46qcWEJ12ZWTfnz8wMuPPz8vzXjqoEn_SHq4oa5BCEVGF7HHxeAEDQzDmmJ2vh1bfYGrAood3sfjxsMfHOAnQ_C-thA8pKuJN-HZfWdsHo=",
  "id": "rs_07845568bbc1a7a3016ab44ce7d5a087d098d19ee2973a6260",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.2,\"left_yaw\":1.34},\"note\":\"The pen now points laterally left, with its nib estimated near x=0.40, left-y=-0.26, z=0.13. I’m moving the cap to a pre-insertion pose on the left side of that nib, matching the pen’s achieved 1.34 rad axis while staying several centimetres high and short.\"}",
  "call_id": "call_3Dk7nlCmCePRzkSPn67HOgHp",
  "id": "fc_07845568bbc1a7a3016ab44cea55e087d0a9f969e33d93570e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Dk7nlCmCePRzkSPn67HOgHp",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 2.2364, 1.8366, -1.5581, -0.4828, -1.7378, 0.069, 0.4679, 1.8732, 1.6001, -0.8227, -0.4438, -0.8623, 0.0637]\nstate[eef_state]: left_x=0.3363 left_y=-0.1188 left_z=0.0701 left_yaw=1.2808 left_pitch=-0.4443 left_roll=0.3426 left_gripper=0.069 right_x=0.3709 right_y=0.2764 right_z=0.1516 right_yaw=1.3556 right_pitch=-0.3748 right_roll=-0.1112 right_gripper=0.0637\nstate[joint_eff]: [-0.5949, -9.9897, 7.4051, -0.5348, -0.2515, -0.1538, 1.033, -0.1573, -12.4923, 6.6667, 1.3748, -0.2906, 0.1587, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61abfbec04b5269c6dbabdb116653b52e20e348533badfeb2aca9e0ac04dfba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b142a46f08c756b753be40d3706ec3be97eef20e4e2068e1aa29b52805bfc4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88fedead85371833abd85d62d73133319a7afd630fd973c30c3881d404e8b22",
      "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 34 attempt 0 · /responses · status 200 · 8.863 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 137 changed as sent

message 141 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]: [-0.7105, 1.972, 1.964, -1.6417, -0.6437, -1.0988, 0.0641, 0.9745, 1.6924, 1.2236, -0.4717, 0.4248, 0.3965, 0.059]\nstate[eef_state]: left_x=0.3381 left_y=-0.1463 left_z=0.2026 left_yaw=0.6114 left_pitch=-0.4176 left_roll=0.387 left_gripper=0.0641 right_x=0.3009 right_y=0.3201 right_z=0.1304 right_yaw=0.373 right_pitch=-0.2677 right_roll=-0.0859 right_gripper=0.059\nstate[joint_eff]: [-2.3179, -5.6547, 7.8017, 2.127, -0.2027, -0.3639, 1.033, 4.9299, -8.9778, 8.9094, 2.5177, -0.4029, -0.9744, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.6772, 1.4853, -1.5558, -0.6125, -1.2831, 0.0682, 0.4694, 1.8408, 1.602, -0.7971, -0.4503, -0.8452, 0.0639]\nstate[eef_state]: left_x=0.282 left_y=0.0115 left_z=0.1756 left_yaw=1.1273 left_pitch=-0.4275 left_roll=0.3734 left_gripper=0.0682 right_x=0.3733 right_y=0.2796 right_z=0.1698 right_yaw=1.3349 right_pitch=-0.3311 right_roll=-0.1452 right_gripper=0.0639\nstate[joint_eff]: [-0.1573, -6.5709, 5.0803, -0.0366, -0.3639, -0.1001, 1.033, -0.4444, -9.4564, 6.5573, 0.4615, -0.5885, -0.0366, 0.6862]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 2.2364, 1.8366, -1.5581, -0.4828, -1.7378, 0.069, 0.4679, 1.8732, 1.6001, -0.8227, -0.4438, -0.8623, 0.0637]\nstate[eef_state]: left_x=0.3363 left_y=-0.1188 left_z=0.0701 left_yaw=1.2808 left_pitch=-0.4443 left_roll=0.3426 left_gripper=0.069 right_x=0.3709 right_y=0.2764 right_z=0.1516 right_yaw=1.3556 right_pitch=-0.3748 right_roll=-0.1112 right_gripper=0.0637\nstate[joint_eff]: [-0.5949, -9.9897, 7.4051, -0.5348, -0.2515, -0.1538, 1.033, -0.1573, -12.4923, 6.6667, 1.3748, -0.2906, 0.1587, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61abfbec04b5269c6dbabdb116653b52e20e348533badfeb2aca9e0ac04dfba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b142a46f08c756b753be40d3706ec3be97eef20e4e2068e1aa29b52805bfc4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88fedead85371833abd85d62d73133319a7afd630fd973c30c3881d404e8b22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEz1_2S2wEK9LkXlLtqTM0UEKybsZCWR754LGamuxPRAzG_wIZbIdWE1wk-1MxW8P7wF7qkduXvPwPbmkHUSkia1m9qpAmqC0EXX3eu196eMhAR_3Pe8HZF5cAMwQv0mPGP0T5dOy6abcRSSsd5XrGf9odsez32vecActEaN0yGtoet-BhRYU19gMCja2jF6q81nVhtKShX2dcRtLro38-ffS6CGWMnYn1WiilDXDVmFJDcGu2LAZXjQPSpnsW6hH6-GN93JG8tWZ2OvjpJyfkDqvvXYCoheyK84z9yD8Lmdkzr4tkgc7wcSLIZRgNPPA_5VbXtzAlaivfFFI5d-UVYhoOCo5YA9kNa3m7foVEyWmbjFrlj3AJpvwUEda4wAAu1Znfv25YhmlpaRpBNPDF_5VpKDfUsYUoTZov59C1y3RV-c9Lhy7pO-dSEsQvYAPWZl33yjtXA9clEMGN-xrqIz7HZcn378JTqPFZDY6VUtYxvRn1p8MCxH8kx6uMsrq2qFYxJtuQ8XBD6wJSboW-2_e7xlhtO2vN7st83-hB0RVRD-Z8i0TcGCscK6aAjs-yxL5NAHn3G_whehadco77kEdso2oX_P25Le3OK7A8_3PJ5trskZezx7sp45As8jzAqbn0RDYNONFmd0kACesplcmYesXHtv2gXiAkGubQ8gob2rcmgFydnGNNhTj_7mDYdYY3tVphQfJBybDOttp3Dq0aGRSbMVWshUIpPGT4S_JGuJBUvsmKAroKJxvVwEFwGOeGE6MDxc4Fe5JhEf3z68Mz6WB7dOPUpBtGbg9_k19TyNgHSscTuQdSy32Pt-cUx93QdZ1NIR0tYhq7S6Uca7hFevKyfg8hQMojTmJokkS04DQZ192eT1FBWjou44vT_s8BD4QHqirgFh2KwzjZCD9wMDkq3S4TRkHBcY53wYKt4ygisYY5CCSuhJqgQ0jzJsfHufcvJCyCAnFPur1uwHNLqdZFxh8ATFrrdGujNSsHQLgsWINBn9iEYEjzMZTpWAcg3z6YpuYPNrJ2eQjbOG74_ul432ZPRtNCAGwQqw8AMl3rygk-S6oRXh4LMNgTBMFpLOOJBxhjVwv5U9WLrdJa0VSnZfA7b6fiDl1GQbPfkwjchQHmwj9kpEQhu74UCyEM-hgNnpNGFAO57quKRGKmBkGUY7us6vrusp-isXQvSwAxm7VqRicyAOxthBO_-VBIFWJ2LHMRjhYrPAalBxYdwY5_9FWgh5NLmPOwyBHHF5AEeEZV_WYmttJ_RIsJOdty_h_kePjXgsvsXSliEcY_Sxb_8ZpQDfxKebWiusmjW9AKVxuj7hH3wZioIPLyOlbR9tQIeAl85crbpR6_tEldhBeev0EnVO4wqNpZXz0vaT1N0eIfkEqvHj7u3mvToRGCop1RuOfKnFYjd69ta9NUf6Cmrcy_7gbqudUor4gPsiqflnbZu_KTNcaOdbi2eYEx28zoaZx2sqw0bfhUq1VQRAqDcf8ivXfG_jcSYKk9S9Z24UHpV-HscE1JFfMdXeAobtmKz3cOpjbNwBF0OD_aCEaCnw4k04xngidjU9jxkSo6sqkAFuFLm7XOuRdwZgBYJncvq158fA5fqbAUDRCccG2Vu5qcpQ43hTrxSMxo5K-52gVyUoeD0eBpGbsoACntVwxy4OC23QydvAHG4cf8OQOHbnvjhz5mIOtM6iUeMuvqD6VaY5NAc7uWvduFo_6A9uVXhUjBlDDDPq0wGot6O1IdCUzR9-ls4XaezaIXewgWQD8Au0zDBNEahwptfD23fV01XJsf_wm_oI9dWgsJrOW0Meq9zxr49GiZJSHaZ0wj1gRePTCkD0uPlsC789fvSGf5fYzT2aYRBGMPxJgLhr5YJH_1xIO_5kreAFkZ4iicbA8sPdSXRbLfAE8IOJvY1RvApnv2gh6c4zk864wLa3eN23T9cglxT_Tq-vOtKty55NtjeDixs-VSeiI_YBuDj68BbgFCn5JLHo2zYiEiS8w6jFWs_qwyaW1A1M7-Qkdad_JgMuNi4B9x8jMLos4RIJkNGo82SfsxDv9g9Z4C5O4su1F_nsyVOxL8wu4gYI0vfzR1Tpozjuprg4GDs5lIwRHAeSYyo_UoyS-wiL2UZ-Xg6X-UT3RwNOlN2r1kApwMTzRShfMxNPJSxv9EPlYCOrS6kWSr3Qowf1bnvaJPhZcEM9rYtGWDFBqVt4f6JrOcP6tRK2dygpO36O-LjYWJDmn0BIQELarrpuxyjcEEYYqplUzQrxYBoF1kg_eawX-fdC5nGq4lUlHVS2ePpeQ0vlmVXPEBREMg5POZNHyfOKYcqt3mTuq_VOSexo4-99fgT8K_9qkwm3KcDvl7Wl6lg66972GxImQ_5QJVEEU6eZhAcVkGxP5mchy2xWFfTOqKcwNzmzwJbaBJqgNcOQuyNrw5phW0TmO9xgRUV9GFs4qY_409VkVZkEvZ59Q0GMHrOZJKSNj5eqjUSZGlZEtlp8VGT_k7ZllpH_oRMNepx2aznQ5LhSFtALo4yM3i4DFp_uU2jXHZPGcshW_zFel6ft1Zb6iEl4D6WFmaPLGgW92p7a2t3-SmPU_SpIBqvPGSS8zPGYAN3lt1IOUAgCFXaIfB5If5NfNH0jP3mg-3i8qQoR9FGnFqVCcJh7FSotAGN88C0BxQvB1odZDMX4k-yzwGYd_VwKE0jvvufgzg523WFIfgmjybqcZsGxBE0PJTpdtlFltLaN2MpHThwdYHc7SF6F10PyERk3qTcd6vzf_GF6oqIxvdNFIm5uoNZe9aBTspc12iii6GmWwkAejLlYXyk2Kv9GJ8A3FP-m413ASharAHzMh_W3Ro-7xKd4T0znfAsSLngr_wTKXIkAm2MiR-YeBHYDdwkRHKEyxDQyvJY9ncx3nzrJ4piaRuYj5riB7dPV2vLc90lS3WDq9gw1U6w6JWvy6GA5xZdVMICylNKnlk5Pu3Za4uH5_VKa45DGOPmmLStW9r6-jF10Eanup4MVPlsXqqls4KiyFM1ssKNTYMVPUuK3LqIDeQR3ND0zFQHMUjJkIJs89xYVulhtkaWa86h3R7rYw-xSsslWpBz2MtlsiP_nXMalYA7nITjmOaFAAdK3VH-wN9YETPnZy7ppGdw87uGVHR9WI6vBR_uPtevSRClYKw0ePn3CVtFHD8av7xvRhdWQu6cpJnCrWGOFSwsVgR_82-XjF3HEtbnkQQMtN1VT1WKGvxzA1Eo-ZUPjkLCWl_WRjPZh0JVgaq3mrZScaq6jItZdRI_hehaDa786U4r30Q1QP-JRp3q6x7yaFwog3lvWcPOSZjdrwcvPplzR__lkaWyFYRtbKhD2O0NlhVNECl8I0L1fIbkgCO0iRtia4kTkvNfoTo_NpumIrP981LTksFa0JZY7-Uh173zRG5D11gUBjxCQGjCVJmzrs0TQwtWb4_vejaUx8-fwLzGQdFtq5NFtFw==",
  "id": "rs_07845568bbc1a7a3016ab44cef589c87d0a3ed6c79aebc1da1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.39,\"right_z\":0.13,\"right_yaw\":1.5},\"note\":\"The extended left-arm approach stalled low and short, so I won’t force it farther. Instead, I’m bringing the pen gripper farther left within the right arm’s cross-over range; with the pen pointing sideways, this places the nib directly beside the cap’s current, comfortable pose while the gripper bodies remain separated.\"}",
  "call_id": "call_wrX0IGY6x3G5L4NBof6xJ75Y",
  "id": "fc_07845568bbc1a7a3016ab44cf43dd087d0ae2d510f5d087a82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wrX0IGY6x3G5L4NBof6xJ75Y",
  "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]: [-0.514, 2.2398, 1.8137, -1.602, -0.4675, -1.7454, 0.069, 0.5808, 1.9205, 1.6279, -0.7238, -0.2695, -0.6621, 0.0668]\nstate[eef_state]: left_x=0.3289 left_y=-0.0902 left_z=0.0684 left_yaw=1.3926 left_pitch=-0.4343 left_roll=0.4165 left_gripper=0.069 right_x=0.3809 right_y=0.3106 right_z=0.1426 right_yaw=1.1992 right_pitch=-0.4084 right_roll=-0.164 right_gripper=0.0668\nstate[joint_eff]: [-5.6684, -11.5897, 6.7214, -0.0415, -0.4225, 0.0366, 1.033, 14.2974, -6.0103, 7.8154, 1.4286, -1.3993, -0.8181, 0.6081]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff6e3c4976f9a877ecb4e72c8ffc049fb2f13ba8092e464071ae025c16c8897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221b83c371a98b27fae60c9a9bfd395ddee75d3d2979d19ad0b8f262a1a27a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b882ae027fa8ba1924c4e96dbfbd4055d8f58d5164bdb17936fbce8f626210",
