adhoc - adhoc_5182da4e.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 236.1 s
total steps: 392

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe long pen lies near the center-right, angled diagonally, while its small cap is separately on the center-left. I’ll bring the right gripper above the pen with the jaws rotated perpendicular to its shaft, while keeping the left arm parked.

move_to

right_x0.4000right_y0.2500right_z0.1500right_yaw0.7200right_gripper1.0000left_x0.2940left_y0.0020left_z0.1800left_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, 0.7933, 0.6018, -0.3801, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3763, -0.0185, -0.0128, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9998 right_x=0.2959 right_y=0.0014 right_z=0.1841 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.5385, 10.4957, 1.79, -0.0073, 0.0659, -0.0366, -0.7863, -1.265, 9.9487, 1.7411, -0.0171, -0.0317, -0.0855] 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":0.4,"right_y":0.25,"right_z":0.15,"right_yaw":0.72,"right_gripper":1.0,"left_x":0.294,"left_y":0.002,"left_z":0.18,"left_gripper":1.0},"note":"The long pen lies near the center-right, angled diagonally, while its small cap is separately on the center-left. I’ll bring the right gripper above the pen with the jaws rotated perpendicular to its shaft, while keeping the left arm parked."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteThe right wrist view shows the pen shaft centered precisely on the jaw column near the fingertips, so the lateral and yaw alignment look good. I’ll descend vertically to pen height without changing that alignment.

move_to

right_x0.3900right_y0.2380right_z0.0050right_yaw0.6900right_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, 0.7975, 0.6037, -0.3817, -0.0219, -0.025, 0.9998, 0.4671, 1.5978, 0.9504, 0.0147, -0.189, -0.1257, 0.9993] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0042 left_roll=0.0001 left_gripper=0.9998 right_x=0.39 right_y=0.2379 right_z=0.1321 right_yaw=0.6904 right_pitch=-0.0616 right_roll=0.0102 right_gripper=0.9993 state[joint_eff]: [0.1983, -1.7162, 7.1453, 1.6874, -0.0269, -0.0415, -0.0366, 0.294, -7.5419, 8.7863, 1.9316, -0.1441, 0.0513, -0.0904] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.238,"right_z":0.005,"right_yaw":0.69,"right_gripper":1.0},"note":"The right wrist view shows the pen shaft centered precisely on the jaw column near the fingertips, so the lateral and yaw alignment look good. I’ll descend vertically to pen height without changing that alignment."})

tool

executing move_to over 9 steps (0.9s)

step 30

assistant

agent noteAt table height the pen remains centered between the right fingertips, with the jaws straddling its shaft. I’ll close 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, 0.8001, 0.6037, -0.3813, -0.0219, -0.025, 0.9998, 0.4709, 1.9213, 0.7414, 0.5049, -0.1902, -0.1398, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.384 right_y=0.237 right_z=0.0043 right_yaw=0.7035 right_pitch=-0.1025 right_roll=0.0091 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.6972, -0.0611, -0.0464, -0.0171, -0.6085, -7.5692, 4.547, 0.9109, -0.0611, 0.1929, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At table height the pen remains centered between the right fingertips, with the jaws straddling its shaft. I’ll close the right gripper to secure it."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteThe closed reading is about 0.03, borderline for a very thin pen, but the gold pen tip is visibly aligned between the closed jaws. I’ll lift 8 cm and verify that the pen moves with the gripper before proceeding.

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, 0.8005, 0.6037, -0.3813, -0.0219, -0.025, 0.9997, 0.4709, 1.9347, 0.738, 0.5346, -0.1883, -0.1425, 0.0301] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9997 right_x=0.3858 right_y=0.2376 right_z=0.003 right_yaw=0.703 right_pitch=-0.0902 right_roll=0.0028 right_gripper=0.0301 state[joint_eff]: [-0.1573, -1.306, 7.0496, 1.7021, -0.0708, -0.0366, -0.0171, -0.0615, -9.7709, 5.1897, 1.3944, -0.0562, -0.0024, 1.3114] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.08},"note":"The closed reading is about 0.03, borderline for a very thin pen, but the gold pen tip is visibly aligned between the closed jaws. I’ll lift 8 cm and verify that the pen moves with the gripper before proceeding."})

tool

executing move_to over 5 steps (0.5s)

step 45

assistant

agent noteThe pen lifted with the right gripper—the shaft and gold tip moved off the table—so that grasp is secure. I’ll park it high on the right while bringing the left gripper above the separate cap, rotated across the cap’s diagonal axis.

move_to

right_x0.3500right_y0.0800right_z0.2200right_yaw0.7000right_gripper0.0300left_x0.4000left_y-0.2300left_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, 0.8005, 0.6037, -0.3813, -0.0219, -0.0254, 0.9998, 0.4709, 1.7355, 0.8131, 0.2642, -0.1879, -0.1436, 0.0379] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3861 right_y=0.2376 right_z=0.0645 right_yaw=0.7032 right_pitch=-0.0865 right_roll=0.0008 right_gripper=0.0379 state[joint_eff]: [-0.1299, -0.7863, 7.0906, 1.7216, -0.0757, -0.0806, -0.0073, -0.335, -9.6615, 7.8838, 1.6093, -0.0952, 0.0024, 1.033] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.08,"right_z":0.22,"right_yaw":0.7,"right_gripper":0.03,"left_x":0.4,"left_y":-0.23,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0},"note":"The pen lifted with the right gripper—the shaft and gold tip moved off the table—so that grasp is secure. I’ll park it high on the right while bringing the left gripper above the separate cap, rotated across the cap’s diagonal axis."})

tool

executing move_to over 21 steps (2.1s)

step 66

assistant

agent noteThe cap is centered on the left jaw column and its near end reaches the fingertip region, so no radial correction appears necessary. I’ll descend straight down to grasp it at table height.

move_to

left_x0.3880left_y-0.2140left_z0.0050left_yaw-0.5500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4927, 1.5593, 0.91, -0.012, 0.046, 0.009, 0.9997, -0.0433, 1.2926, 1.0359, -0.572, -0.5488, -0.4984, 0.0378] state[eef_state]: left_x=0.3882 left_y=-0.2136 left_z=0.1244 left_yaw=-0.5483 left_pitch=-0.0893 left_roll=-0.0131 left_gripper=0.9997 right_x=0.3528 right_y=0.0805 right_z=0.1991 right_yaw=0.6784 right_pitch=-0.122 right_roll=0.0156 right_gripper=0.0378 state[joint_eff]: [-0.5265, -7.2821, 9.853, 1.9658, 0.2564, 0.1587, -0.0366, -0.3214, -6.5299, 9.5111, 1.5604, -0.4322, 0.0024, 1.0281] 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":{"left_x":0.388,"left_y":-0.214,"left_z":0.005,"left_yaw":-0.55,"left_gripper":1.0},"note":"The cap is centered on the left jaw column and its near end reaches the fingertip region, so no radial correction appears necessary. I’ll descend straight down to grasp it at table height."})

tool

executing move_to over 8 steps (0.8s)

step 74

assistant

agent noteAt table height the cap remains centered between the left fingertips along the intended crosswise grasp. I’ll close the left gripper around 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]: [-0.4973, 1.8687, 0.7029, 0.4549, 0.0452, 0.012, 0.9998, -0.0498, 1.2934, 1.0378, -0.5938, -0.5507, -0.5091, 0.0378] state[eef_state]: left_x=0.3812 left_y=-0.2119 left_z=0.0021 left_yaw=-0.5543 left_pitch=-0.1389 left_roll=-0.0131 left_gripper=0.9998 right_x=0.35 right_y=0.0787 right_z=0.1965 right_yaw=0.6808 right_pitch=-0.1364 right_roll=0.0221 right_gripper=0.0378 state[joint_eff]: [0.1846, -7.3094, 4.3282, 1.0965, 0.2564, -0.0415, -0.0415, 0.1846, -4.8342, 6.5983, 1.619, -0.2759, 0.0562, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap remains centered between the left fingertips along the intended crosswise grasp. I’ll close the left gripper around it."})

tool

executing move_to over 10 steps (1.0s)

step 84

assistant

agent noteThe left gripper settled around 0.043 and the cap disappeared from the table-facing wrist view, consistent with a thin object held between the jaws. I’ll lift it 8 cm and confirm it leaves the tabletop.

move_to

left_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4976, 1.8805, 0.6956, 0.4953, 0.0341, 0.0059, 0.0429, -0.0502, 1.2934, 1.0378, -0.5949, -0.551, -0.5095, 0.0378] state[eef_state]: left_x=0.3843 left_y=-0.2115 left_z=0.0023 left_yaw=-0.5418 left_pitch=-0.1179 left_roll=-0.0095 left_gripper=0.0429 right_x=0.3498 right_y=0.0786 right_z=0.1964 right_yaw=0.681 right_pitch=-0.137 right_roll=0.0228 right_gripper=0.0378 state[joint_eff]: [-0.212, -9.1692, 5.3675, 1.3651, 0.1343, 0.0904, 0.9255, -0.0479, -4.7385, 6.7487, 1.4188, -0.3053, -0.0611, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.08},"note":"The left gripper settled around 0.043 and the cap disappeared from the table-facing wrist view, consistent with a thin object held between the jaws. I’ll lift it 8 cm and confirm it leaves the tabletop."})

tool

executing move_to over 6 steps (0.6s)

step 90

assistant

agent noteBoth objects lifted with their grippers, so I’ll orient them for assembly in open space: the cap axis turning rightward from the left arm and the pen tip turning leftward from the right arm. I’m keeping the grasp points widely separated during this first rotation.

move_to

left_x0.3600left_y-0.2400left_z0.1800left_yaw-1.2000left_gripper0.0450right_x0.3600right_y0.1600right_z0.1800right_yaw1.2000right_gripper0.0380

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, 1.6741, 0.7692, 0.1886, 0.033, 0.0006, 0.0448, -0.0502, 1.2934, 1.0374, -0.5957, -0.5507, -0.5095, 0.0378] state[eef_state]: left_x=0.3784 left_y=-0.2083 left_z=0.0572 left_yaw=-0.5384 left_pitch=-0.1446 left_roll=-0.014 left_gripper=0.0448 right_x=0.3497 right_y=0.0786 right_z=0.1961 right_yaw=0.6808 right_pitch=-0.1381 right_roll=0.0234 right_gripper=0.0378 state[joint_eff]: [-0.2256, -9.1145, 9.265, 1.7216, -0.0269, -0.0024, 1.033, -0.2256, -4.9162, 6.7487, 1.37, -0.2173, -0.0073, 1.0281] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.24,"left_z":0.18,"left_yaw":-1.2,"left_gripper":0.045,"right_x":0.36,"right_y":0.16,"right_z":0.18,"right_yaw":1.2,"right_gripper":0.038},"note":"Both objects lifted with their grippers, so I’ll orient them for assembly in open space: the cap axis turning rightward from the left arm and the pen tip turning leftward from the right arm. I’m keeping the grasp points widely separated during this first rotation."})

tool

executing move_to over 8 steps (0.8s)

step 98

assistant

agent noteThe cap and pen remain held after the first rotation, and their axes are now turning toward one another. I’ll complete the opposed 90° orientations and bring their grasp points to a cautious 10 cm lateral separation at the same height.

move_to

left_x0.3600left_y-0.2850left_z0.1800left_yaw-1.5700left_gripper0.0490right_x0.3600right_y0.2650right_z0.1800right_yaw1.5700right_gripper0.0420

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3714, 1.631, 1.2388, -0.4747, 0.5037, 0.4835, 0.0486, 0.0834, 1.5974, 1.2583, -0.7315, -0.7181, -0.8391, 0.0421] state[eef_state]: left_x=0.3717 left_y=-0.2324 left_z=0.1661 left_yaw=-1.0706 left_pitch=-0.1599 left_roll=-0.018 left_gripper=0.0486 right_x=0.3641 right_y=0.1507 right_z=0.1729 right_yaw=1.1278 right_pitch=-0.1641 right_roll=0.03 right_gripper=0.0421 state[joint_eff]: [0.3897, -6.8581, 9.0325, 1.3993, 0.359, 0.2515, 0.6813, 0.5128, -7.1863, 8.2803, 0.7399, -0.7155, -0.0806, 1.0281] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.285,"left_z":0.18,"left_yaw":-1.57,"left_gripper":0.049,"right_x":0.36,"right_y":0.265,"right_z":0.18,"right_yaw":1.57,"right_gripper":0.042},"note":"The cap and pen remain held after the first rotation, and their axes are now turning toward one another. I’ll complete the opposed 90° orientations and bring their grasp points to a cautious 10 cm lateral separation at the same height."})

tool

executing move_to over 10 steps (1.0s)

step 108

assistant

agent noteThe opposed wrist views show the gold pen tip and the cap gripper centered on the same axis, with about 6 cm of visible gap and no vertical offset. I’ll advance only the pen 3 cm toward the cap while preserving that coaxial alignment.

move_to

right_y0.2900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4057, 1.9121, 1.6367, -0.8833, 0.7052, 0.8829, 0.0486, 0.3313, 1.9049, 1.6531, -0.9546, -0.7631, -1.0397, 0.0421] state[eef_state]: left_x=0.3627 left_y=-0.2765 left_z=0.1645 left_yaw=-1.4967 left_pitch=-0.2022 left_roll=-0.0624 left_gripper=0.0486 right_x=0.365 right_y=0.2585 right_z=0.1739 right_yaw=1.5273 right_pitch=-0.1833 right_roll=0.0207 right_gripper=0.0421 state[joint_eff]: [-0.5128, -10.1128, 9.2513, 0.9695, 0.5104, 0.2027, 0.5934, 0.2667, -9.4291, 7.8427, 0.5885, -0.7057, -0.0952, 1.0281] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.29},"note":"The opposed wrist views show the gold pen tip and the cap gripper centered on the same axis, with about 6 cm of visible gap and no vertical offset. I’ll advance only the pen 3 cm toward the cap while preserving that coaxial alignment."})

tool

executing move_to over 3 steps (0.3s)

step 111

assistant

agent noteThe first advance shortened the visible gap while keeping the pen tip centered with the cap gripper; there is still clear free space. I’ll advance the pen another small step toward the cap.

move_to

right_y0.3200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3988, 1.927, 1.6367, -0.9134, 0.7036, 0.9035, 0.0521, 0.3771, 1.9182, 1.6676, -0.939, -0.7338, -0.9943, 0.0421] state[eef_state]: left_x=0.3601 left_y=-0.2719 left_z=0.1558 left_yaw=-1.5092 left_pitch=-0.2231 left_roll=-0.0879 left_gripper=0.0521 right_x=0.3613 right_y=0.2742 right_z=0.1709 right_yaw=1.5328 right_pitch=-0.2028 right_roll=0.028 right_gripper=0.0421 state[joint_eff]: [-0.7863, -11.2342, 6.4068, 1.1551, 0.315, -0.0855, 0.6374, 1.894, -8.6359, 7.8017, 1.0525, -0.4957, 0.0659, 1.0281] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.32},"note":"The first advance shortened the visible gap while keeping the pen tip centered with the cap gripper; there is still clear free space. I’ll advance the pen another small step toward the cap."})

tool

executing move_to over 4 steps (0.4s)

step 115

assistant

agent noteThe last lateral command barely advanced, indicating the tips or grippers are beginning to meet rather than remaining in free space. The readbacks also show about 1.7 cm height mismatch and a small angular mismatch, so I’ll correct those first at the current separation instead of forcing insertion.

move_to

left_x0.3630left_z0.1700left_yaw-1.5700right_x0.3630right_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]: [-0.3923, 1.927, 1.6352, -0.9108, 0.6872, 0.8845, 0.0549, 0.3859, 1.9182, 1.668, -0.9092, -0.7151, -0.9535, 0.0421] state[eef_state]: left_x=0.3635 left_y=-0.2678 left_z=0.1538 left_yaw=-1.4844 left_pitch=-0.2371 left_roll=-0.0933 left_gripper=0.0549 right_x=0.3659 right_y=0.2775 right_z=0.1713 right_yaw=1.5051 right_pitch=-0.2064 right_roll=0.0228 right_gripper=0.0421 state[joint_eff]: [-0.8957, -10.2496, 6.5846, 0.8474, 0.4322, 0.149, 0.735, 1.5795, -8.841, 7.8564, 1.116, -0.5592, 0.0562, 1.0232] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.363,"left_z":0.17,"left_yaw":-1.57,"right_x":0.363,"right_z":0.17,"right_yaw":1.57},"note":"The last lateral command barely advanced, indicating the tips or grippers are beginning to meet rather than remaining in free space. The readbacks also show about 1.7 cm height mismatch and a small angular mismatch, so I’ll correct those first at the current separation instead of forcing insertion."})

tool

executing move_to over 2 steps (0.2s)

step 117

assistant

agent noteThe wrist views still show a small axial gap, with the pen nib centered on the cap jaws; the right arm appears kinematically reluctant to advance farther. I’ll instead advance the cap from the left by 3.5 cm, watching for a shortfall that would mark first contact.

move_to

left_y-0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3859, 1.9671, 1.7168, -1.0195, 0.688, 0.9348, 0.0557, 0.387, 1.9182, 1.668, -0.9051, -0.7151, -0.9497, 0.0421] state[eef_state]: left_x=0.3624 left_y=-0.2644 left_z=0.1559 left_yaw=-1.5216 left_pitch=-0.2634 left_roll=-0.1204 left_gripper=0.0557 right_x=0.3663 right_y=0.2782 right_z=0.1717 right_yaw=1.5034 right_pitch=-0.2047 right_roll=0.0218 right_gripper=0.0421 state[joint_eff]: [0.1436, -9.9897, 9.0325, 0.9792, 0.6032, 0.0757, 0.6618, 1.4427, -8.8957, 8.1983, 0.9744, -0.5885, 0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.3},"note":"The wrist views still show a small axial gap, with the pen nib centered on the cap jaws; the right arm appears kinematically reluctant to advance farther. I’ll instead advance the cap from the left by 3.5 cm, watching for a shortfall that would mark first contact."})

tool

executing move_to over 4 steps (0.4s)

step 121

assistant

agent noteBoth inward advances stopped several centimeters short and the left shoulder effort rose sharply, so the two wrist bodies—not the object tips—are colliding in this side-to-side layout. I’ll separate and raise the arms, then reorient the same coaxial approach along the table’s forward-back direction where the wrists have more clearance.

move_to

left_x0.3000left_y-0.2000left_z0.2200left_yaw-0.8000right_x0.4300right_y0.2000right_z0.2200right_yaw2.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4091, 1.9858, 1.7435, -1.0397, 0.6449, 0.8707, 0.0562, 0.3721, 1.9202, 1.668, -0.9134, -0.7074, -0.9504, 0.0421] state[eef_state]: left_x=0.3617 left_y=-0.2687 left_z=0.1507 left_yaw=-1.4943 left_pitch=-0.3103 left_roll=-0.1565 left_gripper=0.0562 right_x=0.3697 right_y=0.2714 right_z=0.1694 right_yaw=1.4872 right_pitch=-0.2155 right_roll=0.0275 right_gripper=0.0421 state[joint_eff]: [-4.6017, -8.5949, 8.4581, 1.4042, 0.6227, -0.0855, 0.7546, 2.6051, -8.841, 8.1162, 1.1258, -0.6032, 0.0317, 1.0281] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.2,"left_z":0.22,"left_yaw":-0.8,"right_x":0.43,"right_y":0.2,"right_z":0.22,"right_yaw":2.2},"note":"Both inward advances stopped several centimeters short and the left shoulder effort rose sharply, so the two wrist bodies—not the object tips—are colliding in this side-to-side layout. I’ll separate and raise the arms, then reorient the same coaxial approach along the table’s forward-back direction where the wrists have more clearance."})

tool

executing move_to over 7 steps (0.7s)

step 128

assistant

agent noteThe combined retreat was blocked because the wrists were still interlocked, and both height readbacks fell instead of rising. I’ll disentangle them one at a time by moving only the right arm outward toward its own side and upward, leaving the left arm fixed.

move_to

right_x0.3400right_y0.0500right_z0.2500right_yaw2.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 2.0068, 1.7439, -1.005, 0.6365, 0.8234, 0.0585, 0.2958, 2.2745, 2.0243, -1.5059, -0.7555, -1.7916, 0.0457] state[eef_state]: left_x=0.3539 left_y=-0.2911 left_z=0.1433 left_yaw=-1.5162 left_pitch=-0.3144 left_roll=-0.1711 left_gripper=0.0585 right_x=0.3522 right_y=0.2377 right_z=0.1157 right_yaw=2.0309 right_pitch=-0.2396 right_roll=0.0335 right_gripper=0.0457 state[joint_eff]: [-0.0205, -10.5641, 9.0051, 1.033, 0.5495, 0.1148, 0.5397, 0.6769, -13.6547, 5.559, -0.0122, -0.3687, -0.1099, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.05,"right_z":0.25,"right_yaw":2.2},"note":"The combined retreat was blocked because the wrists were still interlocked, and both height readbacks fell instead of rising. I’ll disentangle them one at a time by moving only the right arm outward toward its own side and upward, leaving the left arm fixed."})

tool

executing move_to over 16 steps (1.6s)

step 144

assistant

agent noteThe right wrist has separated to its own side and the pen remains secure, giving the left wrist clear space. I’ll now move only the cap upward and rearward while rotating it halfway toward a forward-pointing assembly axis.

move_to

left_x0.2800left_y-0.2800left_z0.2200left_yaw-0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4618, 2.0079, 1.7428, -1.0096, 0.6277, 0.8196, 0.0609, 0.1612, 1.9644, 1.6108, -1.5661, -0.6693, -2.0529, 0.0466] state[eef_state]: left_x=0.3546 left_y=-0.2884 left_z=0.1413 left_yaw=-1.5086 left_pitch=-0.3254 left_roll=-0.1755 left_gripper=0.0609 right_x=0.2782 right_y=0.1599 right_z=0.1315 right_yaw=2.1096 right_pitch=-0.271 right_roll=0.0341 right_gripper=0.0466 state[joint_eff]: [-0.3487, -10.7692, 6.2974, 0.823, 0.3492, -0.0024, 0.5104, 0.3214, -10.3316, 5.2444, -0.4078, -0.3639, -0.1392, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.28,"left_z":0.22,"left_yaw":-0.7},"note":"The right wrist has separated to its own side and the pen remains secure, giving the left wrist clear space. I’ll now move only the cap upward and rearward while rotating it halfway toward a forward-pointing assembly axis."})

tool

executing move_to over 6 steps (0.6s)

step 150

assistant

agent noteThe cap arm is now high and clear behind the pen, with both objects still held. I’ll continue rotating the cap toward the forward direction in another modest increment while keeping it in the open center lane.

move_to

left_x0.3000left_y-0.3000left_z0.2200left_yaw-0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7494, 1.4796, 1.3716, -0.7952, 0.1833, -0.0193, 0.0637, 0.094, 1.9499, 1.5734, -1.5604, -0.6476, -2.0838, 0.0477] state[eef_state]: left_x=0.2711 left_y=-0.2913 left_z=0.2169 left_yaw=-0.9133 left_pitch=-0.3201 left_roll=-0.1589 left_gripper=0.0637 right_x=0.2801 right_y=0.1371 right_z=0.1263 right_yaw=2.0738 right_pitch=-0.2825 right_roll=0.0371 right_gripper=0.0477 state[joint_eff]: [-0.0889, -6.3795, 6.2564, 1.3993, -0.1441, -0.0952, 0.2857, 0.1709, -11.3846, 5.0256, -0.442, -0.3541, -0.1343, 1.0134] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.3,"left_z":0.22,"left_yaw":-0.3},"note":"The cap arm is now high and clear behind the pen, with both objects still held. I’ll continue rotating the cap toward the forward direction in another modest increment while keeping it in the open center lane."})

tool

executing move_to over 4 steps (0.4s)

step 154

assistant

agent noteThe cap wrist remains clear and has nearly reached the forward-facing orientation. I’ll finish that rotation before positioning the pen on the same longitudinal axis.

move_to

left_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]: [-0.9108, 1.6024, 1.4631, -0.8268, -0.1761, -0.4862, 0.0661, 0.094, 1.9495, 1.5723, -1.5608, -0.6472, -2.0834, 0.05] state[eef_state]: left_x=0.2836 left_y=-0.3091 left_z=0.2007 left_yaw=-0.4824 left_pitch=-0.3809 left_roll=-0.1452 left_gripper=0.0661 right_x=0.2798 right_y=0.137 right_z=0.1262 right_yaw=2.0741 right_pitch=-0.2824 right_roll=0.0386 right_gripper=0.05 state[joint_eff]: [0.4718, -8.759, 9.6479, 1.1013, -0.2613, -0.0366, 0.2271, 0.1573, -11.3709, 5.1761, -0.5153, -0.4078, -0.1392, 1.0281] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.0},"note":"The cap wrist remains clear and has nearly reached the forward-facing orientation. I’ll finish that rotation before positioning the pen on the same longitudinal axis."})

tool

executing move_to over 4 steps (0.4s)

step 158

assistant

agent noteThe cap is parked around x=0.29, pointing nearly forward. I’ll bring the pen to a point about 13 cm farther forward on the same center lane, high above the table, while rotating its tip backward toward the cap.

move_to

right_x0.4200right_y0.3500right_z0.2200right_yaw2.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9234, 1.6245, 1.4857, -0.8455, -0.2848, -0.6315, 0.0674, 0.0937, 1.9495, 1.5723, -1.56, -0.6476, -2.0834, 0.0501] state[eef_state]: left_x=0.2944 left_y=-0.3011 left_z=0.2017 left_yaw=-0.3163 left_pitch=-0.3627 left_roll=-0.1434 left_gripper=0.0674 right_x=0.28 right_y=0.1369 right_z=0.1261 right_yaw=2.0733 right_pitch=-0.2824 right_roll=0.0378 right_gripper=0.0501 state[joint_eff]: [0.0342, -8.759, 9.3197, 1.1697, -0.3736, -0.0806, 0.1197, -0.2803, -9.2513, 5.0803, -0.4274, -0.4029, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.35,"right_z":0.22,"right_yaw":2.6},"note":"The cap is parked around x=0.29, pointing nearly forward. I’ll bring the pen to a point about 13 cm farther forward on the same center lane, high above the table, while rotating its tip backward toward the cap."})

tool

executing move_to over 18 steps (1.8s)

step 176

assistant

agent noteThe pen arm’s diagonal transfer clipped the cap wrist before reaching the forward station, as shown by both poses being displaced and the low right height. I’ll again free only the right arm outward to its own side, then route it forward before moving laterally inward.

move_to

right_x0.4000right_y0.0500right_z0.2500right_yaw2.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9226, 1.6249, 1.4624, -1.0603, -0.2882, -0.6312, 0.0702, 0.5465, 2.3566, 2.0777, -1.5593, -0.6209, -2.0308, 0.0501] state[eef_state]: left_x=0.2647 left_y=-0.2603 left_z=0.1702 left_yaw=-0.2422 left_pitch=-0.552 left_roll=0.0189 left_gripper=0.0702 right_x=0.2882 right_y=0.2998 right_z=0.0829 right_yaw=2.4784 right_pitch=-0.3437 right_roll=-0.0132 right_gripper=0.0501 state[joint_eff]: [-0.4171, -7.4462, 8.1846, 3.3529, -0.1148, -0.022, 0.2759, 5.3949, -11.0564, 6.7214, -0.3346, -0.6862, 0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.05,"right_z":0.25,"right_yaw":2.5},"note":"The pen arm’s diagonal transfer clipped the cap wrist before reaching the forward station, as shown by both poses being displaced and the low right height. I’ll again free only the right arm outward to its own side, then route it forward before moving laterally inward."})

tool

executing move_to over 21 steps (2.1s)

step 197

assistant

agent noteThe wrists are now physically separated, but the pen arm cannot reach forward while held near a 140° yaw; that orientation is kinematically poor rather than contact-limited. I’ll rotate the pen back toward its comfortable forward orientation while it remains out on the right side.

move_to

right_x0.2800right_y0.1000right_z0.2200right_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]: [-0.9215, 1.6245, 1.4296, -1.0672, -0.281, -0.6361, 0.0717, 0.4313, 2.0632, 1.7554, -1.56, -0.5678, -2.0838, 0.0501] state[eef_state]: left_x=0.2589 left_y=-0.2541 left_z=0.1587 left_yaw=-0.2277 left_pitch=-0.5867 left_roll=0.0397 left_gripper=0.0717 right_x=0.2605 right_y=0.2284 right_z=0.1184 right_yaw=2.4258 right_pitch=-0.3794 right_roll=0.0027 right_gripper=0.0501 state[joint_eff]: [-0.1436, -7.3094, 9.0462, 0.9353, -0.3004, -0.0073, 0.149, -0.841, -13.1761, 4.9436, -0.398, -0.2808, -0.149, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). 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":{"right_x":0.28,"right_y":0.1,"right_z":0.22,"right_yaw":1.5},"note":"The wrists are now physically separated, but the pen arm cannot reach forward while held near a 140° yaw; that orientation is kinematically poor rather than contact-limited. I’ll rotate the pen back toward its comfortable forward orientation while it remains out on the right side."})

tool

executing move_to over 11 steps (1.1s)

step 208

assistant

agent noteThe pen wrist is now high, separated, and tracking normally at about 90° yaw. I’ll continue rotating it toward forward while keeping it parked on the right.

move_to

right_x0.3000right_y0.1000right_z0.2200right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9215, 1.6253, 1.4273, -1.0672, -0.2802, -0.6361, 0.0738, -0.0078, 1.6337, 1.5669, -1.5124, -0.6098, -1.5967, 0.0501] state[eef_state]: left_x=0.2585 left_y=-0.2538 left_z=0.1577 left_yaw=-0.227 left_pitch=-0.5895 left_roll=0.0414 left_gripper=0.0738 right_x=0.2839 right_y=0.1025 right_z=0.2043 right_yaw=1.5775 right_pitch=-0.4028 right_roll=-0.0074 right_gripper=0.0501 state[joint_eff]: [-0.3624, -7.4325, 6.3932, 0.8083, -0.232, -0.0708, 0.2027, -0.4581, -8.6085, 6.5846, 0.0757, -0.5885, 0.1685, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.1,"right_z":0.22,"right_yaw":0.6},"note":"The pen wrist is now high, separated, and tracking normally at about 90° yaw. I’ll continue rotating it toward forward while keeping it parked on the right."})

tool

executing move_to over 7 steps (0.7s)

step 215

assistant

agent noteThe pen remains secure and the right arm is tracking smoothly through the rotation. I’ll finish bringing its shaft to the forward-facing orientation.

move_to

right_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]: [-0.9215, 1.6253, 1.4258, -1.0668, -0.2802, -0.6361, 0.0755, 0.1585, 1.2819, 1.2655, -1.087, -0.3336, -0.5903, 0.0537] state[eef_state]: left_x=0.2584 left_y=-0.2536 left_z=0.1572 left_yaw=-0.2265 left_pitch=-0.5904 left_roll=0.0422 left_gripper=0.0755 right_x=0.2841 right_y=0.1076 right_z=0.2096 right_yaw=0.8188 right_pitch=-0.4456 right_roll=-0.0093 right_gripper=0.0537 state[joint_eff]: [-0.3077, -7.241, 6.3521, 0.8376, -0.2173, -0.0562, 0.1587, 0.2256, -5.4906, 6.2838, 1.4188, -0.2222, 0.2076, 0.6813] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_yaw":0.0},"note":"The pen remains secure and the right arm is tracking smoothly through the rotation. I’ll finish bringing its shaft to the forward-facing orientation."})

tool

executing move_to over 6 steps (0.6s)

step 221

assistant

agent noteBoth shafts now point generally forward, but the pose readbacks reveal the cap wrist has accumulated nearly −0.6 rad of pitch and the pen about −0.5 rad, which would spoil axial insertion. With the arms safely separated, I’ll level both tools and raise them to a common height.

move_to

left_pitch0.0000left_roll0.0000left_yaw0.0000left_z0.2200right_pitch0.0000right_roll0.0000right_yaw0.0000right_z0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9215, 1.6253, 1.4258, -1.0672, -0.2802, -0.6361, 0.0766, 0.4824, 1.2438, 1.2095, -1.0473, 0.1379, 0.2138, 0.057] state[eef_state]: left_x=0.2583 left_y=-0.2535 left_z=0.1572 left_yaw=-0.2263 left_pitch=-0.5906 left_roll=0.0425 left_gripper=0.0766 right_x=0.2729 right_y=0.1195 right_z=0.1974 right_yaw=0.2146 right_pitch=-0.5061 right_roll=-0.0224 right_gripper=0.057 state[joint_eff]: [-0.3487, -7.4188, 6.4889, 0.7937, -0.1832, -0.0611, 0.1099, 0.2256, -3.2068, 9.347, 1.072, 0.2564, 0.2369, 0.6911] 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_pitch":0.0,"left_roll":0.0,"left_yaw":0.0,"left_z":0.22,"right_pitch":0.0,"right_roll":0.0,"right_yaw":0.0,"right_z":0.22},"note":"Both shafts now point generally forward, but the pose readbacks reveal the cap wrist has accumulated nearly −0.6 rad of pitch and the pen about −0.5 rad, which would spoil axial insertion. With the arms safely separated, I’ll level both tools and raise them to a common height."})

tool

executing move_to over 20 steps (2.0s)

step 241

assistant

agent noteBoth held objects are now level and forward-facing with ample lateral separation. I’ll place the cap arm at the forward assembly station first, keeping the pen parked well to the right.

move_to

left_x0.4000left_y-0.3000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1713, 1.478, 1.2255, -0.8223, -0.8322, -0.9192, 0.0775, 0.7353, 0.976, 0.8433, -0.6407, 0.5594, 0.4313, 0.0593] state[eef_state]: left_x=0.255 left_y=-0.2589 left_z=0.2056 left_yaw=-0.0321 left_pitch=-0.063 left_roll=0.0245 left_gripper=0.0775 right_x=0.2683 right_y=0.1211 right_z=0.2043 right_yaw=0.0376 right_pitch=-0.0758 right_roll=-0.0369 right_gripper=0.0593 state[joint_eff]: [-0.335, -7.9658, 6.0103, 1.2332, -0.6422, -0.1197, 0.0659, 0.759, -3.8496, 6.9128, 1.8926, 0.442, 0.1343, 0.7155] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.3,"left_z":0.2,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"Both held objects are now level and forward-facing with ample lateral separation. I’ll place the cap arm at the forward assembly station first, keeping the pen parked well to the right."})

tool

executing move_to over 12 steps (1.2s)

step 253

assistant

agent noteThe cap is stable at the forward station, level and pointing away from the bases. I’ll bring the pen behind it and partway inward, stopping with roughly 11 cm lateral clearance so I can align from the wrist views without crossing the cap wrist.

move_to

right_x0.2900right_y0.2500right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8921, 1.8347, 1.4765, -0.519, -0.7235, -0.6441, 0.0788, 0.7349, 0.9791, 0.8413, -0.646, 0.5522, 0.4339, 0.0612] state[eef_state]: left_x=0.3881 left_y=-0.2893 left_z=0.1816 left_yaw=0.0249 left_pitch=-0.0437 left_roll=0.0318 left_gripper=0.0788 right_x=0.2674 right_y=0.1216 right_z=0.2014 right_yaw=0.0407 right_pitch=-0.0869 right_roll=-0.0374 right_gripper=0.0612 state[joint_eff]: [0.253, -9.8393, 9.4291, 1.4676, -0.1783, 0.3443, 0.1343, -0.0068, -2.4821, 6.9265, 1.5116, 0.232, -0.1099, 0.7204] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.25,"right_z":0.19,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The cap is stable at the forward station, level and pointing away from the bases. I’ll bring the pen behind it and partway inward, stopping with roughly 11 cm lateral clearance so I can align from the wrist views without crossing the cap wrist."})

tool

executing move_to over 11 steps (1.1s)

step 264

assistant

agent noteThe parallel wrists touched even with the objects still well apart—the overhead view shows the bulky camera bodies meeting. I’ll pull the pen arm back to its own side, then set the cap down as a stationary fixture so only one wrist needs to approach for insertion.

move_to

right_x0.2500right_y0.0500right_z0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8433, 1.8427, 1.4734, -0.5606, -0.725, -0.646, 0.0802, 0.9913, 1.4307, 1.0077, -0.6025, 0.8349, 0.7631, 0.0637] state[eef_state]: left_x=0.3974 left_y=-0.2648 left_z=0.1718 left_yaw=0.0782 left_pitch=-0.0746 left_roll=0.0729 left_gripper=0.0802 right_x=0.2867 right_y=0.2055 right_z=0.1664 right_yaw=-0.0795 right_pitch=-0.056 right_roll=-0.0988 right_gripper=0.0637 state[joint_eff]: [-4.0684, -10.3179, 6.8581, 1.7949, -0.3834, -0.0122, 0.1343, 4.0547, -3.9863, 12.0684, 2.0928, -0.0464, -0.5983, 0.5006] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.05,"right_z":0.23},"note":"The parallel wrists touched even with the objects still well apart—the overhead view shows the bulky camera bodies meeting. I’ll pull the pen arm back to its own side, then set the cap down as a stationary fixture so only one wrist needs to approach for insertion."})

tool

executing move_to over 13 steps (1.3s)

step 277

assistant

agent noteThe pen arm is clear on the right, and the cap remains held at a central forward location with its axis nearly forward. I’ll lower the cap onto the tabletop in that orientation so it can serve as the insertion target.

move_to

left_z0.0050left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8448, 1.8408, 1.4723, -0.5686, -0.7246, -0.6529, 0.081, 0.5785, 0.8211, 0.86, -0.7998, 0.5888, 0.3801, 0.0668] state[eef_state]: left_x=0.3959 left_y=-0.2642 left_z=0.1712 left_yaw=0.0806 left_pitch=-0.0789 left_roll=0.073 left_gripper=0.081 right_x=0.2525 right_y=0.052 right_z=0.2252 right_yaw=-0.1137 right_pitch=-0.0546 right_roll=-0.0861 right_gripper=0.0668 state[joint_eff]: [-0.0068, -9.5932, 6.9949, 1.3114, -0.3932, 0.0415, 0.0611, -0.2393, -1.0462, 7.4598, 1.6142, 0.2662, -0.1001, 0.315] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.005,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"The pen arm is clear on the right, and the cap remains held at a central forward location with its axis nearly forward. I’ll lower the cap onto the tabletop in that orientation so it can serve as the insertion target."})

tool

executing move_to over 11 steps (1.1s)

step 288

assistant

agent noteThe cap is resting on the table at the commanded pose and the left arm reached table height without obstruction. I’ll open the left jaws to leave the cap aligned on the surface.

move_to

left_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]: [-0.8337, 2.0628, 0.9836, 0.2462, -0.6918, -0.5655, 0.0824, 0.5716, 0.828, 0.8581, -0.8162, 0.5678, 0.3622, 0.069] state[eef_state]: left_x=0.3899 left_y=-0.2565 left_z=0.0046 left_yaw=0.0181 left_pitch=-0.0362 left_roll=0.0468 left_gripper=0.0824 right_x=0.2508 right_y=0.0526 right_z=0.219 right_yaw=-0.0964 right_pitch=-0.0843 right_roll=-0.1051 right_gripper=0.069 state[joint_eff]: [0.3897, -8.8137, 4.4923, 1.1062, 0.1832, 0.0073, 0.1392, 0.2803, -1.5248, 6.6803, 1.6142, 0.3687, 0.1441, 0.2076] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The cap is resting on the table at the commanded pose and the left arm reached table height without obstruction. I’ll open the left jaws to leave the cap aligned on the surface."})

tool

executing move_to over 10 steps (1.0s)

step 298

assistant

agent noteThe open left wrist view shows the black cap lying centered between the spread jaws on the table, so it released in place. I’ll retract the empty left arm back to its outer home side and high, fully clearing the cap for the pen approach.

move_to

left_x0.2500left_y-0.0500left_z0.2200left_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]: [-0.8333, 2.0747, 0.9749, 0.2874, -0.7071, -0.5781, 0.9952, 0.5709, 0.8314, 0.8577, -0.8177, 0.5632, 0.3614, 0.0712] state[eef_state]: left_x=0.392 left_y=-0.2555 left_z=0.0039 left_yaw=0.0354 left_pitch=-0.0139 left_roll=0.0281 left_gripper=0.9952 right_x=0.2508 right_y=0.0532 right_z=0.2175 right_yaw=-0.0936 right_pitch=-0.0905 right_roll=-0.1064 right_gripper=0.0712 state[joint_eff]: [-0.3487, -11.0564, 5.5863, 0.9548, -0.1832, 0.1441, -0.1783, -0.2803, -1.0598, 6.5573, 1.4725, 0.2564, -0.0073, 0.2173] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.22,"left_gripper":1.0},"note":"The open left wrist view shows the black cap lying centered between the spread jaws on the table, so it released in place. I’ll retract the empty left arm back to its outer home side and high, fully clearing the cap for the pen approach."})

tool

executing move_to over 19 steps (1.9s)

step 317

assistant

agent noteWith the left arm clear, the cap is visible alone near x≈0.39 and lies lengthwise in the forward direction; its near end is accessible from behind. I’ll bring the held pen high behind it using the right arm, close to the shared centerline but leaving radial distance for wrist-camera alignment.

move_to

right_x0.3000right_y0.3600right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5659, 0.7498, 0.7361, -0.6605, -0.5285, -0.3897, 0.9986, 0.5697, 0.8379, 0.8543, -0.831, 0.5556, 0.3614, 0.0725] state[eef_state]: left_x=0.2579 left_y=-0.054 left_z=0.2097 left_yaw=0.0676 left_pitch=0.0017 left_roll=0.0036 left_gripper=0.9986 right_x=0.2491 right_y=0.0532 right_z=0.2122 right_yaw=-0.0905 right_pitch=-0.1123 right_roll=-0.1165 right_gripper=0.0725 state[joint_eff]: [0.2393, -0.6496, 9.5521, 1.5995, -0.149, 0.1538, -0.1538, -0.0889, -1.1556, 6.8171, 1.6239, 0.2711, -0.0415, 0.1294] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.36,"right_z":0.2,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"With the left arm clear, the cap is visible alone near x≈0.39 and lies lengthwise in the forward direction; its near end is accessible from behind. I’ll bring the held pen high behind it using the right arm, close to the shared centerline but leaving radial distance for wrist-camera alignment."})

tool

executing move_to over 26 steps (2.6s)

step 343

assistant

agent noteThe pen is now about 10 cm behind the cap radially; its right-frame lateral readback is 0.349 while the cap’s placed coordinate converts to about 0.395. I’ll make that 4.5 cm lateral correction at height before descending.

move_to

right_y0.3950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5632, 0.7563, 0.7345, -0.6804, -0.5167, -0.3912, 0.9985, 1.1595, 1.8652, 1.5459, -0.7528, 0.8509, 0.8539, 0.0734] state[eef_state]: left_x=0.2557 left_y=-0.054 left_z=0.2035 left_yaw=0.0621 left_pitch=-0.0252 left_roll=0.0127 left_gripper=0.9985 right_x=0.2933 right_y=0.3491 right_z=0.181 right_yaw=0.0299 right_pitch=-0.0608 right_roll=-0.0725 right_gripper=0.0734 state[joint_eff]: [-0.335, -1.1556, 6.9812, 1.7118, -0.3687, -0.0122, -0.022, 0.5538, -9.7983, 9.2239, 1.3114, 0.735, 0.2564, 0.0855] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.395},"note":"The pen is now about 10 cm behind the cap radially; its right-frame lateral readback is 0.349 while the cap’s placed coordinate converts to about 0.395. I’ll make that 4.5 cm lateral correction at height before descending."})

tool

executing move_to over 4 steps (0.4s)

step 347

assistant

agent noteThe cap is now clearly visible in the pen wrist camera about 22 pixels to the image-right of the gold nib, despite the nominal coordinate match. Since image-right is the arm’s right, I’ll correct the pen 2 cm rightward by decreasing right-frame y, then re-check visually.

move_to

right_y0.3670

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5625, 0.7612, 0.7326, -0.6949, -0.5167, -0.3912, 0.9985, 1.1938, 2.0285, 1.7519, -0.8646, 0.844, 0.8684, 0.0748] state[eef_state]: left_x=0.2542 left_y=-0.0528 left_z=0.1992 left_yaw=0.0633 left_pitch=-0.0426 left_roll=0.0252 left_gripper=0.9985 right_x=0.2912 right_y=0.3867 right_z=0.1694 right_yaw=0.0549 right_pitch=-0.0949 right_roll=-0.1209 right_gripper=0.0748 state[joint_eff]: [-0.212, -1.0462, 6.8855, 1.7411, -0.2418, -0.0269, -0.0171, 0.5949, -10.6735, 8.841, 0.9646, 0.6716, 0.442, 0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.367},"note":"The cap is now clearly visible in the pen wrist camera about 22 pixels to the image-right of the gold nib, despite the nominal coordinate match. Since image-right is the arm’s right, I’ll correct the pen 2 cm rightward by decreasing right-frame y, then re-check visually."})

tool

executing move_to over 2 steps (0.2s)

step 349

assistant

agent noteThe 1 cm realized correction produced little pixel change, so the lateral scale at this range is coarse and the cap remains clearly to the nib’s right. I’ll move another 4.5 cm rightward while staying high and behind it.

move_to

right_y0.3300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5617, 0.7631, 0.7319, -0.7052, -0.5179, -0.3908, 0.9985, 1.1885, 1.9949, 1.6775, -0.8421, 0.8322, 0.8661, 0.0762] state[eef_state]: left_x=0.253 left_y=-0.0517 left_z=0.1968 left_yaw=0.0651 left_pitch=-0.0526 left_roll=0.0338 left_gripper=0.9985 right_x=0.2878 right_y=0.3754 right_z=0.16 right_yaw=0.0544 right_pitch=-0.1126 right_roll=-0.1349 right_gripper=0.0762 state[joint_eff]: [-0.2393, -0.5538, 6.8034, 1.7607, -0.2173, 0.0122, -0.0171, -1.2923, -12.6564, 6.9538, 1.2088, 0.398, -0.0269, 0.1392] camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.33},"note":"The 1 cm realized correction produced little pixel change, so the lateral scale at this range is coarse and the cap remains clearly to the nib’s right. I’ll move another 4.5 cm rightward while staying high and behind it."})

tool

executing move_to over 4 steps (0.4s)

step 353

assistant

agent noteThe low, cross-body pose is resisting the lateral correction, with the readback moving only millimeters and shoulder effort rising. I’ll raise and level the pen wrist to regain lateral mobility, then make the alignment correction from above.

move_to

right_x0.2900right_y0.3300right_z0.2200right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 0.767, 0.7315, -0.709, -0.5163, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0771] state[eef_state]: left_x=0.2528 left_y=-0.0517 left_z=0.195 left_yaw=0.0648 left_pitch=-0.0597 left_roll=0.0373 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0771 state[joint_eff]: [-0.0479, -0.7863, 6.694, 1.5507, -0.2515, -0.0464, -0.0171, -0.3487, -13.2444, 6.1197, 0.9695, 0.3785, -0.1245, 0.0806] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.33,"right_z":0.22,"right_pitch":0.0,"right_roll":0.0},"note":"The low, cross-body pose is resisting the lateral correction, with the readback moving only millimeters and shoulder effort rising. I’ll raise and level the pen wrist to regain lateral mobility, then make the alignment correction from above."})

tool

executing move_to over 5 steps (0.5s)

step 358

assistant

agent noteThe arm did not move at all on the raise, confirming this cross-body configuration is kinematically locked rather than touching the cap. I’ll unfold it by retreating inward toward the base, outward laterally, and higher, as recommended for a stalled pose.

move_to

right_x0.2000right_y0.2000right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 0.7677, 0.7315, -0.7158, -0.5159, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0776] state[eef_state]: left_x=0.2519 left_y=-0.0512 left_z=0.1937 left_yaw=0.0648 left_pitch=-0.066 left_roll=0.0416 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0776 state[joint_eff]: [-0.0479, -0.7863, 6.6393, 1.5995, -0.2466, -0.0611, -0.0171, -0.1846, -13.2034, 6.106, 1.0134, 0.3785, -0.0904, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.2,"right_y":0.2,"right_z":0.3,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The arm did not move at all on the raise, confirming this cross-body configuration is kinematically locked rather than touching the cap. I’ll unfold it by retreating inward toward the base, outward laterally, and higher, as recommended for a stalled pose."})

tool

executing move_to over 15 steps (1.5s)

step 373

assistant

agent noteThe retreat successfully unlocked the right arm. From this high pose the cap appears left of the nib in the wrist view, so I’ll move the pen leftward and modestly forward while remaining high, then use the updated camera alignment.