      "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 · 2.58 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 1.6806, 1.4811, -1.5608, -0.6132, -1.2915, 0.0682, 0.973, 1.7103, 1.2114, -0.4942, 0.411, 0.3889, 0.0606]\nstate[eef_state]: left_x=0.2805 left_y=0.0127 left_z=0.1742 left_yaw=1.1394 left_pitch=-0.4262 left_roll=0.3821 left_gripper=0.0682 right_x=0.2959 right_y=0.3154 right_z=0.1146 right_yaw=0.3773 right_pitch=-0.3179 right_roll=-0.1124 right_gripper=0.0606\nstate[joint_eff]: [0.0752, -8.8821, 5.5726, -0.1294, -0.3541, -0.0464, 1.033, -0.0479, -9.9214, 7.4188, 1.4921, 0.2564, 0.0464, 0.9158]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 2.2364, 1.8366, -1.5581, -0.4828, -1.7378, 0.069, 0.4679, 1.8732, 1.6001, -0.8227, -0.4438, -0.8623, 0.0637]\nstate[eef_state]: left_x=0.3363 left_y=-0.1188 left_z=0.0701 left_yaw=1.2808 left_pitch=-0.4443 left_roll=0.3426 left_gripper=0.069 right_x=0.3709 right_y=0.2764 right_z=0.1516 right_yaw=1.3556 right_pitch=-0.3748 right_roll=-0.1112 right_gripper=0.0637\nstate[joint_eff]: [-0.5949, -9.9897, 7.4051, -0.5348, -0.2515, -0.1538, 1.033, -0.1573, -12.4923, 6.6667, 1.3748, -0.2906, 0.1587, 0.8181]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.514, 2.2398, 1.8137, -1.602, -0.4675, -1.7454, 0.069, 0.5808, 1.9205, 1.6279, -0.7238, -0.2695, -0.6621, 0.0668]\nstate[eef_state]: left_x=0.3289 left_y=-0.0902 left_z=0.0684 left_yaw=1.3926 left_pitch=-0.4343 left_roll=0.4165 left_gripper=0.069 right_x=0.3809 right_y=0.3106 right_z=0.1426 right_yaw=1.1992 right_pitch=-0.4084 right_roll=-0.164 right_gripper=0.0668\nstate[joint_eff]: [-5.6684, -11.5897, 6.7214, -0.0415, -0.4225, 0.0366, 1.033, 14.2974, -6.0103, 7.8154, 1.4286, -1.3993, -0.8181, 0.6081]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff6e3c4976f9a877ecb4e72c8ffc049fb2f13ba8092e464071ae025c16c8897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221b83c371a98b27fae60c9a9bfd395ddee75d3d2979d19ad0b8f262a1a27a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b882ae027fa8ba1924c4e96dbfbd4055d8f58d5164bdb17936fbce8f626210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_07845568bbc1a7a3016ab44cf78bb487d0ba57025aa4d92e39",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEz_yI_IlOKF9QdwxM2n_r_fHqcXfnfxZZyQUN-e9a4kCYQ99An3diunXzmwsE4_ZGwIWIrQ-JzRqni9DBrq0m45V_ZUUaQNCJuKUKY8tqRp8DP1oVMxJSvGIikg25ufLQZ5KE9QUrE_MOeKZ2rBtOcRuCFBZkGVQjr2KmvukfpVSqoNE8Dfs7w3ztvyXax-XoNkSD5VIt7eOL_yfgLAAUxZkMZadhZQqCKxzbdwWXqdPvoCVvMwHCgOLaj52CWvLjLUwdGku6VhdjdwSxLhF8vplcwEpP4_5GZjzDc4aXwtJdaLMd1HbC9j2EB6FDBwxFpEnV3YebKONSWG9SuF-DIUfVe_FMzAx01mWsP5vELPm1FLBOHrGrid2otHy5QPUuEKETIyrSh4khiqaULl-foT6wj92wuLijDHecvcMPtrvYnbzNSRk6F_KEsScptLnUd7u0qCtTGzgPsKNDiZyPm4uclNUlx1-aHTSxnikj3VhtI9HxVj0FNwxIJqLUjOcJqgsvb0RouG_8Yt2tDUB48xPt6b1hwX280IatLoyFTmjMklKAe5EEmz_G460ATe9bRc70RT1nw6292h27fHR_TGXlBPTYnu9WP5D6gj_EA33C7BG_RH5_Gd-oi5XD8fMJ-QCg4eBPYJth1-CMF7lTnZ_AlfWTaYN7GgsrkwUvBRFPWVZ6bRP55q9yNuR5H1U35OXqoEFYl4fr0uWIzyaQzgGZJHRLmuPeCu-goE_hr1t30d_ae_b1u64pr72vKG2dW7xpUBx_M3IC8ofcaneCFRUUBhi3ZlCIjgUHfuKHf9iES0TvlJ40NJPpgysam_f0YGrBR0EKl-hrOC4imoWWieEO_TEVimvTsYJEaD0Vx1ILL9E5l9v8i3YBXDJ_T2GOielSEzhmk-OpyEqoXkmdMb9dqX5HCxMO1TuOOTRxC84oqmxz1qvmN8tPctVKjxSGsTbD5n0u4OCsedwcfhf5Yt7pp8JLaG3eAd6Brp84gPDQvXzAF4qe5_UT_3rX3109mAobtzko3Qfvf-zckE7QLwURvAF5QHJh2rYd6OlI4VHZwgLqL4UGBwSkQOxF3ujUvwYDyU0yd59ZeuI2i8mrxGDC83sCEICLbNAitzSdgVE97yZseJeOFW0koRIPERNQ4TkBA9_OcHJwMxa10lzHgaQ6IHDUexVbI07POAHZqjHkurQkxRvRY6z3m7EHir8_341h36ChwHph1xBNZmJfw2emmt1JlC9rBOhxAQnGKk1LZ3u_dZlhSQPcDWvWar_9NepM9e0bxpjvX3U9gb2r7j8vsmXng2DXsYLZcWfeucxrw3FfAFDvfYhWx5L_dzC2AESoiZs_JyxRF07IW6alyVinO4RzxaNPPyXm6ajCd4GjnwxrQrerHBV9iJOLLjhxImU9_IWj4bkByaDuCQZ79pc_6XlCD_ppQSPmQu6D4tEqyE9TP74xm7H8ic-t4XhtVWpbTDO1c0ihM9iQThgwvdnnagg5WMthBqOuBD9cBYpwWzGGPMLmE41GZ515omWGTt68b96CYf08U8c1uXx-fxpvQ3dHeWgalaIG-ek6ruzZfV14jfR41fIoZwpk4i0WDSFBvSSiESs4iOL4Xf-nNz0kilwPT1SuUC72nK9QvIUadLaFLEgNs8j_S-OtTBPk8isNJRU5xL1y_NPZTPgomKRArK2ijgTyQP1pgo6ulq2DS3RNgKu6ZI04pet3FAwShfV0lh2DOZ7I5MV1b3GPhUWAfO1_-Q64TwHCiCdQzjZeLqG0125q32rmVREY1mgvUMIyo_l1suwBWLKZjDP8a3-AdTjsMYhSGJZ28DSVksRhrXCPsf3t-SN1IaJgRK2Wtv5_9zGGi-NgBYz1-aKIpAe7JhGtVRhasgF8OaLv0v0XArWuUdwuCLYyJr6raGKwFROO90rySU81brgd_WWXkmYw==",
  "id": "rs_07845568bbc1a7a3016ab44cfc789087d0bf67e08e0d8b2f02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.02,\"left_z\":0.28,\"left_yaw\":1.2},\"note\":\"The side-to-side handoff is still forcing the forearms together and causing high effort before the object tips meet. I’m withdrawing the cap arm again; I’ll place the pen on the table, remove the right arm entirely, and perform the final capping with only the left arm to eliminate interference.\"}",
  "call_id": "call_MCkNVJ7BkAsx6wfO4NocmvYV",