move_to

right_x0.2500right_y0.3000right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 0.7681, 0.7315, -0.7189, -0.5159, -0.3916, 0.9985, 1.2919, 1.3117, 1.3891, -1.2392, 0.9207, 1.05, 0.0778] state[eef_state]: left_x=0.2516 left_y=-0.051 left_z=0.1931 left_yaw=0.0651 left_pitch=-0.0688 left_roll=0.0433 left_gripper=0.9985 right_x=0.204 right_y=0.2145 right_z=0.2837 right_yaw=0.0228 right_pitch=-0.0306 right_roll=-0.0173 right_gripper=0.0778 state[joint_eff]: [-0.0068, -0.5675, 6.6803, 1.5556, -0.2369, -0.0562, -0.0122, 1.0051, -5.4769, 8.6906, 0.7741, 0.6667, 0.1685, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.3,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The retreat successfully unlocked the right arm. From this high pose the cap appears left of the nib in the wrist view, so I’ll move the pen leftward and modestly forward while remaining high, then use the updated camera alignment."})

tool

executing move_to over 8 steps (0.8s)

step 381

assistant

agent noteThe high-pose lateral move shifted the cap 15 pixels toward the nib as expected; it is now only about 18 pixels left of center. I’ll move another 9 cm leftward at this height to finish centering.

move_to

right_y0.3800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5613, 0.7681, 0.7315, -0.7197, -0.5159, -0.3912, 0.9985, 1.248, 1.6047, 1.457, -1.0142, 0.9081, 0.9897, 0.0778] state[eef_state]: left_x=0.2515 left_y=-0.0509 left_z=0.193 left_yaw=0.0649 left_pitch=-0.0694 left_roll=0.044 left_gripper=0.9985 right_x=0.2401 right_y=0.29 right_z=0.2353 right_yaw=0.016 right_pitch=-0.0427 right_roll=-0.0636 right_gripper=0.0778 state[joint_eff]: [-0.0479, -0.4034, 6.8718, 1.5263, -0.1929, -0.0415, -0.0171, -1.1692, -7.5556, 9.2239, 0.9402, 0.6227, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.38},"note":"The high-pose lateral move shifted the cap 15 pixels toward the nib as expected; it is now only about 18 pixels left of center. I’ll move another 9 cm leftward at this height to finish centering."})

tool

executing move_to over 8 steps (0.8s)

step 389

assistant

agent noteThe cap crossed to just 6 pixels right of the nib after the larger correction, giving a calibrated shift of roughly 3 pixels per centimeter here. I’ll move the pen about 2 cm rightward for fine centering before descending.

move_to

right_y0.3470

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5461, 0.765, 0.7315, -0.7189, -0.5163, -0.3912, 0.9985, 1.3052, 1.948, 1.8683, -1.2053, 0.9009, 1.0672, 0.0778] state[eef_state]: left_x=0.2521 left_y=-0.047 left_z=0.1938 left_yaw=0.0803 left_pitch=-0.0662 left_roll=0.042 left_gripper=0.9985 right_x=0.2396 right_y=0.3668 right_z=0.2254 right_yaw=0.0274 right_pitch=-0.0841 right_roll=-0.1158 right_gripper=0.0778 state[joint_eff]: [-1.9897, -0.3487, 6.9128, 1.4823, -0.1978, -0.0611, -0.0073, 0.8821, -8.1846, 9.1829, 1.326, 0.7448, 0.2662, -0.0073] camera 'top_cam' (step 389): [image omitted: streamed camera frame] camera 'left_cam' (step 389): [image omitted: streamed camera frame] camera 'right_cam' (step 389): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.347},"note":"The cap crossed to just 6 pixels right of the nib after the larger correction, giving a calibrated shift of roughly 3 pixels per centimeter here. I’ll move the pen about 2 cm rightward for fine centering before descending."})

tool

executing move_to over 2 steps (0.2s)

step 391

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5438, 0.7631, 0.7315, -0.7204, -0.5159, -0.3912, 0.9985, 1.298, 1.9095, 1.7885, -1.1969, 0.8963, 1.0683, 0.0778] state[eef_state]: left_x=0.2519 left_y=-0.0462 left_z=0.194 left_yaw=0.0823 left_pitch=-0.066 left_roll=0.0416 left_gripper=0.9985 right_x=0.2381 right_y=0.3521 right_z=0.2165 right_yaw=0.018 right_pitch=-0.0977 right_roll=-0.1451 right_gripper=0.0778 state[joint_eff]: [-0.4034, -0.1026, 6.694, 1.4872, -0.1978, -0.0366, -0.0122, -0.6769, -11.8496, 6.9675, 1.0769, 0.4908, -0.0415, -0.0073] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [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 · 12.51 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, 0.7933, 0.6018, -0.3801, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3763, -0.0185, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9998 right_x=0.2959 right_y=0.0014 right_z=0.1841 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5385, 10.4957, 1.79, -0.0073, 0.0659, -0.0366, -0.7863, -1.265, 9.9487, 1.7411, -0.0171, -0.0317, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ef025cb4b3f04b3245501b09779ae68d4a0445781bc7b20baf94f6de267d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91e334a8a74edb2f8b550a8e0396924bad895043af16f9ac8ec28244beda0c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef639b4241027e65b8e898f0cd60afae468291933158a7dd3cee7fedc210d463",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.895 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3hMMaSxg8Sj90K03ZbJc-FPI8zq6pL6m5Fd5SJM1IdYVDsHnItJFiCBa8ufrdsMY9faqIhDbrEQwAVf154O7BKfiidk3u9dCotIet8oiPM1ls5G0Ec2DUZR7DfWz8TVBoQqhwnjb1iK-xPyIP3tFouvXYPuK0WPcIP8fHrnx1Q3YE8nfpqmmlCfWkUcwtFPgmor4bCLDTp8cPirFFhiOPwP71AE1GHkEJZFvLoaXPYzomSx-GIrjX1HXVgCE5IbZ7z1hRSwPeRIoBHQSG8-ksGyJrYvNr2g9cIag7TJuLhuIHPhYn3rJFk9jLmxvp76ErFPqkoL_RpheLEBaQSpyQApI6H8pld0rbTTOzsP8Z2s4wRnA1A11fOKUWZbhzr3hLijtI9McWC2x3tOWE3eZ_QL8YvWUM86uHXrgekPQgVPmOFTXCWWEURHfR2Ef8kro5h6JMmAaWJB3kqcrf6P9IPWCYq3du9V4HMVEJ7P45mGsb2X8cEETaMwYfeFf0Qbg4MYIoHGCSH6ne6E6GUrHpY5ZTtGlNUlwdVYnBA1rK9e7QHy0I_-BBQJahrsYTj4rp3yO2SX6cim2TzGecFkPtEriWzDJBDLlYg3rwc-ZK1mWuAkzKaaw0gpdvy4hN63NL-qKiOnrJ-ZEdm5rF526EQ2SgFTnr0t_u-rMwXECQAlIYDlUv5OpQ2H1HmHxXhJ-T0G0ALjdj64gmsxpn1SHRaVShnHPGGF6uFt6qaeIhHsdgXWLAVxmeg2ky130Tom3YngdWeTr55BxfDHXLXb_ItP7u0HVpK06r_ixrL4uUc3_TeGcwFCXRqn6r5vJCFYeynORM9f1sirAqcZZNcT3hAx8iUS_OmJ6HcsQDQp-aI-0tN03jNpo2E6SKntZZb4oG0hySdbkuigZUTrpqR9aaOp_wdWBsfTyV8HnUPDcxnA23P-qLf7Y8AKb6GGz-a2BkFjyRAUdNu-JkMbmpjzQenpHXAE60t5fjWjRt9yoHDshoBKRia_qfyI-oZAl96iaTZ488DOohfbkajazI1l_wBMV8I78CAe2-7cSw0bRC976lHIq0uvdA88fFj3r-9UonbFU7QlayktF9V5QN2Sfz8P3MNgD0jHa9cRBEuP7fom9iXEwZIQKDR5g24mljg1jQUyTXbSozPYXU0b7Ooe0eCroXkBgCBjpDeR0bKinLzvn7NHv70McizVkUt8frXfYrbYra53AdyJJ1R2mDO0FStEDhHa4puR_EYo5miOmKK4GSFBk8ErkyKWumzuoJ3XJ2EKse3bC5luxkZt0RLgNYr-e5Ukul0AE6dHGsJK0sMCr00DI1RLOhDPnsOIobK0yZ_b8wC_tELnJVUYye4Dw1j9u7IhtBGlbfyiofZeasHbiHAMepIOaXZo4RzU-FQqmyH041T-JHeZcEMayOV11PyRg6nJ-ZZprB60xig8omCHlQHiFYFX3mJdI67CzyaPFmimDZ13-QOv5_vmxlQAoMUj_I4UMTP2ubDQuSj5MFrw8cj088TRsLxZvH09sRAmcRAmaSdLPQvfcDeb0fYrl2iWybBVPOVkIyUlsF-PcltLx_y53Ts96vTjrT7zGvY2noNu7GufEHqEfnTzrShT1BFulQ6YJ5GINfJYEjQWYK6ZSMwDb4DJmjhDsJqaWxFVebgf5no2VR3eEHtBdhqZb3bUBwBZTkPacG1vStnAQNN_wpiCK5rwcEzx-HwPyM5rQ7EdAKwwcCjFYv-pgUDjTwnOVSUTn3QsCG8Byw183Rt2X2H1Lvl1ISHPST0fTFWbQV0ZlHFJBzUuwoMKr_afk2Gx-rfSjvU2eosGMkD25QSfcTFut_uhTuwyZ0Maol-D7jpuZy8Vvl_Ng_wTGElDLMbXowRoSsTJslHmfem9dEPB3Mt8WIaMsfCCKiav2FBYUoHNmqyjUUQmVw4fQwArRrrG3-F5uxGYCRr1RlVVxAccBDbewJXYbP6BSYIMPgRoomlihFeNnY8HkjcAX7-zApsnFkps7OVM02XvPCoEGB0oQohPHDMgsNP5wcZF2JfhMls8rEU6zIGql6UsyFuAX0kA-jD55QNY_3z4-3iTILolzcwQSufmuAFFDWJUCj-n3chtfSPIWdFZdv-FXxbZl4zeCarI3FyeqHprgF3bfkWPw-AFWuQBXBrTcZU8BqMVZdkL_b_wIZo0JmkYbbz9KzbGUxyvBtnE86RZU7klhRXcTHRVO2YoXC2KBf9sorDfFq-GGbKxVGKWBPRoWJiR581YeQ2-GkTWk-sk4FplMVwo3w9KwhI_4wm7GPmhi-xPU-Q0imx1OMe1T8jMBg1di3t2DRtWE22Cj5dRhfPIIW0tnW3yVDawqXB27p7maBQ9-PyjeQIsT5VqI9mt_s4WCxOI7Zc-uQ16F1WSF6vmPhrTA_-oynMiRwFyCuERtIsT8z27zHyx7WeWMkBBqAPNcLXO8C1ljAl9G5SE-baoZaGit73sV80uYDCdNioHrXVlN4c1sxEJOf1P1GBci5o31yFMDaQce1mjh9VERLwfK-LjfKhAY9kf6-qgaG3eHm7n8v7utfyTvqiAirxcOZlx2mstq7y6UQNg4GPx8_us3xtLjR3zro2mnYJWqzKraDtshsX_CqLp4yLYT973f_389z-2EY0vUnGKvzEr51aoriXgbLuKBOyygkn074wkaFSK3NN2gW3x4qJU0BuRbHA_4Pe5jVCGFkV3-je0kf8WysV6aiarzs_XEk1LRPbxtOo2RmXAQSPriSk3EkWbuphWq6Rp4pKSnumTMPEWB_zFo70QIwZ0omfcl1kjqv8YrQV9u4sTGk-n86txk3OfmH2-Ix69CrHUfw8udyCxGCGITkgHNTbfKMGC2O3zmDoRwUZdl7djFWABwkZq9PMxrAKm_UZBU1zGmuU7jDAZswSVA6zPHk7FvYvL0Ibr6s0uqBJTS1ZImhQZDqqOKD6FdtjX_faJi_S1k52KOWPZDqKPxhhYuUIDUVDoMW--1YUxXd-dfe3eeTy_kl9SnLX9BcqLtdWD5ZUEFDC-8c2b1Ev_zqKIZlG_yM5TA0eKr9BJbTkhYvxFgaXZyecegCQYkHaRvf0Q3wSHEGLcMOFhB0jzB15MeD_sTeHT7ZAH_SXKVggF_hsu38KJvj_CTGHVyvi_y8nzl4toyGUi46Qc8jUjhf_U4AbhUOnzmiuEhnc2pV2UvB_hS1O_-0awePlQZH6pq7hmEVtwPbPd8X7xrrzpleKVviQZq07iusytlHWMZEUKvf-j5QXlvN3jDeuMchc-mM9Yy49Bt7iCJwyci2H2gG6oVfCYeggulGTkWaMFin_rgqJpn4O0PSPP7Gk0CLkWE7t34mHhTaB7AP9AJXMo3hkkF29lmOpcGkyAPd1yQx2m1qrodOiG2eToRGdatWOUlRD10cLT5_SdnM7vHvvK7hSmK3OiLG2pTlCP_ryORPrmtrxb0EXxFUF-2Uive5vUqhyupsKyCmcEP8bPaBzix0k9VWFrCSamo2z-yXKYpotcDj2HDo9GqwHJDFw_7e3MBqyyofTV62ZAiyp63k468QMeHrGOg9QJ4E1x-Rlat0SExA2GjeMn_KTPIlV14pOK5ZBklg1TyrbMML0Z5_c2Ls469-Ze6UmdQrnB-pm2hV7wuYDNsKUV8aXAkrt9udRQNE5w0NEFvaqVmEPB1RgKQA_KuL-SaU6j2vSU9vnnz4N7CVKptkVU12GIm2j_QJJ1ZxQA_ZL-3EPJuYLACA6F6wzuNtibBW3jvuckc3vcjS4wbCM2b5wMuFKWr--zqKOOhmse3ODQxx6cuvKMaYXvt7ISrwWtjCYy5cMC9kFvuL6qFk7cZXFJo95eJxoi2_ouTYx84vaLhUz2nTV3t3LrNUXUk7CQRI_xQGt20LuvciviLZd7T-fnhf3dKsZ1wgC8bcpthimeG9v68BR69yGxMMp7Z0xF-Kb7rkKkmqwF40MkUJ8z_J_dvGjWIOnEgi96RMu_w==",
  "id": "rs_010a146dccf04543016ab43dd5b13887d08539edbaf4ec2ec9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3h0hXAt_NLd3A2ONHXowZDrjAT49FaPZQJANKiRznqiRemAtJHjVhOi11NYSiy8yc2YcJvZG877UBOcqHlyoxIPQN62loy6AHhIcla5x3OMbtwMWOTAEHf_jHJxaUfbt42pZ5_jfaSLPYNBAtsUsyS1OxpR-FBZmSsvW_pNpd4y_rW8H7KmrC3lKzppGrO3vSxn60ooPQAhwoa3-y0_qzIFhLYpK_G7cqGf2pFW9XUszFnlygStLkhWEtbtyJ1wkFYiGdx54GhzPcrSyxWexVVqZvCZYjtX46se7t3JSpr73OYx9S7gIAQwEHbEjvAgu3WTFVaXYKz4UBFlv2YUSHMk96STn4vZjrKOIwRC1DcTRlXs2WHa5Gcuyup31uTvqTYrCoBnqhU6omiX14hkIWNzhfcgtZ-z2ZfFLHRtxSqsEsteR3BXsuzVG-NoOwgl0vus1gOuADB3FVE1sqnHY7ySwTlBj_mADHIGnqubZK-vmk-QJtIaAxcX1O_4gqOtpz2k7X1Mq27AgrcQYpKJmfEAKQiDBzQk_0Y2_kx3SPwlTPkGlGccdOajSmdjEgRFw8mPXa9PLFKv_PpfcCcSe8dWf8Jl2YPXAf2dsJcbYvK0HZEFmyxcTIYlm8qtPfiTQo1abSJughXjoJ06yPADF3SMoUOCX3ALDvxrM5kQ03sdgHGKpdltGh1byoilZwpoGzJrc1uAuUDO28vlKjuhXPhz_FGA3x_lhT4dZJPI076XGHq_TDXtfwGMIS5Sg4xMf6DITVXVlCmqa3rA7T85vvsatzM-t-nDTdEuhvj_L74UWw5kBp0rhgRD8ZlVJO6rZIDPmjQJ7Q7FgjsGCGCEyd8r8IXFjV5jknC7MV8xQVO7fHKacf9mLX_KU9zG-jFLF2YXlISR0qC31qdAhO7TZ5uFc--p6edfQititAikBKLHeP6m4WVfzONEWxxf6SZFn8A1h-QVF2Rp12D1orFxxL-NXXKs7FWBWxlEQ4zZN1e-Wc09Q4r8Xz6HQ3kdkil8LlrRzidP8BCorBsBtQGB228tcj-8bANpy0iuyG6SnpblyfTW2TP5KQt8txB0gfE_f1f-4zxeTel8N8VRfo-tbKj9GYsmGO0FBrqVGweY0qKA_jGQYWMz0SFNdzUO55sjapaJKSpP1uuc5jTchI9PfzBMgByPe0DlpT6ktpVUMBO0MqGsfm2HDmW2UJz9uOHzhlwydDsSnPiA89UxLlrlFq307EXSVj7-FSO53-AL_7FtwRCtle7tjYCCF_ASlMa1VJytIhGfIkjewWZHn5fyws2zqe86SSuZd_jbF6J_AUc0E_7RQGcC83uxRF0m_vs4l70rCFqZxqErvg4LUHKKXkOIHGsdyrP5EIAxZxb9Lyb-mQfo9lYbucE5qfYLl4AuIeYsCrodPqVWuEHNlz4aDz9kgQLNGtvHeq5CtL5kcznd8f3y_h_LfqDeT2lQw8jFDna1_y3iURHfXwPmm9IlEoe1zInhERmgkjvrn6VEwPjdGkB8t7uFcg04un_NkOzfq03xgSqxQ1v3vU9XeeC1aoeEoIWIjLv0kk_ST8mkxSvHRKfG74ToAs2qRGJjkGUw8VEeUkxpyi37C-TMzSioL2Kq0FM744PN9vmLdPACRQb2R8if5mSebzt6B1HN9W74E9Xj0jyJZ47i9pcn55FboKGFUhaIfYo_ORY11aEUD6vENMpNXUuRRPK8aGi7AjpRG4F7RRJESjFnfbo1O2OL-aimnk2XV5MIqxbmEFW-Z-bJF-p3hPdQsP36YBOkEZqIZKKk9vK5W9RHsoQSi-s_MzRTNliMlrc1WaJElmTURAYgLGhsdoGBaarAQwwyoem6K6n2o7g_5I5I2mhm55qMsKe_0cyXGo2p4eM7VgAkaUtbS31LJO84F4mCCOnxDvHSNu84BknCRB5VmEB1Fu8VJ0z45bfUswCyu_DYJE3Bmerfz0xtOO9Y_W2w_YSYtezxzr1qE4f8aBuHbJ1cprOkT3_rP1CPrQZGDDFV-nY_D3uxALtw7fEudj7n3w-AOOWfGRgrCUpLFwv0LUV68T47wBcaHeJcgCTy3hOChrgI43l0ez5hksf2dU4IYVITrleSVAfpg4nLI4zMWQkz3YEJuoWBA3mvXFx9rcCgQeKZXThb9pNe0QPC1Ey-J7SOp3fDot-ecEbasaB_i3GWIeT0X-ROGjZASWXqXkYVsX0T8uMUs6MCC6jjEA1vO2qk9DoRL4b6jZz42EPKX5D4iAIXKorKb06fRClx2y1C9N3EhJwxuvczM0fm3P5E45UAeeHR9giZfB2-9emCgdsVbjSLMYFOzektQb3-PLXBybTyQ63muOWIWntHtzBFWZiGJnDXbUGg11qayfOIwsBRGK8IP13mDnyVxkpJbqqqmsiJp7qzB5XXHmvgruFiMUjpeJtklZZ7rTUzStehXWXE3trNEHIrHnnW23V2bNELLkiHU7QJIZtffg0VKEqFG3y3R0Grl7P4VZ1mFC776AwDN4fhm2tPJQx7Q_jOkLHW5hd41DDbDCtLPkvDDkI8zXey3bh0EZNFeZIBxxhRo49W7XvW8JiHskoy5V20tONx66rsIA7w0WAbcTGNclwOB4GaZsRkw1NBj2NEec4Q0cawsTQxjj5bz6FZk5E-yMXyyh2IrmtxBm7cXGTCnH8gKSLtXRL9JCPkZ94bOwZlSdYbcamO_6K1CN7a_lD1Gv6ujJRtZuzwDL3rX7J6LiCYAKVCBi0jvx2YE7ie-sAriNFSIK_QFBNhyB2kkQwLoVl7YSJAxhkmkEc_3tZcG2HitT_z_HYvd4qjIFloIveaRHq_i1mKRNwMB7iSHTnbEXlIz-Gac18me-PybS8T4ECWy6TNkpXIpSP92WaG2E0tCf0BkmJJ0_ZkQux7jZ1lg7kN65Bv2mFQqWhWGaVklKw4QoQCBHcr0wKA1r6jxNLcuaiHaQslZFe4Ehdh1V2Z8TXvzKhcTrdnU11BX45OLn7IVEXBM5dZbS-WD4UH7F4v11c-uMcXRnjZbDH3C-cICyMNQiFESApONz6o9CzY5NSRRrrH2_qNZI-QmCCgU2_A6jAQOyPN5WHTJnX12fB0B4Q8w5DbLkMIsTFn3Q0hdewUbTF6WpfXQjXSK8WP8rFODoWqziH6fDjncIY6cumf6Rb004x9xOTc50=",
  "id": "rs_010a146dccf04543016ab43ddbd87887d08a395eb3af169781",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.25,\"right_z\":0.15,\"right_yaw\":0.72,\"right_gripper\":1.0,\"left_x\":0.294,\"left_y\":0.002,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The long pen lies near the center-right, angled diagonally, while its small cap is separately on the center-left. I’ll bring the right gripper above the pen with the jaws rotated perpendicular to its shaft, while keeping the left arm parked.\"}",
  "call_id": "call_wYaZEiVvTuL75C6PtHrfVUIM",
  "id": "fc_010a146dccf04543016ab43de00b7c87d0878b58465cfb2e9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wYaZEiVvTuL75C6PtHrfVUIM",
  "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]: [-0.02, 0.7975, 0.6037, -0.3817, -0.0219, -0.025, 0.9998, 0.4671, 1.5978, 0.9504, 0.0147, -0.189, -0.1257, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0042 left_roll=0.0001 left_gripper=0.9998 right_x=0.39 right_y=0.2379 right_z=0.1321 right_yaw=0.6904 right_pitch=-0.0616 right_roll=0.0102 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7162, 7.1453, 1.6874, -0.0269, -0.0415, -0.0366, 0.294, -7.5419, 8.7863, 1.9316, -0.1441, 0.0513, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a66c1c86b6792233f6a4684e57a6fe2b01769c28b9167915b4ab89178f48b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db0d7cea8024e31109d0472d31a3a0fb8bfc6d081a9c08cce87cd9e59d5de33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ba42aeb4dcccf2b8d87c66a8a2491632dcc7caf156f030fbd9b5fdce5c0c0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 2.216 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, 0.7933, 0.6018, -0.3801, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3763, -0.0185, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9998 right_x=0.2959 right_y=0.0014 right_z=0.1841 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5385, 10.4957, 1.79, -0.0073, 0.0659, -0.0366, -0.7863, -1.265, 9.9487, 1.7411, -0.0171, -0.0317, -0.0855]",
      "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, 0.7975, 0.6037, -0.3817, -0.0219, -0.025, 0.9998, 0.4671, 1.5978, 0.9504, 0.0147, -0.189, -0.1257, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0042 left_roll=0.0001 left_gripper=0.9998 right_x=0.39 right_y=0.2379 right_z=0.1321 right_yaw=0.6904 right_pitch=-0.0616 right_roll=0.0102 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7162, 7.1453, 1.6874, -0.0269, -0.0415, -0.0366, 0.294, -7.5419, 8.7863, 1.9316, -0.1441, 0.0513, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a66c1c86b6792233f6a4684e57a6fe2b01769c28b9167915b4ab89178f48b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db0d7cea8024e31109d0472d31a3a0fb8bfc6d081a9c08cce87cd9e59d5de33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ba42aeb4dcccf2b8d87c66a8a2491632dcc7caf156f030fbd9b5fdce5c0c0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3nvfolkdBAnsmUrwQMFI6Ws8brGnkIhxG7ZiGxSY7NK6BI_FoJDSjTk7i10krjT268QHwFVcrBoV5J4JsAvebv1KvNZCQyIfYUZHYW2rYRK-uYqjRawzmMmYF77zpbkR4v6C88IEChjAXpBuX-z2f4cGsfMQmvbMitlFKsDGOOha48xOQg-lERhuyERFPlfbGLITmzDBbj2p-n2z2S5RycvfSXLIkD_fxhsKNtqi8bsisErbFi-7I0ifOHALwBzKodNz3hh0z2mxvk2HLg2Mr5ZUl2qyyY4MmvzlZkTrF6z9mihMas9KAr_HQvP5QpwNUNDVPLmu_491_l1_z256L5NJnWGE1jtFwWsJqkuoSvnhtnOt67BHHnQ1AGYoW3adaSkENP1GG8ndvTRPXBgJM4LbxBXtHMwe85RolzW769F1N7Ce8nfewAxEXF0TboZY0MVi246G5DTNNnRdYk392x1gSkM9Lthr6UAwZQLtM9jXzu3EiOVloJ-YvKioHa63NkZZ5yuN97AL3DNdE02xj1tFGbbmpEhlhu6AWw_nRCbTkx61HE6uQN5kBblpIG06A2nfVMO-X724QatcYR-qfUls4rdxHEj1gBvx6tAJsNRUhn2P6D8yvyoq6beQ6k51T5DREZKhvgzI9DPRcV-rMoG4UFia59lKG7xeZ_gUM0gx9hIhhVu-CzVY-Ida7tjZ4cod3VTfVBLVwCJ3FJbJIE2GCj-agkQAZRxiSOs416L4zpv0Gy2wvJPGo63AN38YFE3xT1pLMCpr3dFgq5LRsf1KMkUfb0QEewZQzMcvy-sdCh_YalC0lSDjYt7uyQM5Yr8LJ8j3kn6-PSwyr-QnjBJb8X4F9_cxLOtf46clMLb0RlNZ2HsL1_SRwnpfpRL2xAS4bH0u_-9H1aIgC6RuEUsnzfcVUM_jvTpmmorik--Ntbv-ipSvNmZ7BkLqo_Tkq4JgZMoIcJ1OaZ1N84Sx7BrjN-h1dzs7MWXTyuXQ-WJO5nBrwe-aG_S9MJwwVeAu2J--JersXi_9Et8jNQSgKQH-wjM2KiQQO9v98WooBS92HTfKyfDuLf22z_QcG-H-g30G4RBJLXIQeypzo_sZXuRvm6i1aQDXXw2A1qw0flk2izsZdq74sv_YGOH7DYSRXmdEWx5wqMPxf-1-10Z13q6XiqyLTVWgQj-W0QUzVENfMKSYJ5fQ-wlByO18FZv8jXGGUjh5pVt1LJyLhfOMBYeLf1W-0Xo7uY-AydY1AXPdHmht6Wl7z3CozEXXNvwh6NMkBn0tUK5iXynEdmQXgalgND6t6YvWwo6jOlxcInEXm_A6HMujkQH6sy6Z9tRMvoQX4sRU22wU7KIua0mMxvyqpTxePLkNH7BcmpTHxybLxn6DTpNaAQhPQxd1n0Q3HpLE3MjJCCCZ1C06d2-1JmJmSI8-uYHEoK8nu2twbq-XUYlPO5usMesd36D3-E_XAodKQP0iSTz__pNdmiraMiiRG8MMen6lRsBRMzarNndEGYyWTqlE3O2iTTK3kW7f3MVmg5yljf7n4831lqZLQD-M2PQ-H1OYhSNnazIGTBQYfPOTNIXUVhBXRnKVVrtP5v07QDoYXCIjHEIbfTt4gD0KHBz8kAwfl-XHEgzhzE_hSVoLUl3qVrIfbbKRVP4keYaqeHOxSGFGvnpD4e_jWvGCTVXKiXBldARWJxJkfuEHJsdBHIm0KHIDTTWcKvN4d4H8a47O6F8zLSB0luuyqoUbSo3JY2Dir9AfWwiC0pc_ff9WcwebgiirdFd_dMIWOrAZOlNOO_9HvTam6y7JsfKzWbn3lIGUjFs1e--ZCa8pUqu7eF3Cc2Z4J7VjdWOZMhbkwpawqay9YL_lgUGil8WnvgfrjAlpRI5aIj-Uty4decUkltHjD09cCl2MXoIkBIUk3Eb-TrDt6sA1swSl_ODBARrZZdVlhzV_8ypbfkMgU6aJ145eeoD6mK7FYhnZ2gemoO3ROu_T-wuxCIVvLHcA==",
  "id": "rs_010a146dccf04543016ab43de4689087d09215d525dffbeb58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.238,\"right_z\":0.005,\"right_yaw\":0.69,\"right_gripper\":1.0},\"note\":\"The right wrist view shows the pen shaft centered precisely on the jaw column near the fingertips, so the lateral and yaw alignment look good. I’ll descend vertically to pen height without changing that alignment.\"}",
  "call_id": "call_nZBz9AXefHxISxrYQ5abpy6X",
  "id": "fc_010a146dccf04543016ab43de6290087d0b2998e5fec3e8476",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nZBz9AXefHxISxrYQ5abpy6X",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6037, -0.3813, -0.0219, -0.025, 0.9998, 0.4709, 1.9213, 0.7414, 0.5049, -0.1902, -0.1398, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.384 right_y=0.237 right_z=0.0043 right_yaw=0.7035 right_pitch=-0.1025 right_roll=0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.6972, -0.0611, -0.0464, -0.0171, -0.6085, -7.5692, 4.547, 0.9109, -0.0611, 0.1929, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db47f81f6c97d990c63172a9adad6dbf9436f57438be1d6f1ce5bae379001c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0efbc429af2cd57134b40f7e86a1a1c9cec6ea6490a516acbea4452fe6d9fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e598c79468d4848a9006e480dcd5bff9a90db21d5be80d6c9740faa138e14ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.178 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, 0.7975, 0.6037, -0.3817, -0.0219, -0.025, 0.9998, 0.4671, 1.5978, 0.9504, 0.0147, -0.189, -0.1257, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0042 left_roll=0.0001 left_gripper=0.9998 right_x=0.39 right_y=0.2379 right_z=0.1321 right_yaw=0.6904 right_pitch=-0.0616 right_roll=0.0102 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7162, 7.1453, 1.6874, -0.0269, -0.0415, -0.0366, 0.294, -7.5419, 8.7863, 1.9316, -0.1441, 0.0513, -0.0904]",
      "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, 0.8001, 0.6037, -0.3813, -0.0219, -0.025, 0.9998, 0.4709, 1.9213, 0.7414, 0.5049, -0.1902, -0.1398, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.384 right_y=0.237 right_z=0.0043 right_yaw=0.7035 right_pitch=-0.1025 right_roll=0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.6972, -0.0611, -0.0464, -0.0171, -0.6085, -7.5692, 4.547, 0.9109, -0.0611, 0.1929, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db47f81f6c97d990c63172a9adad6dbf9436f57438be1d6f1ce5bae379001c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0efbc429af2cd57134b40f7e86a1a1c9cec6ea6490a516acbea4452fe6d9fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e598c79468d4848a9006e480dcd5bff9a90db21d5be80d6c9740faa138e14ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3qrTE_sf9RKKPumuyeGnS43c9hSAosjjYatDJjZRkM03-AZhDzlsThaWiLsa6wPsMyepisr7rd2FlDmIcaDyJSMH6oGOMlme4Qb0Y6SX-D5gp-d_F6wdUwhlvKf-ZwkLgs6WWYFoeNiZKrBI3HQ0yAyW_aw4d1zAP2rfFtOITBUl0j32YVaiyMuH9K3SwElLJimMbfjEQj9ZiLb4Rg7svX1jto56pTqpEVaVlznWwqA5FNJAdX_T09SocZKFUafNK8LSvego8462eljRaH0FSmJc3I_A6l_HZbl6Obbk8ORmaxXpBoKRzCsi3obl61hzjVoW3cZTkxLSGlMcxBKSBi5V7zPtF8EYAZjGRPlxaeF62bQY_SzhMtZf5Jx-e_taHWQ4YBrQWJBydA8i6vqn-R2Wm4Var4gMiTKfqxrox7cqpjFg8xHL28P0_tQdKVwHFKQVkSB-8EJmyzs4yr3vd4ZhLXJwVod9DR_Jb2PweNy4yn6NvN5-FcO6rAOmHUtTn8rOHt3FDtjq_KXl0Dc5lc7KCx2qsw87j4c4GIbnYoK5hKV3fPPHw29i_xQArxbwDqf_Kqr1Y4Z7f_Ieh42zCHJuDVauuv7U5cOElzRNJ4ecLZ6Q6ZUvSF5GoxLfHi9VPIaoqMw_Lr2lFv7dYZwDwaX-2_8rJjiXt1kcl2pgv49_gvvDtaimbYmLdx1xj_gZr1r6BXG-nT_WD19t56c3KcW468qCDj6ISK9TSKGVNJYbHnTQja99TzoNM0WTquq3j05xjzYv2GachxfoRZmw693CrBRFnLRBxXGbGcKVljDCoT6MR4PRAvPRKGQI7T-7ylcrUVT-6zQsd9QoH_nlg2-vvYPGhYkaA9uns4_9d04JYfqJSYfNzON_YB8c485Z6M3iUKRKQL_N86ULx4seDFUawKzEB960JG3QCma8QvItFGvvPT-E89zCu8zvac-8R_N7e8GF7yw3JAYOEwpHF3LLtkHWRt0eXEYhiroiL6Hx7ptFnyCtrLkUCVvlri8lNouIytrZdigwTpeH8Fj_efkykRMwwk__f9gw0KwyUF7f2g9vhrifHqwFZUla5NudfmaUDtFigfbW9fnul8PTezH8Q1lkiml85F_cG3JXw7rzDYFsAqlLap1DN4Wh4OzlzxWz_u75BZKv9jWGescco0O5OYNfeKWCQSYGHOrVYVqbOfaR722eNgVcLRmLkGWTHcDAB4HHdIqIopDQhtPy2_RlnMv9or5kVSzhPlzzdJn2g0wCgnS3-INTP4TXQza7ISMLz6xZlgdBKL3k0KO_xS7Q==",
  "id": "rs_010a146dccf04543016ab43de937f887d0bac3b48a5368e9cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the pen remains centered between the right fingertips, with the jaws straddling its shaft. I’ll close the right gripper to secure it.\"}",
  "call_id": "call_hbsHBA82lLUID3TWLdgHxJ0t",
  "id": "fc_010a146dccf04543016ab43de9840487d096a354df352f5eb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hbsHBA82lLUID3TWLdgHxJ0t",
  "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, 0.8005, 0.6037, -0.3813, -0.0219, -0.025, 0.9997, 0.4709, 1.9347, 0.738, 0.5346, -0.1883, -0.1425, 0.0301]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9997 right_x=0.3858 right_y=0.2376 right_z=0.003 right_yaw=0.703 right_pitch=-0.0902 right_roll=0.0028 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -1.306, 7.0496, 1.7021, -0.0708, -0.0366, -0.0171, -0.0615, -9.7709, 5.1897, 1.3944, -0.0562, -0.0024, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8d3a6ddac428da2a45f81c29bdf4fe846b83d96b1fc0d8c52b2c0e023195a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04306ef708a8120e630d1f138f592f160b044c3647101f7f2c0866be03c8790b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81252b8f2df34e4c4422623219edcb842d8077f97fd936db6c409d4c798dc340",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 5.131 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, 0.7933, 0.6018, -0.3801, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6102, -0.3763, -0.0185, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9998 right_x=0.2959 right_y=0.0014 right_z=0.1841 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.5385, 10.4957, 1.79, -0.0073, 0.0659, -0.0366, -0.7863, -1.265, 9.9487, 1.7411, -0.0171, -0.0317, -0.0855]",
      "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, 0.8001, 0.6037, -0.3813, -0.0219, -0.025, 0.9998, 0.4709, 1.9213, 0.7414, 0.5049, -0.1902, -0.1398, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.384 right_y=0.237 right_z=0.0043 right_yaw=0.7035 right_pitch=-0.1025 right_roll=0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.6972, -0.0611, -0.0464, -0.0171, -0.6085, -7.5692, 4.547, 0.9109, -0.0611, 0.1929, -0.0904]\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, 0.8005, 0.6037, -0.3813, -0.0219, -0.025, 0.9997, 0.4709, 1.9347, 0.738, 0.5346, -0.1883, -0.1425, 0.0301]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9997 right_x=0.3858 right_y=0.2376 right_z=0.003 right_yaw=0.703 right_pitch=-0.0902 right_roll=0.0028 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -1.306, 7.0496, 1.7021, -0.0708, -0.0366, -0.0171, -0.0615, -9.7709, 5.1897, 1.3944, -0.0562, -0.0024, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8d3a6ddac428da2a45f81c29bdf4fe846b83d96b1fc0d8c52b2c0e023195a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04306ef708a8120e630d1f138f592f160b044c3647101f7f2c0866be03c8790b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81252b8f2df34e4c4422623219edcb842d8077f97fd936db6c409d4c798dc340",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3uaNaQ_Gr-sVShpbXwXGktjUnQL_lsgbDb3IRPPcVJk9SiozL_qrR5Zlopf_d4cImKAadQR5XKig6ZA9m2JL1b00Jwk69hrV_khvrZ-8bQ-XMLsTp1Mx1rwJ2mUxBDN9tvlzyw8wuAphJz9v5KtifSPYITHTAYcIp9cYkPavP9MMAmbuCFmV7Mru83QXtF7HaxV08IMmhagbDYVXeOCMIX-EPwnJlWgGumSG5FNisKXUWXbSOWhfaaRTe2k3aninCSTN-tqs8lvewvREyUnCY6f_Rxe3KzAPNgoqCinthc3NZscxTAlbRtOKobJhAJ3efKSG1tSJhlFqOHEpfH7hmebzMyaq2wEYtkKY-hAtCxqtDH4ubFUEDmB3pnoXQPWecY3KXpxBA89Jct9M7xwvcExnCQiD0lOpw3ZPTky7Q5LPoGCyVlDJW0rTanNtqAeMZfSNCSlmhdN6vwkIjmgTYIX9_eDGMpEG8V6VeT9fCER8hWHDsI4OVi2onTQrpnNqlyX7fA0Ceossq5LzvKOPQnKXTJPlro301imcV5m8jWz861bohSN7oGQkwjukuZAedD9zTWhqll_tFrVu3QLPNurD1uxNdi9jnNvtZZLkvUbAlhfnAChEt0ifmMDP50YkT7PZ15CRLohikSQ2a1v8zvDMa6Id6y-kvcJarPbMjprAf-4ovT7vlpQm16EllEV3Zt07nnN9m8_iRKQXTOCD7gDqoOv5XM_fD6um_OWIHo7ozgXSrovm8gJdltiWRmsGNMIISUj8zE4FDj6YLDHwlYsMyw7t0Bi4nlGejugMKsibJTANcke8P2vo0xoaYjuzlZfv3DWUh0LC_tXAMWmMwWiY0Y2wI3Nkov1bYAKXIp5upXj-v4Ii3unSVLy8pF_mcx7aDHtHxccdOTMpW9gUQin9NUhpmLruf0d1Ay88bcZSLD1g6NpZo6Ml0lfuU_J-_qGG6XUMk3aL_mHwcKHjxB1bFy8wRUsS_C8m4cH3DKmtYF39coJd1HDfb9EyVzqtPAlJgXGIFHIbiDvSGGiLQqIe-Pu60_QNeS6xZI-avUQIePg5gSxWOH5NtoV0GG0O8QNMYH6tpnDQFWwLnpT-qKWu5puiAEXkbu7jGzzZz3W1lxYfC0diLHslxQWoYwto13O3IOELXJqRRQxK1AQAywWYjm1vGmT0fzUQAyV_l5RWZZZKcdjkoIPJ13wbGvu_oLW9Z9YfeIeRA73nNyow-y8Qu8HXWs5oGkZG18aquw1ZwCdRW0F0UXbtP8AaHX7_m3_-8k959ynTuJrcy6wSV7n3JXpBK-h5ut4JYvETMVMIuARhdvu7-xPzw60Lf6ca8qSb5PQMLW8MfGBfAvbu2T68oiaE5C9eyv7uEoDtQxtAZrNd13BrldApJHBkI4wDgF70FVATK5eqGc_jSgadupsIbrYh3vkT7fO1q_82FvVFzqYrCCyzzs0LOPFH6z578AKQCF56aZtZKRAqIGsnIknu-I1pkD9wpZNk_bABhGl8y8ZJXgax2dZayd29ef0gpoLMZsTE7MTy91A2Brkbld3VQVeK6JsGEBSqP9btLj2hyGwoSveWhi10Mdpui4zZt75IK4F4lQk_8hYFUybJnibCLvbUzAuQ-eU0OqoKS2inrWxGzTfdRxvlGj0-mr07GPTbUAttZ2o_t4_j-x4uZeMvXnPr00hfxD1Hzzxq-VU4m9tFSvasS5JcAMzRk4GWfFQML6MDHUpgm7cKMox-7YExPxR8yWbiB8VLq-iK3C4NDrsmRRNeK75YBmeO7sCCMaouYPR7a4nw6esTYein-4kYwYP8P0cNHGqNqw2BbwT2Pxp8o5-lqBH8uDJFqXsVC93v7C7zQYzgfEUhkIb10qKg==",
  "id": "rs_010a146dccf04543016ab43dec4a0c87d0ba5343b4b4070473",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The closed reading is about 0.03, borderline for a very thin pen, but the gold pen tip is visibly aligned between the closed jaws. I’ll lift 8 cm and verify that the pen moves with the gripper before proceeding.\"}",
  "call_id": "call_D0At37nqV1yZNAyvBBuCfaA3",
  "id": "fc_010a146dccf04543016ab43ded6e2c87d0b5ef3c6b8247611e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D0At37nqV1yZNAyvBBuCfaA3",
  "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]: [-0.02, 0.8005, 0.6037, -0.3813, -0.0219, -0.0254, 0.9998, 0.4709, 1.7355, 0.8131, 0.2642, -0.1879, -0.1436, 0.0379]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3861 right_y=0.2376 right_z=0.0645 right_yaw=0.7032 right_pitch=-0.0865 right_roll=0.0008 right_gripper=0.0379\nstate[joint_eff]: [-0.1299, -0.7863, 7.0906, 1.7216, -0.0757, -0.0806, -0.0073, -0.335, -9.6615, 7.8838, 1.6093, -0.0952, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b785ac8a17c39d7723b2fecd0f3d13b39ff66dea5677939a0885dca49bc310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b457988c4d6ed465eb4125014a3dd5607f8ade6c045c9fc59743035f0c278ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365c7dada5bdf357b99fcfa3e9face8dae062420f782f43ed62fe257f856b558",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.049 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, 0.7975, 0.6037, -0.3817, -0.0219, -0.025, 0.9998, 0.4671, 1.5978, 0.9504, 0.0147, -0.189, -0.1257, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0042 left_roll=0.0001 left_gripper=0.9998 right_x=0.39 right_y=0.2379 right_z=0.1321 right_yaw=0.6904 right_pitch=-0.0616 right_roll=0.0102 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7162, 7.1453, 1.6874, -0.0269, -0.0415, -0.0366, 0.294, -7.5419, 8.7863, 1.9316, -0.1441, 0.0513, -0.0904]",
      "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, 0.8005, 0.6037, -0.3813, -0.0219, -0.025, 0.9997, 0.4709, 1.9347, 0.738, 0.5346, -0.1883, -0.1425, 0.0301]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9997 right_x=0.3858 right_y=0.2376 right_z=0.003 right_yaw=0.703 right_pitch=-0.0902 right_roll=0.0028 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -1.306, 7.0496, 1.7021, -0.0708, -0.0366, -0.0171, -0.0615, -9.7709, 5.1897, 1.3944, -0.0562, -0.0024, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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, 0.8005, 0.6037, -0.3813, -0.0219, -0.0254, 0.9998, 0.4709, 1.7355, 0.8131, 0.2642, -0.1879, -0.1436, 0.0379]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3861 right_y=0.2376 right_z=0.0645 right_yaw=0.7032 right_pitch=-0.0865 right_roll=0.0008 right_gripper=0.0379\nstate[joint_eff]: [-0.1299, -0.7863, 7.0906, 1.7216, -0.0757, -0.0806, -0.0073, -0.335, -9.6615, 7.8838, 1.6093, -0.0952, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b785ac8a17c39d7723b2fecd0f3d13b39ff66dea5677939a0885dca49bc310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b457988c4d6ed465eb4125014a3dd5607f8ade6c045c9fc59743035f0c278ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365c7dada5bdf357b99fcfa3e9face8dae062420f782f43ed62fe257f856b558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3zqJmO-TEdcrJ3T4vps5TqMW4YTvVPUqfh6r8Xq1ln1dnvhJnrKHlAUS0ocB6IpkLh-TnNBoU3d1hZRluGsoytVNL5Lvq_Kxv0pxv3KsN6sjMNh4Cdesj31mPUORL5lQkkk6IK8wN5bahORUYVE1JQWd3SCbOGmBzRb8FZh-m1LJu022TYTTZo0OYM-oarq1Y8wZ2WM0pNr_cdmuc23gezEbjjSi4oWQ45S2ewa3w5Iz8-3s6lk1hNJMbqTVppzzU4Wm9BL6kIcFaoOOQ7SjytTYDKrSyIntlbgv1UEwKnU5HfyXPOKBUfEEDk5DMsqgDrCEELCysa1KAu5NXcNhZFX8LaptnBHOWFAqG3rjZ1Cs_xEHXzPsSm52AI_Ol8fz5sVcYLWkGuRN-Eq1pXKU6xI8JHaWY1TrCooVFig9NSb1rmp8sEaWrCwrbYMjmsm922xdtrZ5MsjCzLlIeAKPnTh5b8B9DbegBr4MTwQcZWDqTJ1Yfh9dUColPfQDgGMQPvPBcGsFN4I6Se-MGtsZ3YTy98WE81SonJ-EYewRPr5z6Em49HvUrOXgfTNt7VV5P23FKXsvv6miLbUiWNpR9usemizxaYGTVjjcKAD2pFM7u5LcSrkj0td1EeWvI4ULlKjQuY-nEdwayXN2uFlr2wxIH11-9eZ1vijh1bhVKuPtdCmI98GPP5Dt7ACABCam-plqLwBBWtP1IA2bcrct1Vyyf3LQ0uCPMPo_L8QI59BRr56ahwUUSPTqnuaRu3BIRU_AFwxgspurwmCD2UyYtgSE4AxwGpUZlKctxDYZpS-XzfvEGNcGeeyvuJSdyhReL4SXHyHFiAToksGFIjfu43JAKjH1J4XZYd8utWlfIJWWOBxFUY4x9aGExD4QABXgpRcuzRe7gaV1o-XmY-ZEpqFzmMSDccCtMdq9wJDPYSEHFJlAOaduLa_gSP8lJdlsXFzocXdzy7_lTxn9nDSFU9Ex5Iw1NQIkYwWQ4IQC33izRpp4OosDgbMTlOaPZZwQ1wMmy_EoNcuSxpqVJ0OrKLU2roWuj3oNxH5q2z23-ylGg2BpsTb138VrnSAhnVxnjBEXL9aUS0nDfs7EGQnZDxjgkNhA5SUByjaRTNkEPZfMTwKswgAmvjr6qbGf87SO1qGGkZ0IUtSZi7VR76n2MqVTJ-qCQN_c8IVRBZRQXaYVd7YE9XazJZMuSyFvLg_uX9OwEU98sqORfr4v2_t_SiS0s1wLG_edpPzrg-1GK4xaE3EcXOoVRJQJ-Uzt5pL7pHXpDlN757YGcUlXwJiZntn35tVuiGUQmgNo6k2fF76C4p42clurGoWu3ms8JXWE5-6hoxyTxyoVP9Zyy7OcRd78q4FugVNRY_yhheNgcLRK-XEhE__q1eWxbYPPRSpBCf7wr2MwRmdwY3GUA0oBC-Rr-BOQ2MOmeNOoIJkuDuLqakyqRuQ8DXTuF2tXfe31ZpZNA91q5QJQtvZdQWNeMbOYFo23QaefV_9RM9Hi_qWVO02q1SS_Oq_xE8-jsbc1UGrp7YLp2cCOde4D9t5t5SVFJYkR0Xk9rS_jwM9yjm6MwKf0YOqUN_UCVCeuRmuKzUqrvJ-MQykgX79mCpwPEYhJ5JhRWFACQlsuDFw06mmVrxIW3FHjeKuLxZxnkgj800HVyGld-HTFADvWbMBpZXR4HNYV76R_o8ufRcdHku1i-bZA38sRWwsgRUX2_TbtR6WSVwtyuBV2qc7FRjqbPnLqH2rrCMD25VT-yGJZYdc7IL3-DY5hZWu0uvaZURPBV2ViSvIsE7igfmaW4-I9WHokbhAveGE8b754dey1kuUOvV0M2cmGwhGP-AHpLeJv0MiaouTdLP-JKtip-WrR-XNnbspgRLrPJitf_eDTMA8Vptpc2Qz7j7FQYR4yNDkWk8Q75U5r_emLvwMw0vH0fVMfBK6wZScZ1BAqTMwrxhWNdW3nJigvpYpZauXO6qMFuHUZoExDfN3ff0q8smtlp_FyHFrIn6QTilWsCF2JXo4Il3qo3MvQRHKEL41_aRtGr3ttaOxchSSAGu2Ei2zDS03sOFzINQvN_pvg0Peo1FZaoWHcmmiTf70aK2YBxYkvFQ0G3hmfV3upwF8Y6iCReh5WY9a5GL85DlalGar4JM0p9Ufx5nXVqkCg2en532XKP_4ziLK8-CpS5-a0SgeTsNQNeyZpnT8e8fxN2nwTFXVXhtG7H1u2g6eUWsILgtJ2Ea_i8DyvsZvl90PD7S6cpTG8umAYirWxm5fTTRNZj0kdcr8_Vkc0RaDUmXZmd8e1N32jfHh0ze_4KU-EN-mwGFTSbFLarJaJ1d9lq1TwNspV3DE7TO5zYbhZ2zNJYyCIsKkUmWMZsE2RdqAy9pJ1Aadjqhx4daPoex-h7w1tzDJ35ZurRyYcYKmqT2zG4tyXQofoqCYNg-AA8m_M29XpgVYQ==",
  "id": "rs_010a146dccf04543016ab43df0054087d0841fd04f4d6881cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.08,\"right_z\":0.22,\"right_yaw\":0.7,\"right_gripper\":0.03,\"left_x\":0.4,\"left_y\":-0.23,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0},\"note\":\"The pen lifted with the right gripper—the shaft and gold tip moved off the table—so that grasp is secure. I’ll park it high on the right while bringing the left gripper above the separate cap, rotated across the cap’s diagonal axis.\"}",
  "call_id": "call_KXzbuGZmigsulRXkAx1ctJpd",
  "id": "fc_010a146dccf04543016ab43df27a2887d084fbfbd179be90fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KXzbuGZmigsulRXkAx1ctJpd",
  "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]: [-0.4927, 1.5593, 0.91, -0.012, 0.046, 0.009, 0.9997, -0.0433, 1.2926, 1.0359, -0.572, -0.5488, -0.4984, 0.0378]\nstate[eef_state]: left_x=0.3882 left_y=-0.2136 left_z=0.1244 left_yaw=-0.5483 left_pitch=-0.0893 left_roll=-0.0131 left_gripper=0.9997 right_x=0.3528 right_y=0.0805 right_z=0.1991 right_yaw=0.6784 right_pitch=-0.122 right_roll=0.0156 right_gripper=0.0378\nstate[joint_eff]: [-0.5265, -7.2821, 9.853, 1.9658, 0.2564, 0.1587, -0.0366, -0.3214, -6.5299, 9.5111, 1.5604, -0.4322, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11d87cf5bfa2cb064681f5def3c19878b020927225fa5242f605e30c01899d36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0813b1350dde396e356228f4b0905c3cc1d65f4f4ca3297969f0e6d83e51337",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67749e5ff9d6f68b0d1f36297d5ff2198133df4565de7480cbbbe2719a0ee4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.375 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, 0.8001, 0.6037, -0.3813, -0.0219, -0.025, 0.9998, 0.4709, 1.9213, 0.7414, 0.5049, -0.1902, -0.1398, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1779 left_yaw=0.0 left_pitch=-0.0065 left_roll=0.0001 left_gripper=0.9998 right_x=0.384 right_y=0.237 right_z=0.0043 right_yaw=0.7035 right_pitch=-0.1025 right_roll=0.0091 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.6972, -0.0611, -0.0464, -0.0171, -0.6085, -7.5692, 4.547, 0.9109, -0.0611, 0.1929, -0.0904]\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, 0.8005, 0.6037, -0.3813, -0.0219, -0.0254, 0.9998, 0.4709, 1.7355, 0.8131, 0.2642, -0.1879, -0.1436, 0.0379]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3861 right_y=0.2376 right_z=0.0645 right_yaw=0.7032 right_pitch=-0.0865 right_roll=0.0008 right_gripper=0.0379\nstate[joint_eff]: [-0.1299, -0.7863, 7.0906, 1.7216, -0.0757, -0.0806, -0.0073, -0.335, -9.6615, 7.8838, 1.6093, -0.0952, 0.0024, 1.033]",
      "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]: [-0.4927, 1.5593, 0.91, -0.012, 0.046, 0.009, 0.9997, -0.0433, 1.2926, 1.0359, -0.572, -0.5488, -0.4984, 0.0378]\nstate[eef_state]: left_x=0.3882 left_y=-0.2136 left_z=0.1244 left_yaw=-0.5483 left_pitch=-0.0893 left_roll=-0.0131 left_gripper=0.9997 right_x=0.3528 right_y=0.0805 right_z=0.1991 right_yaw=0.6784 right_pitch=-0.122 right_roll=0.0156 right_gripper=0.0378\nstate[joint_eff]: [-0.5265, -7.2821, 9.853, 1.9658, 0.2564, 0.1587, -0.0366, -0.3214, -6.5299, 9.5111, 1.5604, -0.4322, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11d87cf5bfa2cb064681f5def3c19878b020927225fa5242f605e30c01899d36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0813b1350dde396e356228f4b0905c3cc1d65f4f4ca3297969f0e6d83e51337",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67749e5ff9d6f68b0d1f36297d5ff2198133df4565de7480cbbbe2719a0ee4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD34QZCcRXkNvWlUl9bfmdiTOC61V-mqDijO1qC3hh_7cvLvIWcrztzvg_Q7l6_fd7FCLPBe05d-3LYMpTv4zxgI95bFFMIGJUdl0jtOQbHucK30Y9YelhGDkvlBso1Pq5Go_GuevKP-a2Mu-jHVM5lWf0C_QzrAvAxtT9diXyIoFl_OtlGANQj_7ZOBbmp5GOxIZAwXYT_k_HSuQJ9pZrI2qQD59kRX8yty-Z3iz08rOhKK5241_bSqDh9BUC1OTGOSkRQYxcbkD2IUA39hQOJDn50Hg8NdH3dr-H2tj8i7zdcwWBExhBbm2e-B9OF99SCGIj-GJNeZ1DMO6Pjzn-g2K_-jWXMeVcV6SBt0TDU4xzZm_8oBA8nNP8CDkRwt9GxWIw3nIM1Xc4eSv1zQs1JT1fW-S3sRJHgwMm-IzaZwbx0D-M2e8IOSk932VKF5r-ZRdJS2wKDzpJ2JPS-Zsr8TrlDbYLsLeW-ihiE1WKPOZGrL01gxNP7cXaODyQSYTvkU43mvo9vJBG72aWdaI_cI-_qYQdBOiu7LNXWwDXcHWyv2a6G1aEjVsJJV4JzxXSHBfE67zYH55o8JlhygGR0pi_xKAL4jWNT8l0q_pAHSlmzuHKDxCqiKFu8oxz073A3VvtTqP3KEqNYGhFVi58SpMjvXsoDeaMokCh_ZZ5J2cWf6e7-3VtsctTHDCkTR8xmt2dShchPILsn64E0F8xvqDrMDXGJBC4Zemlq8VMh1yQGvLu7WCsw53Xf6o9llqzgwd8n6glip1c8etB5U418uzCYOr6ubTu9pVUdYo70ix37H8VS0kLHuu_EJSvlb0ClWTYqHZ3xM0xKThPRSCibFwymy6sg2SVQPg9qj8ULkimvgtTcHxWH8XE7vNJC3cKmfbQW4kVFnjDcmZz7-xnKC52LghZRJvtuFC4ryeoj0nofNM0RVUv8XopqSY_BKkPel8MLmzi9paPkoIOHLz6E6PlbheCQDeB1XANLnroNKz9lisa4smGkORHID1-TzX58bduUQ4pkQHgcj9scH1B2SX0b617xFILXxXlmQIA-_f4HURRMygmu6CfD8qLz-W5ENmkFhIms5W02j59cJU6HNX3-9jr98VZY4ucrNqMjVi4KwNgu2rPZWl3UFiBi-6VeZHK3idYy4UI04eylUBlOR7CwbXyh1Xy4i3Or9rNRAHg88lceQ4KglPjEa9feaunBmNsslJD5Td38zg_OZv5nTbMZK4ESXoFVhSTOSKF6S-CqKpsyjZyAyCmG2pdnak_APya7DehTD7CDYqtLjrgeixHmvsQyYgRSyYTaKhoceReCWtHJsmOJQY9B6Jr-Mcy25XzWpO-COZk3avuH9TF0scV1u1RoBs1C-OcjthKSApIfjNDNYQKR2rhcHVIjZ9meeSHcBNwVS4LQKgZAA2icvXGgfXQ4upWdrD6rJN-Li3l9fe28rz3ecbvYKoYGCtIO0ejCQ8CddpXc21FFIsmIO6yY4q3nlYhQZUVfxSglou5clSegfHZwvBGYLcvkG41Ier8ONSwLZmtzlOBD9E8SFwL0ftce1IrARYC01tPsfWWsJdjSUOMbtfraq2tqGNkknKOMlKntvwwrTgyHsXZ4wfK4XZlPzD4zaPNj1OKCvHEuy3IZahwVUjXys3BC-3hwaO0hHYeLJjhgbsgbp7NiYZnyD6p2Ib4E7OgwcOOb-C9d1RE2_cR96yi2uUdVVg99DRKG1zntY-A74r0gJA40y01BE-npnAOz8P7wex3v2bntMeahyyUKfXmG_5rErm4vezgs4lqQPzWI-rtoOIA8hP5aXHFtU5KTDwQgPakNYS2Ahgi78luUpJVTb693ZQdi4-O_-T1rJBsuM86npIAuLeAiefjmU1mPEtScs7ITa3pM=",
  "id": "rs_010a146dccf04543016ab43df6bdb887d089ffe2085a5e5e81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.388,\"left_y\":-0.214,\"left_z\":0.005,\"left_yaw\":-0.55,\"left_gripper\":1.0},\"note\":\"The cap is centered on the left jaw column and its near end reaches the fingertip region, so no radial correction appears necessary. I’ll descend straight down to grasp it at table height.\"}",
  "call_id": "call_JUoxgcpJC5nIltWdhZV4DBBs",
  "id": "fc_010a146dccf04543016ab43df80d4c87d082e2e89e4c590ca1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JUoxgcpJC5nIltWdhZV4DBBs",
  "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]: [-0.4973, 1.8687, 0.7029, 0.4549, 0.0452, 0.012, 0.9998, -0.0498, 1.2934, 1.0378, -0.5938, -0.5507, -0.5091, 0.0378]\nstate[eef_state]: left_x=0.3812 left_y=-0.2119 left_z=0.0021 left_yaw=-0.5543 left_pitch=-0.1389 left_roll=-0.0131 left_gripper=0.9998 right_x=0.35 right_y=0.0787 right_z=0.1965 right_yaw=0.6808 right_pitch=-0.1364 right_roll=0.0221 right_gripper=0.0378\nstate[joint_eff]: [0.1846, -7.3094, 4.3282, 1.0965, 0.2564, -0.0415, -0.0415, 0.1846, -4.8342, 6.5983, 1.619, -0.2759, 0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20921b9f6d47687ea069567ceae93079b54c7b1c1b6ae0332652deca88805915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c8c98fed601057cbf8f91fe744151ecaa2e25e3adb44fbd5b81617b59507ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95294c478feef946f614cb6b32af1b95e43ca5aac7cd289f171df6d4a9a92eea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.448 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, 0.8005, 0.6037, -0.3813, -0.0219, -0.025, 0.9997, 0.4709, 1.9347, 0.738, 0.5346, -0.1883, -0.1425, 0.0301]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9997 right_x=0.3858 right_y=0.2376 right_z=0.003 right_yaw=0.703 right_pitch=-0.0902 right_roll=0.0028 right_gripper=0.0301\nstate[joint_eff]: [-0.1573, -1.306, 7.0496, 1.7021, -0.0708, -0.0366, -0.0171, -0.0615, -9.7709, 5.1897, 1.3944, -0.0562, -0.0024, 1.3114]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4927, 1.5593, 0.91, -0.012, 0.046, 0.009, 0.9997, -0.0433, 1.2926, 1.0359, -0.572, -0.5488, -0.4984, 0.0378]\nstate[eef_state]: left_x=0.3882 left_y=-0.2136 left_z=0.1244 left_yaw=-0.5483 left_pitch=-0.0893 left_roll=-0.0131 left_gripper=0.9997 right_x=0.3528 right_y=0.0805 right_z=0.1991 right_yaw=0.6784 right_pitch=-0.122 right_roll=0.0156 right_gripper=0.0378\nstate[joint_eff]: [-0.5265, -7.2821, 9.853, 1.9658, 0.2564, 0.1587, -0.0366, -0.3214, -6.5299, 9.5111, 1.5604, -0.4322, 0.0024, 1.0281]",
      "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]: [-0.4973, 1.8687, 0.7029, 0.4549, 0.0452, 0.012, 0.9998, -0.0498, 1.2934, 1.0378, -0.5938, -0.5507, -0.5091, 0.0378]\nstate[eef_state]: left_x=0.3812 left_y=-0.2119 left_z=0.0021 left_yaw=-0.5543 left_pitch=-0.1389 left_roll=-0.0131 left_gripper=0.9998 right_x=0.35 right_y=0.0787 right_z=0.1965 right_yaw=0.6808 right_pitch=-0.1364 right_roll=0.0221 right_gripper=0.0378\nstate[joint_eff]: [0.1846, -7.3094, 4.3282, 1.0965, 0.2564, -0.0415, -0.0415, 0.1846, -4.8342, 6.5983, 1.619, -0.2759, 0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20921b9f6d47687ea069567ceae93079b54c7b1c1b6ae0332652deca88805915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c8c98fed601057cbf8f91fe744151ecaa2e25e3adb44fbd5b81617b59507ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95294c478feef946f614cb6b32af1b95e43ca5aac7cd289f171df6d4a9a92eea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD371vnfXwrZCzIOuzBVdrO7Fr3dHygnhdy5USFOO4tJGfAn9jPunYZWC4UQdIKmRLMEl8ZUTTgUDmCS4amMXIRZCMP6RKpbfamrR6KeeL_Kq7Z6E-fgpWZhx7sSPEJZ-FT8hzNenI9w8qBLX59vJUbsVg3h-XehVb0r0OiaZQ5ikhU3_qinrQLoctvFLm7J4uFFTU5eFjvkJwzUUHt1A2gplC4vecPrv_cyo6gATQGAD6IW7BGVn6IJwz5DZRLi3qdYtxxDMnW2gTF_9Qsb4nqXtkFPojWEgW8qM5dXb59BFtDo0RrJzUdFLAoYE-RypCC-vB44hQNN91AXMd1PlLzs2EZe-KqIRq8q8oacPiWp9vCeW_4NXK15rlniJL2xDOXUgI1Nf0QCpuXEa-SBpBJlE0BalggxD_S9F1ujEMPReXxOPh5VWAS6qZbnkQpl0vQ4oKkLGnjoXQeXo40WoL2SKqbtQDcjxczjcQ2rtG-xD60StKRKxkgMFkqBBkN6OcXU76w3SGF4z295uttztY4TQeahe8xumwA_MN6vNogDBM_gVoTnwGjE_W8uAVwHTWODztDmZcSSO_WZr6qZB38iHPis6AbkHEBJ4AI_dhXRrBFamgm26Ty20MPpmRYDxRj5YRHGIjjKXDlByZquh660qBuWJ9mqGyNBF-vp2F4FPALTUWg-ccXYdT4HzUT40jKeptrKRmt8OUVm-_kD8DqrLhGcOacN5wnlvPvp3seqgaP7VFXvfEdU1UuOLWGBfm6F8Y8n73L2CQzoqwhRoSawCBUxdZFPY-BHK9NcD_ccsGPlJzIARoFgutx2QYIbYq7F5GChe_BuLij0bILjySYrEDwNprnJrrepVFMY5q9kn57_6e1j3SdDZecsV86yEfPitSHmk8MLBOWWVpe45UuyLgQNycAyrQ8iy4feHXJPas7tBal0r7qLu1vPIfMCZVy3Udd7fo3zxA2iAkjaozC-IF1ebSBeDySK6pWp0MHtJcAYFAmYufJxoMyMNyUQU-EO5BNZ48qEE4drcxvGMheK3jK4_H22IQRy0ptFB45bxTQ6Rq9l0JHCTpR2WjC7w1JUO6hSUmRlg2I4DXYjeSdoBjpiLNrSbdZOa0UjTfk9i7qHZ189uVLdC8_FF9Mq6YHMgpflgwfq6wI5SkgIU57DudUSc-hL9s1ksfkfD2aswJt6Hf7hzsGcpM9mtIbhAmyozxWHdRon7TO8oEf2ja_vxBcPyCWUMwpAINCiiZ49xgrjjZaIaMkFjQlok4o4M-qu",
  "id": "rs_010a146dccf04543016ab43dfb067887d0a4a1ec1e185948c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap remains centered between the left fingertips along the intended crosswise grasp. I’ll close the left gripper around it.\"}",
  "call_id": "call_Fj5MLHHcC7Ihn6h8Q8Jql2l7",
  "id": "fc_010a146dccf04543016ab43dfb4fb887d081c887f7bec3df9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fj5MLHHcC7Ihn6h8Q8Jql2l7",
  "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, 1.8805, 0.6956, 0.4953, 0.0341, 0.0059, 0.0429, -0.0502, 1.2934, 1.0378, -0.5949, -0.551, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3843 left_y=-0.2115 left_z=0.0023 left_yaw=-0.5418 left_pitch=-0.1179 left_roll=-0.0095 left_gripper=0.0429 right_x=0.3498 right_y=0.0786 right_z=0.1964 right_yaw=0.681 right_pitch=-0.137 right_roll=0.0228 right_gripper=0.0378\nstate[joint_eff]: [-0.212, -9.1692, 5.3675, 1.3651, 0.1343, 0.0904, 0.9255, -0.0479, -4.7385, 6.7487, 1.4188, -0.3053, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d5d17124d068b1fccc625addfde0ecdb12d51651e910179971c81e3ea1a5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca58031d6c1ac2f508a22b037b3f1d739d792a8d30391923ae44bc788a519ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d6f60626abe13d5e74fb3fef4d38c7018f7b049c542e3a281ff2016b7ac723",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 14.17 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, 0.8005, 0.6037, -0.3813, -0.0219, -0.0254, 0.9998, 0.4709, 1.7355, 0.8131, 0.2642, -0.1879, -0.1436, 0.0379]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1778 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3861 right_y=0.2376 right_z=0.0645 right_yaw=0.7032 right_pitch=-0.0865 right_roll=0.0008 right_gripper=0.0379\nstate[joint_eff]: [-0.1299, -0.7863, 7.0906, 1.7216, -0.0757, -0.0806, -0.0073, -0.335, -9.6615, 7.8838, 1.6093, -0.0952, 0.0024, 1.033]",
      "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]: [-0.4973, 1.8687, 0.7029, 0.4549, 0.0452, 0.012, 0.9998, -0.0498, 1.2934, 1.0378, -0.5938, -0.5507, -0.5091, 0.0378]\nstate[eef_state]: left_x=0.3812 left_y=-0.2119 left_z=0.0021 left_yaw=-0.5543 left_pitch=-0.1389 left_roll=-0.0131 left_gripper=0.9998 right_x=0.35 right_y=0.0787 right_z=0.1965 right_yaw=0.6808 right_pitch=-0.1364 right_roll=0.0221 right_gripper=0.0378\nstate[joint_eff]: [0.1846, -7.3094, 4.3282, 1.0965, 0.2564, -0.0415, -0.0415, 0.1846, -4.8342, 6.5983, 1.619, -0.2759, 0.0562, 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 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]: [-0.4976, 1.8805, 0.6956, 0.4953, 0.0341, 0.0059, 0.0429, -0.0502, 1.2934, 1.0378, -0.5949, -0.551, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3843 left_y=-0.2115 left_z=0.0023 left_yaw=-0.5418 left_pitch=-0.1179 left_roll=-0.0095 left_gripper=0.0429 right_x=0.3498 right_y=0.0786 right_z=0.1964 right_yaw=0.681 right_pitch=-0.137 right_roll=0.0228 right_gripper=0.0378\nstate[joint_eff]: [-0.212, -9.1692, 5.3675, 1.3651, 0.1343, 0.0904, 0.9255, -0.0479, -4.7385, 6.7487, 1.4188, -0.3053, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d5d17124d068b1fccc625addfde0ecdb12d51651e910179971c81e3ea1a5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca58031d6c1ac2f508a22b037b3f1d739d792a8d30391923ae44bc788a519ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d6f60626abe13d5e74fb3fef4d38c7018f7b049c542e3a281ff2016b7ac723",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4A2ZCv1T8-avV2j9HiJDjZbo9iexd7B8whGJhBJFxytFNTK-sJgDwtXOPo2TKVc84nwxCaZnjYieuMoqdEPe-zLrcTJj4fIX0C_YQcYCmurjqQVK6RilAico5PFaI-wzmZumr2dIj4qty58rHDB0c1u7Bhr1-tfRBJ6sXihnp68EkHhSeDrhFSm3e04GKxZG6iriXMw80LRiP8DbFm4vDppV4KRQWsUrcY7clL_kLzTclzsKgI9wZiF9qdC2Gf7d_NFb-u1AjES1i17X9G1NwQ98uFK3x6Nj9Wyy-1_Gylf24A0-8dCjboFIoGtEr0CLZG2Gt9VdFevmIK05Ylba5-VqEe21g6YzFzra1iHzL9tn9aMpE_yy_8gDgTsgyZHjdd8UaeLno87vw6U3F3zkSWlhvjD48nUk9YT_kSxoMIT7Vd-uluD9Scs-G8dzc5seUb-kfIrb8Pl3UnhFmA5JvgDjB95lYDMJANqtKX4kJl_O1EtbCnninzpLcU4lKr9aO0EcinAdiA1nMCWQudeeHCLNS5UTpc8CYWG74LJoKwNCExizvBkMWX2ey9ivoMq6-dq9dlcwz4d0rkWqAnKtl5OVTVNIv1QdiOAl_LEBIsDEcAiDcDyGcnnbMIJI1dSx2tQmfRGB5FAIiiVuYRXyOa8waWNphyd601Y4MaFXbKjCK1HwkahBfndWpRe-4kF0BPuFPQ9d4WvwjdSHIjhEfzd5P_JH5YJmcmAJQHVsE6JjkfzcRzupBpaSJJ13RuZjUphpEoIa2KP4qpLaw9KLlqAGaUDlHBFutr31MMKzQRE_D8Y639gjiHtyZ9zzuKNwMekZwtKpJX3JKnYhR6t17W49GpN9tjkdGRHlvZBxfGIXuvwvcQWRt9kHPYTX1FQHplXw8yVcguiI1YSlP-u7jmkd6bpCJCHsO7KQApFcODGq1tmQuEax7LxfJaYHEiWCDPMNm8gKeMo4mKxbMUvmbImeFD08oYc2W5Y4kTk2-T61SM6fPA_poc-1saDe6gDBAdy105wXIjrLBBNxFncAXHlTEDAdgftYsUAcnOK0kHwlAEeRldFyapC33hA-Z6RHZkJdL7AEAczUPRkZiS2jWDE52drpingqatNJWkfIX-3X5xeBH6OpYdRXBWNojii_XIekT6Azk7slTEiZioHmEkXouXn0n5E7JOs3tV3Xr3RK_9AeFKzrEdwbM-_orw7USVAnj9xPPQgEbSPxpSJwSK273RZeYZWfIexNdGKBTY7ldmIZSE4ru3qx-eRSuJ1qEgtDxR8Y6TJ43FmHHqX3zgc_Cke32M_cG9IF1XLF376h77oFarpfHG6yzcq7XOIsIuxHVUC7ieCQLobxtu9egLVchlODrRxBLZH2uNzCePJMo=",
  "id": "rs_010a146dccf04543016ab43dff20e487d0ba8e06aa8310ae28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The left gripper settled around 0.043 and the cap disappeared from the table-facing wrist view, consistent with a thin object held between the jaws. I’ll lift it 8 cm and confirm it leaves the tabletop.\"}",
  "call_id": "call_4hRNI7d5ERUuE1GPWNQmobKR",
  "id": "fc_010a146dccf04543016ab43dff83bc87d08e733f2c57e2baa4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4hRNI7d5ERUuE1GPWNQmobKR",
  "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]: [-0.498, 1.6741, 0.7692, 0.1886, 0.033, 0.0006, 0.0448, -0.0502, 1.2934, 1.0374, -0.5957, -0.5507, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3784 left_y=-0.2083 left_z=0.0572 left_yaw=-0.5384 left_pitch=-0.1446 left_roll=-0.014 left_gripper=0.0448 right_x=0.3497 right_y=0.0786 right_z=0.1961 right_yaw=0.6808 right_pitch=-0.1381 right_roll=0.0234 right_gripper=0.0378\nstate[joint_eff]: [-0.2256, -9.1145, 9.265, 1.7216, -0.0269, -0.0024, 1.033, -0.2256, -4.9162, 6.7487, 1.37, -0.2173, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2587dba9c72a1ad70c5b105554d4f506a2fcde21528c811ec3344de5000b3fe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f03df518a8fcf80d2fb82a22847e5e51c4c650319d70e49906c7107d80b702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaac3a993f77c4a86d302d46924af2be5774d69ea95dc4c9c42bc76d74b791e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.171 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]: [-0.4927, 1.5593, 0.91, -0.012, 0.046, 0.009, 0.9997, -0.0433, 1.2926, 1.0359, -0.572, -0.5488, -0.4984, 0.0378]\nstate[eef_state]: left_x=0.3882 left_y=-0.2136 left_z=0.1244 left_yaw=-0.5483 left_pitch=-0.0893 left_roll=-0.0131 left_gripper=0.9997 right_x=0.3528 right_y=0.0805 right_z=0.1991 right_yaw=0.6784 right_pitch=-0.122 right_roll=0.0156 right_gripper=0.0378\nstate[joint_eff]: [-0.5265, -7.2821, 9.853, 1.9658, 0.2564, 0.1587, -0.0366, -0.3214, -6.5299, 9.5111, 1.5604, -0.4322, 0.0024, 1.0281]",
      "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]: [-0.4976, 1.8805, 0.6956, 0.4953, 0.0341, 0.0059, 0.0429, -0.0502, 1.2934, 1.0378, -0.5949, -0.551, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3843 left_y=-0.2115 left_z=0.0023 left_yaw=-0.5418 left_pitch=-0.1179 left_roll=-0.0095 left_gripper=0.0429 right_x=0.3498 right_y=0.0786 right_z=0.1964 right_yaw=0.681 right_pitch=-0.137 right_roll=0.0228 right_gripper=0.0378\nstate[joint_eff]: [-0.212, -9.1692, 5.3675, 1.3651, 0.1343, 0.0904, 0.9255, -0.0479, -4.7385, 6.7487, 1.4188, -0.3053, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.498, 1.6741, 0.7692, 0.1886, 0.033, 0.0006, 0.0448, -0.0502, 1.2934, 1.0374, -0.5957, -0.5507, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3784 left_y=-0.2083 left_z=0.0572 left_yaw=-0.5384 left_pitch=-0.1446 left_roll=-0.014 left_gripper=0.0448 right_x=0.3497 right_y=0.0786 right_z=0.1961 right_yaw=0.6808 right_pitch=-0.1381 right_roll=0.0234 right_gripper=0.0378\nstate[joint_eff]: [-0.2256, -9.1145, 9.265, 1.7216, -0.0269, -0.0024, 1.033, -0.2256, -4.9162, 6.7487, 1.37, -0.2173, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2587dba9c72a1ad70c5b105554d4f506a2fcde21528c811ec3344de5000b3fe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f03df518a8fcf80d2fb82a22847e5e51c4c650319d70e49906c7107d80b702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaac3a993f77c4a86d302d46924af2be5774d69ea95dc4c9c42bc76d74b791e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_010a146dccf04543016ab43e027bcc87d09fbad73bdc8516ee",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_010a146dccf04543016ab43e07704887d091092c9a955b3d4d",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_010a146dccf04543016ab43e0cc09087d08052e88895e7f6da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.24,\"left_z\":0.18,\"left_yaw\":-1.2,\"left_gripper\":0.045,\"right_x\":0.36,\"right_y\":0.16,\"right_z\":0.18,\"right_yaw\":1.2,\"right_gripper\":0.038},\"note\":\"Both objects lifted with their grippers, so I’ll orient them for assembly in open space: the cap axis turning rightward from the left arm and the pen tip turning leftward from the right arm. I’m keeping the grasp points widely separated during this first rotation.\"}",
  "call_id": "call_jgadv5DSKwGQWCPx3XJuA84c",
  "id": "fc_010a146dccf04543016ab43e0df08c87d0bff99333b3d5062b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jgadv5DSKwGQWCPx3XJuA84c",
  "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]: [-0.3714, 1.631, 1.2388, -0.4747, 0.5037, 0.4835, 0.0486, 0.0834, 1.5974, 1.2583, -0.7315, -0.7181, -0.8391, 0.0421]\nstate[eef_state]: left_x=0.3717 left_y=-0.2324 left_z=0.1661 left_yaw=-1.0706 left_pitch=-0.1599 left_roll=-0.018 left_gripper=0.0486 right_x=0.3641 right_y=0.1507 right_z=0.1729 right_yaw=1.1278 right_pitch=-0.1641 right_roll=0.03 right_gripper=0.0421\nstate[joint_eff]: [0.3897, -6.8581, 9.0325, 1.3993, 0.359, 0.2515, 0.6813, 0.5128, -7.1863, 8.2803, 0.7399, -0.7155, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61e5526ea1f1878dce4f2f5cbee002c7d3433f5f98bdcf80ef86065dea6a2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623f7fe67dc6a0a4e7cd9b9ff428211327068d19e0f08d64284bc99a751d869c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5bfe9df34cdb001b25173e9ebadf60bef111b19eba799e65238bdc5202bece",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 7.956 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 41 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]: [-0.4973, 1.8687, 0.7029, 0.4549, 0.0452, 0.012, 0.9998, -0.0498, 1.2934, 1.0378, -0.5938, -0.5507, -0.5091, 0.0378]\nstate[eef_state]: left_x=0.3812 left_y=-0.2119 left_z=0.0021 left_yaw=-0.5543 left_pitch=-0.1389 left_roll=-0.0131 left_gripper=0.9998 right_x=0.35 right_y=0.0787 right_z=0.1965 right_yaw=0.6808 right_pitch=-0.1364 right_roll=0.0221 right_gripper=0.0378\nstate[joint_eff]: [0.1846, -7.3094, 4.3282, 1.0965, 0.2564, -0.0415, -0.0415, 0.1846, -4.8342, 6.5983, 1.619, -0.2759, 0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.498, 1.6741, 0.7692, 0.1886, 0.033, 0.0006, 0.0448, -0.0502, 1.2934, 1.0374, -0.5957, -0.5507, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3784 left_y=-0.2083 left_z=0.0572 left_yaw=-0.5384 left_pitch=-0.1446 left_roll=-0.014 left_gripper=0.0448 right_x=0.3497 right_y=0.0786 right_z=0.1961 right_yaw=0.6808 right_pitch=-0.1381 right_roll=0.0234 right_gripper=0.0378\nstate[joint_eff]: [-0.2256, -9.1145, 9.265, 1.7216, -0.0269, -0.0024, 1.033, -0.2256, -4.9162, 6.7487, 1.37, -0.2173, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3714, 1.631, 1.2388, -0.4747, 0.5037, 0.4835, 0.0486, 0.0834, 1.5974, 1.2583, -0.7315, -0.7181, -0.8391, 0.0421]\nstate[eef_state]: left_x=0.3717 left_y=-0.2324 left_z=0.1661 left_yaw=-1.0706 left_pitch=-0.1599 left_roll=-0.018 left_gripper=0.0486 right_x=0.3641 right_y=0.1507 right_z=0.1729 right_yaw=1.1278 right_pitch=-0.1641 right_roll=0.03 right_gripper=0.0421\nstate[joint_eff]: [0.3897, -6.8581, 9.0325, 1.3993, 0.359, 0.2515, 0.6813, 0.5128, -7.1863, 8.2803, 0.7399, -0.7155, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61e5526ea1f1878dce4f2f5cbee002c7d3433f5f98bdcf80ef86065dea6a2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623f7fe67dc6a0a4e7cd9b9ff428211327068d19e0f08d64284bc99a751d869c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5bfe9df34cdb001b25173e9ebadf60bef111b19eba799e65238bdc5202bece",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4SrhH0lpGXKExidaLYqGhan20dPJ7wAjNLWAB0Rhd_npQ_ThAKy5iOPLUUUDZLaTU6JCp66B7JB4jodKimQ2XKyUrWQ6TqggFDY0HZavbpBXTOns8hBB_glK0YoHH9hZQrVSgYq2mAOxCkFmL6fvnkxF-lRV5z7uwRpZPeIhr68kgkS6BA5p_RacnBw4l19xLH_ivhM52gHnbx19zsWWXDHXLmpo_EfKAP_eDndVHhGvbDSYmav23VhPqlYuEDmbxBPcI4hGdTopqUPsSwSRE0f59Z788ELRzNzF2Yo_imKvadML9kJobxFvN2MimwdQ-dkEWMJ7gHwGRUB1H8_GM94KovnJAKiB_KMY13fmFIyGDMCl9XeoFTrcBLZQqJBgVuWQUhAeQ_UHQfDm2NFtWjzKuwShVuyBG7_P1P6fIsuNxjExibYqMyQEcpI_ABsGYLyTrRqvc9DYAlEjLWCFNxZyZvWFiQ8ZZ9M6U2fW7QmMi0t_IN5eG4ggdKaCR3e6-py1EhFY4FCMEat83ONjrYxOTIeEmuDulDO2-J74R9dFSZ3Css-1F1T5qQR--EPGDSQQ0I4-Xc9i3kwmwX4w-0WHvffz4zURECjqjA2HHaE2hOZuINrxjoJt3FoIyYIqQdMar1cCaUFFMnOFo7bn5d2n5tHckERdt4NRADnJuHE189lvjtudnPWRVMfRvVdMnYgGCZoqOzQ2FwIc1kXLScv_fUjWKVN4Jag_-1h0OQsqLjVe9foPnbV1skXQJ7ujppOnJld-XXji46fgELiLAYWMs5Vr4eoj3Zw9VAJVnyZ5yJqfeNX8qnvIOJu6s0uNgsXuxS5E93KQixEELfJwBbCwAe_gNEnns_UAtxwn0EaNhrG5sKYHsu0fllKUdBejbCy5HisoOR_Wa7uKQSuTGxYkKZgckGD-nGGdU6tBhIlsBB6w61zXj_1a8qvwi0tv7B5yXOqNasmwfQ21EkiedetFhTxdulwilVudMPdFv8eWqUeGlKemH9jD06-S3LtHdgBiscVMgGrSZSUcVcXapWHSLlXp17vMkmWjIRbDb59i0EkZ8CYQUPt6W3zhITeG4vJX-8NeYgaNpprUi_brRsjNVtUqnidhaAaN_e_S2y7JHDMzuMooTHm4vLdjKNstd1ucMs3eRorFYJMIMfmlcNNrCwtGuaQIQe57h1HoBr8ZYlgu-cURLC0NdxFTHGZxeGbYAmxIFH9pKkwBu2xRarUyOoz43c0wKD_Ysi8k1p7JrBx60PdqZHcirvnON-96ufM6X3bAEgyneRgSbVK93DBaR-n88l76ZCQvhm2h8zFahQBfJssLfHGHL09M8kPkyHo9FcGAQ8GyxsSl6OpwBzgXGf3VygPr-xTvyQX1C-4t0jMfDKhTOiiceydkX-NhjP-AaQUDEdmwnIE8ZoVoXBU4x7AffqOP_kwZkkbSH0oNDZfg-lCb-2-YGWhc8rXR6KVrXG9O502AxoJauI7mNa0IzhzLY9DaPU6T9C52Rv4P1EfIwdOMuoKQaKRo512zcgR-NIvjXtzqIZ0AXGhKKyrFPW4bM7dX2E4H0epcMQ-cU=",
  "id": "rs_010a146dccf04543016ab43e10ea8487d09f8c9cc3803746d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.285,\"left_z\":0.18,\"left_yaw\":-1.57,\"left_gripper\":0.049,\"right_x\":0.36,\"right_y\":0.265,\"right_z\":0.18,\"right_yaw\":1.57,\"right_gripper\":0.042},\"note\":\"The cap and pen remain held after the first rotation, and their axes are now turning toward one another. I’ll complete the opposed 90° orientations and bring their grasp points to a cautious 10 cm lateral separation at the same height.\"}",
  "call_id": "call_vOxdB4bf1cpOEYyMC6aH9maD",
  "id": "fc_010a146dccf04543016ab43e11e85887d09d41b2323d5517d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vOxdB4bf1cpOEYyMC6aH9maD",
  "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]: [-0.4057, 1.9121, 1.6367, -0.8833, 0.7052, 0.8829, 0.0486, 0.3313, 1.9049, 1.6531, -0.9546, -0.7631, -1.0397, 0.0421]\nstate[eef_state]: left_x=0.3627 left_y=-0.2765 left_z=0.1645 left_yaw=-1.4967 left_pitch=-0.2022 left_roll=-0.0624 left_gripper=0.0486 right_x=0.365 right_y=0.2585 right_z=0.1739 right_yaw=1.5273 right_pitch=-0.1833 right_roll=0.0207 right_gripper=0.0421\nstate[joint_eff]: [-0.5128, -10.1128, 9.2513, 0.9695, 0.5104, 0.2027, 0.5934, 0.2667, -9.4291, 7.8427, 0.5885, -0.7057, -0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3319f0140947d66f784fcc7e3644d0878e337bc48e17bdbd6ddf568c5d976ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73fea0eab3a1d16efc8c0de2696d204dd3a901ffc808bcc0af7a1143782821e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f339d8c72adee3290b0a04bbc2432081c9d58ce86b8035e726443d98d36942a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.65 s

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

message 31 changed as sent

message 41 changed as sent

message 45 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]: [-0.4976, 1.8805, 0.6956, 0.4953, 0.0341, 0.0059, 0.0429, -0.0502, 1.2934, 1.0378, -0.5949, -0.551, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3843 left_y=-0.2115 left_z=0.0023 left_yaw=-0.5418 left_pitch=-0.1179 left_roll=-0.0095 left_gripper=0.0429 right_x=0.3498 right_y=0.0786 right_z=0.1964 right_yaw=0.681 right_pitch=-0.137 right_roll=0.0228 right_gripper=0.0378\nstate[joint_eff]: [-0.212, -9.1692, 5.3675, 1.3651, 0.1343, 0.0904, 0.9255, -0.0479, -4.7385, 6.7487, 1.4188, -0.3053, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3714, 1.631, 1.2388, -0.4747, 0.5037, 0.4835, 0.0486, 0.0834, 1.5974, 1.2583, -0.7315, -0.7181, -0.8391, 0.0421]\nstate[eef_state]: left_x=0.3717 left_y=-0.2324 left_z=0.1661 left_yaw=-1.0706 left_pitch=-0.1599 left_roll=-0.018 left_gripper=0.0486 right_x=0.3641 right_y=0.1507 right_z=0.1729 right_yaw=1.1278 right_pitch=-0.1641 right_roll=0.03 right_gripper=0.0421\nstate[joint_eff]: [0.3897, -6.8581, 9.0325, 1.3993, 0.359, 0.2515, 0.6813, 0.5128, -7.1863, 8.2803, 0.7399, -0.7155, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4057, 1.9121, 1.6367, -0.8833, 0.7052, 0.8829, 0.0486, 0.3313, 1.9049, 1.6531, -0.9546, -0.7631, -1.0397, 0.0421]\nstate[eef_state]: left_x=0.3627 left_y=-0.2765 left_z=0.1645 left_yaw=-1.4967 left_pitch=-0.2022 left_roll=-0.0624 left_gripper=0.0486 right_x=0.365 right_y=0.2585 right_z=0.1739 right_yaw=1.5273 right_pitch=-0.1833 right_roll=0.0207 right_gripper=0.0421\nstate[joint_eff]: [-0.5128, -10.1128, 9.2513, 0.9695, 0.5104, 0.2027, 0.5934, 0.2667, -9.4291, 7.8427, 0.5885, -0.7057, -0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3319f0140947d66f784fcc7e3644d0878e337bc48e17bdbd6ddf568c5d976ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73fea0eab3a1d16efc8c0de2696d204dd3a901ffc808bcc0af7a1143782821e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f339d8c72adee3290b0a04bbc2432081c9d58ce86b8035e726443d98d36942a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4bz8w20EQhs1BhYO7uXCEFDo6NdTq6LD6VgmmvQmmpePx9MvERhsIIDRpRl0cTn5FCUaICtBKfi_ioC3PD2ZrmysPKGVHthivfLg0YjPtT4oz2MdEbUVMTFMnozyCGHeNRWT6WBgJc3G3aMGBZZ2-eQS1UrYZMPvaTj1Yq0JwtfSmiM3qjFLk9Z56SA5sQ4_2yA3yWJzDRqE2zuzz3nx3yApQqdE3-ORGDl6n4dl9cb6V25CT2LmrkN3aAqqwBP6W1XC19NdBySaEsFYK6Rsc_fxY8E6syiyECPAGvPGxnyzGFzqLXmD58mKUQSYCxHWeXpKWTQInkmS5qVOlIdfZjTHBSOm5byroEEYl8MFLmu8MZ0GAqJrTZ1Oy1bqt9gJUkaxpST6nK3ghZWLRmQXjggmlCdZb50S_mvfpOPJOg2zxTyk47y1eiyA6DRkGzBEyy5k01OIX1-wKzQXmuZMempF1pebKRwZ231DTjvnniGujSWn9AVkhnHUHzbw6_TCmZQ3iR_rO97jzKFEmhFbx4YnENIe7c607WRsW57qlzfByPdSYpuKEsgZVkjrVtES5dAokjUc3HD7p5_---ceSLkoziqWN8Cg-9QxP4KG4NxM6tlgRV2Hyw7Q3yYB4Q90OfS2qrDte1hb6ND3UQYkq2wWS7qMJBBaXvOYacE5V8mrMjlxCzQo9b50nSWeoiHIH_wSQrWUtS4z6qb_sKNj4_qfA7awpTmpAmS-rcUy6k_W9aci1rh7jFG1Zp2U5U8QccUfbZ4h5N-LxMvzYJ9Hrm8iBOjUVf4tzPbWmXFGK79m50UUvSAcxo8vmOVuExDkUErCUd4sv6PTU_iaYplrFIYcwuBXW2YesQPIZSthJn588Y9K1kkdHFSj0AqNc_iwGfWZsVWd_EiQbqn5jSC5YvCzD62AgwVco8xAOUEQKyjdRmTkOVtVFgwipeiRvzXbi5mzWVJUwZA8FCzwHjitiZMrzCEu450soa-HAdRUUbFRTQucjwiqR6aJOWBp2iQwJLRIQtAnufLH6Yo9c4Eo0_f6YLW7qFl6tF5WOSO_G_CuVITXzxv7_opfrrfQCDVJz6NVZwQImBTNcubmkmPweoJqGn6hol2biLTx47QR7BDwuxHJY3-N7br_EPOcRjLE_sqTG_uXR0PntHaRs6ws46DYe_ubihZS6d1xe_dq6iZVz7W4xU9otg2w4s_9h_CFKup_UGIeH_Ct4NK66LOUmLOl4bnGmcIC1sO4ymtJKCwZoW2hjEZVZgpw6ZjvtypU06ZcfO-sMKv29ej_vJXydXKf_mpzrhVfVf_wvYH5gvgTJKV7mXWoC-eewvbtM5nQzfDts5v7sggoshn9ReH8WaTVTIlft3brYeVuxJh1VtPPE7DzsSkdk4EjCWFOStmkRuR6szegpQFg_MThvTb4vbRN6gQR9lWnZELkXMmlGiruj2sjPmJGWZylmVEsKmlL5b34ZvbRruz9UJt0FGdwrtEymrded-X-xij5B97u8BjwO9zAp6u6aetOu49d1mCQtb0b6BT1tLuc76VoAMc7PvAvZss9YhKTCVljkEtjFS3d5cG73JxNlURc0kPWsqeskGlVo5H1fR0C6ERg70tnDJ52rF-ruZOSD9irAtSZCAqG3BkPIjxGzgJ0v-zfUqPvOanQFvSzMMQ-KeEjVDoRwT6uLgF-tusOXgP-qyHiF_9nj12tR3JkExA4-KPEdd9h49SRv21Kxvu-xMwmDX-RJZp90qr_9wnMY3s3VkHAaDqw95wTmOSFfKHMPtqnnrweVsSKWI0uaJ5TwokrP8INLccldjK1dDJG4iMzI-B9O8h_XcFlpYiGek4IqQvk5WwbIgSx3F7EZIB1SgVP8R6NGXu_qK_3sqfgImGylJ4q2f20dANLHp20-ZIWjkvvRmNR-PzdP0qp4jo1I7x4w1ImhpQYpRHxaWChLQMTI4rqoe0AGe-LSll4Ts5k6A3YN9hITZzt-YMtC0OroDW-BxVyQ8a90J2hvml77cIqWFkRvB0_IevwQUK77GLClYEbNK5795mEGDZn60X7PNiEe8JVMrnkLjgeMWu_T-faDxCmSz1XwSsP_QsJI8JtNMJFANUNHBiflKAYH_o3sykZah2qoxQdBYvNqIoCx5IUyHyoUfK6y1WeUfjE1c8420UClcBSRB0Xnbzx8Qz_dhXOarqcW9pE6gTBlKkiD8HDjvL1nkdtMGJhLATtx0A5qrk9wkrSq5SC-nd93SYww3qpNeSU6bJGff0lLeZUaMpHDBng9XTRNGNm8R_25cxntVvyUfzcAY03yqXu3LYaGgn9tBLuOkCUZ7Jm3rpH92riu7b0GptN-ylQduIoqdadLK1M32VfebxiL_dTmzWpZ9903582DcS5Shs0WC4AMawjEhiITwcppy8G9UdgS0Yw5MJTI3P-O52cByz_s-4vjdfk062GNXi9eZKfFePNjzm4mB_MT7-YsexxHtvulik6T-aqzHPuVejoxlejtinDli_BLthrg55cWRNFVF2tvmWcRaYcPLAEny4yjP6XRjEY7Rz7BgOSiMrWh5Hzh_G_1MAgS5PjliGYgmgRDfdaVs0Pv6sJXAN_5hB3vp0BDzvA1VUJYutQgI7D9SdWkXVeMZgdbHmf8oUR7Ujsn-4dOPNu71kRUhChrLIh00igRb6UGHpX-K6P-xUu4khh79vPUI2O8n3hU3wyb768SPk7Q_kPF9LFYoToh1-HnXR42wxFntyRURH_-rnJEx9skIOpX4gK5uTQlEKpDrvuE5F7uGtC5cIc7ZH0y18WWnyGPNfOyjWY5_UPFX_OpsD3CAXU8Lna0o7vkuuSDqilf3bhT9rjw5zBFgoqL_wwY4RK_7tl5eGz6UBf3SsiRLuaCp4DDMH_JLHWw58I4x_05HmXlDe2_Bs3cWk0v7VvbRd5IUVA_AdLNAeKVLG0TjO1agAX0A9zyk10a8tKCSHVnzTJQU6TgTTOwXP1PP58A6WKsBeqhWQdBH9Df6y-MyXuLGjzkwzsJLTdYz1J9WldvBfftNeic_0T4jwKKgHYE7A_Su7yse46aoZhkyI2UohF6idaw5rHrnAcn8mL5epFtSv2mdCsfD1fzI4OsYC0SR4DV5TyuiiqMkGdYaipgC2oNdVIMbBUnAZNzrHDMNYepKTgRz0WBDbExNKf6F1BSOlaNpg0dvl3Tk2wjn502m5emhEOJ_s7Iyrl52eocdZMR9H40v4NOk8sC_rk26VtK6xuR1Ve5HUd2JENf0jTR3ttOkLxS24qE7tyas4ZQV-TBkmISFw70b7lDyU30tiqCFJfD7IZeVUDG0YjTKEyhDISt80eON0zyRfXT540zXk-c2OH-c-_F_JMuOMATk62Cgb0KEn2fYP4mOirSCWGDS5IImirk4mc-0Ye-1wykLHpqV0bs-kxzL1Ese81ZufL9TS4UadyfszqUJjXveQEKxNbPJyTuQVIQIFeWauUzBcLayDUi_MT-lHrQJSpOjzeelMQO2wYePUl4ClGVwYm8vvdGNQuWYnH4VU2fCggLoA_LSjd2tOZGiojF7NAbhE7bboSuZDjhv2Ek740UXfxF02s3i-KQ1C-RSuqDx5_KG6yKPsuBay3r66GqSCncuvTDaqME5471SL7YLdU3b5zBUvFL3a8wY8Ap8XB8qMruDgBlhwnE65TCq7PqLU1vky2b0p9x9ztjX7g58gtegsCZIuMwwY4vQ_V4Bj3_2DBsVtta-Fgw3e85gMt_2gD7Yi0_IQtkf9KCTbSJLvDi4ShUian3T8Id-REgidUFT-r4REwQpkj5JoGTxU7UtWK7FElMOnEcvSBwOigm5Q4YBI7ztuhMj-0nUwZijO7OJ4mfLG3gSp6IcqW5tqMVOGmuof4XSkzlkH3nKveEi7fTKKse_b3kOG2DnvJzM7C8aEjy8mdQFVtjneePp4fxi1J6cc3xGEMmYaD4Flme8QE1CDTcOq1y4Cyfg1izXqXRuVoqixyfw6iqnWegYLDJN_lx5RgKdpap7wddVwUMQwaU8LyeFFojdcsucREwxbmFepvY7Q_4BJrRvYQGcPE-aojh077TBovT6Hd6n_0ffLIQvSxRNn2nuEhE4xtG5s35JFAlfKOsPwKZkra1HXTbVTtRV69vL8sTfPU1JMIrHjO24",
  "id": "rs_010a146dccf04543016ab43e14e4c487d0b125ed5c7038a026",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4btLR9kucHhg_MUFUEfeb6cp0X3VfJ-Gwh-gUI_8kAatR3X0KmleFr5CTEDDy3ojxO722zH1WGMR236bvpvtjEMtkn_GykQAk1Ol1z4Pv1Y9H1AE0E4RR21eyEvA7bZhDIvKmhFfmBSeFJSHS5AEN6WW11Q6TkeKH7_4n2yPSPlWjfzRQZeMowup6F7GzAnPPvYHoS1cKc-sMI0WLqsWBzpkS-mlyNn-sGrfx3pysv3qp1Uoog_St78ihjkon9h3OYvYfsR9D0bKbH0UvmfIzflGe-GI3Rx8MYxRt3uHnSBNthwOx0PRfE6EeGYjtlnsNMqvjX8TRyCyzAJqxe7AqSuAPtWakEgdUD-N6CEywmXBhRJHFY6QB7t17y_Xh8HJjELBV28tOo9RcmEbcBbvpLeYe2rOZx_wCf8BhN9uRd1XDTa9jM1KE8zLNZMzVaoYJW1yFZ1SQngC8ulyjV-5jV_H_15eex8Ytt-ViVKbuzgW3DxClTyS8EtctYFlb3CyMrYCYKEj2Ie7aS5U8ckrxx0zsdLRNLjaUK6c1j5rEey7pn_V0hBZdEwS0wCrscZrnHS21T0YKxQhVz6lcye_9eYKUuQlEY0_M0YQreeIeQW2zrW4sq_AFlUa1NBHKsMpY0GpAi7jtvRWr_yxh2eA6wVwCJGrWnbsxrvUR_6DyIXNXs3rEVX-jZ1bi9FErYNIrOwE2yeFl2e0KTMgqU0nG9tMw77-y4UnpIC1A8QdaJC1gD6pBl6K_UaVLKR7qfPvXPyhFeDjZzm8Fu11Ej-sQQHBMuWKD0HeUfbn91R91dYr3qyd8hOIFU_CsYpwhGM7FY5-eKZDVtOB9tk6xbyEKSvGdKcTxeJfiD3Kt6gsUakQRxo1GcY0Ta4EiefrtbJp-EhnlkcOuPN5nXjqpQyw3cEgj1HrKgiSeATV__HOC2kLNOwYXsd0sEgiCXpJpvJXKu7YFMqtKCUp6LXeWgzso-UjPT8U4NFtjR4FtlVEspEnWMmhUlolZLdQutsHG4zhVIpN1ZMFijkLaGBnV8o13zf7VwAdPo527FmBh30bNH0CT_qRfyjlKAhq21vSp4wDiwayRmzSuz2VicNjJFzFVaKTjQeda4F4jVN7P6ZK_YQnqws4Bv4adzz0sWnCtXzd1_6i3zhs8qo3yqipi-NWhNXkoubdeptNaDSS9LJXrKkqJX9t8zf-G5VPmF6-O409UMTLgw2zw91wGSBCHih-PUZNQmhXguaJ1PXFwD8S6GTXP7Ma17C5dzlwhH8PkMxGnyXFesUUOG_T7yInTZxdZDapRbZnrwI309jKhLqOj5vvCRjWwtHkddTcqbV6Vw8KC7YHRIPst374hnA98rDi4DJYCXQMRgG41vtF5ZpDF16NvjCQ2gy4hVxee-6A0T7OkmmCcTb8kg8r9evqyGc8I8dshq2mgHRJIRIKBHPObPnlIu4f2fMMc-nwlNw9u1eY-vMAfSGizZfjjKLc5ePG7B1Lcep-AVTvR1qP29VtXTm_ZJFcm4MXJNw_1L4nFAY3hymSdJ-wr73JwBR7vsckVhvKTcIpM5q1_nDXW2MV7a3KkKfv4W3vCCLQK5qwbhXPiymHpFJy_GviSsjFU-PODyMwVMtMslLpnAgoTSze2bWJQyd76vvDWzcxgFwDVVihiUC6ixxFUt5ypkVKRWR5pcr0jVq9yNhVND2XELSevhW92jgflVtbk49w3ps5IRqD5bZYteMncP-o2Ai-PQe8F3FmPl3LVTQMd9TUsli2bNHSphgslptJnJX6Y6YUPRTKB150fJQYLf-fIXLuAVtnFRSA==",
  "id": "rs_010a146dccf04543016ab43e1a026887d0bd5172f6408b7f03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.29},\"note\":\"The opposed wrist views show the gold pen tip and the cap gripper centered on the same axis, with about 6 cm of visible gap and no vertical offset. I’ll advance only the pen 3 cm toward the cap while preserving that coaxial alignment.\"}",
  "call_id": "call_KNb2Y0MlLRTWrvvj5pAesiao",
  "id": "fc_010a146dccf04543016ab43e1aeb1c87d09e5480edf330eb6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KNb2Y0MlLRTWrvvj5pAesiao",
  "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]: [-0.3988, 1.927, 1.6367, -0.9134, 0.7036, 0.9035, 0.0521, 0.3771, 1.9182, 1.6676, -0.939, -0.7338, -0.9943, 0.0421]\nstate[eef_state]: left_x=0.3601 left_y=-0.2719 left_z=0.1558 left_yaw=-1.5092 left_pitch=-0.2231 left_roll=-0.0879 left_gripper=0.0521 right_x=0.3613 right_y=0.2742 right_z=0.1709 right_yaw=1.5328 right_pitch=-0.2028 right_roll=0.028 right_gripper=0.0421\nstate[joint_eff]: [-0.7863, -11.2342, 6.4068, 1.1551, 0.315, -0.0855, 0.6374, 1.894, -8.6359, 7.8017, 1.0525, -0.4957, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ef078061d57ebb4d45bbcaa81f94a91f08f88a6d31c26d3fb50c1444f19586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188da7951cd0e34d4c8e14dc2a55f74981adbec6924c3b34faaaa382c41f6180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2cb09aefa27dc19745da0b50753d3a2c5b04bca5abd7ae596b3c09cd8861ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 8.408 s