  "id": "fc_07845568bbc1a7a3016ab44cfe0c1887d0825625b45d7ec3f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MCkNVJ7BkAsx6wfO4NocmvYV",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.16, 1.5887, 1.4555, -1.5593, -0.5961, -1.1893, 0.069, 0.5968, 1.9266, 1.6291, -0.7258, -0.2474, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.2622 left_y=0.0618 left_z=0.1885 left_yaw=1.2314 left_pitch=-0.4546 left_roll=0.367 left_gripper=0.069 right_x=0.3785 right_y=0.3138 right_z=0.1391 right_yaw=1.1902 right_pitch=-0.4237 right_roll=-0.1677 right_gripper=0.0668\nstate[joint_eff]: [0.1573, -7.6239, 6.5573, -0.0708, -0.6032, 0.1538, 1.0281, -0.0752, -9.7573, 8.1846, 1.243, -0.3004, -0.0513, 0.6569]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e000e2f0950fc629a3f1993aaa80f6b5ae48fdcb39ce244b893689be18f191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05095fdd5454d980bc6256a7d379c3d3811be9a0c6005b7159cb8db1a7847ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96555abc7deda4c8541d21c90a89b9cf21378c2ea70578e0bd330d30ced1225",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 6.512 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 150 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3408, 1.6772, 1.4853, -1.5558, -0.6125, -1.2831, 0.0682, 0.4694, 1.8408, 1.602, -0.7971, -0.4503, -0.8452, 0.0639]\nstate[eef_state]: left_x=0.282 left_y=0.0115 left_z=0.1756 left_yaw=1.1273 left_pitch=-0.4275 left_roll=0.3734 left_gripper=0.0682 right_x=0.3733 right_y=0.2796 right_z=0.1698 right_yaw=1.3349 right_pitch=-0.3311 right_roll=-0.1452 right_gripper=0.0639\nstate[joint_eff]: [-0.1573, -6.5709, 5.0803, -0.0366, -0.3639, -0.1001, 1.033, -0.4444, -9.4564, 6.5573, 0.4615, -0.5885, -0.0366, 0.6862]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.514, 2.2398, 1.8137, -1.602, -0.4675, -1.7454, 0.069, 0.5808, 1.9205, 1.6279, -0.7238, -0.2695, -0.6621, 0.0668]\nstate[eef_state]: left_x=0.3289 left_y=-0.0902 left_z=0.0684 left_yaw=1.3926 left_pitch=-0.4343 left_roll=0.4165 left_gripper=0.069 right_x=0.3809 right_y=0.3106 right_z=0.1426 right_yaw=1.1992 right_pitch=-0.4084 right_roll=-0.164 right_gripper=0.0668\nstate[joint_eff]: [-5.6684, -11.5897, 6.7214, -0.0415, -0.4225, 0.0366, 1.033, 14.2974, -6.0103, 7.8154, 1.4286, -1.3993, -0.8181, 0.6081]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.16, 1.5887, 1.4555, -1.5593, -0.5961, -1.1893, 0.069, 0.5968, 1.9266, 1.6291, -0.7258, -0.2474, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.2622 left_y=0.0618 left_z=0.1885 left_yaw=1.2314 left_pitch=-0.4546 left_roll=0.367 left_gripper=0.069 right_x=0.3785 right_y=0.3138 right_z=0.1391 right_yaw=1.1902 right_pitch=-0.4237 right_roll=-0.1677 right_gripper=0.0668\nstate[joint_eff]: [0.1573, -7.6239, 6.5573, -0.0708, -0.6032, 0.1538, 1.0281, -0.0752, -9.7573, 8.1846, 1.243, -0.3004, -0.0513, 0.6569]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e000e2f0950fc629a3f1993aaa80f6b5ae48fdcb39ce244b893689be18f191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05095fdd5454d980bc6256a7d379c3d3811be9a0c6005b7159cb8db1a7847ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96555abc7deda4c8541d21c90a89b9cf21378c2ea70578e0bd330d30ced1225",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE0Dci7z0qVqSeIptyIsy1eXWBf_ExuNp6ZW3uQjXKcuzlwCloQua85dewPCbKSHJDyf8ZcRrx2X1boOP5C6djVkGTvM3tOK_X6hGTKL5qIiWZoPjz7Ij7Lgz4GJRiCJyhjK-8rl6hs2q9MyAyo_6kvp_3IeV3DvrZoFxmh-pTUM3PFVSK7_PVnkXUsVBUAuUDwlSHy6H0KcpVNeQqZXT6y1hORfLseI2cOGOG3VlpZgicao2FrFGVmwxFGBRL7KT8odURmZhgMQaKc1qHkoAuIdZbZGfE_nMskn5xi0xb0v9lJ5UkBI2gX3kv2ygaZUdR_WrWjQ-rjTuni6Oq-CdirhXIs5A8i7-crXpMSwTlsSloMjwkhYRRlDhrGAQEPMeWTEc2lD8K14-TfxPQcvb6dE3jUyW-yPNMmKBE3xvdM_8zTMkzcYYqILx16J0PZNox1UES2-M9ig3SRLp-o49oNY_k0c3fZwjSn2o-5a6eVvzCfaUx7y1ROXaHBJdVoeX135QSNBqP3yx9Ko7IGElETbxQshcUBiPgUaaIxoyGyMC8XQQ6NgNlu8pko8ziA_o-iLznPlUTQn-I2K9whDsi0T6_fTORwIphbLqBorYjYsGZ2C61LFvE68UfdwngsXkAmG4irPtZGR445Y7xSSJ2Wt3T1qcjxCYBIKX2Taaw2AT4svb7IEZ_QVPk-ud2ezqiCQCU5U7h0Av91fyOroYb5_QZPz_qPVhd83mcQ5JEaVNwGQTlONaXodilWcxoP1kThMNhuMjoaHkallYnHyZow-pynTPkBphvAYkKmm993Z6dcT-T_r-igjAaSiv3kZstljUFdtkhkJEjsJ0YOSvkaVnp3h6jRLsfceuB7xs0jkz06wxsgCGJVfYXcAFek8Za8yv14RJmTJcso2VvpvIiZasywzbwHhjC3Q-9CN93i1zprstM_i6AcwCv4OXuAYVQg85tjliueqmUNM-gE1xg4VeaY5jjZH-WUR7aSCYkQwgz0915CzQ_UnXi0WB48PpJ6uI5oBxv7Ady97k5Rk9JcWBESIrIlAm5syFrHIrDiQLAE68-nrIDEZZaBFBdSwQCYR8GTRccP4irKNrhNRZDby6yy2tZpZ3RwbwvKLgAjQHCO6c46rliUgyYCULO7_1LmpIRazC0CSfc5XccoYorkyxgWQSO04OEMJkHubk2svfj4O1bj1F7gCEiJPaXpNSy37jXhmHIOu0pEfI6VInH83lCXiyFjkVirD5Wr805JZoWR7OQrTH5-Cl5B592cd7JpOzFjALJEcyFlMp2OsoWTXg-LTXwYqXNTBQKZHl-ekp_tG_RwMZdQuVvM_whTUMV3jnWzFmddzm3EfpxpUmO4v6JF-IkUnpsoJTZzOD6mdwOYmow1uReuUdNzXP5uS69qwrzo8_H7YCeGZjodEn0-IOcq2YyA6y6JWRMvQPybA4VqtliDH8aCXB-7XvSbLaonU",
  "id": "rs_07845568bbc1a7a3016ab44d01b53087d0a7503fd57a1103ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The cap arm is now clear. I’m lowering the right-held pen to the tabletop at its current lateral orientation so it can be released in a known pose for a single-arm insertion.\"}",
  "call_id": "call_KuR4yjqMxW2pRT8Gir27Yzju",