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

message 35 changed as sent

message 45 changed as sent

message 50 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]: [-0.498, 1.6741, 0.7692, 0.1886, 0.033, 0.0006, 0.0448, -0.0502, 1.2934, 1.0374, -0.5957, -0.5507, -0.5095, 0.0378]\nstate[eef_state]: left_x=0.3784 left_y=-0.2083 left_z=0.0572 left_yaw=-0.5384 left_pitch=-0.1446 left_roll=-0.014 left_gripper=0.0448 right_x=0.3497 right_y=0.0786 right_z=0.1961 right_yaw=0.6808 right_pitch=-0.1381 right_roll=0.0234 right_gripper=0.0378\nstate[joint_eff]: [-0.2256, -9.1145, 9.265, 1.7216, -0.0269, -0.0024, 1.033, -0.2256, -4.9162, 6.7487, 1.37, -0.2173, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4057, 1.9121, 1.6367, -0.8833, 0.7052, 0.8829, 0.0486, 0.3313, 1.9049, 1.6531, -0.9546, -0.7631, -1.0397, 0.0421]\nstate[eef_state]: left_x=0.3627 left_y=-0.2765 left_z=0.1645 left_yaw=-1.4967 left_pitch=-0.2022 left_roll=-0.0624 left_gripper=0.0486 right_x=0.365 right_y=0.2585 right_z=0.1739 right_yaw=1.5273 right_pitch=-0.1833 right_roll=0.0207 right_gripper=0.0421\nstate[joint_eff]: [-0.5128, -10.1128, 9.2513, 0.9695, 0.5104, 0.2027, 0.5934, 0.2667, -9.4291, 7.8427, 0.5885, -0.7057, -0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.927, 1.6367, -0.9134, 0.7036, 0.9035, 0.0521, 0.3771, 1.9182, 1.6676, -0.939, -0.7338, -0.9943, 0.0421]\nstate[eef_state]: left_x=0.3601 left_y=-0.2719 left_z=0.1558 left_yaw=-1.5092 left_pitch=-0.2231 left_roll=-0.0879 left_gripper=0.0521 right_x=0.3613 right_y=0.2742 right_z=0.1709 right_yaw=1.5328 right_pitch=-0.2028 right_roll=0.028 right_gripper=0.0421\nstate[joint_eff]: [-0.7863, -11.2342, 6.4068, 1.1551, 0.315, -0.0855, 0.6374, 1.894, -8.6359, 7.8017, 1.0525, -0.4957, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ef078061d57ebb4d45bbcaa81f94a91f08f88a6d31c26d3fb50c1444f19586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188da7951cd0e34d4c8e14dc2a55f74981adbec6924c3b34faaaa382c41f6180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2cb09aefa27dc19745da0b50753d3a2c5b04bca5abd7ae596b3c09cd8861ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4fG4GR0gwcVQUdhoCr-Of_MQXXKcMr0vj0MpQx8KpU8R0Latp_2LIkxb9__1YXFn8oMU09tD9aK08SndrpVJm-Q20cdJTN3noKyfoYDalKy2M-HFYRe3w_gRU4WmEFvEaCNd-zqrT8ijMlr3BcfjgSTJwFk4nXVaLNbidLAm4iR5zWa1OZHq5Bi4v1DGNHBemLWrrxSH5dDUqnAt534EQCFquiDcKga927nb_U6hBbIUMTI6vkk1a5-JoOdbGVmZa-ACEFlYbEtxM9KyWiRxG5qQLi4-Jv2qInkP4uTswqFAf2VALUdvz7cpEgkcTfwQKZ89NocrL2Wok_blDxHRixGeEa-H0-5gHNUkMtFms_ig9i4hbjUAW3c_rROOLOX_kF3h5TU0b0WTl9nCo_7H-_ZH0IeV5gES3-nwGnUYrSBxsFkXjQPBg75d3kbNd6equ0jY1Zz37hJtfOTuM1KNNfopkJjojL9_qzj-MuCIVJzW0vS88TX-Z7akxeBhhvOrNN-9aO7NFnqAWW7PWMMhc2ER26Wjj0GDsYpC6ytP5vlEqz4hZcZs-JfpOnWWFSiNIeq8VHTi51xYeLOIcZWkRPJ1olVj7knUi99aVaib8YK2peqHVze5yWW39kI57uJLVXWbaXN-bK5zDb8t9XTrwqwxQsYuh435ufpaRy8y7ofN3SsnE0N2QlXC5XGdr_b-_prJargE9m9PdZjSSzsTLkmdWcxt72zpsp9F5DKU8z7HqXD_6DIdErS_Jw-PAsYbTXxkW2AyxlMQnxZzLDCfm8Olr6qFTx2LAiP1czkhO_UIoZGkE7wiDcFseGg2msqjCV1z0hNwJ7q2MoEgjGa76wCOubxgfYjoKxjvfq2iv1HXAz2yaXxm6CPl4L0806n8ZGszVu-VuP3xOb56_8hK1mTJXlX0OmWrFPAr0ngbqJmyyYgsaOZM4gZfY2KqCe9BJ-Uk_6ueT_oLsdfCqEEsILF_ZzM77lZYFyrtsVnh2BRYCGrbb8HAC65o0gmRffCs5l5dVLmYaD3d7r0gsyf4wjsBCJmsJVoTm2l2wnfY8z1bvM6R-wlz7K3uXgS01bWAi3942q-1Hc8eh0qQQAtFS_2fAB6Pt4M5SIxDUsTz6s1569CzP8ls8kQEP29CkQLRBuwva1w--SE5RH-sbPykBKfwgdt_UjoL2oZluH3EAWuR787Z8Sb6bMl8xy5IZZAXDWHAZxgMiID6MrRyNGrZeUlFmD2bTJABG7GPJYMmvdXTK9XUCL98gTkrvLGRiId82H8IyUpENjrv6f0UY7sJaLLxNoxI6xAwOnMKC56TxelTreE9vRoePiroy9nyngoS3VgTSGoHF8pGV1nPYq375GMXv2hmCZ09vNCp1Vl7pJ5Lnk89pOtgTT8YcodE9lnqSjW8LlC36Iy-8TGK8_1DurAU__rZ3DOSNSOkT4lrlW5whe4n3DAunsyTigELemX4j66lob5sSUlB68E2WOEOuxlQJemUSFjro2IfXFCyNowpySd6JD6yfV39-sWpUieOHeLd28cVjyewsGXaVx-VoUvtA0FUZ4ZfVIchC9cXXu9fierqNI92OVTPSGnRXbvBT1Qx32MX8Esusc8xiY9NQZ2Pc6uJPkgHnPsL-_X86Ps3lmUssXQ6hY4OCbzOPFauuUBLZBMkfub_eOcf1tnkVPDD6yFfBRn2WAkKyuUYqV5EYOjU5MWEPgb7LWAlbcC19xNpGNfazEqENo3LkMCIuJx9oJZIjjYhHyXr0IupExySKqBIbQfNhO3wmCFnOhzamYbeOSD4WIuTltY2K8OWhPKjSGJ6IwOkgCFe7pcMasNCuym09FNsezXwEfxogRdgOiYbIYyXnHCuJh67CxkKOwRyvBSQO-SjdVrXUm9Fiio9XuRQfpYx90-sRmASPyJEbGNjru-nplzLsDTvQ20J4WsAKHkllZzHcHp8HYQK6trFxwKB5trOi8u8tedXrV2vQAn9bNvxuskDQZ7FX_BWuJMvhvy63LhgY6JO_tI5sUXzi_UehuTIO7-BTpn5ikk0JI",
  "id": "rs_010a146dccf04543016ab43e1d6c6887d0a14f35250b2e62c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.32},\"note\":\"The first advance shortened the visible gap while keeping the pen tip centered with the cap gripper; there is still clear free space. I’ll advance the pen another small step toward the cap.\"}",
  "call_id": "call_euyehGW5mKLkFbktQkhnv7kA",
  "id": "fc_010a146dccf04543016ab43e1ef18087d095229787a78f5182",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euyehGW5mKLkFbktQkhnv7kA",
  "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]: [-0.3923, 1.927, 1.6352, -0.9108, 0.6872, 0.8845, 0.0549, 0.3859, 1.9182, 1.668, -0.9092, -0.7151, -0.9535, 0.0421]\nstate[eef_state]: left_x=0.3635 left_y=-0.2678 left_z=0.1538 left_yaw=-1.4844 left_pitch=-0.2371 left_roll=-0.0933 left_gripper=0.0549 right_x=0.3659 right_y=0.2775 right_z=0.1713 right_yaw=1.5051 right_pitch=-0.2064 right_roll=0.0228 right_gripper=0.0421\nstate[joint_eff]: [-0.8957, -10.2496, 6.5846, 0.8474, 0.4322, 0.149, 0.735, 1.5795, -8.841, 7.8564, 1.116, -0.5592, 0.0562, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655b10cb6b9de9e63ee5992f5ca3b2ca208de175e9a8d1dde6136f23eab9bcb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915171b2291ac594c9b8854187f25b2364d4e2f5cfeb22e955a1e326a842856b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b82fb6c5704748e0c92cc348639093baffad6c0a2699716c089dd0ffd7f04d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 5.077 s

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

message 41 changed as sent

message 50 changed as sent

message 54 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3714, 1.631, 1.2388, -0.4747, 0.5037, 0.4835, 0.0486, 0.0834, 1.5974, 1.2583, -0.7315, -0.7181, -0.8391, 0.0421]\nstate[eef_state]: left_x=0.3717 left_y=-0.2324 left_z=0.1661 left_yaw=-1.0706 left_pitch=-0.1599 left_roll=-0.018 left_gripper=0.0486 right_x=0.3641 right_y=0.1507 right_z=0.1729 right_yaw=1.1278 right_pitch=-0.1641 right_roll=0.03 right_gripper=0.0421\nstate[joint_eff]: [0.3897, -6.8581, 9.0325, 1.3993, 0.359, 0.2515, 0.6813, 0.5128, -7.1863, 8.2803, 0.7399, -0.7155, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.927, 1.6367, -0.9134, 0.7036, 0.9035, 0.0521, 0.3771, 1.9182, 1.6676, -0.939, -0.7338, -0.9943, 0.0421]\nstate[eef_state]: left_x=0.3601 left_y=-0.2719 left_z=0.1558 left_yaw=-1.5092 left_pitch=-0.2231 left_roll=-0.0879 left_gripper=0.0521 right_x=0.3613 right_y=0.2742 right_z=0.1709 right_yaw=1.5328 right_pitch=-0.2028 right_roll=0.028 right_gripper=0.0421\nstate[joint_eff]: [-0.7863, -11.2342, 6.4068, 1.1551, 0.315, -0.0855, 0.6374, 1.894, -8.6359, 7.8017, 1.0525, -0.4957, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 1.927, 1.6352, -0.9108, 0.6872, 0.8845, 0.0549, 0.3859, 1.9182, 1.668, -0.9092, -0.7151, -0.9535, 0.0421]\nstate[eef_state]: left_x=0.3635 left_y=-0.2678 left_z=0.1538 left_yaw=-1.4844 left_pitch=-0.2371 left_roll=-0.0933 left_gripper=0.0549 right_x=0.3659 right_y=0.2775 right_z=0.1713 right_yaw=1.5051 right_pitch=-0.2064 right_roll=0.0228 right_gripper=0.0421\nstate[joint_eff]: [-0.8957, -10.2496, 6.5846, 0.8474, 0.4322, 0.149, 0.735, 1.5795, -8.841, 7.8564, 1.116, -0.5592, 0.0562, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655b10cb6b9de9e63ee5992f5ca3b2ca208de175e9a8d1dde6136f23eab9bcb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915171b2291ac594c9b8854187f25b2364d4e2f5cfeb22e955a1e326a842856b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b82fb6c5704748e0c92cc348639093baffad6c0a2699716c089dd0ffd7f04d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4olg04rHrQUrwJ_oCUPkEjm_NlZyk5DRJg09elCphOBf3EwPbmikDfuuiNgMMumUlKJNbWxW7T1VZ_HWzS7LsgwA0VYmjjDvyue4hp8BHxMXipaJSSEl8MnACk1gmnUpRQb2SVFL_gqNS1z4Iu1sYIoUNc38OD4A_RKDjnx2yI0Asm1wGAVZG3516wyXKkfVbCBfEq2hpaJcgmrscEReBWWktyhlQbTW4bs8CJvgIoawW13MGDjkbFExy2FF7_bSA7UFg3ZE-7FeDoWPit6LBh5mjf3_H9UxK0lS9skO9W-KdpOuRBp6wRAp5EoKgwc1FpxYme0WcNFE725iZv3QzVuLTBuCQOPEbVoiU6e-_fvCx9SUQceMApSCEzCwgM3NXHALAKb6G3hc4ymyJPk_6_GqmKY9uCvAhso-LlOJk-dmH4HRcyfoXSuK-4sQOp8Fk7mMxRNRQ8XPG_Etm0Rh6XcRHAHP36LEbTL_DSl1WGsPKwo87YV7VCrDhKJ0WQy0s8KVh9tnhTLWiAOrApw-DFifwbfyQoMvE_XaeLS1Ekf5pGi_UmZ4gipI_nDmkHzR75ns9GLrrNSnq6qcbs0c3xVf1hzkUnINx3zmaHyDoOmAdVOQyWBjQHIFoR3MkRlQmy1nCT0Mr16App2p6chur51eNrQiOZNQtVkvC_RBDsip6MPo0FauvziSlmJonF08ehXgpX3CZNACGeLHmfcS5i55hO_QqGPJiYbClYbsK--zrQZrPxpRUbaPoMVUw-y3CCwYtOzma_SEyPnReEhnWiGleYz2C-lHSnw0zKGYEqsfs4GxtzKHAJ91X92acOGDdEmqprNMimComy-DUUjkOYHUtMPcE0p6ftD8far1v32y3ZRrx9aCqiEc5s6mhoWtr_enQ3mNm-0YER3BCPMMHZT94HyU1mLOsGvfUY9R5ZlQILGjB0LEt_86AZX-0FdF-Oj4B-affCN9GI0sqVPKfX7l_ONnaxZbiL2n95dfchJp23G-xR3LMmhZ16aNqjYp5wU_7csX4Ffk-sFsYkBC_xmUvI90xUjkoyPJgfoMaEwqPo-MbHbJID0_CfwLjWNR2xXVJkuqXa0EFwQJ-E_oybn1nBZBYhn3XAIpZIg4smojZ0FtarXSA75U7hCYhM38RyrgRxHhSSdOBId82EvtFD1RNKFQexP0OMgPrPFg4opM4KeD86JJ_Qy_QhzZKmcmw4rkcQor5ANq7qGh1k0qvqfFSUPzz0s59sRPmjPKiV9i4zZdvtMA5V5-4tDFn_oasXkZa0yYOH6KZvD_8oWAEIi499LpAUGgTLnNwF-FmO4rQG1jeGB-dhtC2wpYwTKE2bK5NJfPTIfbaKR5aq_Gk3G2JF77N7nKqSA1XI_LhVodUx_jyHtO7nc8SvnG8KIumQaBC5QX2Yd1Yjpi6lg58YZ5CU6bLinDQHg9PxFYepx8HdllILo8_OE7j6qAfhQa0kkyjyrXPaXRAOCx_6me-RxsejrS57_o0ItUgG9CBQ7xVD2B-N9yH92do8AmdhQAl_KVT-h0LRT7_I1h3AUB3LamTuZzVRz4pk9hyLtdfeKORTmwX9ybCsR-Hnk0RTh9FrysxTUUoZZSbhY1bhjTpFzeJG_pQRfiUjL4IB2WI6D3DsMf26oarKuTa5ltC79um6O_6-qt2oEFFFPhR_EVf-xp6-SaSzPkp-hgVDFlkNcLLzLPEGQRowuJdFVddSpcPkP3YCxmwCOjt2MIZ7BwqLVToNPuFn4zNS_b7Ot7CXDEqsJhnV9vv-S1GWsERmJEanOMyNpYA-h7Ftt4GKkhKKntpelWnVqSCeTJLIls8dqLeI5jxBSewoPj9WqLidNRZhBmUnMB_vhMes8snrwrZ9F_KomvsunDqdNAZ6Sr4-PNHJ2ugyOEkr8DSUv2crWU_NMmdesVTSKQz92flw2acen_1_BMJfhtrQb3Avab_y82WepVT6WDWnysKgWQzc--DUrTsrL0MylcDHolTfhFXBYOXIEmNkJ7UfKd0MqyTzvVWcGfdbobKn1R_1KaMa0SC3hAKjQSLr7lqSefLmUXkhS37ZGU0edppQ1PEExpD1H3Kma2zH6hfp6OuFq_2KijEBoKNC03fQDTUqpw93RXG76WL_Am_m6pc5tYGP2Miae28KxxPYjpWd1VoqkOmr5crsqxCsQkpaNij3eChKjm7V-KMzo0Phz6M-4CkAjlTyec0sj6Lj9ac0su23Wkj96ejxD7xMW0yrBYH6qswmByy3lm3DNBQ4coPn_kBrpX3DrhCKngBxmkfKXMMZIZA0G6UVvNlnnapOARD4k5bn5nQvVbdsVh5DGF81zrcMGWu1H-7hVoGVd7ZwhzWIK2Jiw7VPQzrW3d_H9ycgynBpCZ8FrX86Rt0AqxINRX17coJMfCUah9Buy7RjD4npQqxhyFoujVLeHH9Pg0SAmAV6QY62ufZB1P5yFx8uL4URX0eplNWaO6aRKVeAJOFIYHpPAyC_LeQ-4CbL4LHXGwVc6M9KzHcRLi_lTb98h9qkW6T6LDLXTfyOw2crponp0Eao0bg-GZLTjhhQYojLru-f7TmKJ0xi0sMmLZwwGWyjycztv4PwdavwR3vs_BA2pSS2r9S7QlBjIg1Va-V_ZIez8MkUzojsnQ0sNaduSZr_TVABJyY9kFzgFjfQbFhd1g7WCr8P8qHb2CIOKgd4Gr8vbHPI4ykjdfC1G4_PPWs-T0xeaTDXAliQjaemtFjLrrHPwm78cWv604G3lTHUZAAfn7xlNUkUbR3LdYdaAA3aQbM2RRBwyMEa8uzDrKbrAXfp_Rikpk1ImpsU-xFDvgS0nu9hNklgYwL3G1KrBYLjLz6ulHikycWwpi2E9k8xEZLzdKnNVCiSHCE87XPQ5qcZQnFnQ0pfXMyOxejJKqFvukqYaIJH10ZdiBoIY2mKGxqh-SOu9v8EO7pY6X_9etx0l5DW6MQX-trLGKhLnb-jvJ8LRHj9bTfWdYvwsHkG9uI1oEE25P_9eeYu47UBLTpkymh65b-wUowS1MYPd_RcH_x4162KK0r89vNS_w9mLUYsEw6OJ2jL9qnAQmfrlp_fMoskrXHcwOSikEe5BUbL86_0OBw-mzOhw8VR5kJ0CUoAUB4tzrAv5PCoZI6_l-SZU6O4mf6m6_2cJ3YLcAPLRsYKMSHh9biaecnDGU6IySwbeJ9MCDa_JwUqJJmSl_RfzTm0dJq3hDGK47ARWt8K7m_X4YzysTiRhBvr8CDQzKqJTvPnqaJUBX2v1FFWCGkuL2oJXSLTrL1NLJI3JywcJezCSRNnWjgf37jINyHq5-Tmgc1FiWvxEgVr0i0juzEMVEhf97C76Y3zeGHFNweoXzGtrvmFpJIxHjyhVz-NGN5UuwTTfo9UPel_eY11fKL0oqU4BA5X-RfM2U3N8yV0Mqzbq4Zt3mGYxbgN3_eod5en2cCsB85gtNgg6dBxMvRWVB2TqEPRL4-FSeUoRw-Mr3pmAs6hb62MBuJ6vto2Z2VS8nIukfSkjkYMD2neNq-BJiMSt6pxPvUBSKFoivuQR8LhUzw-dm2LAIrR3st2_EKaXy4rPHgLdbux-yDuqo5TcCXCoompQvAtq7HzxiS1gTS6jl29f-D5WWCEzYOmohp-wsMpAd0SxwioGNvbl-OLtUkGiqFxM7P9JQU3kldg5Z505CSptBF5a4MqxxqGTG-R7dFWzs9gcbvJJJhaBwvQ6g_XDEbGXpN7q3gRgAz356CUjERTDRqRv39kqv6Oi3knL0IfpgqYiwm6mdVsXHorhdmh6dx89UKs-Mhk21wV5GLcTBMvLJzlOgFnesVzQYWyQPbEXCbL73x3RISiRgk531ztsjjUycvqCdPUU_R88Wi3ycvhZ1LdLdRLlwpiiLQKfAosdl63F_e5UBYFETa4sHL8MdDS2lM3PJCviz4eYSq72ZJkrr8qSP98aaS_AmmgbhPHXGd_85ukh5UGXXzzmSP2E7AsrnQDZ7a7Mfddv6OH_5RA3H1kPErk0D8UBOC037YOy9EJ_vEvNlpUwfWw26Qh6BI8D4imb0aHOmh5Rb6IVmnv0HA2DHVrc7a0QKiJA5Ph",
  "id": "rs_010a146dccf04543016ab43e21295887d0994fc0d14b4b6428",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4oREa1IObDYa4gk70jN1XefFSfmBnqk3ypol89pNVvFzRwpEpUJXXz-EaH_-Wk3EhYGduCY-7f-5Lq9a9XlnUydfOG-VzK9kqgbaM1NFkYt-G2dDNUCZNThzaV-sG-9nD1dpmNcMhIFJb4WVKKpdpNerU2oLQVj_PybY0JrpnIE3WqhIfI90VD0ILCVZFvZLZxcOcZZH6iK7p-uLXZlrr_CVbIqACadxdr7Zyw60XhrGKvotBobCwvpngEanFOP23lWY0fniCe7Yuxb9zRSZbqBzYGf866LNk2zO0lyUAG8M_IKURYNNBeI5RuQGsfUcHlghOHyTDuD3G38tTQzF4nomkk-SMMPfomhC3GqytzyGyeMaMoWoL3Q8uw0myt6dRRbd9BOp1oit2zEBxft_4dtT480gjwtLkEDDmWwt4YGvU9DHz6DO4KjGkcgTd_-VPw970HWuUtKzgyhFxq9pT9d-kUlYw9R_QWnPheV5__MkCvvapFY0fHXld2PAwNMoqAKpoHUV2dKWudyTl9xwSAG7ydnbYL2tf-_CtsAqE0LG7imWkQRDmacq_V37oLaq8eO_l2VxRpY6J966uadsn-xKmvo4KgfEf9MKxAWCUzfMh730zyDeXyz-TcO9o34UY3T-mxKIRizBRQPaEFjWDlbqEtwUzSKl7EIJPHN0-TPVlfsIUV2Av3_P_x08Ae-rdzktpu61Cmg9XwL_r-GxP3kFjvkQYb_VCvLM_o2zN637HFCIhuK7Ck89HDltY8BKfot9WHW5Vym5Ujt3qy3kImX4jMeBXv17TQho7YyUUWYKZmLHSsYu0QsDyueER5KZqJ5Uv9NdQ-kZep72P9bxTz4DDe_kfx224JSghj7eeqOz9bSEuDBe7-Ib8oaIyt-M4xvzP-d4ThmTpg3CAfkvwEnYfpMU_AY2diJXuZ7KfPS_EAhSpn20g4u_Rj3lraAD1cNZ8vWlHozLg_rvcG-ZpxRRTPvBEeiCBq2RlE3yqyQRfvdeUGVUQ_Glqk7BdzMjiWvtsEBJ9I_q9Hq7XdvNTWQuBFb6rLKxdj1JHgCO1myuN0tizFG8Ye6US9X09dhSTZkw_i6La5SbgR00peoM-O-rr62yKlxjaFC71p_yzxkyE9lmCoZUg8ZjXxoLr0sr28gZI9r2pgzvIvZI1VNtqIuDHBSqT2vBpePEElMagco4-LsP1ml8a_I8Klc2zc2vpRoz2eID9UhipBcPHogkYTUhQnkWIRwPiMsoyImb5vH7yCLbQCEDKVGkhPtxOVu5zlb8YS37e6dXrSmsmgmP0nmJ3_x_6xJBvN7hE0b-0XFbbuGpbb2KqPQPxFy7C5GjaLRw22NvpplQL6lrl3OacXzQoiQQ9M26sL8s61TOesl9qDSokQWpVShMqD_E6lC2xuyHe4dUS8eS31c2BlfbkI8zrYQNG4fDcKhn4rbv2TMgc=",
  "id": "rs_010a146dccf04543016ab43e26a73c87d0b99b5cf3e4387104",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.363,\"left_z\":0.17,\"left_yaw\":-1.57,\"right_x\":0.363,\"right_z\":0.17,\"right_yaw\":1.57},\"note\":\"The last lateral command barely advanced, indicating the tips or grippers are beginning to meet rather than remaining in free space. The readbacks also show about 1.7 cm height mismatch and a small angular mismatch, so I’ll correct those first at the current separation instead of forcing insertion.\"}",
  "call_id": "call_M3isjNFSjxenBBVMya31UeXK",
  "id": "fc_010a146dccf04543016ab43e27524c87d095408af9fe4fd2c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M3isjNFSjxenBBVMya31UeXK",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3859, 1.9671, 1.7168, -1.0195, 0.688, 0.9348, 0.0557, 0.387, 1.9182, 1.668, -0.9051, -0.7151, -0.9497, 0.0421]\nstate[eef_state]: left_x=0.3624 left_y=-0.2644 left_z=0.1559 left_yaw=-1.5216 left_pitch=-0.2634 left_roll=-0.1204 left_gripper=0.0557 right_x=0.3663 right_y=0.2782 right_z=0.1717 right_yaw=1.5034 right_pitch=-0.2047 right_roll=0.0218 right_gripper=0.0421\nstate[joint_eff]: [0.1436, -9.9897, 9.0325, 0.9792, 0.6032, 0.0757, 0.6618, 1.4427, -8.8957, 8.1983, 0.9744, -0.5885, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1893aabe5061fd342975780e106ece9d6aaf644acbe141142aa4657565a8df46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b457446bb60395469bd3d545e3ee6728c168d164e47aea7ef70d9969b10ac7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85c8edd0fffc784d3d85908144104c3dec3ef7cf506369825b6d5017fbbf0b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 7.229 s

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

message 45 changed as sent

message 54 changed as sent

message 59 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4057, 1.9121, 1.6367, -0.8833, 0.7052, 0.8829, 0.0486, 0.3313, 1.9049, 1.6531, -0.9546, -0.7631, -1.0397, 0.0421]\nstate[eef_state]: left_x=0.3627 left_y=-0.2765 left_z=0.1645 left_yaw=-1.4967 left_pitch=-0.2022 left_roll=-0.0624 left_gripper=0.0486 right_x=0.365 right_y=0.2585 right_z=0.1739 right_yaw=1.5273 right_pitch=-0.1833 right_roll=0.0207 right_gripper=0.0421\nstate[joint_eff]: [-0.5128, -10.1128, 9.2513, 0.9695, 0.5104, 0.2027, 0.5934, 0.2667, -9.4291, 7.8427, 0.5885, -0.7057, -0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 1.927, 1.6352, -0.9108, 0.6872, 0.8845, 0.0549, 0.3859, 1.9182, 1.668, -0.9092, -0.7151, -0.9535, 0.0421]\nstate[eef_state]: left_x=0.3635 left_y=-0.2678 left_z=0.1538 left_yaw=-1.4844 left_pitch=-0.2371 left_roll=-0.0933 left_gripper=0.0549 right_x=0.3659 right_y=0.2775 right_z=0.1713 right_yaw=1.5051 right_pitch=-0.2064 right_roll=0.0228 right_gripper=0.0421\nstate[joint_eff]: [-0.8957, -10.2496, 6.5846, 0.8474, 0.4322, 0.149, 0.735, 1.5795, -8.841, 7.8564, 1.116, -0.5592, 0.0562, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3859, 1.9671, 1.7168, -1.0195, 0.688, 0.9348, 0.0557, 0.387, 1.9182, 1.668, -0.9051, -0.7151, -0.9497, 0.0421]\nstate[eef_state]: left_x=0.3624 left_y=-0.2644 left_z=0.1559 left_yaw=-1.5216 left_pitch=-0.2634 left_roll=-0.1204 left_gripper=0.0557 right_x=0.3663 right_y=0.2782 right_z=0.1717 right_yaw=1.5034 right_pitch=-0.2047 right_roll=0.0218 right_gripper=0.0421\nstate[joint_eff]: [0.1436, -9.9897, 9.0325, 0.9792, 0.6032, 0.0757, 0.6618, 1.4427, -8.8957, 8.1983, 0.9744, -0.5885, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1893aabe5061fd342975780e106ece9d6aaf644acbe141142aa4657565a8df46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b457446bb60395469bd3d545e3ee6728c168d164e47aea7ef70d9969b10ac7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85c8edd0fffc784d3d85908144104c3dec3ef7cf506369825b6d5017fbbf0b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4tDU3tjZLBS9za4g-_rKyWXUKpu56rmxtiYpwYOhNZeUTM2p5hcW5g3bEB8UBkAetvMBwbq3-muhU0tjFp-LUkOdPBvvcAfzpi0bTQzS-zImhtqFrq6yAi9e2Cjnzzy1XTlwwEcXvJ1Bf96t9donSBAuG_gmGb7RSo_ubtaL4wM7b-ofGpMRstWMsiTYlyEG_PogKK-fJG94jbkhsdufSVPGof33q3Y4kNtE01fd949anU2xMcJqaBEV7_Nq8CXef34aOz7tEj0VUG-N3lf4mu3qA8buFG4BxkpF3LTQBGG1E0t8zHFrkyjW6XMXWqDtKeLn_ooSGHxKfKO2uHpvBZwd-p8UzfxAdag5uJDl_1DJkLFAnc1Z4VG0waU9UxZUfepP72WpYNe9aURO-jqNi-qL1LAbx7Z8DQb2k-0VWhXRDyBV1njHlF8iKMer3tafBR7ujzIpxIDlQBmPrLa60gRKLhYsIHvPaQ8vKSmjudDjZxegNj_A4qRikpZ9ujHcnWc7LyIaATrnO285eKh8U7QwCiX2cXNBLgoeklggTAc2JGdvcfMOpBmzdLNcrsfWtQ1VrjsLOiCht69Zvz4cCIhwrCTl6EeSQ625yXGfkoS4P3ujsW9afHvEyKLx0XwM-XRnyNJbjDdmx5QKjRWE1hPbopP1MfTOhNn0i1_uq7jEvuOhfOufyCbsj6slCGCSE7BEH2vpBzcszNDZUkNTrnWLZid9E6QzCBaQRH3jQVdUKoqHgX4sqiAWdkkHpr8XFFLQ3clwY02ukex0VmQnsgNMpzO0LYGmyMaPIYdq-Tm47aU088mZt6PagNSGdiOBmLIK8a9FBooNBcHRRwapU-Kz3ZTGgJ6KnbSuelN53EIwSfMKi4nEnjiGOHi1h8rMggFnD6z7AXD2i3cvO6ANzI1rFzb9SqlOQ_SznSPRkwzfUhv5Q16mzEII2lb4RfdxrQF5SmZTrSdNgmndF6mUqkHCwotGO5S3cjkTFMtRm7R7vgPTA46242qRqDm0zseE69Xj-1YOO4ld68L3-b-OP3st2uMbuhtQX87V9csQMZosMgNPnvTQF0raopuq_r01ySjV7EKqi7KVXqZzFjBjThjCqSWsxd9EhVQ8FW8LNry2pnC23AkQB-pafS-eQCckDkhoMgyHoYGVwQlzVBFTW1R_sZTf_c-DrPcemf8yFCcmc8kY6ONJogsSu5XlGBmu71MoKQ6Ks1UGoewbsMeGnIs0_dlcL78YXQkmq4KPbagYmYay5862ZxeSo9iThZDgAOA6CIksa7Wq_Yo2VGqYIYR37RhAX9pgi4YICl-NoN_3IRLVJjLzDsIJBWE3RU4p0N0HMmbRrf7Q6hx8cQbyjNiSNQ4UWlMF3O6m2rXVNqtW_4Db2D9CLkAleVnf8aXx-VWZH5LF7G6idBTdpIDLfpzDYjiI0aR31yrGcO8lWGLMdnk8sHTXcWW2O0ziztbo3YEt5vM03JrRtHKWMOBYiF7mUcqVkepyvYxIM-B80sR8o-VJlPU5C9n7USbnrXWJZKOd0midIKn5pMhw9vwKKArANRrM7sTMNkOwChFzE7bKzw-2mxbJOLEWtCjwOD_EpTFT64RnSpId64rvWl_OfgfSL9ScGKwYCiMAJshacl2aIqSKZ5KZwvi5LDwT0YVLVSF9IkIbZmv1KQJ5cNYrprzbLWfiw6q0i-DwMwbAyDm3Z9jxVZ9XpttDkQlHJobPjx-FpOU1Q6KWmjzQu6nv8JQYy7nPzsLjvnW6Pkb9C1h-BqH9h-N2pr4reO88xZK4BAU6Bgc7WFXnMHr82MUzZq8SH9yUfCr__S8tR-NEIa5X4GqhcsWP4xVd4Mz-vXuBAkAUYWp_mv_lbRUxwPShn-AGy9GZ3A-RhK4gFlPPlaaVo2XFUJEUolqy3Nz4Tq5p7PoNvbNKeirzcaRjmMPeY00Uajjbbt6KtDLDnMX6nwASVKt_SQmOvhxzq4LL_ez768dcZNelw8BX8WknHvq3v0uojPwZh6wKAUieviQaHJdsWJnOSNSaMSXeO9oBLZ216YScVAVe5zAtlmeIWi1WXvnS7s1DApvqwXLy78nKlSjfRRKoZfXb7j0n30F3kHCglNpnjYhDwk-ICugWFeM_BxI5zjDS3h9PwV_D74d_Zj0FwhuigwMsrzp5JNHQIsC6Hd8S9IHq572yAMTfGAwdAzfyyYB8rrGmeLXSlwFeQW6hw1JsNVYBbGpQ0KXranrK2AqaAXhLD1HebymdOiEkHbSiOXimkc5pHSrfDkyRE5LIsB47iuqMsvJf5KpnDSLVWNF6kgdOHOcvmZ0h8Qcz-gk8pJLoJiowPSur_Vohz7HJzoTzws0yXHhyW26gPdUOnJ3txQ0EwKsRHQdbShGgONIeukNtxBGA-KgTWaB7iyEMm1IG2TjEUYfOCQAi885l7bNZK-LKpCD7F0boOdJJ5QusTUX98SgQcN3Mh7G4VPseoHAR4ztfrLgu0e3YVDPbr8U2FpE_VsZ2OrKIcSGmiJecOzIssYUNsTq3V4vqp0lEGr-WfCGaOOhRJfsGxaxPJ5",
  "id": "rs_010a146dccf04543016ab43e29ad5487d0923e284b6aee8f3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.3},\"note\":\"The wrist views still show a small axial gap, with the pen nib centered on the cap jaws; the right arm appears kinematically reluctant to advance farther. I’ll instead advance the cap from the left by 3.5 cm, watching for a shortfall that would mark first contact.\"}",
  "call_id": "call_z4OtuFVUYjLOXgbgJlpe7C7O",
  "id": "fc_010a146dccf04543016ab43e2c7fd887d08604b7da2ceb25cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z4OtuFVUYjLOXgbgJlpe7C7O",
  "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]: [-0.4091, 1.9858, 1.7435, -1.0397, 0.6449, 0.8707, 0.0562, 0.3721, 1.9202, 1.668, -0.9134, -0.7074, -0.9504, 0.0421]\nstate[eef_state]: left_x=0.3617 left_y=-0.2687 left_z=0.1507 left_yaw=-1.4943 left_pitch=-0.3103 left_roll=-0.1565 left_gripper=0.0562 right_x=0.3697 right_y=0.2714 right_z=0.1694 right_yaw=1.4872 right_pitch=-0.2155 right_roll=0.0275 right_gripper=0.0421\nstate[joint_eff]: [-4.6017, -8.5949, 8.4581, 1.4042, 0.6227, -0.0855, 0.7546, 2.6051, -8.841, 8.1162, 1.1258, -0.6032, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c05aaaab57d3a465575dfba64903e87381ed836a931efb46fcd85020090cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077c8b0076b9381baee5fcf6f5b805a796d0c8c5615726f85c46b25289f46afc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611b83dfcc91c3fee677a55799fb91d736c8e6929f4bbddce57e7d6921f27e27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.034 s

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

message 50 changed as sent

message 59 changed as sent

message 63 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3988, 1.927, 1.6367, -0.9134, 0.7036, 0.9035, 0.0521, 0.3771, 1.9182, 1.6676, -0.939, -0.7338, -0.9943, 0.0421]\nstate[eef_state]: left_x=0.3601 left_y=-0.2719 left_z=0.1558 left_yaw=-1.5092 left_pitch=-0.2231 left_roll=-0.0879 left_gripper=0.0521 right_x=0.3613 right_y=0.2742 right_z=0.1709 right_yaw=1.5328 right_pitch=-0.2028 right_roll=0.028 right_gripper=0.0421\nstate[joint_eff]: [-0.7863, -11.2342, 6.4068, 1.1551, 0.315, -0.0855, 0.6374, 1.894, -8.6359, 7.8017, 1.0525, -0.4957, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3859, 1.9671, 1.7168, -1.0195, 0.688, 0.9348, 0.0557, 0.387, 1.9182, 1.668, -0.9051, -0.7151, -0.9497, 0.0421]\nstate[eef_state]: left_x=0.3624 left_y=-0.2644 left_z=0.1559 left_yaw=-1.5216 left_pitch=-0.2634 left_roll=-0.1204 left_gripper=0.0557 right_x=0.3663 right_y=0.2782 right_z=0.1717 right_yaw=1.5034 right_pitch=-0.2047 right_roll=0.0218 right_gripper=0.0421\nstate[joint_eff]: [0.1436, -9.9897, 9.0325, 0.9792, 0.6032, 0.0757, 0.6618, 1.4427, -8.8957, 8.1983, 0.9744, -0.5885, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4091, 1.9858, 1.7435, -1.0397, 0.6449, 0.8707, 0.0562, 0.3721, 1.9202, 1.668, -0.9134, -0.7074, -0.9504, 0.0421]\nstate[eef_state]: left_x=0.3617 left_y=-0.2687 left_z=0.1507 left_yaw=-1.4943 left_pitch=-0.3103 left_roll=-0.1565 left_gripper=0.0562 right_x=0.3697 right_y=0.2714 right_z=0.1694 right_yaw=1.4872 right_pitch=-0.2155 right_roll=0.0275 right_gripper=0.0421\nstate[joint_eff]: [-4.6017, -8.5949, 8.4581, 1.4042, 0.6227, -0.0855, 0.7546, 2.6051, -8.841, 8.1162, 1.1258, -0.6032, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c05aaaab57d3a465575dfba64903e87381ed836a931efb46fcd85020090cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077c8b0076b9381baee5fcf6f5b805a796d0c8c5615726f85c46b25289f46afc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611b83dfcc91c3fee677a55799fb91d736c8e6929f4bbddce57e7d6921f27e27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD41b-GG0fhOCJpzZOvSjo7Chrl4daq5wTjfYbOdZB4eB6uGMUNE6rL0MH8pTLxda9t-kNZdM9n8auOFqtUZ4ZMcy2UwLDN_5nq2o_yrt6RqCHh5m_dfVl3YpkKXsVmixYeOcd3J6uCsqc6MWyVjceF7qr-5o-uP9zNsv9uC6tsmxcirtSnjih5GoTD-a5zwcMGDJnp-GK9gj_910SjVTDNx6X_4bMYVAvP4xz0ql8_uS3eMqLBcFv6xqYmlDfSO53xczQpk11nlfSukCjE9AKvkTp1EqrM0y_CTXnFM64o_lCMgce65WcY5pW-B-jsowy-tM5N01Ruz8esDC3usTTNFZ88B7IV9GGrhh3RxgEI-Ic_0r61UbHlnIh2rRlE1sIQy-jMhaVZRWQGkMheldLWBcpqvsYNsAVYIn-u-wtbatt3HK4VdzqZ1ZNqA2Co41cti9dQAQLa5qyEgpsbfE5HebRDOXAOc_ra5AC1-1AfDgkjhNCQa3zx0bAwREg6ZxWNp52tuiRYu81AeiqWnes3Rux4ibc1S280IeAkgvXWXy4qGpRwdfvVDzIoEcX_3kRw5zcRZpKmCoF5dGquxYLQ9no3j5JPunDbgRMFHyNAX6b0_RShgM4hDNagn2L0ObyhtQWSxEqsPTheKyUJgqhZ_xgDfenEdSybZbowcerxdiamP5LEh9jy8UI7nZvW3Lc-g2qSFNJV2jOsw68XaHJqzmsonNCV_51qM3TP8bCjsfIDCxBl24KqzYHDu-j2fD6Q5SaqpL1Ac6RUaMlMwzJMlRpZUjNZSdw2LaB8WCZVjviZLnQPWTQapmwKZqXoMAlEcAUMI2AVwCTzlQIJUgVBzgPIY1egtvu-aU2H0MFlmylSOKnBDKfm8DtoymOVY8nn7Je2tWmbmuYhyQ6ahlRHIm4z3sdAWN9d4PrqwqwAfzJ4UmNv8ctW3NSRKfdGXnA0sS9is92hzXdW0V0p-dXg3rcjDwJIRfhfsmjLqtkNmcjvTV5FKOZWxFurN_X-bYqAphtXGSaNMeqCKDCvkUypRhqiTpw7HcaKEeJnbxZsMXPArmFTh4EFFAyc5lfdJ8-HL_NvDFkyRcqyP1b54ABVkPb-IowascRaZ5Bpb1BPyYA1R3mmmQ9B-Pd9va8QbDK-lWQml33Aat8EJJtxUvhNnqZ01GtIMXAALiYGSrmy2RPDZvIaNOEnDQtDgCLOkhE5MyT7r09n_f4JUl06cL44UsWQoTsXhASq2_drAcUPQatxkmVrAd7bgDBnM6ZUIHiNGnfUrxYCJf301CF8js2-ITZnI5BI5xmNyk1Ec36LmZG-W-dCdAr_GuuPpy7OOLq0neGyi2Aucy-W_hV4O_GNHrr3cQrexFBjDwzKu6dYHhiLlju7DxAxgA-Ewdunkgv5mphD98ni2VVKE77os1eoRkhUEdqw6h8LymuABasuIfTuC0MmyJnhoV07TJXYJu_P06P_E8ucNKcJr4P1ROEu1Fxj127LakAhJ6MYwB_kwxDP6waqrGPX_XXTvIqGW9bvRzanLFnjf7C9bRi_zuR0d02FbCBKzInXS06Sf7MBpr-133bGnFEQOoW7OLYWpTcwtnk_gvI9Bcwmi5gZBsYz8ooVhrgOtX5lyBMiMUV4deyfEg-q915SST9IJ_7hg1KuDa4aLyztVFejpPS9_Ms0ZpQqceVzy3g90enMdVqOCbPxnUCt-K675G3tRiHlBaQX9Y66u9rN1r3SvYTxnj3G_ClTf2hTlqCSRHRSrAiggQ_bvDOco9Ts0XdmlY6cxP3rO-i5Ok4DD2NUuEeXEY3P7FxmlgXVQFtW9OkwvdoM7GUBjHm8bIwH7QQh0hJpqUPF5EpSb_lVpF_Ez-vR77I3VDyjt1GMtBNLFYOm6YMyZp23VNb1Shll_37FGmV9b703107CFYgUAfXSCF9JZFW5Aq7YmJ52WpeMQCt5yUnB4FdY4Vo5x1GptAm0BTr6szUsar5Kvu1-IxD8_b20QvAOOZcd89-943eospUSqT8M9RX_SBbJHNtV1i-ZCWsQz8YLzW-PKfx7tbCEtYxEnblSWUE29Vo17i9kHrgVWWs8DVR9JNumWaBVDBjXe9fxzwY5sNBJkGCC8S3hOOjLG09j4YZbWYVuX9HzJ2oEMnSsVJ6Xw0imrh7XDmF2upotOdNr5cSbEN47D8_Yw_OBotCNnCfjOmy5NmT9WiOXGG-RNp_rhLAThRqN2xGgZf1njrVGbV6zfczQ86UEjpsT66dPjk9r_ylenh2JNe7dCV4xBbFnDTNmWtloP0iBtkKoUlbGnjJJDm6crHRxWX1iSBRgou1x6ufmM_9s8LvWuJMV_p-WaXFLe5gvPAFRXbwCqZX25tbrtRpWGbjwLlCihI_Tp9PbI5ODAb8aAXwjro5MIwV5tcO3bN1zaoAdRce13dDOkGmJEKv7QFPI_gxi68-XGouITVfzIy1zTmmoC6a9dOja-s35F0HImbl7T_EHBvMaDW9ZQoEdK4Xz7kVvx6L6efj6aX1PznHD5Crip2vxXjdA8MpvnVWxk3Zjbk2RT3uM-TutO87zETRguax8c_0szE4iZXijf2XxEAxYNj-c3qOjsZoH11PfmQRoo9Ad0cXtWlxaMVJgm0tWcbBo7zPZTpDQtRM2AuuzjQfRM42j4dhce6SIcozf6gSld3BLYpA8fFi9CMjIPkD64O53cU4XlKSCeFcqoQEIMmH5r9GTsIxa4OaMjpfOiy6JnxzoHyZcXWRrOyjqpne4kSAOzNSAMmT44nqtiYElEASVfU-9a3f8lA4BjfuEiGHb8Mtj_MBcJbDj0pbz3w9_hu7dkS8tLVsqdcI1MbBHzVz9koVnBt8tMn4VmTxEUGL-87pzQsKjutVI1HczzOe7EzuqlE6dGnXV_G0hD_TgYgYsq-c-RManLjjGHT6_6vJzQBTEtpFFREmzYRUHzTIcWqgU4x-Vet08dKBeRWcnIFYzD_wvsPe6D7-12vRhFYPu_Bw8K_Q0tHXgQMdVqIAuFc7Zy_9P8I6MA8bNJuEYF75ILlVGlqAF7_cE_Xkp82aq_89qr0WCD3z-ZJ4RFMIV_0BPqrMUqlhMlPHytYJh3j3KK_6d-m7Mx-Jq46r6SzwGH7SVtd0fVdEXxlOJEyt7wpqBq_zvwgEyK6nzCuyPX0W6eIJWhLsAGyPTFFoYisFQyUS3a6KCTdUSflU4zO1mZhvMFV-G14bx4FupNKZB-qPJsgjtBoSKB6nTMHx5fK6l8BuxTpRjh",
  "id": "rs_010a146dccf04543016ab43e2ffa5487d0acac6f7c1d4a795e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.22,\"left_yaw\":-0.8,\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.22,\"right_yaw\":2.2},\"note\":\"Both inward advances stopped several centimeters short and the left shoulder effort rose sharply, so the two wrist bodies—not the object tips—are colliding in this side-to-side layout. I’ll separate and raise the arms, then reorient the same coaxial approach along the table’s forward-back direction where the wrists have more clearance.\"}",
  "call_id": "call_g0iNiiyQjvedUd61cm5nmhct",
  "id": "fc_010a146dccf04543016ab43e33a4dc87d096d7ff7364420384",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g0iNiiyQjvedUd61cm5nmhct",
  "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]: [-0.4652, 2.0068, 1.7439, -1.005, 0.6365, 0.8234, 0.0585, 0.2958, 2.2745, 2.0243, -1.5059, -0.7555, -1.7916, 0.0457]\nstate[eef_state]: left_x=0.3539 left_y=-0.2911 left_z=0.1433 left_yaw=-1.5162 left_pitch=-0.3144 left_roll=-0.1711 left_gripper=0.0585 right_x=0.3522 right_y=0.2377 right_z=0.1157 right_yaw=2.0309 right_pitch=-0.2396 right_roll=0.0335 right_gripper=0.0457\nstate[joint_eff]: [-0.0205, -10.5641, 9.0051, 1.033, 0.5495, 0.1148, 0.5397, 0.6769, -13.6547, 5.559, -0.0122, -0.3687, -0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb4fa089fc7ef779f9996f24724d5c7fc9ef8ca7ab62fc954328ff47e313fc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2987e1e6d91b07d69d5000d7cb9c3c5a307adc0fdb40decdaf8588bb30236890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eea169cfc2b75956302669f054c7e1978a5aaa6f523a9bacd9548726384fa13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 4.745 s

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

message 54 changed as sent

message 63 changed as sent

message 67 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3923, 1.927, 1.6352, -0.9108, 0.6872, 0.8845, 0.0549, 0.3859, 1.9182, 1.668, -0.9092, -0.7151, -0.9535, 0.0421]\nstate[eef_state]: left_x=0.3635 left_y=-0.2678 left_z=0.1538 left_yaw=-1.4844 left_pitch=-0.2371 left_roll=-0.0933 left_gripper=0.0549 right_x=0.3659 right_y=0.2775 right_z=0.1713 right_yaw=1.5051 right_pitch=-0.2064 right_roll=0.0228 right_gripper=0.0421\nstate[joint_eff]: [-0.8957, -10.2496, 6.5846, 0.8474, 0.4322, 0.149, 0.735, 1.5795, -8.841, 7.8564, 1.116, -0.5592, 0.0562, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4091, 1.9858, 1.7435, -1.0397, 0.6449, 0.8707, 0.0562, 0.3721, 1.9202, 1.668, -0.9134, -0.7074, -0.9504, 0.0421]\nstate[eef_state]: left_x=0.3617 left_y=-0.2687 left_z=0.1507 left_yaw=-1.4943 left_pitch=-0.3103 left_roll=-0.1565 left_gripper=0.0562 right_x=0.3697 right_y=0.2714 right_z=0.1694 right_yaw=1.4872 right_pitch=-0.2155 right_roll=0.0275 right_gripper=0.0421\nstate[joint_eff]: [-4.6017, -8.5949, 8.4581, 1.4042, 0.6227, -0.0855, 0.7546, 2.6051, -8.841, 8.1162, 1.1258, -0.6032, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 2.0068, 1.7439, -1.005, 0.6365, 0.8234, 0.0585, 0.2958, 2.2745, 2.0243, -1.5059, -0.7555, -1.7916, 0.0457]\nstate[eef_state]: left_x=0.3539 left_y=-0.2911 left_z=0.1433 left_yaw=-1.5162 left_pitch=-0.3144 left_roll=-0.1711 left_gripper=0.0585 right_x=0.3522 right_y=0.2377 right_z=0.1157 right_yaw=2.0309 right_pitch=-0.2396 right_roll=0.0335 right_gripper=0.0457\nstate[joint_eff]: [-0.0205, -10.5641, 9.0051, 1.033, 0.5495, 0.1148, 0.5397, 0.6769, -13.6547, 5.559, -0.0122, -0.3687, -0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb4fa089fc7ef779f9996f24724d5c7fc9ef8ca7ab62fc954328ff47e313fc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2987e1e6d91b07d69d5000d7cb9c3c5a307adc0fdb40decdaf8588bb30236890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eea169cfc2b75956302669f054c7e1978a5aaa6f523a9bacd9548726384fa13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD44h034Sidj-sO866T1ZTxxyrQVF8TaUqEIYfGgHDd4xJtQPu76-j1WzHYYVY1Luh8q1ui6xdCMfgsveSBRYFY2_8-G1HuCAqbDaaArt93n4EB8Rl1Pi5Fmuoy5UcroxwmF2fqb_r0mKllcYnEryLGgALlZurHd8XkdZ2fL5D8Ids_e-_KjdPP-Ko0w1rYufZ3x5CjTulGx7S1Yz0dh-7RAUMkXAhQorqFfUdaj17VqLcKYoJhZCFI2BauFHYElt2CUqRfMb1NEfRnes8x7ELWcMAqJ0GxkGW4-5I5uxEBfWuUbn3aUMrXb5_clLZYVg3tXQcW6749skRikg_mSD-kMaJT1k085je-G5Nikzuuuxcs_-W5gqs1TJrw5S63-hqS4Et54qasaqFofJVwCcSOvdtIsFlVrrgx5V2VJX6d58RCH7EVN-wTdCjdtvJBrya8vkioIJuyoqXt-mfls6l1P-j7xnQBuj3V9gJxtdXvz2m_LhUxVqAr0h5LOaEdg2Mcw2mdGlD20TvM4r8PS8Ukm1lv7rQGEcmyH9WEuTR1vxAxbB6GYBDm-GtDYZBr1_oPIWHG2oyjI9qwVudhhP4j2BIXAwtbBExv1suOE6nVqyS0mJmbcMRvc7dwGiyP7XFrJKltou_ynfpu0sbxP9leMOc8C9ZQ2DNaWQXso19EarGa-QEvnwA-eZf-ebgL_Dv5_ZxOwaIKN0_VwIE9XEwOi2zZ6BWqspcWLPsmXlWqCjq5Cm3W1QacrzZ06840bW2JxPg6tsKXxEh6s9NKzq8fb4qv7FpEc4Rh025L4AXEMZO78etTM4GqWU2PNAwuV_bKRqHUvchf203OPappt63aYbkHuEWP6vJBfy_WT6SO2FVtjY33cW8FDqxyq0P2I5GYlCW0hKE112JZv8NCajgG5NfFV8BfwCIJv3uZ7SgK5ugiOISLkezWaOhi8mRIlz5ChMmcEltAlrVOPm_02I-a7QxDJ7zCyzzjQ8pj1HHno9O02J3ZzwrdWs_OVVefOBUtCVjonMn_PuanY5j0t21aqqWlNJqU_LsELm4kephji57JmUJalCl2OAfaYEX2JAjwQdccZyh5YSFZJ-JgQb0Oa-LHBu0BzSGUEf6CAYbM8mBAaemnHq_BbF5oIeYygtCr0sQa_xcPE7aaPhfC1focapuObfBMFJdLHAxaK_HL4pShMwiG4YWmavJlRCxpBiFKQJ10bYhnZVGl3gOjbtXnZJqhF58HhbWklMVVKdNhwBVCh5zMiH3J8jKUZmsjGLkLASbKx12IiCFDOXW8QuTnhRWvv7P4__CkLu4JKNZ4pRw1gKgTTxEIIx6kNniwFjCrlKgiVnnb78rzRiQnwSKT25BKI_0V9WPQXjCF-r0HdyNB92zKBNWzTwFif-3IWaKBA8BHPRPVQmZ7mIW9RhTDhw2I9fEzeZUfFyVxpAT8N42Dt13dYFdUyXZIJLmfX8NBvRp5XliDEE0qzdK_aCoX6RROk5nDl6Rj4LKK_DfDSn42UXXkfLUFTW01HI9KT91aHL6YZ2zIXkqi6A3QFJLaEBQe0BFXocO-3UqeRk80sBtPZTQ5EKqL6bU1KbL2JwaPKOVmGp6gXQYs_2SZ5WL0Bjvm57YWO7Y9t4L_X1yHsVOo8XaxNM1zzafedANwC0MxS0GZwIzUVuDMRtp8TbHW3mKRgPq0DOLtmj_cWCWNV1XyJ4BvSgPTHu674Z_F9qY_FlVP6QN94zlmDqOyViMifzO2r8nXLeGl369BVga0TupBwOcjBLpmQGWM53lcHckU_OTrVlV3Qmpi2RVfJMwovLQ==",
  "id": "rs_010a146dccf04543016ab43e36d3ec87d0a6bbdd2bb8672ef1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.05,\"right_z\":0.25,\"right_yaw\":2.2},\"note\":\"The combined retreat was blocked because the wrists were still interlocked, and both height readbacks fell instead of rising. I’ll disentangle them one at a time by moving only the right arm outward toward its own side and upward, leaving the left arm fixed.\"}",
  "call_id": "call_HhCcmZcu2Jr6zFpz9qTwD3xU",
  "id": "fc_010a146dccf04543016ab43e3811bc87d0be1c3b360c0dd31e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HhCcmZcu2Jr6zFpz9qTwD3xU",
  "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]: [-0.4618, 2.0079, 1.7428, -1.0096, 0.6277, 0.8196, 0.0609, 0.1612, 1.9644, 1.6108, -1.5661, -0.6693, -2.0529, 0.0466]\nstate[eef_state]: left_x=0.3546 left_y=-0.2884 left_z=0.1413 left_yaw=-1.5086 left_pitch=-0.3254 left_roll=-0.1755 left_gripper=0.0609 right_x=0.2782 right_y=0.1599 right_z=0.1315 right_yaw=2.1096 right_pitch=-0.271 right_roll=0.0341 right_gripper=0.0466\nstate[joint_eff]: [-0.3487, -10.7692, 6.2974, 0.823, 0.3492, -0.0024, 0.5104, 0.3214, -10.3316, 5.2444, -0.4078, -0.3639, -0.1392, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ea914de877e9de145545df528a8eabe3c17bfc97b028e1ec92d8fd4b85559e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f808b3a371a59b2a5c09e663eb58b7b726f01a331de545225e3ab4280a93ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b23fcb487bc7dd5da541b38b858bcdca3dc3df9e4c93204eb9138e8e52b2dac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.975 s

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

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3859, 1.9671, 1.7168, -1.0195, 0.688, 0.9348, 0.0557, 0.387, 1.9182, 1.668, -0.9051, -0.7151, -0.9497, 0.0421]\nstate[eef_state]: left_x=0.3624 left_y=-0.2644 left_z=0.1559 left_yaw=-1.5216 left_pitch=-0.2634 left_roll=-0.1204 left_gripper=0.0557 right_x=0.3663 right_y=0.2782 right_z=0.1717 right_yaw=1.5034 right_pitch=-0.2047 right_roll=0.0218 right_gripper=0.0421\nstate[joint_eff]: [0.1436, -9.9897, 9.0325, 0.9792, 0.6032, 0.0757, 0.6618, 1.4427, -8.8957, 8.1983, 0.9744, -0.5885, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 2.0068, 1.7439, -1.005, 0.6365, 0.8234, 0.0585, 0.2958, 2.2745, 2.0243, -1.5059, -0.7555, -1.7916, 0.0457]\nstate[eef_state]: left_x=0.3539 left_y=-0.2911 left_z=0.1433 left_yaw=-1.5162 left_pitch=-0.3144 left_roll=-0.1711 left_gripper=0.0585 right_x=0.3522 right_y=0.2377 right_z=0.1157 right_yaw=2.0309 right_pitch=-0.2396 right_roll=0.0335 right_gripper=0.0457\nstate[joint_eff]: [-0.0205, -10.5641, 9.0051, 1.033, 0.5495, 0.1148, 0.5397, 0.6769, -13.6547, 5.559, -0.0122, -0.3687, -0.1099, 1.033]\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 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 2.0079, 1.7428, -1.0096, 0.6277, 0.8196, 0.0609, 0.1612, 1.9644, 1.6108, -1.5661, -0.6693, -2.0529, 0.0466]\nstate[eef_state]: left_x=0.3546 left_y=-0.2884 left_z=0.1413 left_yaw=-1.5086 left_pitch=-0.3254 left_roll=-0.1755 left_gripper=0.0609 right_x=0.2782 right_y=0.1599 right_z=0.1315 right_yaw=2.1096 right_pitch=-0.271 right_roll=0.0341 right_gripper=0.0466\nstate[joint_eff]: [-0.3487, -10.7692, 6.2974, 0.823, 0.3492, -0.0024, 0.5104, 0.3214, -10.3316, 5.2444, -0.4078, -0.3639, -0.1392, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ea914de877e9de145545df528a8eabe3c17bfc97b028e1ec92d8fd4b85559e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f808b3a371a59b2a5c09e663eb58b7b726f01a331de545225e3ab4280a93ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b23fcb487bc7dd5da541b38b858bcdca3dc3df9e4c93204eb9138e8e52b2dac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4_uBil-oNQYkdaFhF14lvmekKtVrBtJ2-RNs5mo848hy0o-T0Ytb4dQzj8oCQqzliQYEX8Z_TFslElroZqRTH7LLhufSAy41YN0tNnx32X9BfEIVd7R9-3IdcyNRDCQZ-UetehrPxqYIyHAnMhQDZpUh7uSEIBZes6nPdPosafC0rTFg90-jfByIoj18R150RpUyMSJqrhvp5te8ilLC4yNyl6jgeHrAXNn2R3vnPrzuE0D3QrBvnlNO-gT79_6hHAjNPXqtrHr0I77O_TB3mmJG-sFX5Inu386F3h0I5KSHjemaegDDmucgscHY8IZLPOu6Ed1fg5auahK0y5lnSyOi_kofU6tdaem6HKtbd17KZDhhpCEjE-kgml1s-K3a3cWUjrHwtAFdcESybrthNT7_xvysCmxU7b8xtsu4E7o2-P50E611yo38dyxE4C2Si1xcUgmXGxeg0gmsIQAX4ob3cODFtk6AqgVEzp0FIJTR16XjT2zoZuF52Q4VpXG9NhIwl4-X-4eqMBA35yjGVu1It84Yu_8ta1Q8Gre8U1g7JSkdsGWWDnItINFZkNTbGL8eCAh-u6jRXPnZRAXDQn5CrgC13hguyxAwigT8rCgJ1iPyijLOjKKzFS8tbW4U4bGdM-mKfN3-htBLDZJEf_3SzayX9hjcc5jGBnXg3_wR5J4g69Bhd0DfQTvWkbfcE5iY-Abtgd8yYMTZjLhxyekdmpO5RK3OgMWiaF_JDg6FjqRHHLNyfFSxWEZtqOQsblK5NRhGBR2uA7WdfpCgMgvu7oHf9aFw3ZCWMT-R7aHMGexRJeqLK6NG5Kxe6KuF1SRnLCS-xK7zVnPLi2JFOIRd4n9Q2uZ9KoczD5VlpIyYBqDRKmHTJSHvCz5z9TSM9SQNeQx-6lhdsJdJIc50pGU_2eICyMeMXhx-FHBQsVp3LeOR0m4ZLkoP2O8ROjcL_CF7Vk1W0v05Sj0gpzk-UyTga4zgakPmi-ZjNcoQVLgswW-guO2Y1gJynur-M5tvZ33ByeM8iegOV4tbCPO_vweQK32dsljUs_SmAg866SS9k1h8SqXbydih8VGDFj3glbA_AnlIu2xSVkUIesdMFa9xVeRAS2umHx0MIphu_c6KL-WaQ3rtL5z5rDt4da3JR39SYhGMwhzGWmYu0QUQdkoHRPIJ5BCVG-24yjbvAMyKT8Ft-ywNn1dkjv-CNPwQJv6N8WN-NIBzMIjBMfvMqJo6oGnIgTPYE0OM8lWT7eXLE6ZKi33TU_UQjcBHyhJT67qtFOyDqBX1NoE9R0UXhl1sxt2i5OWzeugd5RxoOPNM_O1Tc0QDbjXLgvrQvtw-dxAZSwpTHoJtyvxlD2fbVJf-HlAMhZDl7jnC_qW3-t0V2rGxNlH1yeQ834bL44UnXt-WboF6-v_J7TyxWG19lVDvHzu7EnAtM2J6J_Yqzwtgz8zD_V7nd84l95p32sdCW3EpTpdFg-0GfYek-bJQj2D_5c9VXYdLf7GaMyF-8IRsNvpNWNnQPD4JB3D9I87pGbFuP2nHKluAS4Hwc21tpTTVwZErjNqRmU7qjwhFp93q0YxyRC0Rl7h3oTh9glyT7Npq4C15MI0QakUt3Iv5YVetRFPIoWWx6JSzgfgxUYvmrUg7vBGJtFMo2ZxGBbF-wfn62-bueDaJ87Az3yhLRBzpXz1G4_EHKXLGVBiXo7pD0gQDLqwBiFJZ5mNhSGUpB8",
  "id": "rs_010a146dccf04543016ab43e3c2e2487d081fd9159b5890da3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.28,\"left_z\":0.22,\"left_yaw\":-0.7},\"note\":\"The right wrist has separated to its own side and the pen remains secure, giving the left wrist clear space. I’ll now move only the cap upward and rearward while rotating it halfway toward a forward-pointing assembly axis.\"}",
  "call_id": "call_sifCY6sc8PkxOcX0nFxTsMOp",
  "id": "fc_010a146dccf04543016ab43e3d89ac87d0b618a3470cfe6cd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sifCY6sc8PkxOcX0nFxTsMOp",
  "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]: [-0.7494, 1.4796, 1.3716, -0.7952, 0.1833, -0.0193, 0.0637, 0.094, 1.9499, 1.5734, -1.5604, -0.6476, -2.0838, 0.0477]\nstate[eef_state]: left_x=0.2711 left_y=-0.2913 left_z=0.2169 left_yaw=-0.9133 left_pitch=-0.3201 left_roll=-0.1589 left_gripper=0.0637 right_x=0.2801 right_y=0.1371 right_z=0.1263 right_yaw=2.0738 right_pitch=-0.2825 right_roll=0.0371 right_gripper=0.0477\nstate[joint_eff]: [-0.0889, -6.3795, 6.2564, 1.3993, -0.1441, -0.0952, 0.2857, 0.1709, -11.3846, 5.0256, -0.442, -0.3541, -0.1343, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b90383af59bb234fb92070c2890b733b0c383f11774bac7cd56e540a130b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e62f6eba632fe09f394863719c578b77af9f9482f1ce47b15842defac4b8b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a673c5819148e85d03c1350e235f8a593a57d6b33c71c71bf7e0d99df668a57d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 1.896 s

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

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4091, 1.9858, 1.7435, -1.0397, 0.6449, 0.8707, 0.0562, 0.3721, 1.9202, 1.668, -0.9134, -0.7074, -0.9504, 0.0421]\nstate[eef_state]: left_x=0.3617 left_y=-0.2687 left_z=0.1507 left_yaw=-1.4943 left_pitch=-0.3103 left_roll=-0.1565 left_gripper=0.0562 right_x=0.3697 right_y=0.2714 right_z=0.1694 right_yaw=1.4872 right_pitch=-0.2155 right_roll=0.0275 right_gripper=0.0421\nstate[joint_eff]: [-4.6017, -8.5949, 8.4581, 1.4042, 0.6227, -0.0855, 0.7546, 2.6051, -8.841, 8.1162, 1.1258, -0.6032, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 2.0079, 1.7428, -1.0096, 0.6277, 0.8196, 0.0609, 0.1612, 1.9644, 1.6108, -1.5661, -0.6693, -2.0529, 0.0466]\nstate[eef_state]: left_x=0.3546 left_y=-0.2884 left_z=0.1413 left_yaw=-1.5086 left_pitch=-0.3254 left_roll=-0.1755 left_gripper=0.0609 right_x=0.2782 right_y=0.1599 right_z=0.1315 right_yaw=2.1096 right_pitch=-0.271 right_roll=0.0341 right_gripper=0.0466\nstate[joint_eff]: [-0.3487, -10.7692, 6.2974, 0.823, 0.3492, -0.0024, 0.5104, 0.3214, -10.3316, 5.2444, -0.4078, -0.3639, -0.1392, 1.033]\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 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7494, 1.4796, 1.3716, -0.7952, 0.1833, -0.0193, 0.0637, 0.094, 1.9499, 1.5734, -1.5604, -0.6476, -2.0838, 0.0477]\nstate[eef_state]: left_x=0.2711 left_y=-0.2913 left_z=0.2169 left_yaw=-0.9133 left_pitch=-0.3201 left_roll=-0.1589 left_gripper=0.0637 right_x=0.2801 right_y=0.1371 right_z=0.1263 right_yaw=2.0738 right_pitch=-0.2825 right_roll=0.0371 right_gripper=0.0477\nstate[joint_eff]: [-0.0889, -6.3795, 6.2564, 1.3993, -0.1441, -0.0952, 0.2857, 0.1709, -11.3846, 5.0256, -0.442, -0.3541, -0.1343, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b90383af59bb234fb92070c2890b733b0c383f11774bac7cd56e540a130b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e62f6eba632fe09f394863719c578b77af9f9482f1ce47b15842defac4b8b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a673c5819148e85d03c1350e235f8a593a57d6b33c71c71bf7e0d99df668a57d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5DE0KYS4e7IwK2nzJWDUOohExT5w47V0sReoMbmi8cPNiQaMUwHyLYaec5Gjn8bQOQn2g-fhKvsFUvAZvUJmL1vDFv2JK90V3M8F4uRj4Tz1o-XXLQD61XkfQhff3OPBydI5YtNXJwASUctepPlupua-vtjommldV_Qux_WSCAKb_ZKpT0--IzyQJXRz-fBLTXFBEeaVAa1VoDJgIpFRP3iVfhWAFdK3nliQECbB7jCOPe3nVDLzBU9NjQV18jVFEOgaVRTPzni4Aw4hhK2jMmOkK8J5t7AJ_29IvtM62m28ydhN8Bo3K4m1092rRejxefN23xV7dWU32B3M9nlJCz_ohlccB-pn0LFgh3KTS1yLTWN2y_DO4rB1AFgQF5fycC9h8ZIiM6TKgzZ7u9NLD22AakFdBQN4Dd0_7X5rHUVgTOYU-UyxX58ERgxM5igBxp73quZlx2JVi7gFBLhKx4StQ0DthXeX9nLM9apZcQJ99soU88hx86Ec-oJ-Un4rrmZkN8WL7zOtb-jDd4migVsPS99B6ZKYissuF1vvMWC9DokSw6CvnRnApRdQv64XyGg3ryJDPZG15EIwLqXGlIxxDAxSg8bHn2B6-7DDUaohpHd7V2hl7Jt_pEgHtxVtFJYIGS4E1yEKKURBrCFMeBsIsGZsP4fjnjIgSEzzIWtoEVXLW3aGLh6RwKV6ZzN_pK4OykXYxDRNBZj-mjLhA9FMjMu3V01GpTFPLJhBrIYLXgPSMTbxA2MaBBC3yZZhxFgFZX-oAj3jvfr736xfVRr6wXXC0hwVJYm_LvQSNKZlY-dRSEhTNPKyhMmGd5DekGMGfQKSyx6pcBW--C5v87w3L4pFwCoDy8DoTiVfZhH_CPPH27D0PR4lkaSLZ5P3JL2B5SlTSHcve0cQhoeESJ0S7WlGJjGFQBjKN3At9NnveRaBjXrYDQ0EtaqhM8FCl91bDN_34Ijvt0wPOR-A7tdJ-zf5mI8KJt2kTO2Lgdx1mQJHl70dPKXmWLNjhGRw6BIsRSsSk8sLpL0DnU1ZIhaoPBKwNkCj_LNnLEfi72aWqjkvkrNkw0JCnshoslckEqF2t3OLFCsXJ_ShJ69fRNkdDspl8fH-isUGui2PS6j4MIDyyZn6mfgCodfvXKTZkC9mUfbwhnHNqfsrlMZR-5y9g8HLd84BAXRqNxFkwVcbA1xaxYK7TTO3VZVzU906E0K4bsZ7dBCfYXk6JIAHtocP2Gznpe2y9vc2YtXXhZ4TRFhBA7D049IqryaaSAaXiNbXRmNUrm9DXT-pDG1P9p-iiPn8txX8s6xIKpP1SpGWTQWO17XuSHUNSZP4NBkecR2pFrFBY8tSPrenP0Fzsuw2Y4mWBrJTz7MgmftOlpqBw1dfZMkgZO7Y4B8Bu6NH4ITz1N_KOQL04OiR1WhciBwnSMuLRww8wpeULH6rpsOGx1mxgnoKtL5WOM4xubrZMP",
  "id": "rs_010a146dccf04543016ab43e41be3487d0b4a4af2544118e6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.3,\"left_z\":0.22,\"left_yaw\":-0.3},\"note\":\"The cap arm is now high and clear behind the pen, with both objects still held. I’ll continue rotating the cap toward the forward direction in another modest increment while keeping it in the open center lane.\"}",
  "call_id": "call_sYmZVhFQyaCmTMEwyuJn5JiV",
  "id": "fc_010a146dccf04543016ab43e4272c487d0ad176d57e58bc584",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sYmZVhFQyaCmTMEwyuJn5JiV",
  "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]: [-0.9108, 1.6024, 1.4631, -0.8268, -0.1761, -0.4862, 0.0661, 0.094, 1.9495, 1.5723, -1.5608, -0.6472, -2.0834, 0.05]\nstate[eef_state]: left_x=0.2836 left_y=-0.3091 left_z=0.2007 left_yaw=-0.4824 left_pitch=-0.3809 left_roll=-0.1452 left_gripper=0.0661 right_x=0.2798 right_y=0.137 right_z=0.1262 right_yaw=2.0741 right_pitch=-0.2824 right_roll=0.0386 right_gripper=0.05\nstate[joint_eff]: [0.4718, -8.759, 9.6479, 1.1013, -0.2613, -0.0366, 0.2271, 0.1573, -11.3709, 5.1761, -0.5153, -0.4078, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c224b680b02bcbbe06ae5c897d83dcdc30194869ca0613361f440f63d60ad39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710b8d79892b02455e20c277e344390e84699ac5db2ca32d60f614cf952af134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37361a1091fb024ecbcc363a1052a342fafc1fba17f1e38185e46dcf4cab1218",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 4.161 s

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

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 2.0068, 1.7439, -1.005, 0.6365, 0.8234, 0.0585, 0.2958, 2.2745, 2.0243, -1.5059, -0.7555, -1.7916, 0.0457]\nstate[eef_state]: left_x=0.3539 left_y=-0.2911 left_z=0.1433 left_yaw=-1.5162 left_pitch=-0.3144 left_roll=-0.1711 left_gripper=0.0585 right_x=0.3522 right_y=0.2377 right_z=0.1157 right_yaw=2.0309 right_pitch=-0.2396 right_roll=0.0335 right_gripper=0.0457\nstate[joint_eff]: [-0.0205, -10.5641, 9.0051, 1.033, 0.5495, 0.1148, 0.5397, 0.6769, -13.6547, 5.559, -0.0122, -0.3687, -0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7494, 1.4796, 1.3716, -0.7952, 0.1833, -0.0193, 0.0637, 0.094, 1.9499, 1.5734, -1.5604, -0.6476, -2.0838, 0.0477]\nstate[eef_state]: left_x=0.2711 left_y=-0.2913 left_z=0.2169 left_yaw=-0.9133 left_pitch=-0.3201 left_roll=-0.1589 left_gripper=0.0637 right_x=0.2801 right_y=0.1371 right_z=0.1263 right_yaw=2.0738 right_pitch=-0.2825 right_roll=0.0371 right_gripper=0.0477\nstate[joint_eff]: [-0.0889, -6.3795, 6.2564, 1.3993, -0.1441, -0.0952, 0.2857, 0.1709, -11.3846, 5.0256, -0.442, -0.3541, -0.1343, 1.0134]\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 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9108, 1.6024, 1.4631, -0.8268, -0.1761, -0.4862, 0.0661, 0.094, 1.9495, 1.5723, -1.5608, -0.6472, -2.0834, 0.05]\nstate[eef_state]: left_x=0.2836 left_y=-0.3091 left_z=0.2007 left_yaw=-0.4824 left_pitch=-0.3809 left_roll=-0.1452 left_gripper=0.0661 right_x=0.2798 right_y=0.137 right_z=0.1262 right_yaw=2.0741 right_pitch=-0.2824 right_roll=0.0386 right_gripper=0.05\nstate[joint_eff]: [0.4718, -8.759, 9.6479, 1.1013, -0.2613, -0.0366, 0.2271, 0.1573, -11.3709, 5.1761, -0.5153, -0.4078, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c224b680b02bcbbe06ae5c897d83dcdc30194869ca0613361f440f63d60ad39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710b8d79892b02455e20c277e344390e84699ac5db2ca32d60f614cf952af134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37361a1091fb024ecbcc363a1052a342fafc1fba17f1e38185e46dcf4cab1218",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5Fmhfv2eU0oo0bgQt931s5ffnSyPJB-csp1nDDK9AU6x6zr8VrWxzAcTpYRsRGX8XUJt3oR0RIRPygPw_gBV5P-VVFC4KXomN-ow_AKUonGODQheWHw5CTBvvTG-agjgrqoCHknblidzQMHoLzEEdeiWOUbUknlW5SCp4gMUKVTEWEWs1yH4kArYRjXrdgHofg4zLJHQx763Y6Xr8ulaT3PXMlzdg0B93tWtsOImkII4eDDponcmeB9V2XE_SNRrntQtmYYxcKa-wWryoSG_o3KaM2BVQpV0xlgItkagOw1bvdFKk3-jwjLpBaRbmuI3mi5c2bivEHOjEDC0_dSJhEhPJ5oKr4dFzMI4kCSzc2orNwnXyyzH0yitMerzZdt7pnTOf7bYpohpXs-6kOFUsqHFOkZRzJGeorEBSW9R3S_tLsSv3SAIvMO4tZqPJUzVCH50spFUCOlzrPvFamn5MdHYmuk9o8DBBvz-Zk6kJn4yylLNYm18pvWgPveyBBiCK29WArALKS0p_-Ca3Aq8C9CpKjn8coTm9P5HjcnWnXd1x9kevvsjA9qa4Vx0U1GQCApOa3rXebrf2OvTuawSHSNvI92dp9QNet4qtpIiV74qkafpmVRbvC-fuQN-C4F52bttfXsNvYcSsa1mIwv-_E7Ov3M9Jv3FCL3nTeO-Q7tupD_eS-AbmrEBmrnBCwQ5VY6OuWjXsa_kwNLKvaVvrW9fikgzapYwMFAz0Xod0g6ubNFmsu75vBAHaYfDaQE_1QLsrFOA5Jav_VUSIq9sb6htmmoaFjYnvB1cluErguBzMyoByOE7zwDRCa_ILvcW8bKlN3ATlbjIlNd2SP6fi78_dADmx3tlqaaoiZG3H2dH1ezee1sR9r8HMUs3hzzu2aqxg1VdE_xOuCgKuysWu7a4v1z-ltDfNcGe0TToO4Tq3WVaARRefEhJFGkp6QbKIaW87Xb0-ATCbva1HmvGbO8G11-uycONL6ce8Z1sTGi92XQZ8tC50r9AEL27GlXd0gGaDnNo0UBuUo7QEm---sTxOqUAA5GCwvti8b3uaONsVbXJkJ3qneUqRhvdTbGz2NapGzY57U1k8WIAASI-krhMWVNq0pxIpzsh5x5-C3DiWWqv9ZvIPh8o5vQXpS6ncFwDVYZJK3bddSlHF5p35z6m3F01K0WlocdIQCMip7JPE=",
  "id": "rs_010a146dccf04543016ab43e451c9487d0a92d11bcfea99e88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.0},\"note\":\"The cap wrist remains clear and has nearly reached the forward-facing orientation. I’ll finish that rotation before positioning the pen on the same longitudinal axis.\"}",
  "call_id": "call_QvIx238dl2U6fqWsvZ02d63D",
  "id": "fc_010a146dccf04543016ab43e452ef087d0a0adeb2b4be27bb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QvIx238dl2U6fqWsvZ02d63D",
  "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]: [-0.9234, 1.6245, 1.4857, -0.8455, -0.2848, -0.6315, 0.0674, 0.0937, 1.9495, 1.5723, -1.56, -0.6476, -2.0834, 0.0501]\nstate[eef_state]: left_x=0.2944 left_y=-0.3011 left_z=0.2017 left_yaw=-0.3163 left_pitch=-0.3627 left_roll=-0.1434 left_gripper=0.0674 right_x=0.28 right_y=0.1369 right_z=0.1261 right_yaw=2.0733 right_pitch=-0.2824 right_roll=0.0378 right_gripper=0.0501\nstate[joint_eff]: [0.0342, -8.759, 9.3197, 1.1697, -0.3736, -0.0806, 0.1197, -0.2803, -9.2513, 5.0803, -0.4274, -0.4029, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dad7bcea34f5b7758820fafbb6d15707d807d48ab9af3a2b7effcfa6bd6dbee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2fec3e9a41e55c2a788cbaf4c1a1c7c2435628716d267dab086985f7e2ed7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de30e41e9b529fc106de9063517b6219ee00faf4a980a769ecf1d780c6a27a6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.917 s