  "id": "fc_07845568bbc1a7a3016ab44d02562087d090c2a73a2f42f0e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KuR4yjqMxW2pRT8Gir27Yzju",
  "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]: [-0.2008, 1.6051, 1.4551, -1.56, -0.5838, -1.2274, 0.069, 0.5968, 2.0247, 1.3308, -0.3569, -0.2436, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.265 left_y=0.0491 left_z=0.1834 left_yaw=1.2212 left_pitch=-0.4619 left_roll=0.3615 left_gripper=0.069 right_x=0.3731 right_y=0.3094 right_z=0.0293 right_yaw=1.1941 right_pitch=-0.4483 right_roll=-0.1537 right_gripper=0.0668\nstate[joint_eff]: [0.2256, -6.8444, 5.4496, -0.1001, -0.4274, -0.0757, 1.0281, -0.0752, -9.4974, 5.6547, 1.2283, -0.2027, 0.0024, 0.6569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08cdd066c6bef642f96dbff889f92c7cd8f3d1da95e64bfb9d82e9861a5d9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a225dc6f5037dd5a510473b93e54b4d27e352cd845dc33d8928c7b18fff69e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c3cc6eb9e70ba0dd40256a3093625dafc38541eed47fb88a520e246809f23c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.036 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 150 changed as sent

message 154 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5819, 2.2364, 1.8366, -1.5581, -0.4828, -1.7378, 0.069, 0.4679, 1.8732, 1.6001, -0.8227, -0.4438, -0.8623, 0.0637]\nstate[eef_state]: left_x=0.3363 left_y=-0.1188 left_z=0.0701 left_yaw=1.2808 left_pitch=-0.4443 left_roll=0.3426 left_gripper=0.069 right_x=0.3709 right_y=0.2764 right_z=0.1516 right_yaw=1.3556 right_pitch=-0.3748 right_roll=-0.1112 right_gripper=0.0637\nstate[joint_eff]: [-0.5949, -9.9897, 7.4051, -0.5348, -0.2515, -0.1538, 1.033, -0.1573, -12.4923, 6.6667, 1.3748, -0.2906, 0.1587, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.16, 1.5887, 1.4555, -1.5593, -0.5961, -1.1893, 0.069, 0.5968, 1.9266, 1.6291, -0.7258, -0.2474, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.2622 left_y=0.0618 left_z=0.1885 left_yaw=1.2314 left_pitch=-0.4546 left_roll=0.367 left_gripper=0.069 right_x=0.3785 right_y=0.3138 right_z=0.1391 right_yaw=1.1902 right_pitch=-0.4237 right_roll=-0.1677 right_gripper=0.0668\nstate[joint_eff]: [0.1573, -7.6239, 6.5573, -0.0708, -0.6032, 0.1538, 1.0281, -0.0752, -9.7573, 8.1846, 1.243, -0.3004, -0.0513, 0.6569]\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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2008, 1.6051, 1.4551, -1.56, -0.5838, -1.2274, 0.069, 0.5968, 2.0247, 1.3308, -0.3569, -0.2436, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.265 left_y=0.0491 left_z=0.1834 left_yaw=1.2212 left_pitch=-0.4619 left_roll=0.3615 left_gripper=0.069 right_x=0.3731 right_y=0.3094 right_z=0.0293 right_yaw=1.1941 right_pitch=-0.4483 right_roll=-0.1537 right_gripper=0.0668\nstate[joint_eff]: [0.2256, -6.8444, 5.4496, -0.1001, -0.4274, -0.0757, 1.0281, -0.0752, -9.4974, 5.6547, 1.2283, -0.2027, 0.0024, 0.6569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08cdd066c6bef642f96dbff889f92c7cd8f3d1da95e64bfb9d82e9861a5d9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a225dc6f5037dd5a510473b93e54b4d27e352cd845dc33d8928c7b18fff69e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c3cc6eb9e70ba0dd40256a3093625dafc38541eed47fb88a520e246809f23c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE0KHY5NpP2hIdsTqbl0fyDck8rQOFZlAWEwg-jTozxsSJW5vHOAW1eMKcbMTtWc296s92Evyhd438jAB7oEU2V3s1sR4ysamCxulSstKYAsatfFFSXMZlsE4_z5icVhR39maFNPuTCuqw9TD-cOddEiE37riIR9J5z1WOpnIziXvCZ2PVW2g3LpVLZTolYBVysuzVsS1yzLiQo2rbYGyCWCnqL9OF7Cz-U0RDGs6Vo6cfs_Wd9iWy3MbRwzuB0PzuWuqF9j2kiezybyqFeE21-E0fH9TknTinxCNOxzjwzc1ZqiNcxr1w0mbLobUToi5LGTnrNGQ2ZWmGGzLZG81oWCbd1IOr6zJOjwvr0-DB1AdW1Me8UnyXyZmov01p-ife5aZ9QQ5J2xsPWAIQL0hiVXiwjQhQMsZo6bhwb1q4Vo8869g9EeQMiBwayYQdM42VN_-sDVjZCQo-VJg2P70unDLNFjTaYZppUnWefZg55YuzJvD1kSoF5yO5sWbphTgDwpCo7yDIQOxe2UoMh8id7FH-5bqYjhxjOJSujKjq15SxAWZV1yipR2ARjqQbjVyxMJ5vJPMCXZ5dAxx0LIUIyNro3-3vY0FtrxllSfUIXuSV5o_cPr55t8cHA_0bwxsvE5sUZGTTifqNV1J-eHhd20alxjNaOWC7GoX9xu_a6jusccb_pqCNiRV6do3nmrkw6nw_b4jFVg5MEvuusVYLnMTl-T4LIheJ4habbnOw5H4MfQzfczLOJfm0Dw4n8C5gNEltVwkHn3TKjmyj9E2pJSHiMU38ikZazv1SJ1nbKKDU_TQxxIOuRstGRSY4AepLRRF-8sfFm-RhMYi8yd__OFw7KqV5aMuQRE5PbiX251lckx-HPwxWOF6e4Yn-upBBr7sdFEoPubpckmmnaVE3KKWXX0NRNRQxkcqBdGCIFh_apzOudgEbfAStnLCyqi30Gg36e-U0cZDLFyctONHoX742hIWp95nMkSTfJ9rbj9zQzgdVEK6u2VVjkZ_huiNKw5_HGk3GOVVZCptPiSAI5ltOuFRW5pms0eU8efWEv2j4eF_HvVPvnHFmq5edERg9bHB4pS9aKu9Mc7yPBKZE_4emCcu1pnpkGh5tj1gCiMLC-g7UxF015ek2QhtrNymW-g0TzxRYnxiheYkuxGDpMChI9C5O-Bi4fKy9RG_iPfyGHfgbQuT7mvi9nNCjxmYc1xmFpa9X2ChwP3bRCpvz-HRw==",
  "id": "rs_07845568bbc1a7a3016ab44d09462887d08d878f3be19708f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The pen has reached the tabletop and is supported along its body. I’m opening the right gripper to leave it in this lateral pose.\"}",