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

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4618, 2.0079, 1.7428, -1.0096, 0.6277, 0.8196, 0.0609, 0.1612, 1.9644, 1.6108, -1.5661, -0.6693, -2.0529, 0.0466]\nstate[eef_state]: left_x=0.3546 left_y=-0.2884 left_z=0.1413 left_yaw=-1.5086 left_pitch=-0.3254 left_roll=-0.1755 left_gripper=0.0609 right_x=0.2782 right_y=0.1599 right_z=0.1315 right_yaw=2.1096 right_pitch=-0.271 right_roll=0.0341 right_gripper=0.0466\nstate[joint_eff]: [-0.3487, -10.7692, 6.2974, 0.823, 0.3492, -0.0024, 0.5104, 0.3214, -10.3316, 5.2444, -0.4078, -0.3639, -0.1392, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9108, 1.6024, 1.4631, -0.8268, -0.1761, -0.4862, 0.0661, 0.094, 1.9495, 1.5723, -1.5608, -0.6472, -2.0834, 0.05]\nstate[eef_state]: left_x=0.2836 left_y=-0.3091 left_z=0.2007 left_yaw=-0.4824 left_pitch=-0.3809 left_roll=-0.1452 left_gripper=0.0661 right_x=0.2798 right_y=0.137 right_z=0.1262 right_yaw=2.0741 right_pitch=-0.2824 right_roll=0.0386 right_gripper=0.05\nstate[joint_eff]: [0.4718, -8.759, 9.6479, 1.1013, -0.2613, -0.0366, 0.2271, 0.1573, -11.3709, 5.1761, -0.5153, -0.4078, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9234, 1.6245, 1.4857, -0.8455, -0.2848, -0.6315, 0.0674, 0.0937, 1.9495, 1.5723, -1.56, -0.6476, -2.0834, 0.0501]\nstate[eef_state]: left_x=0.2944 left_y=-0.3011 left_z=0.2017 left_yaw=-0.3163 left_pitch=-0.3627 left_roll=-0.1434 left_gripper=0.0674 right_x=0.28 right_y=0.1369 right_z=0.1261 right_yaw=2.0733 right_pitch=-0.2824 right_roll=0.0378 right_gripper=0.0501\nstate[joint_eff]: [0.0342, -8.759, 9.3197, 1.1697, -0.3736, -0.0806, 0.1197, -0.2803, -9.2513, 5.0803, -0.4274, -0.4029, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dad7bcea34f5b7758820fafbb6d15707d807d48ab9af3a2b7effcfa6bd6dbee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2fec3e9a41e55c2a788cbaf4c1a1c7c2435628716d267dab086985f7e2ed7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de30e41e9b529fc106de9063517b6219ee00faf4a980a769ecf1d780c6a27a6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5KAn545EoVycfezqnIOSJQ6vGa-2_XzgK5KJlxSXNCYLWdBPZdYAcJ561GSNGhLLqqipyod25FKh9jBgNJIKmKZIXH2FjQPRS7sOmeyOGMThySsBeTnMASxB8Qam-o-HLDmP4gVJLyyBdbKsZhT1KoXd27IOmnKqkzqxoNJ9W0SvLY7LCF3LWYoa5Tkks7KimggWfiy_4DCcznvxwqO7Pu3LTkrO_kxU9bnehP-00w9krMnKLvrDDJn4amZRAvjN6dqrNCg8sQITfMl8i0mpvxxUeczauYEw_t9qYolO7nASZhripF2zq3d_uF8IaaxugGdReB5ygCo5SoVHZSI3GwCOq0ZG6nidLQ6NLdbRH_huuOWYFTBaHDt84rNTygJ8aMZ-lQO2-qFuNROcMmB0dkajFnloZlFN7bCSPmsBk3q2VHLRvhGP525-9bCd6iTjdN7-REWn_o_errceARsevphH6K8QPUGxk2fiIHPf3oLo_5d5pWZUByUySvoP6T_NJ1fK3gojhHhVEyo7k4BesMluFew597EkLYZS3AqhrGZ9QdU_9ORyDubvdUAJ_ePQLiblGTI2ArM3L9fhjrGiYxvJQCYCmKdwkbRXWlwRYp6V19bHmirZUBCy92je8ZaaORV_W5M80JU3ZunjqLSn9hP-pbvlgsy7xz2_36Zg2Cg2nu6jSuCLQ07oGx78IdVBLa5wfUfVqbWG9JBx8C5UFIqZbaPof4HzYfBDx_U75m2muHUwmZCpbsnwLuq7SxEEExiWW0yi7_JYJAcmxfPCambS3-ZN4ym2lCcMFbjTBvIEWC1zM49DjRkeSkwkJNdI8_BqUcu_MZLlUeuXsS8YgLDSbiEt6XjEqZYS1z3ahaDpnnUOp6VM9ze-Znd1Jb0vq6HyKzTV6S7_N0p5rKxQP84MbGpyaK_npWh_dyuBGeaSG_mG4WqBL3crU5iryk1URmICEHi00qYd3bowLtmenuFHK0zSc83wq8forQ6LM27aOyRCo4I-fteW3JzrO102suT887jS8UnBdVw6AVuC6uMzNsZ3KrhnbSkleDG5VLVfF-mAsFN-Yc_2xRnYjrJIaNMmVYA00yWYnzma6djaMoUDclYzNJX2GDntNYnw6FnJfhO-5xW-VlcfQQAeqmZ8iu7OnQtwMVzZiVYZKzWXLiagSRPXMiXuGWWzZrSIbu8DFxHVlyof5lB12Ok5TakX70FBpynogOCE0Tf72wLy2cFVdEuoRH1SwJKspDcWzznw0uOkbjJ5i1ZD6ULRwt_3M-cLxPdCEUuC5YnldkizoMS-SYujdICxdc1oBICyWsDN2YTAu4-EFQXaLCaKC_DjcjmZ_Sgo39pLI3Uj7ifxQ60GiojAjP5z0ciesgtDlm9SId4EmBKnBcydr-aTP0SEYSM2bAvReSjNeJ-3-e9QK25KREnUD3Kf5tvP_zq6604zyKV0yWD_1FsS7Yv2-X48H2MNN6JCSJyvhKOWo7eYSQcda24BWzvqqOz2Q224VDDebpFC1jeAA-o33A31k1zIa4E1Xh9H61DyANef-Z4IMLezKqh6K4jP4roDivbelOMZ9-XZDN2NDvVUWvyFbIPMcgL5WhwotgcwSa-L_hBFdAmKQ9X9oY2lBL7kmOdJSqaZOjHRli3k_XLnhONOhCQVojxs3hH1IB1F0D0ZBKhFI3Id_aUNXjO_3_UXYHhsaJl-ojqk7ro1thgSmRQ_K8YREafCLtXNI2cXsGvTfAZ7pHLqSghbxpgSH3P4D63AFZUxBKp_GJekc_JZebHzJ4viWjLa2NEEZYl3xJg-uXINLS7A==",
  "id": "rs_010a146dccf04543016ab43e48022087d08816f195223bd997",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.35,\"right_z\":0.22,\"right_yaw\":2.6},\"note\":\"The cap is parked around x=0.29, pointing nearly forward. I’ll bring the pen to a point about 13 cm farther forward on the same center lane, high above the table, while rotating its tip backward toward the cap.\"}",
  "call_id": "call_ykz9rqtnlytfVh3jW8GE54Kg",
  "id": "fc_010a146dccf04543016ab43e49326487d0a343bbad364d23ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ykz9rqtnlytfVh3jW8GE54Kg",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9226, 1.6249, 1.4624, -1.0603, -0.2882, -0.6312, 0.0702, 0.5465, 2.3566, 2.0777, -1.5593, -0.6209, -2.0308, 0.0501]\nstate[eef_state]: left_x=0.2647 left_y=-0.2603 left_z=0.1702 left_yaw=-0.2422 left_pitch=-0.552 left_roll=0.0189 left_gripper=0.0702 right_x=0.2882 right_y=0.2998 right_z=0.0829 right_yaw=2.4784 right_pitch=-0.3437 right_roll=-0.0132 right_gripper=0.0501\nstate[joint_eff]: [-0.4171, -7.4462, 8.1846, 3.3529, -0.1148, -0.022, 0.2759, 5.3949, -11.0564, 6.7214, -0.3346, -0.6862, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c61ba49394cd5bf5b4cccb4eca7e70f2c48fde02edccaf601a1b56cbd698657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28fcec4beff0fbe3f470c31a1c4c2e4084c07ebfa2561551409d5e2ce0ceae4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be57ce955c3ee19688b9bbd1942a66c00407920b1aa87825775ab41e6020f55b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 13.53 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7494, 1.4796, 1.3716, -0.7952, 0.1833, -0.0193, 0.0637, 0.094, 1.9499, 1.5734, -1.5604, -0.6476, -2.0838, 0.0477]\nstate[eef_state]: left_x=0.2711 left_y=-0.2913 left_z=0.2169 left_yaw=-0.9133 left_pitch=-0.3201 left_roll=-0.1589 left_gripper=0.0637 right_x=0.2801 right_y=0.1371 right_z=0.1263 right_yaw=2.0738 right_pitch=-0.2825 right_roll=0.0371 right_gripper=0.0477\nstate[joint_eff]: [-0.0889, -6.3795, 6.2564, 1.3993, -0.1441, -0.0952, 0.2857, 0.1709, -11.3846, 5.0256, -0.442, -0.3541, -0.1343, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9234, 1.6245, 1.4857, -0.8455, -0.2848, -0.6315, 0.0674, 0.0937, 1.9495, 1.5723, -1.56, -0.6476, -2.0834, 0.0501]\nstate[eef_state]: left_x=0.2944 left_y=-0.3011 left_z=0.2017 left_yaw=-0.3163 left_pitch=-0.3627 left_roll=-0.1434 left_gripper=0.0674 right_x=0.28 right_y=0.1369 right_z=0.1261 right_yaw=2.0733 right_pitch=-0.2824 right_roll=0.0378 right_gripper=0.0501\nstate[joint_eff]: [0.0342, -8.759, 9.3197, 1.1697, -0.3736, -0.0806, 0.1197, -0.2803, -9.2513, 5.0803, -0.4274, -0.4029, -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 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9226, 1.6249, 1.4624, -1.0603, -0.2882, -0.6312, 0.0702, 0.5465, 2.3566, 2.0777, -1.5593, -0.6209, -2.0308, 0.0501]\nstate[eef_state]: left_x=0.2647 left_y=-0.2603 left_z=0.1702 left_yaw=-0.2422 left_pitch=-0.552 left_roll=0.0189 left_gripper=0.0702 right_x=0.2882 right_y=0.2998 right_z=0.0829 right_yaw=2.4784 right_pitch=-0.3437 right_roll=-0.0132 right_gripper=0.0501\nstate[joint_eff]: [-0.4171, -7.4462, 8.1846, 3.3529, -0.1148, -0.022, 0.2759, 5.3949, -11.0564, 6.7214, -0.3346, -0.6862, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c61ba49394cd5bf5b4cccb4eca7e70f2c48fde02edccaf601a1b56cbd698657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28fcec4beff0fbe3f470c31a1c4c2e4084c07ebfa2561551409d5e2ce0ceae4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be57ce955c3ee19688b9bbd1942a66c00407920b1aa87825775ab41e6020f55b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_010a146dccf04543016ab43e4e097887d08a190127d0caec4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.05,\"right_z\":0.25,\"right_yaw\":2.5},\"note\":\"The pen arm’s diagonal transfer clipped the cap wrist before reaching the forward station, as shown by both poses being displaced and the low right height. I’ll again free only the right arm outward to its own side, then route it forward before moving laterally inward.\"}",
  "call_id": "call_PMFPk0DbyijOJ1HmV94Xe97u",
  "id": "fc_010a146dccf04543016ab43e4ede6487d09c5f49f1e775037d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PMFPk0DbyijOJ1HmV94Xe97u",
  "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]: [-0.9215, 1.6245, 1.4296, -1.0672, -0.281, -0.6361, 0.0717, 0.4313, 2.0632, 1.7554, -1.56, -0.5678, -2.0838, 0.0501]\nstate[eef_state]: left_x=0.2589 left_y=-0.2541 left_z=0.1587 left_yaw=-0.2277 left_pitch=-0.5867 left_roll=0.0397 left_gripper=0.0717 right_x=0.2605 right_y=0.2284 right_z=0.1184 right_yaw=2.4258 right_pitch=-0.3794 right_roll=0.0027 right_gripper=0.0501\nstate[joint_eff]: [-0.1436, -7.3094, 9.0462, 0.9353, -0.3004, -0.0073, 0.149, -0.841, -13.1761, 4.9436, -0.398, -0.2808, -0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548a66732f61bc422aac524ed53874d59b937309294729f040ef45552019c5ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:debf77fc715b1fd1d0407c70b99d5279d9892c33d1d745b788365f03b4b42f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0a063894bdb41bcac42e546e88b34747b4d24323bef1ab2cbbc4d8a5508a57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.235 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9108, 1.6024, 1.4631, -0.8268, -0.1761, -0.4862, 0.0661, 0.094, 1.9495, 1.5723, -1.5608, -0.6472, -2.0834, 0.05]\nstate[eef_state]: left_x=0.2836 left_y=-0.3091 left_z=0.2007 left_yaw=-0.4824 left_pitch=-0.3809 left_roll=-0.1452 left_gripper=0.0661 right_x=0.2798 right_y=0.137 right_z=0.1262 right_yaw=2.0741 right_pitch=-0.2824 right_roll=0.0386 right_gripper=0.05\nstate[joint_eff]: [0.4718, -8.759, 9.6479, 1.1013, -0.2613, -0.0366, 0.2271, 0.1573, -11.3709, 5.1761, -0.5153, -0.4078, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9226, 1.6249, 1.4624, -1.0603, -0.2882, -0.6312, 0.0702, 0.5465, 2.3566, 2.0777, -1.5593, -0.6209, -2.0308, 0.0501]\nstate[eef_state]: left_x=0.2647 left_y=-0.2603 left_z=0.1702 left_yaw=-0.2422 left_pitch=-0.552 left_roll=0.0189 left_gripper=0.0702 right_x=0.2882 right_y=0.2998 right_z=0.0829 right_yaw=2.4784 right_pitch=-0.3437 right_roll=-0.0132 right_gripper=0.0501\nstate[joint_eff]: [-0.4171, -7.4462, 8.1846, 3.3529, -0.1148, -0.022, 0.2759, 5.3949, -11.0564, 6.7214, -0.3346, -0.6862, 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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9215, 1.6245, 1.4296, -1.0672, -0.281, -0.6361, 0.0717, 0.4313, 2.0632, 1.7554, -1.56, -0.5678, -2.0838, 0.0501]\nstate[eef_state]: left_x=0.2589 left_y=-0.2541 left_z=0.1587 left_yaw=-0.2277 left_pitch=-0.5867 left_roll=0.0397 left_gripper=0.0717 right_x=0.2605 right_y=0.2284 right_z=0.1184 right_yaw=2.4258 right_pitch=-0.3794 right_roll=0.0027 right_gripper=0.0501\nstate[joint_eff]: [-0.1436, -7.3094, 9.0462, 0.9353, -0.3004, -0.0073, 0.149, -0.841, -13.1761, 4.9436, -0.398, -0.2808, -0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548a66732f61bc422aac524ed53874d59b937309294729f040ef45552019c5ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:debf77fc715b1fd1d0407c70b99d5279d9892c33d1d745b788365f03b4b42f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0a063894bdb41bcac42e546e88b34747b4d24323bef1ab2cbbc4d8a5508a57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5fSdZ23pIVzeC6zyMhY2YpY7BSaanHKUkPrIZSLqiM8EgT_wcpDW8WfsXj5k771sTmSta9yQIt-gOED4upb2psgRng52VIA3GEsJIbTJ2pkS-66lUce-Gs7sbODw1_NYtQpm10ywekBLVzGFT7hHQxfGWV1E67R6W3S7Rxd8uoPTbsrTdVCCiVK5RWMwcM1yf5BqTRlOk4lvsXq7tTwaeJtm2tduPDEh-Fc3bbWuPFa0JOIYpyyg5FMf_hZkIDvLdPAsU4BbJsUWSvYaS9DfjuoglmlNN-Q-pjiJgA0-h3S1wbvdmGp4xdLAcgBOu-4sTjVrTyw8RXteNZhRcxqsQk3YFwb24WohhhbfDkQt_2BEfX07JYyMnKE7gwnIdhS1_IP6H__KWyz336Otj76de0pJp8FrPXaMAX4c-yJB0-7iK5A1KRUCP_D2qeilaeQHnYxJ6KZ1o16t23hu9ASCdnv0BmZJ_y1ozhexCicAQhni1bMSMuzSiBGY4DRKQdVG1wLkbA47w5URVvtfIpGVLWrMNcib5ixGBYUu7EkqC1KV-EL72pDnJSby2MXUBWWqDgRDG-Ql1XVJ4yiTnCnEPrvK5aEdpZfdA0-VyWCdUKXg-ncJwC2GirY-28yqFweSaaMiqJom5gg_KBgM7TRSICzJI8xEifWJ7vUUfqTmph8yTxWKo2O2SS5RE1Hlqb9ycJgz_6mwVo67vd-RH_AflkxoiByHB8QJpGx1Dasgqrz4iGz-MmY86WPz2_XaaqdJvlHz6vlgKZxA3A_-uofaQvkUETuHUQt3D59xXLtSrLIuEpV8xEDgW8P-P2QTw8mi7EUB9VuuKqnvxoIWJL17oIK2MgYDCZvoCLUuv_6y4-f9Br-6eyNgJPHjUquVKYFHhhQ2rFK8Ya7-fWnVX0LOwv4d6zfhrF2eNgzFKfk9WqzPo74n1Kd4eWPOBGd5pVCZXmqfeN-Nei3IBrtbCiyBkoi9r0unwazW3DG-iQW43qygBTkBEmcOnSo3vM3ag4aQzfU-fZibmY8UaE54i2RvX1CwQhm-kLIpLEa1PJjzDRlpveSbrZvrchlG_sgr__HLVJaKiQhvOhOOmmY39DqDCaY9tC2yyqIeHH-F9gx41BB8jvw_xp-W2okwoi9S3u82xxd0YOPsCs7IA7_0AgdkpvD1e9_-iTH2lvtJUauj2hOpqGwNQpSJXxvCUa_9GNNJWNDRAuWiZo45aX-WsQHunuL8z8jHx6VHZvOBqFVwxyxURf64_zgAirHSosHVhqxL_OTZJHr4BwecQ3grooFmC5guS7GmslnvQ0a31Fy16rQw_51Vnm5fp7CXdV2W6-tsBT6oURGoiNB2-e6NvvfsNZQs77vFGXIRUiaYhmGsCfCrqUukMTYp6Z2KHUvN7iZ94Kt1lCgaYdJ8GH6RYIX7m1ZKW-ZE0mYouT-UYgpV0VauLzoW63p9ed2oqMA6U-cDvmzxqaxnbOcsU5kzVgWYxfFUjdwgYjh-avdpQhmTSki8f-jppYz96c1DjynqA64UhYKUJxstw60DV8EXC9xHgRazLN3CipO1dApJldWQoHo-DP-c5aT_rlmowAj6PlvorlQWHD7lsloIMmbMYNBlZFYEGE5jr0Pda2bELwGbQzLeASnAPB3Vl4YSkKLse0xqxSR2GXTL3RO8bxHyW1Jf4dpMLbEAZ5g6cXGrMtWpGRa_zfvZY_C9hYa6zobkt4eVj01Vc3MUgTaxg5HhO82EtlcQGRmxTbFSuYqISRfELNeswbs8qtox6_2YTZUFhfupHF1pW9lwxhDfR8ViNyBL1XAcm2cgKcVThsHhmNwyTsP8I7rkLQ7w7XkjzeSir4K1DGMObo_Me3CuLLtAiWXaeEM79ffsrYcUm8-MVQT_1Zu_LEQ2ntp84970UjQVi3mQpYyQ1em6LRGT-RKZGPlVUwbTNmD9md-nwoUrVfn-auauKEpVBg5-iPkeJNaiYnBQ3Vyi52aZmVfqyQ__gUrpF3UzpfM4j5WevBDfJiEOOlUR8xh8IuarKn1m8T9fyf9LRiC22lURL9mbkj4a_wi9vprv7lMx9G2eznB2O0KXDTU1pAEqxVMjNXmE-QokDnGKJoDQM9o2lculpMI1aWKzF_My2Li2aZ5zElZevaTj3_M1uFe-6BNdkS5zk2uCMsMYT8CC_IkSNksTNVskbS1OoYwHzwYwDfBOHuosbcFA88VvEA_Ap7WhW4P68M2G7KEvVftePTltzlCOlYx7GE8OjUs9GfPV36OaDJCZqWZY45n4gQ4z_IXFBZtZ0yC1uokfxHP3aY9b4bLgTN-LNWeAFyQpxntdQsv4i10EnB61QsdxghRAj3fZYGZ0LmZbsdZiLSXZAZiCFH6DGNiRw5IkgQ7bKbpGMxsW2xqSTX8oPa8Ww2bjcOtGHu-jWUJqbWAAaTvyrCIBQJup4lX3IPP1NOZDaDJohVIr2NXDgdgBWd4jxW9r8uuJOivkkBEMJkC_-6eE_FZY1rLBrkozUDIPbbmt2ZFl1MivGdoV8lKLSfXLWVMxB5DacPY6euWy8ZTurhW2WfLWLEK5TRF_ilWy_bXLPVLTDH6kW0KmV92Ehd_G7McrsKDFfBa9cz5dlicVxArSQbj0RKNzWAMfEUa6z9LCGMEwE-SgO2cqx7URQpoUGvUuiEHvVc3YWd4mKJuUcVKF29INVQjN_yhnXJMO19onOTH8oQv9eDgb9TxmE0Yok9ftBz9LyoAdFKHTTr361Jwk4QDEQprrn-se0bbUK4gy0rR7DrskhYmedE0rp6uheBQf8YkTLnkXUhQSMSWGlHAcTajwlEm1fo55s3rqT2tPpiqdPBRAYRy5LS3X2zrAtwPRAWjfvEb1qnHD51i55CEZKgiu5p4YOPyHdLsE-ZPSuJJFwtXqgYr9ItdtODcUj4IJSL0FvCpKPleJNVTjIiYpBX0VbL75iXwITMDTBdf8nFWYqmQF3YPH6-IsXWsAM5_OqmUsSzlEH2nyiI6ViMqVmoRCzqO5CeBBqDfJBfF-zJDAg3rMk-PKdou9wLOdqvYjaFNM-rSrlndlD7lB8xonTYd706AedYYM4aI9xReoUb6u_pivUHVOsAMWEhhdxTVnjnwutUvO-9R8d5Zy-D1xk06av88GL4C68NQlAmsb_n-hWynwN911gYIOCr_F5yuou52yxPPQPUNT07Asdx-rSq5tIDL7m43C3l6ZaE3FGbWSPyeHGXS5DboENz5AsufUJiUk_GHIiSacytqSX5tdjFQY9oeJEFibVkCnGOgINJ_Y_Svk4QCT3SpGV8UEPyrBL-CsSs_w-XR3auV0XmadtffwV7mkic2pI6T3sDoKuqojxqWZbJd4dBS0xIW1xN7FsTnKZuR0_jdMYY6jt5L7pKzRrZZViZy2ZyacttiuFD-RUgVCttJKVKNGWocKKvNB7OyM7ePsKYwzPH_H0p6VwVMmNIptAIYbVYOYLym-4cxHnBkRmGXkMx18V-bx5ih9AvNX6QBKq1tTBmJUUkiGBpQd3m_9c1yVHBWC0dCqCZNEUzGS_uUGjQsfUL0jt1-m5_SKKZi0pcxZGqXJYoAx4ZKMfq-tyZOMyKW9ocNZzeEnXA097CAbdLydy3lR5l2sLN2I7tLE6bWPOB1rsgqG5W6iHvLsPEI7nNLEsGPMWWSz_1wkQR-Vq3Q4zcwvFHdChAxnbzkWidm7k0pCFYaCEdhXk3fUjASSC2l7l59FMIM-fyhBlKt463S1EuqmebmHbzf3Dyv16RpsXQf86YxS7KZ6boxnjenXgQpQ-KaNTgjnHrFvSZTqMhSyOWfaxehQHaFetbGqk8N5F1OWluT0dJYUWKasdwwPnabg6-XypVozmvVLZ9WMlx_I-8IDPnKPq5eZhaNC15ACQeMIl3-d7eEcVLmKFQHRXuVgS8WoeCOmV1-WQJiV15icFoCrOcgDDIdDcXGHnBU7tvlD11DEnfGL1PSXGjDgE965lkrfDG4K5aB7gK3-y-FhoNuABi9Xd3MM3bvynN7-yFUDj28PyCQUOKdGAOo2ZTWe832zM2JxxwQtyfwioRECa6SHkk5fXRJaI16xkyBC5BZxiJROKWu6paQ01CcAxtxsEcoRJLqJANe5aD_jGoQzYf1St5H33UkbEqKYniLhTCyaMB",
  "id": "rs_010a146dccf04543016ab43e5772b887d0974232d2bb85735b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5fqq_a7KIPZn3GBZ-yztFSfGpeYFwibGjkCJrxt9I9fgG_zylRJzLWDI0-WYWomnYc5sx5XTu8SpvlN8ejP870Tmp4IrbkqRIz6joX_AaWhFomNmfbAxary-51g-8eG2B1TrRH5oYedcWS7n5VhLUnBE1-WmjIGNGUxrXJSk2hhGhIvmvTTsWAfrinA0nI7nK7BPljF7py80CSeOduhqt3KGURYOv1y6icUCyVru-ifuZWR9V4rCusdukIRVCqOu1GGyzyRcxEGZfYyzaOFOUHHe1Nns6bRO_UbN_lLo2iRo5Gt-fSIboknG4AjWfGBHyX7mccsQCytE3EMrpGnv2MeymPRaHFnovbeg3aFJ2b5zEAw6Q0Nx2ljK3-aBjHUPcdTdr4oqzURa5eYGwNx20ov6GHWz1ntlW2lWLkFR4yfuFX5ii-MsbRMvFRtne6M823D9bljqfcrXGL4p1ycCqbVD8-UW46WCRE3Ey18LqAXnnXfBpZJCDkbi6anaDfpAqYpIUAI8ee6Ia1WDHoYWJkSQ0JSz3V_Y2CBq2HQT6zM0f7yXc6pZAADWAvhc1_SyKBMTzh3lndVLYjzgVAOa_5XEZe854tAx-90O8z8Y9_HQZlNyxnAKnXlD5d-SqAlz5KFKojbVxKiHbEQ6gUS2N5e24FJqHFF_HqGdhqxInJbrKfKQbuzF6SbbNunCl31dtkBEA1WKHXQuzFXFRMEQxgd5QTNkRuTowEFR6tip5N9Lcwfzw7lNsGSo4sMoY7rDjhCpkZXj4Ib8godIXyXyND8wRHM_k12c-5mnPhRyF2_7pdKVncsAhcNCdOhXKIlwPk2d-2bPk8j2Uj1l4qFxVbjTtWf37p03W0QX1kqFE8aorxR-5g0wncmowG4n_vx6KLL7VFENZJVJenHJ2p7WYz0Ai5CRDNGqpv8wngKhBMDY5bhxAkQKAD2ydrEEhVzTV2WJwploMxYDq4rU7Y8-FygK2TStz6IB6rTXa2M1l8_pF5Y1KG9aXrm0M4l-1i8XXoSEC9Mx-H7A4sb3rLtrTV8T_cmCJ3-0weEzloBq9ZQyC6bkzppj66QIZ_lPZU3QKGZzVYyvRMnfNRne0T2wRMIg0lPEpzZjGr2fH_2cpedOf7NkP4HN1cD6LkHcyTCx8BOUawfttTgKe7XPr49ZIV-rUO77-8VTGW-SzWi4YeyCSTRyD6cPH0jhJNPCFGWS4lAZ8zCUpx_cI56Wqp2L6ix1D5vcJTztLeCjTW34CXI98f3y66NN3Hqs-AOBK3kN4WprrjdqfVxWdTENRF17VTF6AkmMDVifQtVqzWPsLo1YQBLFMYmTp-BZkz7CqHnVNtE3YIJXMKdON7vC-dved-4bIhNXIXlQRF7Ojw9DNBMLS0w2GGkDuckwJQoEIcoo21llZOYj9NXRsQlfdmalBSG-Q7rBUVHQX7JHflehaS4An1DqkwCoyTzK57jFldS9AOpdhfGkY6PI9Bi_uiJpk6VxWSQuiHA6LRX0s_hcnH1CStLbwLYHwJWM7GUW9cv7fXQN1q7-nus8bg76d49mjCww==",
  "id": "rs_010a146dccf04543016ab43e5cd75087d08d3cf4be3c3d9924",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.1,\"right_z\":0.22,\"right_yaw\":1.5},\"note\":\"The wrists are now physically separated, but the pen arm cannot reach forward while held near a 140° yaw; that orientation is kinematically poor rather than contact-limited. I’ll rotate the pen back toward its comfortable forward orientation while it remains out on the right side.\"}",
  "call_id": "call_KaKP1vjSV08UJAflR4QCRzaj",
  "id": "fc_010a146dccf04543016ab43e5dde9887d09e556d1c4e444adc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KaKP1vjSV08UJAflR4QCRzaj",
  "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]: [-0.9215, 1.6253, 1.4273, -1.0672, -0.2802, -0.6361, 0.0738, -0.0078, 1.6337, 1.5669, -1.5124, -0.6098, -1.5967, 0.0501]\nstate[eef_state]: left_x=0.2585 left_y=-0.2538 left_z=0.1577 left_yaw=-0.227 left_pitch=-0.5895 left_roll=0.0414 left_gripper=0.0738 right_x=0.2839 right_y=0.1025 right_z=0.2043 right_yaw=1.5775 right_pitch=-0.4028 right_roll=-0.0074 right_gripper=0.0501\nstate[joint_eff]: [-0.3624, -7.4325, 6.3932, 0.8083, -0.232, -0.0708, 0.2027, -0.4581, -8.6085, 6.5846, 0.0757, -0.5885, 0.1685, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0290641dae1aa98db95cf585a80471d6e98aa4a98a1e533b6b548ef3f6abc5d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bde29d892e8c583683fb6d5fb5210511dd6cc90a0c884cc1b5971a6d86b8137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40f64adf32d63ba179dc253887bbc2cd9fbe1f37a6e818df441f1a8be6967b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 2.084 s

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

message 83 changed as sent

message 91 changed as sent

message 96 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9234, 1.6245, 1.4857, -0.8455, -0.2848, -0.6315, 0.0674, 0.0937, 1.9495, 1.5723, -1.56, -0.6476, -2.0834, 0.0501]\nstate[eef_state]: left_x=0.2944 left_y=-0.3011 left_z=0.2017 left_yaw=-0.3163 left_pitch=-0.3627 left_roll=-0.1434 left_gripper=0.0674 right_x=0.28 right_y=0.1369 right_z=0.1261 right_yaw=2.0733 right_pitch=-0.2824 right_roll=0.0378 right_gripper=0.0501\nstate[joint_eff]: [0.0342, -8.759, 9.3197, 1.1697, -0.3736, -0.0806, 0.1197, -0.2803, -9.2513, 5.0803, -0.4274, -0.4029, -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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9215, 1.6245, 1.4296, -1.0672, -0.281, -0.6361, 0.0717, 0.4313, 2.0632, 1.7554, -1.56, -0.5678, -2.0838, 0.0501]\nstate[eef_state]: left_x=0.2589 left_y=-0.2541 left_z=0.1587 left_yaw=-0.2277 left_pitch=-0.5867 left_roll=0.0397 left_gripper=0.0717 right_x=0.2605 right_y=0.2284 right_z=0.1184 right_yaw=2.4258 right_pitch=-0.3794 right_roll=0.0027 right_gripper=0.0501\nstate[joint_eff]: [-0.1436, -7.3094, 9.0462, 0.9353, -0.3004, -0.0073, 0.149, -0.841, -13.1761, 4.9436, -0.398, -0.2808, -0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9215, 1.6253, 1.4273, -1.0672, -0.2802, -0.6361, 0.0738, -0.0078, 1.6337, 1.5669, -1.5124, -0.6098, -1.5967, 0.0501]\nstate[eef_state]: left_x=0.2585 left_y=-0.2538 left_z=0.1577 left_yaw=-0.227 left_pitch=-0.5895 left_roll=0.0414 left_gripper=0.0738 right_x=0.2839 right_y=0.1025 right_z=0.2043 right_yaw=1.5775 right_pitch=-0.4028 right_roll=-0.0074 right_gripper=0.0501\nstate[joint_eff]: [-0.3624, -7.4325, 6.3932, 0.8083, -0.232, -0.0708, 0.2027, -0.4581, -8.6085, 6.5846, 0.0757, -0.5885, 0.1685, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0290641dae1aa98db95cf585a80471d6e98aa4a98a1e533b6b548ef3f6abc5d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bde29d892e8c583683fb6d5fb5210511dd6cc90a0c884cc1b5971a6d86b8137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40f64adf32d63ba179dc253887bbc2cd9fbe1f37a6e818df441f1a8be6967b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5ibqUcZRYNxziJ9idO1mHHNpyoGy6DCfQ2g5SPGJCrNr5JneVa3kQWTzB7nNBYLFFBbcsSOWSNJuI-Rc-0PBP-t26nTlrl8-MQo2Yw63k71Emck8q3T5REhTW3qcq0n75s__IEa8dF6570OvbKXQtSFg0o4rg3K178dCb1LqgQCBes1D9FiY40SGrgmoWkaumkFNzDTiWCdejXaXe5YMkJbgYG1tgn6A9cceEABgGhOJaRgWA8HRKV8oCNAM3r3b1JupbPmkNFLj1pfM5-e0qw5KYQoUPmzhbQbIyy6CMvR_SUrO2451lxka7Sq3GnEj2E3dX5cZci3I57Ia9aSGJAMsBA9S5HDaz0JR5LNF5CL1_ztcVF6ZwHCq2OdkHZ2n4ZC4mkB9FPHVdUQ6Mq3xiX6G865EN239jVx5LRTzw1O4ln1Y6sSyg3iAxrZXpVSVuRLTXKD8BbiUE7aHqrfTLhdNEt6GX5_jRqCRaMedFfUdc_Zcf3yWnXMHZiLVOBvUm-rV2r3ckOaSrRZyBHV98IkwxdHuhkZrwowDOyicLqoy5ZfHsj1EH-aGB-n8hCVvT6MPmMKVSCJY6Si2sq_AM0coq9h0BQ2KDjQdEL0zZN6fCv0qcKYA24qysR5I8h7bRpHqthe6Mt5CC1ZS3YZ-zYW8tq4pIxyLX0fGdeISr7Om2tvgG0CmgrXZ798MEPPnqOdGlHHiBIaH6F261dXsDgbTMhVewWi_SWYvFpjMD2lYwH6wQrLFBosu45-FEi8yOtJIPPO_Ga02oHAPi1YDHeX95k7-xnsGiUwnVjBpajyN7b4vqlzCC2gUXAesxRd106kCPJzVXHQpCFfo3mpBg5mOeC77EDZaW7NaxmtMhrY0UgSreSDXi5cFtZUrEct_xcPOZm9fVR3nIldwn6jjye1EheUR7dosOUTtnVJsm2tXyElH2UAZYp04u_LG5n6NSAJnT6E6-yaDLHa3voRSG0kTVNbdp7VatUyclvve5V5DfNnOisE8M-fJr7z4IDultRzA6AxjerAXyGwZnM7d5hUhY857DQqdK4RHtaKI5PRzGrDE21Ei9BcOz8old8H5-eTzihCpo1ryrCcbtxX608f1a74OkeTnQuwCxkmWHxvPlPjmVcueaWx_7FJy5R8MguSzSGhFK5-1KqHMpzpHZ-U0rsav3fQFQtLx9Efhy77lSUIkZQbQ_nZ-o4dMTZ-DDfFHTMB70guKAt96E58uYr1XTbBL2A2Ha-OJG4uEjRNmM=",
  "id": "rs_010a146dccf04543016ab43e61ac0087d0a57cf3a50aa6e34f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.22,\"right_yaw\":0.6},\"note\":\"The pen wrist is now high, separated, and tracking normally at about 90° yaw. I’ll continue rotating it toward forward while keeping it parked on the right.\"}",
  "call_id": "call_qcSm6LlVChJJ3YMyGoWBWm1v",
  "id": "fc_010a146dccf04543016ab43e61e38887d0a3542ecb6c8b79c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qcSm6LlVChJJ3YMyGoWBWm1v",
  "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]: [-0.9215, 1.6253, 1.4258, -1.0668, -0.2802, -0.6361, 0.0755, 0.1585, 1.2819, 1.2655, -1.087, -0.3336, -0.5903, 0.0537]\nstate[eef_state]: left_x=0.2584 left_y=-0.2536 left_z=0.1572 left_yaw=-0.2265 left_pitch=-0.5904 left_roll=0.0422 left_gripper=0.0755 right_x=0.2841 right_y=0.1076 right_z=0.2096 right_yaw=0.8188 right_pitch=-0.4456 right_roll=-0.0093 right_gripper=0.0537\nstate[joint_eff]: [-0.3077, -7.241, 6.3521, 0.8376, -0.2173, -0.0562, 0.1587, 0.2256, -5.4906, 6.2838, 1.4188, -0.2222, 0.2076, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18f8d44c4508eaa4947900e165601450cd8977a626ba8d4db32234107818a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150122447146374912e79887cbe4ecddbfa77ee99d3ca7da61509d90ad76e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f23413205c4a8f369a947dfb2af28ac75af1848cf32c47d9edb59c50c48d6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 4.981 s

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

message 87 changed as sent

message 96 changed as sent

message 100 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9226, 1.6249, 1.4624, -1.0603, -0.2882, -0.6312, 0.0702, 0.5465, 2.3566, 2.0777, -1.5593, -0.6209, -2.0308, 0.0501]\nstate[eef_state]: left_x=0.2647 left_y=-0.2603 left_z=0.1702 left_yaw=-0.2422 left_pitch=-0.552 left_roll=0.0189 left_gripper=0.0702 right_x=0.2882 right_y=0.2998 right_z=0.0829 right_yaw=2.4784 right_pitch=-0.3437 right_roll=-0.0132 right_gripper=0.0501\nstate[joint_eff]: [-0.4171, -7.4462, 8.1846, 3.3529, -0.1148, -0.022, 0.2759, 5.3949, -11.0564, 6.7214, -0.3346, -0.6862, 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 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]: [-0.9215, 1.6253, 1.4273, -1.0672, -0.2802, -0.6361, 0.0738, -0.0078, 1.6337, 1.5669, -1.5124, -0.6098, -1.5967, 0.0501]\nstate[eef_state]: left_x=0.2585 left_y=-0.2538 left_z=0.1577 left_yaw=-0.227 left_pitch=-0.5895 left_roll=0.0414 left_gripper=0.0738 right_x=0.2839 right_y=0.1025 right_z=0.2043 right_yaw=1.5775 right_pitch=-0.4028 right_roll=-0.0074 right_gripper=0.0501\nstate[joint_eff]: [-0.3624, -7.4325, 6.3932, 0.8083, -0.232, -0.0708, 0.2027, -0.4581, -8.6085, 6.5846, 0.0757, -0.5885, 0.1685, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9215, 1.6253, 1.4258, -1.0668, -0.2802, -0.6361, 0.0755, 0.1585, 1.2819, 1.2655, -1.087, -0.3336, -0.5903, 0.0537]\nstate[eef_state]: left_x=0.2584 left_y=-0.2536 left_z=0.1572 left_yaw=-0.2265 left_pitch=-0.5904 left_roll=0.0422 left_gripper=0.0755 right_x=0.2841 right_y=0.1076 right_z=0.2096 right_yaw=0.8188 right_pitch=-0.4456 right_roll=-0.0093 right_gripper=0.0537\nstate[joint_eff]: [-0.3077, -7.241, 6.3521, 0.8376, -0.2173, -0.0562, 0.1587, 0.2256, -5.4906, 6.2838, 1.4188, -0.2222, 0.2076, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18f8d44c4508eaa4947900e165601450cd8977a626ba8d4db32234107818a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150122447146374912e79887cbe4ecddbfa77ee99d3ca7da61509d90ad76e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f23413205c4a8f369a947dfb2af28ac75af1848cf32c47d9edb59c50c48d6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5lHmuMza5-HCAOzV18rJO65yRjK1zLdPfmAFZrrMicHKnBTvStGNgQCx5qX9sSFSYv4DSQ2I_o7GmknsL2TAa9BJwyAtnwrUI59HkGqKRWFKQ8ow8Stof1YeAi7dD67lOawC_1y8iEPW7_TQMRO0a_S6PxJD0Vy5L7JWCoqsdv5RcZ2fzG1Q65vVBYiLC5Bw737AS3a1mWgREQ5mVpx8rYLvZ_RuIEXPHnSiRAglQhqXJE0B4Mghl3Ac2enJZfxCnHCGvwmdYEzGf7LIKXX68MciUxw3RtBqvNJyAh5b-UUvhk9X2HzaqNRRl4j_9QHDVuCtEx23wr3_DLG6SUC3idndueQLCFzQ88-kLff61672-45WOwbsSR-HWTmG-tTrxM1HCKz5vqae5vUFpaBlRevsVHWDkZXBDwFgXukAXzwCFngBMgG9PVHzZy-8hENlu22-9YzZirMutwK76XjHA-n9itr9_FlJyWqSZWGi9Q_zOugvtnvpBV5Atfxao4SQCAPYe0qZ0Wx9HE687FJ_C04A8Jzr-bc1fu33kgo-MBNVd108LNZctqcQ_fqJCoN7aZ6nyDtHPRoTrtG4vVTur9vVTR5gX7hlNAA5c0GAhr-3sQDkb0dFPWdcDe1asm_S9N2pxNA4awjqu8SLmkaC_PD9rlRU2GhOsG_cW-FWg7nmqYPhlTFpvTZIfdWg-uuu7Fpn_Zz9cQyh-hf7y-89ctdnFfDwYFxXMU7EiTU3VPTDmeb_G46cW0Qr8vOQ2Qz5mXn5U8RrXaE0WJ9MdKGFUxr68d1GbCetM9w1BRpEg8Cn1Q6Ets5ndIqCtxZBBdY_ZyhDc9IQ7-yxAjqV_Mu3nezudO2qJ6o-rTF6VU_IrGBeGB2szEymLCtCCrNrx0JNge5kEP3IG3BAkLayk6TzIEY12UHW5ldIwTzx4Sgzd-bN9JEpnlqPnQ1-gLE1UmLsV1GVraGvDsVPnNj1h_gMAr_ZepdkmnDlMAOgEa7R4DlEVFX2-b-d8jcOp7hPTb_aBWHQVmeqmr7gGs79zIBfU4NhD-MXkZ9aiEYNUpy267Qhw4ljeBVbkM3PMDtxM9zIYX8MYywpuJ7mQSf4eKiTquBKSqVEgz0LLoQD-GUYS8T2Lt1-4UvjXYJp5wRsXhh6JnGw-YhyKYI8CF-EMYhCz9mcSZHRABQf5xZ9FcXZ4k30RQT75RldlQ58g52Wtqk8EO173KTkTod8rMP4AQoQW0qg==",
  "id": "rs_010a146dccf04543016ab43e649d8887d0a2aade88c4237606",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":0.0},\"note\":\"The pen remains secure and the right arm is tracking smoothly through the rotation. I’ll finish bringing its shaft to the forward-facing orientation.\"}",
  "call_id": "call_toYQYFYrhbXJxHEPY9ZzSLMA",
  "id": "fc_010a146dccf04543016ab43e64cfe887d09acb21c99d4f9893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_toYQYFYrhbXJxHEPY9ZzSLMA",
  "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]: [-0.9215, 1.6253, 1.4258, -1.0672, -0.2802, -0.6361, 0.0766, 0.4824, 1.2438, 1.2095, -1.0473, 0.1379, 0.2138, 0.057]\nstate[eef_state]: left_x=0.2583 left_y=-0.2535 left_z=0.1572 left_yaw=-0.2263 left_pitch=-0.5906 left_roll=0.0425 left_gripper=0.0766 right_x=0.2729 right_y=0.1195 right_z=0.1974 right_yaw=0.2146 right_pitch=-0.5061 right_roll=-0.0224 right_gripper=0.057\nstate[joint_eff]: [-0.3487, -7.4188, 6.4889, 0.7937, -0.1832, -0.0611, 0.1099, 0.2256, -3.2068, 9.347, 1.072, 0.2564, 0.2369, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452260f846d59f568a63f89420c6ad4a9fb3813ce0424b2c1e9f9fde17afc708",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac1ee381e88abaeb7bd18b2d823c4fe68b5f2fcb9c8f9f33f8d02375937507e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d384c15e394639499c22d0d908d087a05b65ba226956205fa5440ada3360d210",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.187 s

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

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9215, 1.6245, 1.4296, -1.0672, -0.281, -0.6361, 0.0717, 0.4313, 2.0632, 1.7554, -1.56, -0.5678, -2.0838, 0.0501]\nstate[eef_state]: left_x=0.2589 left_y=-0.2541 left_z=0.1587 left_yaw=-0.2277 left_pitch=-0.5867 left_roll=0.0397 left_gripper=0.0717 right_x=0.2605 right_y=0.2284 right_z=0.1184 right_yaw=2.4258 right_pitch=-0.3794 right_roll=0.0027 right_gripper=0.0501\nstate[joint_eff]: [-0.1436, -7.3094, 9.0462, 0.9353, -0.3004, -0.0073, 0.149, -0.841, -13.1761, 4.9436, -0.398, -0.2808, -0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9215, 1.6253, 1.4258, -1.0668, -0.2802, -0.6361, 0.0755, 0.1585, 1.2819, 1.2655, -1.087, -0.3336, -0.5903, 0.0537]\nstate[eef_state]: left_x=0.2584 left_y=-0.2536 left_z=0.1572 left_yaw=-0.2265 left_pitch=-0.5904 left_roll=0.0422 left_gripper=0.0755 right_x=0.2841 right_y=0.1076 right_z=0.2096 right_yaw=0.8188 right_pitch=-0.4456 right_roll=-0.0093 right_gripper=0.0537\nstate[joint_eff]: [-0.3077, -7.241, 6.3521, 0.8376, -0.2173, -0.0562, 0.1587, 0.2256, -5.4906, 6.2838, 1.4188, -0.2222, 0.2076, 0.6813]",
      "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]: [-0.9215, 1.6253, 1.4258, -1.0672, -0.2802, -0.6361, 0.0766, 0.4824, 1.2438, 1.2095, -1.0473, 0.1379, 0.2138, 0.057]\nstate[eef_state]: left_x=0.2583 left_y=-0.2535 left_z=0.1572 left_yaw=-0.2263 left_pitch=-0.5906 left_roll=0.0425 left_gripper=0.0766 right_x=0.2729 right_y=0.1195 right_z=0.1974 right_yaw=0.2146 right_pitch=-0.5061 right_roll=-0.0224 right_gripper=0.057\nstate[joint_eff]: [-0.3487, -7.4188, 6.4889, 0.7937, -0.1832, -0.0611, 0.1099, 0.2256, -3.2068, 9.347, 1.072, 0.2564, 0.2369, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452260f846d59f568a63f89420c6ad4a9fb3813ce0424b2c1e9f9fde17afc708",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac1ee381e88abaeb7bd18b2d823c4fe68b5f2fcb9c8f9f33f8d02375937507e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d384c15e394639499c22d0d908d087a05b65ba226956205fa5440ada3360d210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5rTMAkIGpfTTJExrC6oliyhSoWtGPscMrMUrGGeIZm6hHGesOhZkxU7m1eunbtPsnEscaBfQ88A7ux_AVYjv83UD_lY0KYgyVmb7U8sWSwudcZa5lWv_1XhzD_oc9N3ba4QDmNdSTNL-Tm_WBZvbBPfmePNrOJWZUDsdV1oTfXTNiBdrfIghIJ-FoyYuhYBdnQfJFtWi_ZW0ZN485dTCzHmaE3EKajoNK_bWinhbKQUzn12USToZJwGQduT_0pTzKdeTsjXTuO8IWj_uUHo9Cpb7gYM5fFUXSH546A_f6RlJ4IQEGgvGDFIVtKeWiWzslP21VK1vRBHiERID3SrkMnnjkzC2Vqh-xP0XfBGPuYpKPr4bkUCOw9PqPdXKrfBRu8rhuoAohxosGa7-HWCb99DJ2J9tjiJojC_keLMov2OOHnmTJPlcDkjHO1FW37jQLXwyNKCJsVHcdu0bQiw8sQQJTH1FFJb0QjEgf5X9JKWrDCOAjMdnGOsFSHYud6_e_xyYteLJIQWCOhk5w4Fb94fh7L044S7qpH6LRSo8T91U5lbsXm97qGu5uWrI9jnxL12hb0ZgqS4oyHrKGcUpiTVP5PvXgz11O4d5FmVt4iJG7QTGw66KD4tZ02kjlYjjQLIctn_OUZb4BmtxHCgmW6topWK218XIV5BmuRKNkUy5fQ-nlWemdkkbDVqhPwA_Ed35wqnMJVYgv95MeTpKx2gJRRo-eE6yF5Q7NLzFbm7Ujb4GTFhkBb_FgtgsEIRl6MAlgXKzdZW8DIA3_GrgQ92C4-m1-boVO28s4DFY7b7tZ1idgtFHCApooiMfRVu2vLuoPdU-mpfuzHFLA8r0Vb4hx9kfNb0ORfBnHAu3y2aZbYWGrXmB4Q12vrkIoE7qVKffqRtnAXCBBRPmmflXR2HvAuZK9mVH9Mr__K0JCSH4L1aqIZMxhEMN0bRuHElsCXosFcFYOc1oHJXPIycEyNfUStT0hUFDGnCtMuYaFHlsAyMCTe_4huS6iE1bpp2aS3dvh2q6wcjpuX7Dlsuj1vLUwZpcTGjCTDIC0BWXnVt_yYfjjRXWD8S0oy8m7ZKT4mlBK6dE9JAXPKzoZzo-Ztkx-oiRAfBuW5VhefoWhzDpUlKkU99noZw9ucIxR_mXcLdzaEXlPmMKFidErRf_DxKBDQ4sMX8H941or-iqjbbKXnszJ-5MwFQ5XpOfhZCsTFCXHi92yxDn5Ii7J6SWKjkRa_-3hcbwBTMFtwbrzuxsntb7xRBWqO4EpFWDPqt1V8yCsDxvcUJ3pG_4fXnnAWipJyu1186wPOsk1NAl3cgz6kJqM3oPN50uFMQwHxYPXRknr1b9LD3bcwsnNr7I7rX-6fC3qW66u7dppIIsk7O5uVLJySvaHS3hWKBp2Z1brWgP3vNmO2smCawufigLsqLPmoYol5cgL18acxr6vZNaQeSfuV-qB2WydX-BzqsTh-HEfgkXo20EYti7DN161gi8LxJmZI96Dbul_Gzce_B9Zez3Cv4Ch2dEZbgqH79Fh-k_mOt4yg1sme_MRitLG9BY97NbE9IlmyAjolpzz7c0QRRoRNrz8-ynpxGAVkMo3LpD61AhcY2lT6r1DkS9urc_qEak4UMrgGg0zEcJc9WbBmVlrlzETUMjKl1hwzkJxnpZpK39zGXECBNwwDl71xr7GCUPJMOyDvJOwuRv8CYR0iNGsww3_y8tzU7O9sZa9NSFRMq5xRnnIEsnl0HjfaymIjemF-XrTgN6LBMbj34QQ2YuXMvYd1gFi53-m0iXO26dnAwXtXHigHfuVu1zLZRtGsbVW_wjOUyUdQIDkw1D-MJiuXaTMI7lfAnyZGDiBmTzVk7p-Eve6vvHJHIqLD0Ib6Es2MbOO6tCDPFRWuOKM=",
  "id": "rs_010a146dccf04543016ab43e682dc887d0b943cc0a74a0de7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0,\"left_z\":0.22,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_yaw\":0.0,\"right_z\":0.22},\"note\":\"Both shafts now point generally forward, but the pose readbacks reveal the cap wrist has accumulated nearly −0.6 rad of pitch and the pen about −0.5 rad, which would spoil axial insertion. With the arms safely separated, I’ll level both tools and raise them to a common height.\"}",
  "call_id": "call_xgRwX8lhxEROMGfDSIY1vFao",
  "id": "fc_010a146dccf04543016ab43e69cddc87d08388f589b2b71815",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xgRwX8lhxEROMGfDSIY1vFao",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1713, 1.478, 1.2255, -0.8223, -0.8322, -0.9192, 0.0775, 0.7353, 0.976, 0.8433, -0.6407, 0.5594, 0.4313, 0.0593]\nstate[eef_state]: left_x=0.255 left_y=-0.2589 left_z=0.2056 left_yaw=-0.0321 left_pitch=-0.063 left_roll=0.0245 left_gripper=0.0775 right_x=0.2683 right_y=0.1211 right_z=0.2043 right_yaw=0.0376 right_pitch=-0.0758 right_roll=-0.0369 right_gripper=0.0593\nstate[joint_eff]: [-0.335, -7.9658, 6.0103, 1.2332, -0.6422, -0.1197, 0.0659, 0.759, -3.8496, 6.9128, 1.8926, 0.442, 0.1343, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e54f0964dbdb4eac272724a6913278fd8059ccd6425777689a26c55836e20d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf7ca763dd8b69b20703278bb8fededa3bc45421fbb284998555b1be6e3539d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc80078120af4f6b09fb7d357514c98c5f53dc97047690b8877161e277f1f5d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.993 s

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

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9215, 1.6253, 1.4273, -1.0672, -0.2802, -0.6361, 0.0738, -0.0078, 1.6337, 1.5669, -1.5124, -0.6098, -1.5967, 0.0501]\nstate[eef_state]: left_x=0.2585 left_y=-0.2538 left_z=0.1577 left_yaw=-0.227 left_pitch=-0.5895 left_roll=0.0414 left_gripper=0.0738 right_x=0.2839 right_y=0.1025 right_z=0.2043 right_yaw=1.5775 right_pitch=-0.4028 right_roll=-0.0074 right_gripper=0.0501\nstate[joint_eff]: [-0.3624, -7.4325, 6.3932, 0.8083, -0.232, -0.0708, 0.2027, -0.4581, -8.6085, 6.5846, 0.0757, -0.5885, 0.1685, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9215, 1.6253, 1.4258, -1.0672, -0.2802, -0.6361, 0.0766, 0.4824, 1.2438, 1.2095, -1.0473, 0.1379, 0.2138, 0.057]\nstate[eef_state]: left_x=0.2583 left_y=-0.2535 left_z=0.1572 left_yaw=-0.2263 left_pitch=-0.5906 left_roll=0.0425 left_gripper=0.0766 right_x=0.2729 right_y=0.1195 right_z=0.1974 right_yaw=0.2146 right_pitch=-0.5061 right_roll=-0.0224 right_gripper=0.057\nstate[joint_eff]: [-0.3487, -7.4188, 6.4889, 0.7937, -0.1832, -0.0611, 0.1099, 0.2256, -3.2068, 9.347, 1.072, 0.2564, 0.2369, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1713, 1.478, 1.2255, -0.8223, -0.8322, -0.9192, 0.0775, 0.7353, 0.976, 0.8433, -0.6407, 0.5594, 0.4313, 0.0593]\nstate[eef_state]: left_x=0.255 left_y=-0.2589 left_z=0.2056 left_yaw=-0.0321 left_pitch=-0.063 left_roll=0.0245 left_gripper=0.0775 right_x=0.2683 right_y=0.1211 right_z=0.2043 right_yaw=0.0376 right_pitch=-0.0758 right_roll=-0.0369 right_gripper=0.0593\nstate[joint_eff]: [-0.335, -7.9658, 6.0103, 1.2332, -0.6422, -0.1197, 0.0659, 0.759, -3.8496, 6.9128, 1.8926, 0.442, 0.1343, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e54f0964dbdb4eac272724a6913278fd8059ccd6425777689a26c55836e20d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf7ca763dd8b69b20703278bb8fededa3bc45421fbb284998555b1be6e3539d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc80078120af4f6b09fb7d357514c98c5f53dc97047690b8877161e277f1f5d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5wLZdu6jVAfmYjchiPsQr-8iym1faphtQm0ugTHva2NrORn3Gz26lQxCrn0pIl1wRijMS8S-jEHPtl3jP-XUc8Q84vWI0WNvcKKsLzB1kXcdSVC7mInRkMWoTsqMHDlcJp8ySn4drGlEQIY5Qgxip6xSFp1ohWFSmBNBr0_bL45nCM2AjzORRCFuUK_ZUCYC70iew6nMcD47FKBeP-qFO45wOvI_SECXm6u53OlB1DWt8TfqIUdiIFQ-2uvdWLBSbCEpCe5Hr93G8lQZsflzOi-4rY7qmlaTld66cHmDIFwt1NLAlr9hn6AOuYg3ZIGbwkWAR4zPZ8lfZ2CDuE2W7BKm2cl0LigeMqjxL0xZ2AlgM944-_SV7EvkbfWpMNAuL9JLeAOztPaBUETrpHgitQd7rSDlozZfpvphzywMr20utSsIOjlPj3HLBIU4JQLGaZTuH1xdztpLdAH0i4JHfZI8nCB2fj-13xBIIVjl0lCibPq5k0MuhDI8116R1r-0rz80zz26LRt3jDz8n2KL24f5zLX6gPL2MZe3Exm_708TlanVYvqDhJUsosISjuGo8CZLUM1OpuOHAAwMAWyvcfVG1etDMwc-DKSy4-Kg2W4iEuU1ri_r1fgU3NNNqsPpCnKCrKI-_SY3n5ZnYWbsMQDvzze0lQd4j0aiWUujWrB6LZ9kkcdfxOnFe6IJYLpg9wK3y8wLEAjAtXa9jcsyhiK1xNfDLU2zXrjB5jQCN17lfGwDZPsxxtw9pIRwqPMVzfsnAee7fT9XTMq32ifMSxxW8TJ44Da0j17HfQYClxyoJTqpp46qJOjR_D45-MncVq8-SCAxk8X4O8NGdqFC_x1CEqfpPeq7SXb-KqzbeGyB7JzZVUv_ilqF3T2QYIMmv97jOfV_O7ELO0mek0crWLWjlu3zn9YQ2peudDFUc1lBc5-JEhJLV5JRrUeAjh4N8VU-YLRgi1OGPPslb8Ow0RapEzQSXDDtH8S19nuhG7dMsI8n79Ao4XsgcYL7NPOebuzWKxPyADMMYZPuWSU6bwb_-kW7zRFExSbREp0EVMVoDO3Wy_OdFqn4RKruAL39swfs5UVybYCfqNJHJsXQ_uHoEkTh_PrQPJtZITWFd3ftw9cBLs1trEmhlnjD_SS9LU-CaHItYl_bIy7r2n6PRiO7c56s6ckuoz4-faYcKc0jNGLc83NX-D3zcblI486x9SnJoOFadBGZK3p7-Y-oWuGPVs-bxyMNj_FQHDPTWBFd9VK-92inLYKyoJ26MxquH8XqMNJ1_0i-DNHxX4Uy1WWmACKmxkDMREexRk6BBWanOJYSaEL575XrB-n0MZyOyxKduQ4l9OmeLSttQgcnrZ6ELehrzM0AIABGlhNwHovuJgMDaIanjFkvgMINx-KGNNAdu12y4EufZlmbdRuxydBPxdf_NL5cZNYWGUAiTtRCfTAblYsEkERbwNLTh31K9w2cibdgXl8yuY8Sg1fRTU2I0Y6CZ4MnbaM6sLKDtPPbELILWWMUJtVKVY8eOllGxvmzCwK4r9XH880-YMSfhzporhXF25sr9r_nVklfd1Lzl2srsN3HvU8m_hoPE5E4Bz7-ASiRth79X0WfT2GcPkzLdZduHdUIN7-dJvhqSmCac=",
  "id": "rs_010a146dccf04543016ab43e6e22d487d090241d4029ac8025",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.3,\"left_z\":0.2,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"Both held objects are now level and forward-facing with ample lateral separation. I’ll place the cap arm at the forward assembly station first, keeping the pen parked well to the right.\"}",
  "call_id": "call_rhfSYMJrb2RmYthwwIPNTOpp",
  "id": "fc_010a146dccf04543016ab43e6f4d7887d09a5e2bff46b03cb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rhfSYMJrb2RmYthwwIPNTOpp",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8921, 1.8347, 1.4765, -0.519, -0.7235, -0.6441, 0.0788, 0.7349, 0.9791, 0.8413, -0.646, 0.5522, 0.4339, 0.0612]\nstate[eef_state]: left_x=0.3881 left_y=-0.2893 left_z=0.1816 left_yaw=0.0249 left_pitch=-0.0437 left_roll=0.0318 left_gripper=0.0788 right_x=0.2674 right_y=0.1216 right_z=0.2014 right_yaw=0.0407 right_pitch=-0.0869 right_roll=-0.0374 right_gripper=0.0612\nstate[joint_eff]: [0.253, -9.8393, 9.4291, 1.4676, -0.1783, 0.3443, 0.1343, -0.0068, -2.4821, 6.9265, 1.5116, 0.232, -0.1099, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aed121fa58d41a5f46ac3dacce3fa03b5e2e05ce7a77ed2c3e5ae601c377b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab26006fb30af4324bb1677ada26b3c8f584312364530d3fe165f8e852bebda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5ce0f295e237b1aa99daff3950266deafe77211fbaf3cffec291fcada6b60b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 5.438 s