  "call_id": "call_sw4JwYlW5KZApm6eWt8hGoVj",
  "id": "fc_07845568bbc1a7a3016ab44d09834887d08b2e9f49ddb02928",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sw4JwYlW5KZApm6eWt8hGoVj",
  "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]: [-0.2008, 1.6054, 1.4551, -1.5585, -0.5724, -1.2301, 0.069, 0.5968, 2.0525, 1.3144, -0.3576, -0.2432, -0.6491, 0.9952]\nstate[eef_state]: left_x=0.2648 left_y=0.0474 left_z=0.1822 left_yaw=1.2228 left_pitch=-0.4724 left_roll=0.3568 left_gripper=0.069 right_x=0.3664 right_y=0.3047 right_z=0.0108 right_yaw=1.2076 right_pitch=-0.4856 right_roll=-0.1263 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -6.5162, 5.641, -0.0024, -0.4615, 0.0073, 1.0281, -0.0342, -12.9436, 7.4735, 1.0818, -0.1929, 0.0366, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0668f9008a7c092106cc7b72ab500ecf1b84b86ad0a6854cb1d03033532878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058330368369b152ac3e1df61c760cd0b95d2e3613770e4ac5f934cb727aac6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c39fac8068a15943ba9d1e2849de53efcce52e2c40c20ace88ae7b079fb55b1a",
      "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 · 11.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.514, 2.2398, 1.8137, -1.602, -0.4675, -1.7454, 0.069, 0.5808, 1.9205, 1.6279, -0.7238, -0.2695, -0.6621, 0.0668]\nstate[eef_state]: left_x=0.3289 left_y=-0.0902 left_z=0.0684 left_yaw=1.3926 left_pitch=-0.4343 left_roll=0.4165 left_gripper=0.069 right_x=0.3809 right_y=0.3106 right_z=0.1426 right_yaw=1.1992 right_pitch=-0.4084 right_roll=-0.164 right_gripper=0.0668\nstate[joint_eff]: [-5.6684, -11.5897, 6.7214, -0.0415, -0.4225, 0.0366, 1.033, 14.2974, -6.0103, 7.8154, 1.4286, -1.3993, -0.8181, 0.6081]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2008, 1.6051, 1.4551, -1.56, -0.5838, -1.2274, 0.069, 0.5968, 2.0247, 1.3308, -0.3569, -0.2436, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.265 left_y=0.0491 left_z=0.1834 left_yaw=1.2212 left_pitch=-0.4619 left_roll=0.3615 left_gripper=0.069 right_x=0.3731 right_y=0.3094 right_z=0.0293 right_yaw=1.1941 right_pitch=-0.4483 right_roll=-0.1537 right_gripper=0.0668\nstate[joint_eff]: [0.2256, -6.8444, 5.4496, -0.1001, -0.4274, -0.0757, 1.0281, -0.0752, -9.4974, 5.6547, 1.2283, -0.2027, 0.0024, 0.6569]\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 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2008, 1.6054, 1.4551, -1.5585, -0.5724, -1.2301, 0.069, 0.5968, 2.0525, 1.3144, -0.3576, -0.2432, -0.6491, 0.9952]\nstate[eef_state]: left_x=0.2648 left_y=0.0474 left_z=0.1822 left_yaw=1.2228 left_pitch=-0.4724 left_roll=0.3568 left_gripper=0.069 right_x=0.3664 right_y=0.3047 right_z=0.0108 right_yaw=1.2076 right_pitch=-0.4856 right_roll=-0.1263 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -6.5162, 5.641, -0.0024, -0.4615, 0.0073, 1.0281, -0.0342, -12.9436, 7.4735, 1.0818, -0.1929, 0.0366, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0668f9008a7c092106cc7b72ab500ecf1b84b86ad0a6854cb1d03033532878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058330368369b152ac3e1df61c760cd0b95d2e3613770e4ac5f934cb727aac6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c39fac8068a15943ba9d1e2849de53efcce52e2c40c20ace88ae7b079fb55b1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE0ODujrNqqaleV0r8aPM8XGG8Z5AiWiWMXxyvTBDQT706oEkrxD6k7S5a_w54a8P9SXtWgjuDUWBtpU6_suLLEv-FzI5nTV4CnLmXL9dIdBsQ3i7HYZmK1xSZUa2PlznD_pMW36PZ-KftJ5pQCnMrhTB0zx7MxRvz5XCXx9wU064uOMUGHMjjcVAi5fSQ5sUmVId1HqvIW2MOVLxMzBZ80lEu-Y_ol0c51MBigSAqFZyiB-uvB2mmSDRF4W8WaRq-wmdUjfjpkKub08CEvOO6BRuEUahqaguY2WRCd6npmId7_zbKu5mekMUS8NLe2xgOvUII4bExvb5l06vogUB0719ZA1eff9xT39dnI4iSsZI-WTdGVpegV4VZNoRO9U7n_r8To-ZdL4mJp6n2KL-09nrRUcBnNqDWG0O8xeSpXpm9QephLsAwdKWyGbdXvamHu747bO6DdVPK2zt0HrRsOqVXbLKX2_JabaV6qDl1FrjEP1qPTBlf7LvtAy4WPBw9ILFwxM22-kRgnuNeb_7qtb_VDMp6oAREVTIVWkXSZLlGXdffA9C_i5jh1CvxgEjmcq0z8CWitY_rTD6J3gknnXsAZOWrln0wQgjI1EgiL2c4f9YK5OHw48aOrb00rjAhJkIsIWFp4Yhbxv3BJIyREKN7YdBOgVMGN9uxEDRhcFdqKRHQBP-1HvXb99A0CHO9cSum3lA4oUI7WZdDi6b-RAsTPGUzjkET_bEZUJ6TLEiB6PxhVRtayKVSq8xaazQ9Xp4yRpnySXQBw0dqzUIvAsNkqpeG0-HI48ZlQbOuaZRdUDe02tH9m6VlC0u3gOt2xn4W5QCNdOzcY9qaaLSINOQJ55trRklebjBAgCSG6-VgDxdApZOWhgYXlFCcElnSFLtNhpvpfJUOWpJ0e_qb-haMSFbK-1b1ggvipBBLFZx2BV9NN1KmUak2YCFFrwlzQPYn44nKvYeh5LxBzCshrC8Lnq4IYT5Zq9X2D95RmGGA6rX1ws7dZE8HOm8hjjWd0Kb_Ww18xKW3ppPgOtFj18htzAGmSuKgmLxHChQUB2JK0HCWtbs9ZZd-grAQ8I94NASA2tSqCRpQgWPkgQ477eBOSAJ5ALybCvWQRZIrwkraiw9GHPyABRBnOnj1tcW57vyCoX8sr4KY_Bi-oHVsg3RW0yfKWw4UHpcH4hs0amCZopYL8C-YVQHkuwh7KcWr7DhvjbwUjNYKa_v7NATlpw5IO49kDhR3O1FfHkluxWfhlQBapFYx5ShQIZavBrk_VnnhuBypN2Qb0Jx77sUvenHXcjiXYcCyNc5P0aCQAoTWw=",