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

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9215, 1.6253, 1.4258, -1.0668, -0.2802, -0.6361, 0.0755, 0.1585, 1.2819, 1.2655, -1.087, -0.3336, -0.5903, 0.0537]\nstate[eef_state]: left_x=0.2584 left_y=-0.2536 left_z=0.1572 left_yaw=-0.2265 left_pitch=-0.5904 left_roll=0.0422 left_gripper=0.0755 right_x=0.2841 right_y=0.1076 right_z=0.2096 right_yaw=0.8188 right_pitch=-0.4456 right_roll=-0.0093 right_gripper=0.0537\nstate[joint_eff]: [-0.3077, -7.241, 6.3521, 0.8376, -0.2173, -0.0562, 0.1587, 0.2256, -5.4906, 6.2838, 1.4188, -0.2222, 0.2076, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1713, 1.478, 1.2255, -0.8223, -0.8322, -0.9192, 0.0775, 0.7353, 0.976, 0.8433, -0.6407, 0.5594, 0.4313, 0.0593]\nstate[eef_state]: left_x=0.255 left_y=-0.2589 left_z=0.2056 left_yaw=-0.0321 left_pitch=-0.063 left_roll=0.0245 left_gripper=0.0775 right_x=0.2683 right_y=0.1211 right_z=0.2043 right_yaw=0.0376 right_pitch=-0.0758 right_roll=-0.0369 right_gripper=0.0593\nstate[joint_eff]: [-0.335, -7.9658, 6.0103, 1.2332, -0.6422, -0.1197, 0.0659, 0.759, -3.8496, 6.9128, 1.8926, 0.442, 0.1343, 0.7155]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8921, 1.8347, 1.4765, -0.519, -0.7235, -0.6441, 0.0788, 0.7349, 0.9791, 0.8413, -0.646, 0.5522, 0.4339, 0.0612]\nstate[eef_state]: left_x=0.3881 left_y=-0.2893 left_z=0.1816 left_yaw=0.0249 left_pitch=-0.0437 left_roll=0.0318 left_gripper=0.0788 right_x=0.2674 right_y=0.1216 right_z=0.2014 right_yaw=0.0407 right_pitch=-0.0869 right_roll=-0.0374 right_gripper=0.0612\nstate[joint_eff]: [0.253, -9.8393, 9.4291, 1.4676, -0.1783, 0.3443, 0.1343, -0.0068, -2.4821, 6.9265, 1.5116, 0.232, -0.1099, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aed121fa58d41a5f46ac3dacce3fa03b5e2e05ce7a77ed2c3e5ae601c377b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab26006fb30af4324bb1677ada26b3c8f584312364530d3fe165f8e852bebda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5ce0f295e237b1aa99daff3950266deafe77211fbaf3cffec291fcada6b60b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD517q0Oj6dDqjuXx4jpo_w82xtXbRz8rQkHhTlHUoWkSdSqSc-5MNUiQ7lL68aLRg_8eNjc6WPuCx1WNOy-YRpC9-t3PM1jVvSUYMvNoYK9YoexaT6vk0IEJUU9y0XtdrHeF1zLTILqDTdxf4OuOoyDIHm7DNs329z3iSkAdA1qSQyZB3O6jZl9Iql_2Sqd_zvJeBD7INUaF5BMEl5jE8mDgr4Bd4-gH6Pbgh0pZlmVcRt6sAN0X0LEc6SzpavG7_vhMmM2wdGoO_7HC8TpWt_JL8kDh0q_I52nCFdOF6LxJrGUu76roe9ligxqmcZIVEeCF8jzACvoaX9Rv831xTc4a45WENn3AgmuyRT4sn9w4X10yCs-kvSW_sqNxy2A1C6VEJtKVbLUoBMpAysyxVH-tVH5uJFKVcT3lVkmElf6idIHWWE7bHg_OCugIP28H6YuGvBiiMqKo_URnQjst1icFH0nhGPEsirDA22bUbFAMWLF6b76F2qA8vb8jp_jxY-zFAchhw8OVNyRcvRP6Pxp9Gp4JYEN4a1RcH7pkMgAE63etp4SpYvBoU9WmZX4dWcBIRGGq9Tvt2zQ4irl1vNP5snXh_7_VNIndWB2kAZfchuZ5oXcYeh2D8kWTczS3SbR_6kkes3N2q3GRT6arSgEgQ5-lsT_SJQA4KI4ECEfQienfHB74XF9qSYlgcSs-FpsCHJmZhz5DJEZUAx967CJHj9b_SFPAYmU8MUBQUCp2R3DnsFdFTDpsNm9Z0JBKoCwBkvXE-U1yuaRAq1pQrvF4Nf5i3lOs0CUKAJdHE6VRtEf5vNSn0Fh3YAeDdc7NJ7phJDHvBYL2LMNSpRIkX4yCxvBaxTtVCNSkFa682eC0ZsIMEkm8Nv2TcX0i9guGmhtAK4HNavrDC6ILu2KwHCY06tpZamKRYe5HBVHY-o4905oyTq0Y6M_V-Z2kdUH39XzwYikcDM3_H6WN7yyxr8Rj-kcxka4-Io1OYeGUtrA1KQ7FiWFlJF7-sUnUnQO86NUHJ958aGLd74Zrx_7stdyMJaz2SBMaessoUM0Sk3UT7Pqtjswsphnwja9j_zMzsiQblW30HEhQOuIOvuuBWEJ_3EtRG85tIu9DdZ8nELPBe_9uadazx48YxN0T4-aN2GWCfP1hHzWJURHQjSKnoGCHSl2yODysPngrI3l5P0OaAHvoeslUoFeaiP3SQLqOhEQRnwWnUHKDZiDSBmTSmIABXCSfzEs2YvTUq4zA7i-IfxWOKyFNGBKiml3OMWK2hD46tyieA5AilOMiyJLlEKlDfLeYWnJL7NIZEICqmf6ao7zXL8PEmErQYzDl_0NwGT8i6SyhgjS-s9JsFVzXaZHVrkZ_nU3bTwSfzGl1wQvWWtMfcHrpn8zgnVIwOaIACuVi_wSwyy5BOJK5ABgyqgXS8AmHj1yVfl_JtZo1EKl_NVYjdgxXswaeOIQ2hsNO6DVY9cTi6vXuDzFG05uC85513YsWtK9XTkHK5HnXKLiZAxnVUCigEOETszWL-Hyx7Hztp9R5E6QwkF6fOO5CUoAQepE7AXk1ihaNqJi04STYKJrhSvk55XiSu6xrO9Ix7-fbTFHnFuiSO_2juMu7mRGG2E24Og3AUsxOQT_7NyEWqrJj4MRD2CmEdMdjq5tmbHy3a4aIdzSF3oIJgRxMVBzotDgaYJ6oWyJPwWMD_IEt_zMcogOgYAsSz88ktwugEtzK23VgPh3ZwfqSX3NOSFV6A65KoXcyiShLF8qdxuCJhLpT6lo1FQqEhjbJlpGpVm7cERa-f4phFZzK4s5eU2cFieNO_Dj9MEydpuM-oiHTkdtIQk-_TpIMJHUJGKaRRaJ2OeFdsxTRzwkZrnnrW6vdxiLim5mKxxup-F91ObZCRefLT5xagqiv4ev4LGaoI676eft5KSmx1X-RXPYiO2wIkic518Lr9aplx0qlffeeRxciC6vpviWoJuf6NdtMYcPBBb3Bzxdlaz5cvfHxqQ4WMba4v-QJn32CmP3DDf39-eD0GjkxIQgPAjELlepUYpkVovVLd4cbXWZMTCMzqRa691FhfdZIvC_PQOqq5_AYnRutMKRjw7wEEymX8oCRj9OgNP3mgfnIi046NY7QD7MPg==",
  "id": "rs_010a146dccf04543016ab43e72742487d09df34c7d45ef19fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.25,\"right_z\":0.19,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The cap is stable at the forward station, level and pointing away from the bases. I’ll bring the pen behind it and partway inward, stopping with roughly 11 cm lateral clearance so I can align from the wrist views without crossing the cap wrist.\"}",
  "call_id": "call_puO3MuqSQnuZCkLAiujavWor",
  "id": "fc_010a146dccf04543016ab43e74439887d0af9a0c337620dfc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_puO3MuqSQnuZCkLAiujavWor",
  "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]: [-0.8433, 1.8427, 1.4734, -0.5606, -0.725, -0.646, 0.0802, 0.9913, 1.4307, 1.0077, -0.6025, 0.8349, 0.7631, 0.0637]\nstate[eef_state]: left_x=0.3974 left_y=-0.2648 left_z=0.1718 left_yaw=0.0782 left_pitch=-0.0746 left_roll=0.0729 left_gripper=0.0802 right_x=0.2867 right_y=0.2055 right_z=0.1664 right_yaw=-0.0795 right_pitch=-0.056 right_roll=-0.0988 right_gripper=0.0637\nstate[joint_eff]: [-4.0684, -10.3179, 6.8581, 1.7949, -0.3834, -0.0122, 0.1343, 4.0547, -3.9863, 12.0684, 2.0928, -0.0464, -0.5983, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10329c90c2e947cbd9f04b1a4fad3f8fda9e1978406919a1be3b19cb1feb1e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ad60c1bbe40f51e47452e5d6cdf4e203717c4bf52aff1fd083a65b7b04f1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1688436957b3933af12b263dc52065226e169569276c0478b7b18a7439029fd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 4.661 s

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

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9215, 1.6253, 1.4258, -1.0672, -0.2802, -0.6361, 0.0766, 0.4824, 1.2438, 1.2095, -1.0473, 0.1379, 0.2138, 0.057]\nstate[eef_state]: left_x=0.2583 left_y=-0.2535 left_z=0.1572 left_yaw=-0.2263 left_pitch=-0.5906 left_roll=0.0425 left_gripper=0.0766 right_x=0.2729 right_y=0.1195 right_z=0.1974 right_yaw=0.2146 right_pitch=-0.5061 right_roll=-0.0224 right_gripper=0.057\nstate[joint_eff]: [-0.3487, -7.4188, 6.4889, 0.7937, -0.1832, -0.0611, 0.1099, 0.2256, -3.2068, 9.347, 1.072, 0.2564, 0.2369, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8921, 1.8347, 1.4765, -0.519, -0.7235, -0.6441, 0.0788, 0.7349, 0.9791, 0.8413, -0.646, 0.5522, 0.4339, 0.0612]\nstate[eef_state]: left_x=0.3881 left_y=-0.2893 left_z=0.1816 left_yaw=0.0249 left_pitch=-0.0437 left_roll=0.0318 left_gripper=0.0788 right_x=0.2674 right_y=0.1216 right_z=0.2014 right_yaw=0.0407 right_pitch=-0.0869 right_roll=-0.0374 right_gripper=0.0612\nstate[joint_eff]: [0.253, -9.8393, 9.4291, 1.4676, -0.1783, 0.3443, 0.1343, -0.0068, -2.4821, 6.9265, 1.5116, 0.232, -0.1099, 0.7204]\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 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]: [-0.8433, 1.8427, 1.4734, -0.5606, -0.725, -0.646, 0.0802, 0.9913, 1.4307, 1.0077, -0.6025, 0.8349, 0.7631, 0.0637]\nstate[eef_state]: left_x=0.3974 left_y=-0.2648 left_z=0.1718 left_yaw=0.0782 left_pitch=-0.0746 left_roll=0.0729 left_gripper=0.0802 right_x=0.2867 right_y=0.2055 right_z=0.1664 right_yaw=-0.0795 right_pitch=-0.056 right_roll=-0.0988 right_gripper=0.0637\nstate[joint_eff]: [-4.0684, -10.3179, 6.8581, 1.7949, -0.3834, -0.0122, 0.1343, 4.0547, -3.9863, 12.0684, 2.0928, -0.0464, -0.5983, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10329c90c2e947cbd9f04b1a4fad3f8fda9e1978406919a1be3b19cb1feb1e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ad60c1bbe40f51e47452e5d6cdf4e203717c4bf52aff1fd083a65b7b04f1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1688436957b3933af12b263dc52065226e169569276c0478b7b18a7439029fd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD57aaNAT78qkjjutMlDzmXG1O7ulQK4Jm84FmTcm4dylMt_6QqWnrVy3nMNAOqxhU9ogdkQbY2VK0DocnfC5tCf0-VB-Ih-uEIqY-bfCdMySnucwXx1tv0HafjDn3wDvFmGcZpEiTD7njrpqbfJ7pHQxWSby9SzV_Vu2uKl_TbkVRNI5a0nHMCgEm10yd4zyeplMZ8NCDWOemjDTW9-vq-ipasdjFJBgfj9KoysQNgcgH4lIOElR3aoW7R-vtLBQfj3oEyPBR5tp4-G1nUQhgtdsHxksLX6xSXiItF1iL_86ifD_RcKHHXmt2JzZA_VrDyvJPXFQR3xqVkKNT6S-INpV2-_zLh6mFc99pydUWBp78_-WefETjy7rImSm-2UcqcoZDVAOVLpWsvBqgsgeJb9UGYZcMMYQVp4Hr6cLjguUwJg026lX_0PgoW_ctn0rvyeqjJ6ysYXbiQ7pEUIaNDDIaVPuVWameHVyePL7y_VvAfrLQ4bVTta2pI_7pTL4ElrMjuAfW9scyRROq8-xV4wf3boWoEtUAGdDNzTscLZ5JLlnAXfzQUqHyl6XBInMNkMQu_KWQ64xWAsqeeSMz1AFfdx3tAcCCGxp6stOWAtLZN0-Ar3pYEJmizDOXq0ux_6-AZNyz1gp9Hhf38VrWlc0zLvfx-mZrAYSvXAkRSE5LyW_d-OQRWjfzqtqCilbwvIcROAJ-UDRUPG9tuhgbbqFpRMIFmMghS7R1v7aDaGMCn94MmI_DaO-5xBTdgE1wX6LrqVDaRTbpnBF2RHqWaLkGdliKIuFEgS_a5B3X2TJH19xqzl1IH98YTm07Y9iLcXwEDc-ypI6NQY6WaUtWP9i00xjHP40R5iUu20OnzzCqJLSSyiwPZCAKUyyy7NXxo6L1_LuzSaRhtNQ1sJksbb0n6hMLu0P3DGl1mEWpll2OO6viXcML_z7IWJAbTAxAtakUlcIZItNWPw_AdKkAJmi5tQkvojvEaYsgISh63XnqemAY-NmGHKL8NwzMHBr6FATSnNIsdJ9fDJFHzdFVCFk79RXqGU1YzWo0v3jCqSqgAorx8ZxZH6B4mEry0NJxjWdnqAEEaYVDaqPbF0pBI6qySIebGatupEXOpClH5cEhO1M425tP2nQGBFWpK8xkwq9BYDWWzzVDV5V66oN-unkUtKjHDIwpjlX7VwXtuH9io2E7_nyHtfJ85V0KFX6dzv9kaUExyBQ8KQN0ruG4FTbIoNAfg1HzFPMscKF_KnV0CBIUI2ZgfBPU8h7OUOh5gZgSQ4wfb-jKzv4ry9UYRmRi65SzZ058Oddkljy5R-N2M3vWHTkMao7llihQJbEYoDgEKbaA0QIbWqsvUtE4XqI2TsLtCfkhgwx7Mj4SXA7pyICK0LZKve2c7kla7lqveIasU8d6vS4scCyjQwbMcObjFlTXnNj_ZUxoJJBDgNgEVIhHOp2y7o4M9uqrqizL4qOsupqarkW7-jKtxMVCrlEILm31o7VgdF-e4EVxIT3rlD5LqgdrWWnI2wrx63s20B0KEllgAJR9UWaZbaoqua-h5eZIFW8J40rVnkzY-_8FtZnH5Anbfv3jExjMhuHA64MYLdH7Dw7GTcp5xt6dNG4GqpYVsWRXZLMfCpTXioxw2HKQj1uByGIFJvuQRpcMJLrK9yuov5J3upMmiZE51AKW7VWNgowVQuNx_go-mLeUrDdFvtfDk43IQcrg3Jld3S70vz7fLj_2QEj1OeYxuPkSc0KzKlLHxcBp9AHIlRFL6p9Q7wTIZ4uEjY_rs_DhZ6Fys-Z_FJnRxl451RYDsF4Hik4ezpf-3zNQYSJ6AaPYNnY2YN496JNbndMYsiZQoaDiOoeTrGdLqGf8gRRMhLtWIwQRws7gEavKWPE2YX3yT0m2hNWibZLaJ3z9toHIoel0XDoR6WlGAjZNEygWuy5XJ6e4vaLWraoUrs_VXpBeBFz4au7PQyR5cyIhbm691bf5Bi9aRBmxwvbq2uJNPbwr95KOpNc6VgHrNL2n0i3YJ70xR7vAVS2pag_NTosTWtHN0JcewLvr20l2mH7DUhL4AKPBktVebPr2tRWYyMEK1ea4uUnWDHOxuU5xV7wnH0jOylMqzwmSxh-FPS0x1aOIoAyskDrxLY9N8tUTu7T4Uxm1kkGr7gs91D7Vgy87jGozXyyhl7IqIab-HyH05Bge4QtYWxqILOkTGZZbxJjit5tpLnhzN2VkWZxZQn1cpWwDPHHtyEhFGti7QTJSq995GGScSikZgW5RNhlFkyna00Fffanklzw87MSdhDMrzT3svf_Ey6Z43aQtF6cb7RueMfvYxS0Q86P1LtqtGaPG0h-ob2l1mvHP18LlN1yR60NbiaRbNgi7Ft4-ncZXZI6_ssi5ynj8FeVdm253Qt_jhgxRZz5G6BvmzuMgtH8Ll9ZuR8c0Yobn7H9bTvQcXR7jtO-15LLrUOU64-v4FnJlbUevnWt1dnolbretTYJgKvHgMrJySm8kkEGJJB5rBG9IRlGDGrf5hAocvlez7m8SfnvvhmUCR_-ZTGF3o0m6zPuk9iO2_3I_bmmRfKWGiXhgX7XiU9zU-2HBUgOZDZSvunHhvn4jUTG4VEYwljMYpYySQJlQa2F56uA4iLqyYR4ntaI-iVMwMUWT24OSAbMHyZei6n1t3xoEUNe82hAuithq0LhiyDKKRK55L7AKr8Rp6qA8TWVz7lm89vt1Lowm4mFo058FQRMpKY4xHTgmcL3dyOZpChW3qT8RbzkFcCkb9Eo7Jxo62Z9Tj0XjbakuHk5s45vf1AKBoIQOhCIR7ulHExOoblM1imnbO0Ilrxtw==",
  "id": "rs_010a146dccf04543016ab43e7785d887d0942bc02af34bc8e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.05,\"right_z\":0.23},\"note\":\"The parallel wrists touched even with the objects still well apart—the overhead view shows the bulky camera bodies meeting. I’ll pull the pen arm back to its own side, then set the cap down as a stationary fixture so only one wrist needs to approach for insertion.\"}",
  "call_id": "call_IfLelvcXvgscFCis5YZbBxQ7",
  "id": "fc_010a146dccf04543016ab43e7aa95487d0b50784e7af9351d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IfLelvcXvgscFCis5YZbBxQ7",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.8448, 1.8408, 1.4723, -0.5686, -0.7246, -0.6529, 0.081, 0.5785, 0.8211, 0.86, -0.7998, 0.5888, 0.3801, 0.0668]\nstate[eef_state]: left_x=0.3959 left_y=-0.2642 left_z=0.1712 left_yaw=0.0806 left_pitch=-0.0789 left_roll=0.073 left_gripper=0.081 right_x=0.2525 right_y=0.052 right_z=0.2252 right_yaw=-0.1137 right_pitch=-0.0546 right_roll=-0.0861 right_gripper=0.0668\nstate[joint_eff]: [-0.0068, -9.5932, 6.9949, 1.3114, -0.3932, 0.0415, 0.0611, -0.2393, -1.0462, 7.4598, 1.6142, 0.2662, -0.1001, 0.315]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:089a74371ee7606feb4378d8da0812035b49b54309f60c5a8b8cbc2c80dd748c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47b15b1a75bf85cec1c283d46fffb9c0b9d1bb1cf3160d5e85526a3168dc4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0598cc7e6f7234369e5410ae84e6aab3838909c4a9d7c110c5435e0db7ef01b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.57 s

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

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1713, 1.478, 1.2255, -0.8223, -0.8322, -0.9192, 0.0775, 0.7353, 0.976, 0.8433, -0.6407, 0.5594, 0.4313, 0.0593]\nstate[eef_state]: left_x=0.255 left_y=-0.2589 left_z=0.2056 left_yaw=-0.0321 left_pitch=-0.063 left_roll=0.0245 left_gripper=0.0775 right_x=0.2683 right_y=0.1211 right_z=0.2043 right_yaw=0.0376 right_pitch=-0.0758 right_roll=-0.0369 right_gripper=0.0593\nstate[joint_eff]: [-0.335, -7.9658, 6.0103, 1.2332, -0.6422, -0.1197, 0.0659, 0.759, -3.8496, 6.9128, 1.8926, 0.442, 0.1343, 0.7155]",
      "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]: [-0.8433, 1.8427, 1.4734, -0.5606, -0.725, -0.646, 0.0802, 0.9913, 1.4307, 1.0077, -0.6025, 0.8349, 0.7631, 0.0637]\nstate[eef_state]: left_x=0.3974 left_y=-0.2648 left_z=0.1718 left_yaw=0.0782 left_pitch=-0.0746 left_roll=0.0729 left_gripper=0.0802 right_x=0.2867 right_y=0.2055 right_z=0.1664 right_yaw=-0.0795 right_pitch=-0.056 right_roll=-0.0988 right_gripper=0.0637\nstate[joint_eff]: [-4.0684, -10.3179, 6.8581, 1.7949, -0.3834, -0.0122, 0.1343, 4.0547, -3.9863, 12.0684, 2.0928, -0.0464, -0.5983, 0.5006]",
      "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]: [-0.8448, 1.8408, 1.4723, -0.5686, -0.7246, -0.6529, 0.081, 0.5785, 0.8211, 0.86, -0.7998, 0.5888, 0.3801, 0.0668]\nstate[eef_state]: left_x=0.3959 left_y=-0.2642 left_z=0.1712 left_yaw=0.0806 left_pitch=-0.0789 left_roll=0.073 left_gripper=0.081 right_x=0.2525 right_y=0.052 right_z=0.2252 right_yaw=-0.1137 right_pitch=-0.0546 right_roll=-0.0861 right_gripper=0.0668\nstate[joint_eff]: [-0.0068, -9.5932, 6.9949, 1.3114, -0.3932, 0.0415, 0.0611, -0.2393, -1.0462, 7.4598, 1.6142, 0.2662, -0.1001, 0.315]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:089a74371ee7606feb4378d8da0812035b49b54309f60c5a8b8cbc2c80dd748c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47b15b1a75bf85cec1c283d46fffb9c0b9d1bb1cf3160d5e85526a3168dc4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0598cc7e6f7234369e5410ae84e6aab3838909c4a9d7c110c5435e0db7ef01b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6BYT7B4d4E6d9jaLhWyZkwnhrx1fTTI5r3cZvj_L4HCLyKWV7jsMdRZKdzNH9gQSwAcJKwFf-RAGyepeZwl63O5Kj4zO716XRaFlWlg7U9fI0OaEYXKN7heeuO2a9vXEQjUhyrgtSlBUURBXh7zDjT1pPC1iWMCFM_0gWj96G3dreVvICrbcHpKIWRIuJHZLD8-YiKajMuXe_Eeimr27j_DpMWMFK0MgbzPRo5LkU5TUk4gP6GQ-5Qmf0Bx1hgP4I-D2f0jd7TEsr61eOltEDySwQd5is4uoO2ODg1dircTQl2wPNgW2_3LO4I9sHCEmtrGUb4ot2m0yod1lxYoNa5BXP86_-EQ-N-KkR5BBPxXN5xq-8nXUg0gZyGKRQM0KlEaX_7cFTgB6Zky0lY5h4ZlWXK-IiV-3iHFF261PhW8WnWTYGr-S3lr7Pw5orx3puew8UQ6INdzxKGdxCPvHp8GC8PnHV9UrJRaK4QI1PgUEvRvHuSTuskGJov6VAOgQZSj8gOz1NmkVI4XblmcOA9wAj3MfVBSuc805ZEk3HVqzZEkWE0-wWFG_c9t8X56F4eLqmBI3qNVtrc7m_NDLdXiY0NZQ5f1ZgVJhgxCWHVgS-zj6Pr7Av0sr0yG_H5qcn4bdY7KXpqBBlG2PLk6jGqgyzbJWySt4-5i1l-FwjFkCbm3EuP3Xxj5gR0FR-ttvcAuYytFCZraCDLWkQzKwiw5qHRdSauU69b7rGl7e29KkwPKoAOUJkewuBdCc_wrq7KWYkuUx6Dbcn5DvYey4mKajgNqSc6GT7U84yGi6EfsJoOASoh6WmtwdeooVvp31EDC2Hj35T9c9STtme-R9S-XLBvvcrv8kcryzyJYoNAVcy0G-yJLYuEs3qKD16aAYPJeAY9hNO6XCmnmeAcwWFLc0BlmCcKM-UGpIIjM-r1bXcmhGNBA9geDAbjntZ2sqOatjOlEMkvaHBUMEFOv5ZxKXiBuTQJSYiNsvSk-aN18JtYmmj6C3X_PYWkqJmrSwAY2DcsUcdg3zB9e616n7eZs4NGQFsP14adbnbm0nZoIrlJWV9evCb-p5GRipEQsBjiMFtRDyAucKv2WezAKrAZ34Cq_CazWTySIWYug5K1LjJpPaECcW47WXXpKu-3qEHdzLOBTbTA3QwIG-_EV26OoVhQt7NO0FpHZNf0us-svtSp4nAk6D3-qmt66e4KRbhFkZ3JkUz7XC6EV4NP70H2l59wtlX63BuczOV7SW9wvrn3a5GAOL_wKmTjGyjwwqCTI-d0BFo5Wns1wI206Hp3KGfdSzgzh6qRURobHi2bljY=",
  "id": "rs_010a146dccf04543016ab43e7f3ff887d099e81ecd32b1bc60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The pen arm is clear on the right, and the cap remains held at a central forward location with its axis nearly forward. I’ll lower the cap onto the tabletop in that orientation so it can serve as the insertion target.\"}",
  "call_id": "call_JmbduyxZ5X6Ofjf3YnrDdRef",
  "id": "fc_010a146dccf04543016ab43e7ff7c887d0bf26c9d102e32c1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JmbduyxZ5X6Ofjf3YnrDdRef",
  "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]: [-0.8337, 2.0628, 0.9836, 0.2462, -0.6918, -0.5655, 0.0824, 0.5716, 0.828, 0.8581, -0.8162, 0.5678, 0.3622, 0.069]\nstate[eef_state]: left_x=0.3899 left_y=-0.2565 left_z=0.0046 left_yaw=0.0181 left_pitch=-0.0362 left_roll=0.0468 left_gripper=0.0824 right_x=0.2508 right_y=0.0526 right_z=0.219 right_yaw=-0.0964 right_pitch=-0.0843 right_roll=-0.1051 right_gripper=0.069\nstate[joint_eff]: [0.3897, -8.8137, 4.4923, 1.1062, 0.1832, 0.0073, 0.1392, 0.2803, -1.5248, 6.6803, 1.6142, 0.3687, 0.1441, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b999c33bfba341fe114a605d22f6738310ca16a1ea4542b3f0eea31651d0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4669344ed40a375f5efdb3954560d1c3f6988ef99580224d8b94756bd2b69a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3354e82f3e8048ee38e968a5dd279c8c4c990e471c566c768b3352e76879cadf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.434 s

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

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8921, 1.8347, 1.4765, -0.519, -0.7235, -0.6441, 0.0788, 0.7349, 0.9791, 0.8413, -0.646, 0.5522, 0.4339, 0.0612]\nstate[eef_state]: left_x=0.3881 left_y=-0.2893 left_z=0.1816 left_yaw=0.0249 left_pitch=-0.0437 left_roll=0.0318 left_gripper=0.0788 right_x=0.2674 right_y=0.1216 right_z=0.2014 right_yaw=0.0407 right_pitch=-0.0869 right_roll=-0.0374 right_gripper=0.0612\nstate[joint_eff]: [0.253, -9.8393, 9.4291, 1.4676, -0.1783, 0.3443, 0.1343, -0.0068, -2.4821, 6.9265, 1.5116, 0.232, -0.1099, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8448, 1.8408, 1.4723, -0.5686, -0.7246, -0.6529, 0.081, 0.5785, 0.8211, 0.86, -0.7998, 0.5888, 0.3801, 0.0668]\nstate[eef_state]: left_x=0.3959 left_y=-0.2642 left_z=0.1712 left_yaw=0.0806 left_pitch=-0.0789 left_roll=0.073 left_gripper=0.081 right_x=0.2525 right_y=0.052 right_z=0.2252 right_yaw=-0.1137 right_pitch=-0.0546 right_roll=-0.0861 right_gripper=0.0668\nstate[joint_eff]: [-0.0068, -9.5932, 6.9949, 1.3114, -0.3932, 0.0415, 0.0611, -0.2393, -1.0462, 7.4598, 1.6142, 0.2662, -0.1001, 0.315]\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 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]: [-0.8337, 2.0628, 0.9836, 0.2462, -0.6918, -0.5655, 0.0824, 0.5716, 0.828, 0.8581, -0.8162, 0.5678, 0.3622, 0.069]\nstate[eef_state]: left_x=0.3899 left_y=-0.2565 left_z=0.0046 left_yaw=0.0181 left_pitch=-0.0362 left_roll=0.0468 left_gripper=0.0824 right_x=0.2508 right_y=0.0526 right_z=0.219 right_yaw=-0.0964 right_pitch=-0.0843 right_roll=-0.1051 right_gripper=0.069\nstate[joint_eff]: [0.3897, -8.8137, 4.4923, 1.1062, 0.1832, 0.0073, 0.1392, 0.2803, -1.5248, 6.6803, 1.6142, 0.3687, 0.1441, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b999c33bfba341fe114a605d22f6738310ca16a1ea4542b3f0eea31651d0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4669344ed40a375f5efdb3954560d1c3f6988ef99580224d8b94756bd2b69a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3354e82f3e8048ee38e968a5dd279c8c4c990e471c566c768b3352e76879cadf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6FK_RceL_2t7WfYllZC9rj_2jtdzx6tKfGhrEZYnfmSggLAv9_aYvOhrV4Dsl3WUqlChsodPaipGzkOmMIE8XsASvSHvFLXAkZ_K6ykyiUdyUP8lBdV4vMuK8_zOBNllVF_aiAca1rHkCNywiBBEob0Z6wnAORPaaKC8Fcgv7n1h8kB5pgWFNgYD1C9xoSPSDNsnoYmnbcG20w-fpn1JTsn4jZ9Ilfx4FfTWNMV4lW_6Ja23evWl4XplrXE3Np8CsbOj5EWlFGOqFgj1PJxqNZrDucyYDV4iyw2xx6wN_ifDRu8O3m3vQ1UHHApTaeGRmd5-KTl-stY_FFiEU8OC67qCzcbAisFbZInwEW9wvAbd3kk_X34TzMDctNxwapxk8dk4S3oNcLzlzsoIx9YCBqg79-3gfKWJbY7hn7hBA6huTJpSB_KF39dPO3zbjHgz_ctbKGklvuXpSo7h7E7QoAeCTzaenHlVdcnXFp-m6Aug6w7e4Ug_HyLqbzfAKOGlsLr1ClWYtkPz4bOik4XpBO7HNsltz76nDwUZvHApJDqUJ2h7iNmm8l2s7_po1tMsZY7mjjWMHXcqWXrOE8GnOJASLcl8-InSP2PVk-LUMIKhUFHGvE3HkEZq_is3xhQv8ejVrYds05qhH-382LRo5L_KWBIFE1YqUC9tqMH2GuXJngu_HYUYBRAcLy0ym7wNhPlPyzNCPafFfHBu_rEBV-vRwt2KGXaBpu6Vc01VJcwOQOO514srdjthVuGUSZ2BAsSarwoCK1tYJH61WpUpbJh6HUreYnoEYdusH3L0Uclb6hwIBdsYRozYAeLCaC_zNvPZzd4PlSk9H58NNNGKi367Ex5N_SeiKoIWQQ9dOLROX-UitSgVT7YyCudJxQUANBcuW9P3Th5N5IKPaU7aSII5vHa36Rt8L6QQr9Cax6MeqQyO0KaUUkU3GJ_VR7srIxzh80YUpFL_Ed8ZTo15eR1MGN5wGqL6kKCPQSp9wKMjUGvMCWhphyW_vF9J_IWBC-kzi_B8Y-VA4GiFXKuE2A76vl-oPhyKrxXSzpZ3ZjbsFz-2kqZIGypUUxuomv7RFXtk8pzytt3CqKRbdbLtwEWKyRK5Cd-wfGQ9S3OnaKpTjEex52xCCKCEf66GmXIpb10DsEZEfhCJHHs1zBQTCJRnQk4cENR3Crt1BA1KJ9hoH4DIDl05Enm9z1DH9AcJTY",
  "id": "rs_010a146dccf04543016ab43e8403a087d093ba86b53a213bed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The cap is resting on the table at the commanded pose and the left arm reached table height without obstruction. I’ll open the left jaws to leave the cap aligned on the surface.\"}",
  "call_id": "call_j29KTH9aZ1wldp8mQoU50IZY",
  "id": "fc_010a146dccf04543016ab43e842d6487d0bf8137f32e87cbb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j29KTH9aZ1wldp8mQoU50IZY",
  "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]: [-0.8333, 2.0747, 0.9749, 0.2874, -0.7071, -0.5781, 0.9952, 0.5709, 0.8314, 0.8577, -0.8177, 0.5632, 0.3614, 0.0712]\nstate[eef_state]: left_x=0.392 left_y=-0.2555 left_z=0.0039 left_yaw=0.0354 left_pitch=-0.0139 left_roll=0.0281 left_gripper=0.9952 right_x=0.2508 right_y=0.0532 right_z=0.2175 right_yaw=-0.0936 right_pitch=-0.0905 right_roll=-0.1064 right_gripper=0.0712\nstate[joint_eff]: [-0.3487, -11.0564, 5.5863, 0.9548, -0.1832, 0.1441, -0.1783, -0.2803, -1.0598, 6.5573, 1.4725, 0.2564, -0.0073, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4119d95641d46d2ad460664f50b80f750b441af60518e210add15857bbfdc3ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6cd80431f27919da46738a209a80b135437a16aa1bc47d0effebf2c308206da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8d87006db132af59ed48343f9afc8128cf959095a1fd7def70a469a416e957",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.538 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]: [-0.8433, 1.8427, 1.4734, -0.5606, -0.725, -0.646, 0.0802, 0.9913, 1.4307, 1.0077, -0.6025, 0.8349, 0.7631, 0.0637]\nstate[eef_state]: left_x=0.3974 left_y=-0.2648 left_z=0.1718 left_yaw=0.0782 left_pitch=-0.0746 left_roll=0.0729 left_gripper=0.0802 right_x=0.2867 right_y=0.2055 right_z=0.1664 right_yaw=-0.0795 right_pitch=-0.056 right_roll=-0.0988 right_gripper=0.0637\nstate[joint_eff]: [-4.0684, -10.3179, 6.8581, 1.7949, -0.3834, -0.0122, 0.1343, 4.0547, -3.9863, 12.0684, 2.0928, -0.0464, -0.5983, 0.5006]",
      "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]: [-0.8337, 2.0628, 0.9836, 0.2462, -0.6918, -0.5655, 0.0824, 0.5716, 0.828, 0.8581, -0.8162, 0.5678, 0.3622, 0.069]\nstate[eef_state]: left_x=0.3899 left_y=-0.2565 left_z=0.0046 left_yaw=0.0181 left_pitch=-0.0362 left_roll=0.0468 left_gripper=0.0824 right_x=0.2508 right_y=0.0526 right_z=0.219 right_yaw=-0.0964 right_pitch=-0.0843 right_roll=-0.1051 right_gripper=0.069\nstate[joint_eff]: [0.3897, -8.8137, 4.4923, 1.1062, 0.1832, 0.0073, 0.1392, 0.2803, -1.5248, 6.6803, 1.6142, 0.3687, 0.1441, 0.2076]",
      "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]: [-0.8333, 2.0747, 0.9749, 0.2874, -0.7071, -0.5781, 0.9952, 0.5709, 0.8314, 0.8577, -0.8177, 0.5632, 0.3614, 0.0712]\nstate[eef_state]: left_x=0.392 left_y=-0.2555 left_z=0.0039 left_yaw=0.0354 left_pitch=-0.0139 left_roll=0.0281 left_gripper=0.9952 right_x=0.2508 right_y=0.0532 right_z=0.2175 right_yaw=-0.0936 right_pitch=-0.0905 right_roll=-0.1064 right_gripper=0.0712\nstate[joint_eff]: [-0.3487, -11.0564, 5.5863, 0.9548, -0.1832, 0.1441, -0.1783, -0.2803, -1.0598, 6.5573, 1.4725, 0.2564, -0.0073, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4119d95641d46d2ad460664f50b80f750b441af60518e210add15857bbfdc3ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6cd80431f27919da46738a209a80b135437a16aa1bc47d0effebf2c308206da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8d87006db132af59ed48343f9afc8128cf959095a1fd7def70a469a416e957",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6JMBKqlfn2-bkCAoahZyR34gXUHQFEqu8kAwix4uRwKogMT623nujQ798wPBDBsTjrkvTqnbmaQ4CNrvYZqQBcXf65s-UIcZgoDUEexp7m39ANeKnMB9VX57wuyUL3GwXfPeE-gxc3zGqnQks8-5CSSAzqRhTVzJeb0QqeuYmZrIFaR6RdQtCb5nWb8rcs7DVqHnTeGYbfv2wfRr4ANgiB9TH7N-6j6WohgLKpUT8mVdO4YYhwmLzgabbrBSbpC6H4oBAtVxuhdPmVnA6-u8-FUarFDll-xMrUxfET36K2s4mZvJJiQI1Yqb7Hl5b_8gWk5bV70q8E4599r2GcBA3caEBVExQ0izTanxRKGBRii4gizcbmACuXY0cQPCbBZvB3nnrjhXpUMnyHjLU5Jgz2W_KkbGOtb7ousE9QrOdZRsV54xHJn5KFHa-7pxmUceYnrDSySYE5-M9o-ZeoLj10LWArILhK6JDcQrjst7_JYjxoWSup2JO9JZFf4IW3Ops6Q_72SmO4V9TNWtEap665cRxEkpDExbC9wy8zahTB-VhJQonLJ9261k-7lAVGq2SmyXlB_3KtbW3gcgQ5LjpUPPHNQtktKH-NJar-P1zy6DuuxZfxmnPtm_RxVYKUfoRLVn9TkRy9dKF8pkN-_CGX3oUK2aN1t9QBNGHcX7HaBxS1CVn87AedeRZkaBqJLwA9W2C8ZFwS97mvg-nSzl9RwVdFjh5B6Ne9vZh8iVzDteK5UKYqLEF3bJNFXNOXVJQ9LdqLlbjqQkgI8vWYo8W2ifc0A6gZxJbFK9tYC-g3m19AGmYfhbTj13hnySpMBgrW-VL_Fia6ZW7M2FY2s6fDe0rJsEw3rsf7CAhQcz31VAC0x3xfzOlhRinCXQky9I7Zum-cVHlrfTgo7_arhBF21KR9820IhsTb6G5R0tQKzYI_8jJuhs31WhXs4Jyn3LDQoU_VvP-Wp94tg7c4QJLbtxAkPtU-UIH7jxv0zPQaz3Nl9LxRkhGRc49LMWlotiaKUd5Rof010f76SOIn4yJlbpuI8vl6vvJMUpU7YFBQvdoewWoQcpqueSi6UBogMuFSG2vGo2OAmyMrQXV4F2t1-Pe6pZMRnCag7oGUJkQCSMi4pKPV7A-rUzA6XSptJLperVgfFLeQZQpcEPHQHlWbAbu1vYaSkXS6XjBfJ5HY8lhxZ4LDg6teq52XWOa6jiGU94-dkjcj-p31S1aWmwR5uUScwd9f4MWbDOY_KbE_mOYRQ6QlVHZ4A78EO-gErbrgaiyFk1vHk0Zhm7ahdOz_wNnhvR-UEM-QVnP-NZ4MWMvbvdtYQKUnug9z3WYKZwBmndFyUO8amw-HOWuBBnY7818wW8Dh5bIa6AnDf24qji_66Jap2Ib780o7C34z-8dIqd1RqPA7WEice89n32V16Y6KByXD-1m93QfX_lJixSSiDgjNZCldjwyJipPkcU_FRHrC8sbKyr9j1XjZohxpn_qPZpdnyjzXHFumKyZyk2vNY6Q_ogw5hIzRyCb3Dvd8dLa6GMxNW7xX-04UqEaUKJd_O94E0J0rwkn9LZwHVIDRBGNO5yXiATdeXwFznn4TKh27J81U8lp2-danHz_y8F77Kq1llNYo5dzZlMkCmHLXd8KkXV04ODhEF0qMgCMT91Is0KWGB-R1qcrQ8vzlULLW213hM79_t3COTg28xv0drlC28tIqIlbPFIcEL5MpKzGnnbEdaBR9ik8Z13XtZU0mlgYviyoTYypKVlsj29stkFo9VUTtZo5mRuCHoZfevRl0V9qDOtOunA76hM_GBw==",
  "id": "rs_010a146dccf04543016ab43e8776ec87d0b978107e6e711922",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.22,\"left_gripper\":1.0},\"note\":\"The open left wrist view shows the black cap lying centered between the spread jaws on the table, so it released in place. I’ll retract the empty left arm back to its outer home side and high, fully clearing the cap for the pen approach.\"}",
  "call_id": "call_6f3F3KjN08OfgmzNZhlhjB3N",
  "id": "fc_010a146dccf04543016ab43e888fc887d0b948690d4a4cabb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6f3F3KjN08OfgmzNZhlhjB3N",
  "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]: [-0.5659, 0.7498, 0.7361, -0.6605, -0.5285, -0.3897, 0.9986, 0.5697, 0.8379, 0.8543, -0.831, 0.5556, 0.3614, 0.0725]\nstate[eef_state]: left_x=0.2579 left_y=-0.054 left_z=0.2097 left_yaw=0.0676 left_pitch=0.0017 left_roll=0.0036 left_gripper=0.9986 right_x=0.2491 right_y=0.0532 right_z=0.2122 right_yaw=-0.0905 right_pitch=-0.1123 right_roll=-0.1165 right_gripper=0.0725\nstate[joint_eff]: [0.2393, -0.6496, 9.5521, 1.5995, -0.149, 0.1538, -0.1538, -0.0889, -1.1556, 6.8171, 1.6239, 0.2711, -0.0415, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259e00ad238561c391158aeb771a9419e3ecfc570726175ce8ef1bdb563f7124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3faba2f82ddc8ef84da2965f5aa4b899a983bf61228f3d18c58756f4da99a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef5355f6c11de2d30a6354a0407dca3136bae7cb1f12c42183a1ed83b6de619",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.545 s