  "id": "rs_07845568bbc1a7a3016ab44d0d292087d09713718ff80a0d12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.0,\"right_z\":0.22,\"right_yaw\":0.0},\"note\":\"The pen is visibly resting on the table after release. I’m retracting the empty right arm to its outer home area so the left cap arm has an unobstructed approach.\"}",
  "call_id": "call_q5SzqwS992I9ujTzZc0QkgaB",
  "id": "fc_07845568bbc1a7a3016ab44d0d8f6487d08e700f935eb176cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q5SzqwS992I9ujTzZc0QkgaB",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.2008, 1.6058, 1.4544, -1.5558, -0.5686, -1.2304, 0.069, 0.0574, 1.0786, 1.1484, -1.1427, 0.0673, -0.107, 0.9957]\nstate[eef_state]: left_x=0.2651 left_y=0.0468 left_z=0.1815 left_yaw=1.2225 left_pitch=-0.4758 left_roll=0.3542 left_gripper=0.069 right_x=0.2531 right_y=0.0062 right_z=0.2053 right_yaw=0.0441 right_pitch=-0.5139 right_roll=-0.1331 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -6.3111, 5.5043, -0.0073, -0.4274, -0.0171, 1.0281, -0.2393, -3.5897, 8.9778, 1.2674, 0.0464, 0.2271, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b793772986b78af0dae7e9ce80e521c5a5814d43eab010eba30b1d6249474f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851cd2223d2a40d4c18f1f9d38474b84165bc12f4fa00e0af5c44eeba0881a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989ed15a5701fda63fb33e9dee92b6230e56b7cb78a3e59123ea0ae5d5519b3f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 8.406 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 150 changed as sent

message 158 changed as sent

message 162 changed as sent

message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.16, 1.5887, 1.4555, -1.5593, -0.5961, -1.1893, 0.069, 0.5968, 1.9266, 1.6291, -0.7258, -0.2474, -0.6476, 0.0668]\nstate[eef_state]: left_x=0.2622 left_y=0.0618 left_z=0.1885 left_yaw=1.2314 left_pitch=-0.4546 left_roll=0.367 left_gripper=0.069 right_x=0.3785 right_y=0.3138 right_z=0.1391 right_yaw=1.1902 right_pitch=-0.4237 right_roll=-0.1677 right_gripper=0.0668\nstate[joint_eff]: [0.1573, -7.6239, 6.5573, -0.0708, -0.6032, 0.1538, 1.0281, -0.0752, -9.7573, 8.1846, 1.243, -0.3004, -0.0513, 0.6569]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2008, 1.6054, 1.4551, -1.5585, -0.5724, -1.2301, 0.069, 0.5968, 2.0525, 1.3144, -0.3576, -0.2432, -0.6491, 0.9952]\nstate[eef_state]: left_x=0.2648 left_y=0.0474 left_z=0.1822 left_yaw=1.2228 left_pitch=-0.4724 left_roll=0.3568 left_gripper=0.069 right_x=0.3664 right_y=0.3047 right_z=0.0108 right_yaw=1.2076 right_pitch=-0.4856 right_roll=-0.1263 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -6.5162, 5.641, -0.0024, -0.4615, 0.0073, 1.0281, -0.0342, -12.9436, 7.4735, 1.0818, -0.1929, 0.0366, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 162 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2008, 1.6058, 1.4544, -1.5558, -0.5686, -1.2304, 0.069, 0.0574, 1.0786, 1.1484, -1.1427, 0.0673, -0.107, 0.9957]\nstate[eef_state]: left_x=0.2651 left_y=0.0468 left_z=0.1815 left_yaw=1.2225 left_pitch=-0.4758 left_roll=0.3542 left_gripper=0.069 right_x=0.2531 right_y=0.0062 right_z=0.2053 right_yaw=0.0441 right_pitch=-0.5139 right_roll=-0.1331 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -6.3111, 5.5043, -0.0073, -0.4274, -0.0171, 1.0281, -0.2393, -3.5897, 8.9778, 1.2674, 0.0464, 0.2271, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b793772986b78af0dae7e9ce80e521c5a5814d43eab010eba30b1d6249474f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851cd2223d2a40d4c18f1f9d38474b84165bc12f4fa00e0af5c44eeba0881a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989ed15a5701fda63fb33e9dee92b6230e56b7cb78a3e59123ea0ae5d5519b3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE0cElXA05SpMQJ1dobjz8qiJOxznWBCB6TBJaaaOgl9Xv6rxRWfJkVPP0W6DZgYls52ZIQJu_e_WoSiSrQ25qlhop0v1YnAQxUFZEECk6pCgFcnMXA_wZdc-5AZfeOtZra9h72ZUil8NnKXt1DDz4-RmtJ6wKl3ujeucBHFlKb7DJsqt3CEzGgHPEwWp61Vj7o6iV4oZEmqxqkPWaii94h69rzRycP2Kg5WWmnrNxerV7nkGFx_ZIOoneygjlJqL1fY75J4Q2L8h3n5Cp8rW8d5FhszQURYDCrb49XLpyHAFrPYtfG3L1zOtEUfqHDlupycurGk0o-MKsWocG42Eu1sK2TYbsXVyLT7U-leifAW9RMoyRINajX8QXrSb9ulknPs11hmkgNuPKd7kvWvGo3qUFttFF3AqS3OywjfoTnQ8Jd1Hdlm2z-xSf_CcU4_bJL6nk0NqVQjl4ONazdWe7fLsgjI1bNeFr64um7_08XITieLKh9PWCGmXtlV0N92S-GYhnesv8G4eDdCEu2LbuxZN-jyU2lzYuPvC745b6x6tGKLfOpR7rbkuchXstUYqQsSKdDQLXdhg4Z-aYgvLZeQK_KYB24-FynHEyVqZx03k2h1uZ0FqjTzJbs8MVwrbyly4sleWhU4kD4A5L2VFe8G-9ssLot9JQCxotae-1wn5-u8DcpPvCgYpTsQ4wgiq9Yn14wygYYov9NNslVaJXyjKl9MoQtVmnFFGVdLuIubKu8_a2jk1A8a2V-zy4ck0umsS1cLaZw_BQIIJLv4PApHjwZ5HbQcp8tnINaIKNcOdiKFWmOtZGiSFvQSFcYHiAjUm9p2D7iMlRjdkzJoxS9k2ebEAtKrDZvjULLVya7wwGmG31zriU6co89oBbS1R5c0B_82jvuORmNsGf1N0lEnM4FfI0EQFUL8gzRZIrMnokL-bRF2_v4JL9wp7cZmGvU7uzQZ5bV24-7ksGu9db_JK-B3e3jTZ4Am0KlslQFRhlyv80Ef2NEvGc7gum2WrGgZcPMSCqsD5SmXh7NHjHp34pGpsWJMGSDh4hMksEV9Ee3cHGIeiHPAfsT0b_YQatgXbqUHCQFkqxK4U33iaICkVYBn8X3VqEBqR88SLzAdxpdAP0_HEiaGJz2o21bHf9WtJx4_tnS0pGO89elF7RIhH1TEKIaMaAcClP4vDFou8d9jESf_7oUiHD1K6IbIXSijN21Hlir20fs164tIy_bE1jo9Te9cY8UjZ5CfnxJpWVuwRVAcJFg_cL92IkEYMeF0BhgcPdFJMeuBxdAV20NOFsqPd3cy1T26OPUGO1MEM7YpcaF4Jzhi9mdt-3pigX2UvaFALd9zcQ7Ppd2d3VXybCgR0XzUsr2wRuRCjs11YDlP2atQmaPGn2rpLZGdgywZmJ_2Ex3GREGAn8Nlwl9mdRMAIoRnZ8fFZaRlXxTfdQUmesP808-p6o1bnIsWsRt5D7qnx7gD0speuOwFCaWKvirynmvS-BkuYPMGtbSpI6BbjnsOD19MB20IOLSHYcqdL7t8SJeqgrxsW9IkgolyQpWmqWGic2pOeGDCuG73g_xG7yhT1ugEi1HK_KqUUGF6fw5qhbHY5VpHAzltW8E_gx0our_GumFv8aWyj4K9lRkFAt3xrc0V7GUEl-SDCuZqeUrvc3VqdAwkyKXReA3TcVRr1txhrLkvmlai3wYlbO3lu-MmTPCbHymwEAjXH1czKIhRJkv5kHmTIhVfQ4DPUJ8lOseuI26KTQcHN5qVYLX0N3yeoZg8QOaW0KYSIAP9uzsPKWNEOgIVtxkm0E-0Wzu8EPi8Q5vfdWdryYWMlgps5YOsHJKcxU6zvPKRIhm-ZvIvRG-0Y3xn2ymCgXBy8vSwHvBhft5bpyIgZPT30YC1-tulj4TrW9-LlGp9nO-g0TEPxPuIfNuugppu2aD6emoZ3KIdPrjGeaLfvDhHa624_uuj9KSE2OWOl-jkaWSaU2KWIOg9C_uFfiWex4K0XD4sxmI2U9hMTOuXb6pYx-8x6FnIwwwjSrSRaXX6LH7tYofk_9kPQsjNjGX7NCw6WFaY_vpEW_R3ItJVZkHd08asHVk41eBsPEG7lhwaSj3YimFVLlJ5hUMivwUsWo_wYqpNVReqsN2wHdX4oxMWXqgx-rJ2XDfdyT7C00jLK4L-lnoMwypob16CLo3q1q9VKeurGIiTF5Yjcx-X4hiva3tMmvf2SfHAUpQCd3b1C-PTYXLaB9-_z-w5fvO_FJw7Madj7SNGKsiGS0jgf6vWrfSc0VzB_6l28Ixmpj75FwyDWdj8kniYResD2iGdX_Pu5y8W_YdrUtSUe0pL-CfRN3owN2gZgMe7CB01GnuoqjfojCNb511ZG342MWBS1IeA1h8GKQaQNqv-6ah1aDK_IVET5QeeG2fGbsN23o_w8-0NRTF6TEmMvs40rWFuGvhFH5pQ2auBfVYFZzp5xZVgxy2KB6h8d-7FulLzMnvnDshZcsDxFo9oOSkpUdz1Yoen17EBS20ACjz7HbBX8iy7dzbOnBivLQpZr_L22cgDr6muFhoQxyhtVKnE9A-iX6fQqApEsH3DxtB2lb9c3Y2CbzadmnHlTpaWQEOFsy8leD2IB1CPyXlDSB8D2GsmGhI3UKfLM3OLrFf2yyOvOikRX7inwe1OaHRtyfa2NlMsD6x94bw8bUf-e_GcKJeqeSLJYFxkVkffkRKV3TdZAWUe1LxZz7ajcgzTBuQxhGLH1jVcBmAMmTlPAG7y_sd0BE2-f1ypSnJsIbOYlzHGxah-Zm9mXJXjP2A0gbatw4e116-5H4o76_Vsnohoi5wwgnzzRSscaeU8ql3oLiMaUGBuTef1GkmxBvJkYqbdjTaj8RVcl4xwsFlGX4vxgM8PAzrRxt1fHmcN50HKWaPPm0Bj3URkZqC-9QXYOu0h95Id6QooTh_ku_lJu0wCx0ZoAs9pDfFdNoem4cwTrxeQWRsWODDaKG5xcP4awWNbiVIMgdKVVK7IBmKfy2sHMt2WXoqRyVIFsDC1esm849hfscatBUKIKw4_lFRsTSIZoLaqtvh3Hmf82xY09MRzErPNEFSbMyu7kU6j9o20ROjAMDMPawKyhD72w_mF-_kWYGpQpHFBoWSSv6iUdVonMQljxAq32WZgdoo6xf9WTpvYgNf-T45V14neLwOibAjOn5F0b9ZBvvUv7e7iiMAUTtN76wgIalVVvsSSlMiai1DCc4gMQbr3rlzb2S25Cdjx0k49A8EVuMpsmdffe60jgGU0QwcxD-D1AyEPvYCmcY2JT2Z7bW4khGXQvtUVh5Ll_j3Qwd0rVmrBtsgWKX6aUq65v0mfPA-fDiPEXXgmDoEWkkh4Ua_dnxmzkRIH5Dhl4A60rNpI8UvNTnReb7EpCLFeMAPU5zp-EZupJOmv1ot3ssBk5SyFwMpmRWJbfiu7n7tJNclEZZkeAXCYWesX9roEyb0CaA7bEUf74ASo7XQ6qwe0akdOj0Cc1AHCsB5w4ETABxv8COQ_1VsLT2IVRwqHq9SFuyzg8UOl4LqCyRA9Jcrr9aPwlZEiOdao_w2mlPz3rnUNJuqajcz8D2WdVAGefB54BGeXx3ywbKRGYAFba7W7PiDPxJKfko-ihVQmBOBpAkWa7Cpz5gAHCF6YT-QHSxMikjBP4DshQ53DrN2pKtNr6UitooF7NI-9ZujmIuoBuJnNgcBy2XTh8cNaevm6L7eqQWzRPz51vTgMqWIj-scH2aKfs-IykSaFkN4HxofzT4Ne4d5Ihk_UfvNdPs7QSZuDEtlM1-OkwNu-uv8TFbPOaSJe0pc6fs4nrlwT5-o-cf5M-33joIWzPJ4bot8L0UtjGNSQPHRmr8Vlyw8v7lEj-GpK3xNYWj7U2PmG9dMn-0N-CyDTj0w4TNWxFzKoKJylKg==",
  "id": "rs_07845568bbc1a7a3016ab44d13026087d085093673be5d978a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_07845568bbc1a7a3016ab44d189e4487d08bb90dd01ca5834e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":0.15,\"left_yaw\":1.15},\"note\":\"With the right arm clear, the pen lies diagonally with its thin nib at the upper-left endpoint. Its table pose is still about x=0.40, left-y=-0.23, and the cap is already oriented with its opening facing the nib, so I’m moving to a short elevated pre-insertion pose.\"}",
  "call_id": "call_wvkloReIVc4UBF5lgT7OgUAM",
  "id": "fc_07845568bbc1a7a3016ab44d1b7bd087d087328f9a7cdde8c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wvkloReIVc4UBF5lgT7OgUAM",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.6231, 2.2421, 1.9137, -1.5635, -0.4831, -1.6073, 0.0711, 0.054, 1.084, 1.15, -1.1675, 0.0708, -0.1085, 0.9957]\nstate[eef_state]: left_x=0.3453 left_y=-0.1427 left_z=0.0818 left_yaw=1.1332 left_pitch=-0.4842 left_roll=0.3473 left_gripper=0.0711 right_x=0.2485 right_y=0.0045 right_z=0.2018 right_yaw=0.038 right_pitch=-0.5425 right_roll=-0.138 right_gripper=0.9957\nstate[joint_eff]: [-0.6359, -10.5368, 7.7744, -0.4029, -0.2857, 0.0073, 1.0281, 0.1026, -2.906, 6.106, 1.3407, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c374425cd1264c179be9f96f53e19e5fa84e6d0ed479529b2759ced0d5a5b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b923067fe06ea0e0091b07d319ff2bf62b34257eb9d99376e6b9bea7d594dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13d0851394bb71e894eabe31f9739f60a9901823a63fedc3a65ec096cf81c05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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