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

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8448, 1.8408, 1.4723, -0.5686, -0.7246, -0.6529, 0.081, 0.5785, 0.8211, 0.86, -0.7998, 0.5888, 0.3801, 0.0668]\nstate[eef_state]: left_x=0.3959 left_y=-0.2642 left_z=0.1712 left_yaw=0.0806 left_pitch=-0.0789 left_roll=0.073 left_gripper=0.081 right_x=0.2525 right_y=0.052 right_z=0.2252 right_yaw=-0.1137 right_pitch=-0.0546 right_roll=-0.0861 right_gripper=0.0668\nstate[joint_eff]: [-0.0068, -9.5932, 6.9949, 1.3114, -0.3932, 0.0415, 0.0611, -0.2393, -1.0462, 7.4598, 1.6142, 0.2662, -0.1001, 0.315]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8333, 2.0747, 0.9749, 0.2874, -0.7071, -0.5781, 0.9952, 0.5709, 0.8314, 0.8577, -0.8177, 0.5632, 0.3614, 0.0712]\nstate[eef_state]: left_x=0.392 left_y=-0.2555 left_z=0.0039 left_yaw=0.0354 left_pitch=-0.0139 left_roll=0.0281 left_gripper=0.9952 right_x=0.2508 right_y=0.0532 right_z=0.2175 right_yaw=-0.0936 right_pitch=-0.0905 right_roll=-0.1064 right_gripper=0.0712\nstate[joint_eff]: [-0.3487, -11.0564, 5.5863, 0.9548, -0.1832, 0.1441, -0.1783, -0.2803, -1.0598, 6.5573, 1.4725, 0.2564, -0.0073, 0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5659, 0.7498, 0.7361, -0.6605, -0.5285, -0.3897, 0.9986, 0.5697, 0.8379, 0.8543, -0.831, 0.5556, 0.3614, 0.0725]\nstate[eef_state]: left_x=0.2579 left_y=-0.054 left_z=0.2097 left_yaw=0.0676 left_pitch=0.0017 left_roll=0.0036 left_gripper=0.9986 right_x=0.2491 right_y=0.0532 right_z=0.2122 right_yaw=-0.0905 right_pitch=-0.1123 right_roll=-0.1165 right_gripper=0.0725\nstate[joint_eff]: [0.2393, -0.6496, 9.5521, 1.5995, -0.149, 0.1538, -0.1538, -0.0889, -1.1556, 6.8171, 1.6239, 0.2711, -0.0415, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259e00ad238561c391158aeb771a9419e3ecfc570726175ce8ef1bdb563f7124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3faba2f82ddc8ef84da2965f5aa4b899a983bf61228f3d18c58756f4da99a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef5355f6c11de2d30a6354a0407dca3136bae7cb1f12c42183a1ed83b6de619",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6RJu_eWxQGlPBJ0jK3Me6AFsAt5V0daoP7WAuPoqsBnEQXZL3AUCO1rJQ_Rut5fIw4Fvey7n8Uem8HdNSHq9wyvHPcVEED47_AuDhGWzpSQGjnvq2pH05dSre-O3-0LnRpLIV7x1vtC1dAq0-vZ-bx9zOW3kqpY6FuyKzsBtXSAghoctpaikc5-avUfM00f19h0vZoH8ikTFzDs_1KIH3XXioAYLd9o7cXdKz-fLioKBhKvXqJPjHW_1uFn6V0Jvf0wnB3qfPLhBFu9B9Lbn27EiONmdPxlD4F25jurpzSbqNaMJVrK55ZsJPHZjQdlegMgSVBexcbWc7XSh7IDn-gOwEJoqcwaZDniAv77TaQKCbHHJaRC5MSHMbVmzmeLgbKarzP7byuwJvitDyhTLKfZ8ffWEIe5zvsXRO3Ziul9jSgrxcR3o-E7_o76JfniXUCUXoK5_bSR03-bApBhxbVVLD415-jdOBm299RN-4HFCtd89qezBJG0qt0UvR6JUi6tBQuMlJwDCEgXVmh__mcKRpRgXOSKI53o9Bj78sX2J-a5cGn4loCFycoGFI96Opc03mmNl_h2bBZL12HO3bPD6273OaBWWKn6lZwPdPlpTty15swDq5vEemRWnL2q2llw8QS_intiOyieKq8yavubiBdSuc38Licj0jkw5VHW6ZIB_f1VvVFadNeZVKXpqZLlbGLOhWY95XJZP2qW9WmeQdeDxfvQ7ldJYRW4suaIcrPzIZoZu4cTCx2735BkuTWIVdDCBbWt-ZpJg8mIC-BPCkrUb3uVR5JOUvX8mII4eQxZKnTIewwao1YJ8eSZ_zJTDTABuZIcSwW7MOjDS8cDPa8IYKGydhcQaO_aTGNeCeQeGievKOLn4ZXX6u4lh2snP40ECPUbM-KtcmDubyejtp7EdjfiysDF3YedMLoWv1QtT4nOFxtlRwMrAEePg6Ogk_g2oB04hp67dilzQ0mo1ETRurxNd2RS0V_mjHqvv5E1r2DtHp_ThaURTtLEMQeKf9Gjs75pYIfb_0GluszE2hSf4GrPqzW-yhf5xYEQet9dUJcMMRZIgHWvWFnd11W3foBJO-z1DlLEZYJ9ag7QLF-J3_iWLjtWuEJnuCKCvoeKnL5LthH0VuAjxFN5l0xLkgr_YyifHgXmIJM960_YQ2_KesCovwRZXY_2SpSGsV-8x2o3DCJOGkPnTB8DolW0NrXsRHA-t5_MEVAtcs_7Inl_yz60c_Tc6uQWv9jcX5osUo4_iTLkfc7Tqv1mBN6ubNO1y1UOaa9BJWdsUdNG2xd_pDrsVDSnncF3lTfyDq--T5cpfzHByMY3-6Lnkr23CyiQNwFALvG46N33W9F7tZ3EK4e5-YLaLKYbZxbAv_6KL4d5fG62QeIoXxuvHC84V40HYUcIttBOEPNho_9cRUUfbW03nRudXhryQvgrEyKfoBpQBjkA_pI_ctkjOgbJjtdqglZoDWbE3LymK3SzojfDRr4rZT4cgpn6h5q5_3i4h9nvQZEZ6VKgcGh5YbK_oTxjZY8OG9xLrVjQyyNxW12z4RtVnihhL5nwbmcFaueozINTgBgt_YwEWvmFHerzQd4hsAaKMZnwYlSxqFxCABAF5P3TPvW80_Lf-7sSO0VTim176-lgHdThM78xvPaXIhfesv50IDZnb_ZKEKjTDq8dWrueYLrWd4JvY4eTFxFqur5sqAOk9kh0ulZuPlo6wyqurhS0ZfN1MU_PBQfT31jUcEwHH1IhqNCa9QX3v2EFpzLDpIuD6HuWMZEijR0md_3iZCn6_x0teLjUiN1RL0IK7g9DipIrOKQJucdE45fLAWx_tNi2Xtj9GwL-8nSnnSj6bdJo0bZ3htmzSlI-ulGMAu3kEUx_zvRDOV8-Gr04f1IbLL9Y73GNJNZnBYLOVoIzRcD-O3XgtT_ytHIuVbXjw5JxxLbKUJtpN2VqeVXjtpigqHUGCDd3HxIBoT0o8cxo6XT6HZySzU6NIXYxxtSoeoiUBbqpQgjnIfOij5hU6iHCJIAaBvsdaNT-LwM73VWc7Q95v1zs3v0axQ0FkuaCUCqjab9txyFB7BI-hf9Qhbl2z_urTvQb646sMODUMdQOzRDbd9jLzT8iLGIbVqaCG6N6Qe-sn_bnLPnE4v23WMe1VlhqIFaRHy1Bs7xjYp5xIxdIe-HjsYLvcjmcGRhyfSsuC0JT4GdvKYSqDEmUikGJvliPKSrWYyGH9EK",
  "id": "rs_010a146dccf04543016ab43e8ca3e087d08a0ee1caf0959049",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.36,\"right_z\":0.2,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"With the left arm clear, the cap is visible alone near x≈0.39 and lies lengthwise in the forward direction; its near end is accessible from behind. I’ll bring the held pen high behind it using the right arm, close to the shared centerline but leaving radial distance for wrist-camera alignment.\"}",
  "call_id": "call_l03LE5pzSzH9bG2egUF2NXxF",
  "id": "fc_010a146dccf04543016ab43e8fe6a487d088a920426070416b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l03LE5pzSzH9bG2egUF2NXxF",
  "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]: [-0.5632, 0.7563, 0.7345, -0.6804, -0.5167, -0.3912, 0.9985, 1.1595, 1.8652, 1.5459, -0.7528, 0.8509, 0.8539, 0.0734]\nstate[eef_state]: left_x=0.2557 left_y=-0.054 left_z=0.2035 left_yaw=0.0621 left_pitch=-0.0252 left_roll=0.0127 left_gripper=0.9985 right_x=0.2933 right_y=0.3491 right_z=0.181 right_yaw=0.0299 right_pitch=-0.0608 right_roll=-0.0725 right_gripper=0.0734\nstate[joint_eff]: [-0.335, -1.1556, 6.9812, 1.7118, -0.3687, -0.0122, -0.022, 0.5538, -9.7983, 9.2239, 1.3114, 0.735, 0.2564, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a5d428d2bbc221b26829ed07b528f263650f643949b58b23da40de7088437c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc19f6228ec515057c40f6d34b6c75cc3324cb1ecaaa18cfd574180d962c320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d279b12a47c37b533241b3d4be55749708c0c97cefa1267fe711cde60e4307",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 5.723 s

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

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8337, 2.0628, 0.9836, 0.2462, -0.6918, -0.5655, 0.0824, 0.5716, 0.828, 0.8581, -0.8162, 0.5678, 0.3622, 0.069]\nstate[eef_state]: left_x=0.3899 left_y=-0.2565 left_z=0.0046 left_yaw=0.0181 left_pitch=-0.0362 left_roll=0.0468 left_gripper=0.0824 right_x=0.2508 right_y=0.0526 right_z=0.219 right_yaw=-0.0964 right_pitch=-0.0843 right_roll=-0.1051 right_gripper=0.069\nstate[joint_eff]: [0.3897, -8.8137, 4.4923, 1.1062, 0.1832, 0.0073, 0.1392, 0.2803, -1.5248, 6.6803, 1.6142, 0.3687, 0.1441, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5659, 0.7498, 0.7361, -0.6605, -0.5285, -0.3897, 0.9986, 0.5697, 0.8379, 0.8543, -0.831, 0.5556, 0.3614, 0.0725]\nstate[eef_state]: left_x=0.2579 left_y=-0.054 left_z=0.2097 left_yaw=0.0676 left_pitch=0.0017 left_roll=0.0036 left_gripper=0.9986 right_x=0.2491 right_y=0.0532 right_z=0.2122 right_yaw=-0.0905 right_pitch=-0.1123 right_roll=-0.1165 right_gripper=0.0725\nstate[joint_eff]: [0.2393, -0.6496, 9.5521, 1.5995, -0.149, 0.1538, -0.1538, -0.0889, -1.1556, 6.8171, 1.6239, 0.2711, -0.0415, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5632, 0.7563, 0.7345, -0.6804, -0.5167, -0.3912, 0.9985, 1.1595, 1.8652, 1.5459, -0.7528, 0.8509, 0.8539, 0.0734]\nstate[eef_state]: left_x=0.2557 left_y=-0.054 left_z=0.2035 left_yaw=0.0621 left_pitch=-0.0252 left_roll=0.0127 left_gripper=0.9985 right_x=0.2933 right_y=0.3491 right_z=0.181 right_yaw=0.0299 right_pitch=-0.0608 right_roll=-0.0725 right_gripper=0.0734\nstate[joint_eff]: [-0.335, -1.1556, 6.9812, 1.7118, -0.3687, -0.0122, -0.022, 0.5538, -9.7983, 9.2239, 1.3114, 0.735, 0.2564, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a5d428d2bbc221b26829ed07b528f263650f643949b58b23da40de7088437c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc19f6228ec515057c40f6d34b6c75cc3324cb1ecaaa18cfd574180d962c320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d279b12a47c37b533241b3d4be55749708c0c97cefa1267fe711cde60e4307",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_010a146dccf04543016ab43e94c07c87d0b517b75278f54636",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.395},\"note\":\"The pen is now about 10 cm behind the cap radially; its right-frame lateral readback is 0.349 while the cap’s placed coordinate converts to about 0.395. I’ll make that 4.5 cm lateral correction at height before descending.\"}",
  "call_id": "call_Lu26tGszdvG5o5mXT4BsUcuv",
  "id": "fc_010a146dccf04543016ab43e96479c87d0addaaef081b8b343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lu26tGszdvG5o5mXT4BsUcuv",
  "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]: [-0.5625, 0.7612, 0.7326, -0.6949, -0.5167, -0.3912, 0.9985, 1.1938, 2.0285, 1.7519, -0.8646, 0.844, 0.8684, 0.0748]\nstate[eef_state]: left_x=0.2542 left_y=-0.0528 left_z=0.1992 left_yaw=0.0633 left_pitch=-0.0426 left_roll=0.0252 left_gripper=0.9985 right_x=0.2912 right_y=0.3867 right_z=0.1694 right_yaw=0.0549 right_pitch=-0.0949 right_roll=-0.1209 right_gripper=0.0748\nstate[joint_eff]: [-0.212, -1.0462, 6.8855, 1.7411, -0.2418, -0.0269, -0.0171, 0.5949, -10.6735, 8.841, 0.9646, 0.6716, 0.442, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078b770128c351927476e560262dd118525168fff421d3082c24c8080226aa21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2837f42c2581bfab31a2d3ccc356dbbbe07c90ed09b55d42cc375297757883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8160891371b0d1f36c1d6702bf578cf420d075ebd5881b158986dc4aae29c62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.84 s

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

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8333, 2.0747, 0.9749, 0.2874, -0.7071, -0.5781, 0.9952, 0.5709, 0.8314, 0.8577, -0.8177, 0.5632, 0.3614, 0.0712]\nstate[eef_state]: left_x=0.392 left_y=-0.2555 left_z=0.0039 left_yaw=0.0354 left_pitch=-0.0139 left_roll=0.0281 left_gripper=0.9952 right_x=0.2508 right_y=0.0532 right_z=0.2175 right_yaw=-0.0936 right_pitch=-0.0905 right_roll=-0.1064 right_gripper=0.0712\nstate[joint_eff]: [-0.3487, -11.0564, 5.5863, 0.9548, -0.1832, 0.1441, -0.1783, -0.2803, -1.0598, 6.5573, 1.4725, 0.2564, -0.0073, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5632, 0.7563, 0.7345, -0.6804, -0.5167, -0.3912, 0.9985, 1.1595, 1.8652, 1.5459, -0.7528, 0.8509, 0.8539, 0.0734]\nstate[eef_state]: left_x=0.2557 left_y=-0.054 left_z=0.2035 left_yaw=0.0621 left_pitch=-0.0252 left_roll=0.0127 left_gripper=0.9985 right_x=0.2933 right_y=0.3491 right_z=0.181 right_yaw=0.0299 right_pitch=-0.0608 right_roll=-0.0725 right_gripper=0.0734\nstate[joint_eff]: [-0.335, -1.1556, 6.9812, 1.7118, -0.3687, -0.0122, -0.022, 0.5538, -9.7983, 9.2239, 1.3114, 0.735, 0.2564, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5625, 0.7612, 0.7326, -0.6949, -0.5167, -0.3912, 0.9985, 1.1938, 2.0285, 1.7519, -0.8646, 0.844, 0.8684, 0.0748]\nstate[eef_state]: left_x=0.2542 left_y=-0.0528 left_z=0.1992 left_yaw=0.0633 left_pitch=-0.0426 left_roll=0.0252 left_gripper=0.9985 right_x=0.2912 right_y=0.3867 right_z=0.1694 right_yaw=0.0549 right_pitch=-0.0949 right_roll=-0.1209 right_gripper=0.0748\nstate[joint_eff]: [-0.212, -1.0462, 6.8855, 1.7411, -0.2418, -0.0269, -0.0171, 0.5949, -10.6735, 8.841, 0.9646, 0.6716, 0.442, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078b770128c351927476e560262dd118525168fff421d3082c24c8080226aa21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2837f42c2581bfab31a2d3ccc356dbbbe07c90ed09b55d42cc375297757883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8160891371b0d1f36c1d6702bf578cf420d075ebd5881b158986dc4aae29c62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6dswrBYH7YzjUyWqq5f0-Mni17ZgadNZFsjC8DyfDAFP71K6q1h22-y2hWsJpMhw2Z-RLnkYijX48VbYG4a0cat9rLLzPdlrUWY_U15-uF1z-MvqLysZf0kKzlWc3ftpwbWhqWosMEo08VR4Wg8aI_cb-W5FXjj90O-FFMtDCl4Bms71s8DbAOX9xDWer_Mp_PS10LSw4wvMZQk2j1WNbtybnHYaWbRDCgtkGUnIDZvMgZh13WQ-7rBjtFeMPKhc3wUtp9ItdsKU5l_fV0XEiSbbf0hUv-ybZ56iadp2XnXQTGbhe3Me6FCXxJjie77l4aqJD-RuR4z1kIyOO8p5Q6KVG7_EIIICYOI8aUU7s4YbmWEmWixLzAIFTFNWe4jA6k9KzKsHcNJmboq2hmFTP8unPgKOM86_HFbLEUxbE_inwc61CZ8bBqumRrRvocd6Y-tJcQEXVCg5S_SL6XXNowzhGxJxF9XjsiwIzTOVfV6Y-kPx4qWK78PommmecXPzLlNWsLx9zOFIGhPFo69VMVk_SZeH_vOfVaYy7LjtwJokIlMMvKzgxqtkWF4Vq2Az1m7lXJnuOwGroIXcrZLHhfRKK8YbwCR2aeWRoGxj_6vQ_uQ3TJRRN4Qm4FVUAPfyZyMKmAqeurAYgMetQFXVA5gwRGF0kXRl7ZsWeRaYp6KLTVrcTflGphH2H9Od4EH38KQVIhEcOjgYJViGofay4pzPFOP7ja46L2oXvaGIOOmaxXES5nrfeCdPAl-sYkXEsqPWn3qPDznmPjbhM2TOjaI8j9eVYot_MExwSqWkHd4yjSX0ZlbBOFx2-P6Cv8WSjbaoBMfZLDX-tVmvaTSeqqyDvFzu4K8QU4Sy32TZ6lYSv-HijoXL7C8kbBsG_S7P0nNTkDeEhXW9KEVcGw1RrCpQIVmm953VV78eKp_Kml-4uJlj1sZkexpqNGChT92dILG-B14GH0pKLDF_Ntv75W7Ipk8rGZfTfeYn3bF3jIBDpX4dpvJc_q1KQRIQzGtsl-dUM_ERTLvpCS3biroCiE8-9MGZaZMiZw-IPjAuZrWGFP3rhxgrqHUrfimSDBYY6NLwES9cz8PliKR6L-8Dp7B2EGf9ALf3HF2SGuTSxKbtqBqhZw5eJui_6Jy_XWjrLLTz3HbsqdwjPzE2NPCC8XxWNhYHmsqfV16RqE6KYSjyQNYEX0MOPTB-Y30tJ1Elgp-HObpzfbNSCS4ugvGWjbwlP5DAJL8SLBXFEAgEvFi7dI0nUoWUK9oOydgwgEvCjRiwa76uPDVKERvtse5mTZOI4vRDjvcEQJJ1UH36OsKoAGBIJSdB211GVoe_1ihrdiYl3o_ruqPLKIrcRba1JlhnApIJZWlvzxFSA4bJbtaZ8fZKJUCeodNztw1_ftHY6SqPfHW3DGBgCpP-Lf1A3zz6atACsejjywXCIWaUwd3OviZMgmBoLjuKQ5PwjujengdExes059WNez70ZNbDRdVATDhk5415N83R-WJhMvWthuTGbZkaxyTCDR6oonyvGDiWgR1-u6dLfU3d7KwxVhlse0GS0ruxPmFCKYsJ9-1rPtGpl0mOu7k5ssUzT2pxKt2rs2P7SZW81Jkm0GVuL45ciU9CruM_rF2WiYgsiDUkriJZBAnfKbw_gYYpnQlYh4bW-cXCYOjyvb4zTY8EhpLJVhhbHEwDT62vvRF3npXqEkDeuSxY5qK4EfZNsgUiN2sKhij6j-Q3um8qak9ard1RqlEP6erEGEaNTvlQ3dmnMPDxLnZUY3JP9Eh_Vql4cO_hjX5noBCh_yxL26k7OftIlxTXJBQ3hQP-saitEPwZtdi9cHHYJKvcA5q4cAcIPX9L54u0DE0iEP9-W4OyDKd3Y8JSSVIjTuBg5xJOVuRZAXa_xTJrI6NvJPqqY391lBPx0qe-2kg78BstUQSrrMWwKj7FlBNlmshK5jJJ6bEiWZ5J8G_YbHFMwRS8ruRYK4OQvyMaXnskPQxHC8QaCcC7n067Ni4GkD3TyOw1yuCiFIwwK1Z6xRRmEqf1Em2rEKjBHgo5XXPPlNOO2tWBWLWx6vgtJX1rCZhIUXjgQVwMI7hz5tkNVzfZheeejgeJPyozPDDj18AkXxnyGhos5YqB9Y5QkBd9V2Exxa_gg2w0pMNmdrJVWlOj5AqfKeQngkT88FYv7bNy7cD8YsDN3LCgQV5UJP8Qn4rqEI-byo8hKJDLXCD6rSHhurg5_DxAf9psMp9Y5cP_eHQ_jwQFyxgduWXnNOCN0z2Kgz75Mr0mkC0r9j_Lrieckh6z9QoXZ5ept1Cf7VmBwIJthSmObcVi3G9-4--tXiT27lWI9IsHkpOO2atA8jP4nys9JBVJ387IlMw7kvhVrhKxakGir5ZS6DIE-YdhwVjzjTDMQc9rGYggmKlGfLIFxxKMnq_HMA7mQBcP1h-NKBPqS36VoHYr60xDSJGz2P8hqhyYd2McgX4Z1mwpj2IydN2ehUf-xzor8p9pRuw74JNVv8cGFvWISdQjGeKUPOokM-7A6qF-vT0BcaIKRAvBZOi0FI2oRmKCuYZ3bcZMv7ejmvBSXPLQ64LTNMhSo6n2RF0yNqq2P5HCJA4O7RsiEPnm88Fi1wJtsFbBJD4CJZ7YTtb75TN5XNO7BVCyDGqyxjNC9c_OpqvObUQIyU4Rsbed7NQcSWXo3FvCQ7lTvo3IeeCchFulpOj6-9Dm3kZcOiM-rimjMV53NDepbwwJGOc5G9K_MwgAKv-3tozd-vJ-wel2mBbpXaD6RyLciDj3OMQ1nhqpx57dh6W6s5ZkVeX691jx5E9WJY4kBhf-jgBeaCpOsWjYUquRIZHIJa5T4YNG1pPhLO7MzOehhi4gIqaoWd_BeqzBbT7Xz3me9g2muz_M2JMMoPQj_Yzf1Z-uX-y9mC0xKiDjkeTqNzvSI-xIKPBvBx7FB3_djFUSEkXAkzoQwQTYQ7I_JCPRijkabm3v8jgURx5nbWKn-f4s25dLcjKVlOS_1DU7lrVPwBclg799P9O-b-MSaKIt_dW6BDsDiXCy7CplKgvxVhBIy8XpSh2zpU",
  "id": "rs_010a146dccf04543016ab43e98a32087d0a2de9a0827be8a18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.367},\"note\":\"The cap is now clearly visible in the pen wrist camera about 22 pixels to the image-right of the gold nib, despite the nominal coordinate match. Since image-right is the arm’s right, I’ll correct the pen 2 cm rightward by decreasing right-frame y, then re-check visually.\"}",
  "call_id": "call_6l6zVGoosmYEDqdDai02lqBv",
  "id": "fc_010a146dccf04543016ab43e9c318887d0872da521328776c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6l6zVGoosmYEDqdDai02lqBv",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5617, 0.7631, 0.7319, -0.7052, -0.5179, -0.3908, 0.9985, 1.1885, 1.9949, 1.6775, -0.8421, 0.8322, 0.8661, 0.0762]\nstate[eef_state]: left_x=0.253 left_y=-0.0517 left_z=0.1968 left_yaw=0.0651 left_pitch=-0.0526 left_roll=0.0338 left_gripper=0.9985 right_x=0.2878 right_y=0.3754 right_z=0.16 right_yaw=0.0544 right_pitch=-0.1126 right_roll=-0.1349 right_gripper=0.0762\nstate[joint_eff]: [-0.2393, -0.5538, 6.8034, 1.7607, -0.2173, 0.0122, -0.0171, -1.2923, -12.6564, 6.9538, 1.2088, 0.398, -0.0269, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6e6dffec79b5d9618ca762e3383582d3895bd724afa538171edc45b16e74cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a27968906ec4271494da6e941d6e9cb5d3b08f36ac1ecb1bf323017970df73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51bde2713c68f9cc5083aa281d5acf70ed413dc04f4ec76ac2ddef2dc452b86d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.621 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5659, 0.7498, 0.7361, -0.6605, -0.5285, -0.3897, 0.9986, 0.5697, 0.8379, 0.8543, -0.831, 0.5556, 0.3614, 0.0725]\nstate[eef_state]: left_x=0.2579 left_y=-0.054 left_z=0.2097 left_yaw=0.0676 left_pitch=0.0017 left_roll=0.0036 left_gripper=0.9986 right_x=0.2491 right_y=0.0532 right_z=0.2122 right_yaw=-0.0905 right_pitch=-0.1123 right_roll=-0.1165 right_gripper=0.0725\nstate[joint_eff]: [0.2393, -0.6496, 9.5521, 1.5995, -0.149, 0.1538, -0.1538, -0.0889, -1.1556, 6.8171, 1.6239, 0.2711, -0.0415, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5625, 0.7612, 0.7326, -0.6949, -0.5167, -0.3912, 0.9985, 1.1938, 2.0285, 1.7519, -0.8646, 0.844, 0.8684, 0.0748]\nstate[eef_state]: left_x=0.2542 left_y=-0.0528 left_z=0.1992 left_yaw=0.0633 left_pitch=-0.0426 left_roll=0.0252 left_gripper=0.9985 right_x=0.2912 right_y=0.3867 right_z=0.1694 right_yaw=0.0549 right_pitch=-0.0949 right_roll=-0.1209 right_gripper=0.0748\nstate[joint_eff]: [-0.212, -1.0462, 6.8855, 1.7411, -0.2418, -0.0269, -0.0171, 0.5949, -10.6735, 8.841, 0.9646, 0.6716, 0.442, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5617, 0.7631, 0.7319, -0.7052, -0.5179, -0.3908, 0.9985, 1.1885, 1.9949, 1.6775, -0.8421, 0.8322, 0.8661, 0.0762]\nstate[eef_state]: left_x=0.253 left_y=-0.0517 left_z=0.1968 left_yaw=0.0651 left_pitch=-0.0526 left_roll=0.0338 left_gripper=0.9985 right_x=0.2878 right_y=0.3754 right_z=0.16 right_yaw=0.0544 right_pitch=-0.1126 right_roll=-0.1349 right_gripper=0.0762\nstate[joint_eff]: [-0.2393, -0.5538, 6.8034, 1.7607, -0.2173, 0.0122, -0.0171, -1.2923, -12.6564, 6.9538, 1.2088, 0.398, -0.0269, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6e6dffec79b5d9618ca762e3383582d3895bd724afa538171edc45b16e74cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a27968906ec4271494da6e941d6e9cb5d3b08f36ac1ecb1bf323017970df73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51bde2713c68f9cc5083aa281d5acf70ed413dc04f4ec76ac2ddef2dc452b86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6huUD6HjfVrs5Kev_RyaGwAvtXmdtmqRHhRM84Yp0Px8ExySzX4CBhIn219IDzQSt70IuorJTrekhUqAvmMadqsty-TRtXb3xIyZK143eA1-Yg1X3xXeiPJFsZCmXPgSuluWPrdt8FJPp-wja1QPBLApai__lT9uCBtvy2E4x53CUupSA7GFDflXQlKfWA6ctXl-jwLFbc4f-SbpttGHpCvknND7AXOZtDA1KwkSv6q70Ww54NO7MQRmA6Ikh72uE26ckw1WcfuJaVRBF4EtGWdtR1gfxoY-jeKwt2gnpjD7OgnkPqeT3cAG9223frxbiaah26AoA5-a5HgL0swPB5hoH25vk0XZjHcAB3Eam2AgP7IgEN0C7TiTIZrXLMnguE0LvPDLnTYXY3ImjMZvW3ZdmDZEvA_em2EotID40BgECV5iFBkSMJjUQ9A2bCJuK4TCJ34RLuVnm8UO9UHV3zE2DkAujvqS0AOGCVCXxVfuiqPtbC4NXxlCItW6oRD_xbAxoSizDo25nhx2iSGFFzjt_1d4XNDcuLFsgRtvRX5fnzVR_FFCAIRLX36YZz2J7vO-pY_8Z8eBeaXxUx-o20dntY_amMB4NniKDjaA_GjO-HWI6IUN9vh0JuiR5B3qlxGu1BY_WQKQBBfTEz-KMn_WaMWNmoMSHe24_ktWZf84ekqAoJH32faLHP-ipFQ0GlAFM9a9ERxzKuwfjxbR6LqZezusyKmnnGJsn914FqSkXsnOZZI4rngtdrd5rXuQtc1vfPh9m6EOnSj5keAQ0s7AITKchZqJdRC1emffZuFNhv61-fTnhnqsfYCH2SGQZqdV6FpDm5WKu5okp3pd6evbLHoocW3ngij-ZYUEIpL3wCuDvyPxLpFr_3qY536mgeAXcZjn_wqZ1bDLyaf05w0oE1Dkl1y8pBHxl4cSdSoEF0FhecJx2uDjKvumfNfqfWVD24BLzGfJMCvpWEiMwN0uVCMf8bBauVBI6CS6DbZfI9NsMbBrZbBgz8u9cS184eOe42BJyx_2Y56--oeIaZCzuxYLoI-eYl4vNNZJERkblILTo-V91RYnPuf2bnwgli1sLA1YB4JVHwMq99pZlU__AKW8Z2GUFvxbrneWMk79y5BC-pmPtQBCZXCq3KSiQNVMv3bJZWxp0oZ2-2DTbr941v5r9JBI4QQ3qZgErRsv1y1S_UnJKX-2p6ZMdXGmzazaq6wDP3Xbjmj5txaEVkRQy2_8YTgzHLPiGaqnAyqin6ALwAFV2jjaJCae3Xx5mLghDg5DPjYExf66hHdIkv0Rav4PWWD4lHhFcxg8Ip4n8e0Hnn8Q5oT_8idtlNaAnsNisJmYS1wJYF825dgRFoFBa3WwCQ7zLFu14YPRl6DuijNBD7Y8Nlo41RM4ZCr2WFroyRMwmjdYySFYvQ581iz8u2BbbSenrOJou9tM60hHNmmXtxzGIT7w2YCTSv1GWylmmtreymy4CgbdEQKxpvvv5Mmj-NuCWk9quByyw17tYKhDjstvTiGK0JG9DLn8GqyVvH_UE0P8fe3Grrim9dRHRiSO9lFjZpfk6pIEWRcSFua_4ObQTLEaA6f7QmI5j2S8sBf7ra1tvcA22S1vWvtSWC12sMAqPVnRt9yZHCaEhKQ-209jv2S5EgDjSlu0bveWKcNRpjT-V_mCrBswWBZdzkEXQxukPyQVfYO6TlXOH5_kHpS0E8pHllX4clqQxECPRehx0GKr2h1p0h7LmdFyH_-qA1Gwd2JT7aiAAEtZQ=",
  "id": "rs_010a146dccf04543016ab43e9e7de487d09c8c12c810866674",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.33},\"note\":\"The 1 cm realized correction produced little pixel change, so the lateral scale at this range is coarse and the cap remains clearly to the nib’s right. I’ll move another 4.5 cm rightward while staying high and behind it.\"}",
  "call_id": "call_FSsXH4kuVYiCv2dFAzoBZcu1",
  "id": "fc_010a146dccf04543016ab43ea0319887d0b9daa6df007f5340",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FSsXH4kuVYiCv2dFAzoBZcu1",
  "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]: [-0.5613, 0.767, 0.7315, -0.709, -0.5163, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0771]\nstate[eef_state]: left_x=0.2528 left_y=-0.0517 left_z=0.195 left_yaw=0.0648 left_pitch=-0.0597 left_roll=0.0373 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0771\nstate[joint_eff]: [-0.0479, -0.7863, 6.694, 1.5507, -0.2515, -0.0464, -0.0171, -0.3487, -13.2444, 6.1197, 0.9695, 0.3785, -0.1245, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68250775112bb41f7674f797939057b640a66679a2262a9092b5691ca3c4abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6a2e23891917b64c3ed8596accedb0ac31f27f5eaaf5467029400c50cbf513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccf8ca7e6950149219ddfc05a77d5daada9256e7a03c2b6d8b7cea4a67992d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.443 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5632, 0.7563, 0.7345, -0.6804, -0.5167, -0.3912, 0.9985, 1.1595, 1.8652, 1.5459, -0.7528, 0.8509, 0.8539, 0.0734]\nstate[eef_state]: left_x=0.2557 left_y=-0.054 left_z=0.2035 left_yaw=0.0621 left_pitch=-0.0252 left_roll=0.0127 left_gripper=0.9985 right_x=0.2933 right_y=0.3491 right_z=0.181 right_yaw=0.0299 right_pitch=-0.0608 right_roll=-0.0725 right_gripper=0.0734\nstate[joint_eff]: [-0.335, -1.1556, 6.9812, 1.7118, -0.3687, -0.0122, -0.022, 0.5538, -9.7983, 9.2239, 1.3114, 0.735, 0.2564, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5617, 0.7631, 0.7319, -0.7052, -0.5179, -0.3908, 0.9985, 1.1885, 1.9949, 1.6775, -0.8421, 0.8322, 0.8661, 0.0762]\nstate[eef_state]: left_x=0.253 left_y=-0.0517 left_z=0.1968 left_yaw=0.0651 left_pitch=-0.0526 left_roll=0.0338 left_gripper=0.9985 right_x=0.2878 right_y=0.3754 right_z=0.16 right_yaw=0.0544 right_pitch=-0.1126 right_roll=-0.1349 right_gripper=0.0762\nstate[joint_eff]: [-0.2393, -0.5538, 6.8034, 1.7607, -0.2173, 0.0122, -0.0171, -1.2923, -12.6564, 6.9538, 1.2088, 0.398, -0.0269, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.767, 0.7315, -0.709, -0.5163, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0771]\nstate[eef_state]: left_x=0.2528 left_y=-0.0517 left_z=0.195 left_yaw=0.0648 left_pitch=-0.0597 left_roll=0.0373 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0771\nstate[joint_eff]: [-0.0479, -0.7863, 6.694, 1.5507, -0.2515, -0.0464, -0.0171, -0.3487, -13.2444, 6.1197, 0.9695, 0.3785, -0.1245, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68250775112bb41f7674f797939057b640a66679a2262a9092b5691ca3c4abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6a2e23891917b64c3ed8596accedb0ac31f27f5eaaf5467029400c50cbf513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccf8ca7e6950149219ddfc05a77d5daada9256e7a03c2b6d8b7cea4a67992d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6nRdlgei-NooAdZomw8ZcGjoClV5EVdZIX7Vqp-eCuMcd67iYSCzk9UwVZuKCJyKd9cVuR-zgqAjVOaOjCOD7CokH3Synk9CGMY7VhcTJVvZBU6ruKeSv__q0Pmsw84BMEVrUdKb-PGZ4U19otdOYKtSjNLJkjOa5HOk7pOcuAMhK6stUChtfPywjk1VJPGr-xwkOuJJFn2a3uUlDV94bqH0kMfq1Y4rB2ztB3dK0eTH4-e0X02Wy1nErcYR6HWj8mnpYPcS2AQKivwIiikhGKUrH1PcfBoLAxHTsF7nSGCMmHM5ckUE9tkDXgeIsV_ZqckucNbuLEDlIT4GKxBzfL40PRqaRgXqjFWeiOdne_fvvF4HJt5gKaG4mnZMQ4eYLHBq21ATteMFXsIWqPuuENhMXrA6xZ4Y80aiZGkUw7LGOXtaGdAkPXvM8Ol4ihQC4isdDyiEktYYUiul6QUXz4CJIVrPeeWI7LOYYlZwSYn7Z2QqbCiidKO8cHVS2yIb4wukCT0nTGxwo-8Cir8hbtxMvlezfYc0GQDyzjUV6gx_cyeBcYwrN8K9sfPVfot-AvmJJ0JqFSY590q60vNFrCrNxae2ZnewI2eiQX0Ijt2VxNUgGPFyLrVxoBXia7gX1CjlRhhdsULnjZge2goFWenItKyntvTHBODssVaNSMVq0IANdVEAnbmwOyjRNEp9h0DmlyvYibqj709IcxCNlYcejQRmLVqSYhZHc-zAbsA59SGsWbLaaQbM28-eb84iIKwkw7klu_yHrkWOCLJbsI2Vs9LCQ984M8iEm8vVgt8AV1YUFQn2vWbu2ixHuZrRAANbi8QDFHo-dlPdwUqWiw_EFLCQ_bV2rtjQeqgUhJ8uInOcHC_MStMWM_a-qmdlY2H-oeOER-QpYOX7db1rdAKDLpifT6o2UHXpchNys5NflKqO7gBG7uwjXnF-cIIs94lJLa9w2uEfudpjdbzXBgwnYVFC5SM-7TaJxHexKm_q12Rw5yyNTNnpw-CI4Bin09w9ebxdE8tPyWWIc1zLNPnLZhj7Ej65Q17uRAVerIEEKyHxOPPX_u6FGjUvjsLiVTnd1X4sUfyuor6lnaMxpOpRX6GKl7VlxTJvbO6M9jbxezJ3PVS9DwWKCSG7LmewJYuj5YwwGTFaYzNiEiZ9hzxpujPxLpb2JnXLeMM79kg5kzU0I97gfrign0uf5kfxZMaNC-pmHwDAYdLDj8hyCpRipG5-FCJ9rPYJSgvXNlDDjJ7wBPJQ5cBFi3UacdHwv_aP4bSIGnCbynAmJUj1JKITqtYNLyDlvA0jdh44tCIrpCUIUeDS5ZSpm0VCKHs0nlDPnLl7w9ubEor3Tvo6zkESZJI1hmIChTAhy0aqD_6k2Cca2kP8xdylZT6Qbf65nzkz5AF7i1IlvP0nfh4GEJmiBZmeAXmFcORSyE1o3SyJiDyLpYHWW8dZFZRRYOazKzS_ljGDpmx71kD874LXnAxV87_9iip12Ew42ghe5Cnux1LI1-K6YDnwzelDhGycgsnMsngFzS6Theb1XdQNja3ZsjuHFW-bKVUT6Iue9WFC6wqW6cUyRStxWQEOSphfjZIR1U1eG5CHKNcM0Q9Qhh4yyY2FGdnAi0sM6AXQ24eZ_y8kN-njehY5sEziFqlvt_5UA7Q6vm1Ktakwqx3cqcvp9shHdoLAPzwdume_tES1T3ASl8qci4b17StOMl3z1AoDwBwb5Jkr09ju5Ox47-L9QdL2NG07SB0p-p0wUBV9njbZ0RQ3h0g2HfvdLjUSCMAVlLREdJscuUzu16GPmMs4I223LSWzLmnXvjzGHNnaIXMpfxqZ4T_hpfg3VYLydhhUGUhGilsWV9MxW1Rp4Ub8rgk98lOPAg1_h_vOvVsDErR-Gn8smqFnh80qdSsuhpoBSx-EgBjs9dYh45HPWsJ5ZDckW-i1EHfZNfXIv3x8eWy77cVTdrgW8nMSNN_3x0XJpARlrEDPKsbdXtdcMtn_HYXQiWDiinqFjg4aOZKMrtWu_k9VviFQzXCx32Brkkv3rObr9Qzn-wuBc_TurYMpbcYHf5rYaQkHfHdDfdvW5eAm4bWPRFq0EH3RImlgKISDF6hl5FEKpH2BCV34BCa6KNkpjSjekJbdxEPL7Hl34M4tVgyFVYiGrIy5G_Sv-n71sVGyzbvV8BwYxAnkP9GQIAOw2_N1IYNt1jlYU4cKksp9_GCTsgY-Kd3y1hnJesckd3wIqmEmuMJYQih_kloh95GAqN0OAUzdx-hG0MrO7RCBMk5-0kYeUb_q-TaAnB8kjKxvqm2Y1GcLuRGKAq3u0kt7W6hoqqICQMKPxhrfghNbKM6Epim3zd_BNoBMN_3QHppGqaVGcrjaaerhkxDvLOu488tT_2GLjw5jyuR3HpgXDS-b-wZGzujoii0tJw3YXhYOt-yUByzo7i4frJPT8BwT_ng-zRnf0zt0_K0usMGjte5mYj7akp47vWEsKSicKiry9v2Rj3j7xfsja2Zg==",
  "id": "rs_010a146dccf04543016ab43ea3464c87d0a2d1d8fef20a2bb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.33,\"right_z\":0.22,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The low, cross-body pose is resisting the lateral correction, with the readback moving only millimeters and shoulder effort rising. I’ll raise and level the pen wrist to regain lateral mobility, then make the alignment correction from above.\"}",
  "call_id": "call_a7NrgBjoH5EhGdRlum1IKhOd",
  "id": "fc_010a146dccf04543016ab43ea5cdf887d0ba2d120ee06e279a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a7NrgBjoH5EhGdRlum1IKhOd",
  "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]: [-0.5613, 0.7677, 0.7315, -0.7158, -0.5159, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0776]\nstate[eef_state]: left_x=0.2519 left_y=-0.0512 left_z=0.1937 left_yaw=0.0648 left_pitch=-0.066 left_roll=0.0416 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0776\nstate[joint_eff]: [-0.0479, -0.7863, 6.6393, 1.5995, -0.2466, -0.0611, -0.0171, -0.1846, -13.2034, 6.106, 1.0134, 0.3785, -0.0904, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c98c257e7c17471e86573b381b0eef8e112b7440ba2ff2fc303d857f613694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024bd5170184ff4d952d4221695e5adca663919b21ce1ca95e22a04b02166b93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846be4361b5cd979c413bb8352cc4594d6ed235192f2869ab806f3d317c78045",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 3.699 s

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

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5625, 0.7612, 0.7326, -0.6949, -0.5167, -0.3912, 0.9985, 1.1938, 2.0285, 1.7519, -0.8646, 0.844, 0.8684, 0.0748]\nstate[eef_state]: left_x=0.2542 left_y=-0.0528 left_z=0.1992 left_yaw=0.0633 left_pitch=-0.0426 left_roll=0.0252 left_gripper=0.9985 right_x=0.2912 right_y=0.3867 right_z=0.1694 right_yaw=0.0549 right_pitch=-0.0949 right_roll=-0.1209 right_gripper=0.0748\nstate[joint_eff]: [-0.212, -1.0462, 6.8855, 1.7411, -0.2418, -0.0269, -0.0171, 0.5949, -10.6735, 8.841, 0.9646, 0.6716, 0.442, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.767, 0.7315, -0.709, -0.5163, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0771]\nstate[eef_state]: left_x=0.2528 left_y=-0.0517 left_z=0.195 left_yaw=0.0648 left_pitch=-0.0597 left_roll=0.0373 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0771\nstate[joint_eff]: [-0.0479, -0.7863, 6.694, 1.5507, -0.2515, -0.0464, -0.0171, -0.3487, -13.2444, 6.1197, 0.9695, 0.3785, -0.1245, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.7677, 0.7315, -0.7158, -0.5159, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0776]\nstate[eef_state]: left_x=0.2519 left_y=-0.0512 left_z=0.1937 left_yaw=0.0648 left_pitch=-0.066 left_roll=0.0416 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0776\nstate[joint_eff]: [-0.0479, -0.7863, 6.6393, 1.5995, -0.2466, -0.0611, -0.0171, -0.1846, -13.2034, 6.106, 1.0134, 0.3785, -0.0904, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c98c257e7c17471e86573b381b0eef8e112b7440ba2ff2fc303d857f613694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024bd5170184ff4d952d4221695e5adca663919b21ce1ca95e22a04b02166b93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846be4361b5cd979c413bb8352cc4594d6ed235192f2869ab806f3d317c78045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6rkWBoRrQowdXAwWo7QhVVZZcdj1IV9yIR8U5dlAbz42f2BV1HtAkIJzz-YBqkWh1eyorwLeTb0uOgyXopnSj54suVK0kbrj3906s2qYJCOELPmHa0PdNEBCNSlLOulzm3FIhRQmSNgqa4c458kkwWsI8vZNehFRyFLxAwNIuDGEblbACbfepo8688GHhZIJ0IcvwSKTNTcJmLNo7deskWnOR9_z29_tucOLO-Hh6NM2JNwFQBpgE5JMN6ITKT2WSRLLYnj_yyAssmhxLj-daz9akJOAoYDQ3aGM9ABnKD54SC5vJQsYZ_pVB6Hr-kBHC_UpjIuqPbrCGmcZVMSPPEGwFAzPm76AasZu3NqDRdAAnO2aT96uXa7IcLhv0IPO4Ur7m7_W2QnVlVMZC1oJJsYMjidroGciPvPhnZyQvneNCZ2J6hLmM_S3exeK2lwcPBRIw4VZ_EuIoXl4QEHkZ-dPnqvsgBp6PMxXbuI6QywgP8Yi5hpwf35PIbhZ-4BZ4_BN_mmCknOjJcueterQUNg1tPH7YTfLTPl2wmRg0WJE29goEOlJx-N2Rrzs7SAXCWm7xnMCdneF8w2TS53QuZVNfDiEt03EDXEW4MWk_BZLVXcRjIvXVsfoCtQeVgp8mz9aFh_M2IcOzM8r2Pb__D3uNs39e_aWTEQZW8DLplRSNjoy0YP0QxmwRks7gzitlA0Qo6LvWAWHRvE93yRc-R5AqcF6V-3K4_E-R7Ul-z6mGuUuGyn3FkOCQedNNUvDxPXtbCwxzKtrvGhJFwJlL1AQRv4WzIwFycXnPeaaMWkDo-KzY5H6WwL0mvAAM4960oyCHPO1D1tGlfsM66OinxCYFE_2IWTtMlaWPaTRnioRzHhGWP3SvjWBCzoXZNZeiVkE9j24uwGx4Z64x0k8JBKceUEQZkbde7AEC62hhuZNhpNckCB8gaAdUdbYsBcn3m0QxaRAXHu9JUExdhGPbyZ6l7IMxiShHvWB6W80ttZAM2DyoRzJRCykn-KTrffV8oqm-NmZN_3NRAguMqWGrpFAJx95rcDpxfqvxhiUYIFlhh3T0FJhPUp0U5nnZtWgl2G8kliPWn_YmwDx1LqvgGn3y5Kn559NKqeGV_K-hNsf0rnQKBmmB5_elTbp5ExF1cqmGkswKlXgLaXpMoU8RNZrfoh2wiXBjQawTWoLz7gCFgw3265515_k4Lx62hnVOAWI1HSSCYJxwWALlBa52Rl5P8X-3V-vTXmny6doOJrs6GCZESoe7y7aP4TOF8A2oXpauvypDzK76rCgxNWRu_rBMz3Wa5V7gUHRqCsv9rLQO6YVl5SYyGlGTQOJz72vKVNSRgAJSl8VNoJqNa82H1ipp2j3SYoA-BRDi7ikynkctglKL6lOshY2qL1heaNPfIAFiLibmGV54tB32VneRe4XZkyO4AcnNWXb_0jiRNcllelkDwrYSiH_zFSbfaIY58TX3dTCOPvuwqgTm_WHPVn7IGm-yWGgB2d8ykJ-QvmsYhLyjFBN_62bX8mwYSXJduhl0VoTgxS7k7ba5wCRBP2jFaYkQTBr8nSTc-ZaA3WuZ0hHf9w7XkD8GGwnGzabJAcMEU9l4JbQpSwY9WzLhXccvM6MgRzr2XcmJ6MP0OqRiHhbYUkAsewryIhK5iSjZvF5bxAbNWCSm6qj2-c5Zr01A7_jcnia3QDhTQ3lViqildl0CmmjSa1P8wZa80Z0wAh_Su2ly1so4hb_hZhnT7eKnCVSPYTeAJLDMxhgj71OcuTvWWBbrhErel-mMMb2JHQXq5KPO_wT-SNQxsrFZu566gRFWpi6hBBI3JHweQPLFj5AQ2DOgBm8zC9KYUuD-ej8plozlBNcBnNJmXYDXHRerytFHFZDWdk2bvLMd343cUchZJqV8P2hkd-IiZl5UJVYhbN5iWe3Ilm1ugpkUNVg==",
  "id": "rs_010a146dccf04543016ab43ea9202c87d0bc4686de8f05e1e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.2,\"right_z\":0.3,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The arm did not move at all on the raise, confirming this cross-body configuration is kinematically locked rather than touching the cap. I’ll unfold it by retreating inward toward the base, outward laterally, and higher, as recommended for a stalled pose.\"}",
  "call_id": "call_0qfm9rQFJRIitlcQDD9oTgIn",
  "id": "fc_010a146dccf04543016ab43eaac79c87d0a62915e6031050f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0qfm9rQFJRIitlcQDD9oTgIn",
  "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]: [-0.5613, 0.7681, 0.7315, -0.7189, -0.5159, -0.3916, 0.9985, 1.2919, 1.3117, 1.3891, -1.2392, 0.9207, 1.05, 0.0778]\nstate[eef_state]: left_x=0.2516 left_y=-0.051 left_z=0.1931 left_yaw=0.0651 left_pitch=-0.0688 left_roll=0.0433 left_gripper=0.9985 right_x=0.204 right_y=0.2145 right_z=0.2837 right_yaw=0.0228 right_pitch=-0.0306 right_roll=-0.0173 right_gripper=0.0778\nstate[joint_eff]: [-0.0068, -0.5675, 6.6803, 1.5556, -0.2369, -0.0562, -0.0122, 1.0051, -5.4769, 8.6906, 0.7741, 0.6667, 0.1685, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f336adb586e61ab48884225b10ba551e109c98e530297b1eddafb0fdc96593d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb1694388ecfbae8622701243bd8fe542045091eac5ab45736d0df06efeb9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b223a721ef85e80d79d9515dd361959b1f84f6268901fbf260dfad331ab2646",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 3.109 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5617, 0.7631, 0.7319, -0.7052, -0.5179, -0.3908, 0.9985, 1.1885, 1.9949, 1.6775, -0.8421, 0.8322, 0.8661, 0.0762]\nstate[eef_state]: left_x=0.253 left_y=-0.0517 left_z=0.1968 left_yaw=0.0651 left_pitch=-0.0526 left_roll=0.0338 left_gripper=0.9985 right_x=0.2878 right_y=0.3754 right_z=0.16 right_yaw=0.0544 right_pitch=-0.1126 right_roll=-0.1349 right_gripper=0.0762\nstate[joint_eff]: [-0.2393, -0.5538, 6.8034, 1.7607, -0.2173, 0.0122, -0.0171, -1.2923, -12.6564, 6.9538, 1.2088, 0.398, -0.0269, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.7677, 0.7315, -0.7158, -0.5159, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0776]\nstate[eef_state]: left_x=0.2519 left_y=-0.0512 left_z=0.1937 left_yaw=0.0648 left_pitch=-0.066 left_roll=0.0416 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0776\nstate[joint_eff]: [-0.0479, -0.7863, 6.6393, 1.5995, -0.2466, -0.0611, -0.0171, -0.1846, -13.2034, 6.106, 1.0134, 0.3785, -0.0904, 0.0415]\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 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.7681, 0.7315, -0.7189, -0.5159, -0.3916, 0.9985, 1.2919, 1.3117, 1.3891, -1.2392, 0.9207, 1.05, 0.0778]\nstate[eef_state]: left_x=0.2516 left_y=-0.051 left_z=0.1931 left_yaw=0.0651 left_pitch=-0.0688 left_roll=0.0433 left_gripper=0.9985 right_x=0.204 right_y=0.2145 right_z=0.2837 right_yaw=0.0228 right_pitch=-0.0306 right_roll=-0.0173 right_gripper=0.0778\nstate[joint_eff]: [-0.0068, -0.5675, 6.6803, 1.5556, -0.2369, -0.0562, -0.0122, 1.0051, -5.4769, 8.6906, 0.7741, 0.6667, 0.1685, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f336adb586e61ab48884225b10ba551e109c98e530297b1eddafb0fdc96593d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb1694388ecfbae8622701243bd8fe542045091eac5ab45736d0df06efeb9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b223a721ef85e80d79d9515dd361959b1f84f6268901fbf260dfad331ab2646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "encrypted_content": "gAAAAABqtD6xRChhnq7W0Rps6hplvILYlJi5GYpJpWRlLtWunHKrM0khlO6pu2nNGoS4fwqJgqRup4fsIw65BMsLguzs7_I5vFuLr4w7c5VCZ4NEE3Un7FQ8pEprdmQ0l7ZBqqM81vFdABcqSoa7z9Dkie17Wyj0gDCgT00SsYrQsBbCA1DkA2dwuRLsIzGR5GcMQlzH-4JNUrO8Zyiav_K0zk8dw-ooCDwmbtoEKSFZWl_REQVe6qTY3hbX_i02WrBWOr6ztgi8iOVxcoMt2XcHN5quDkdi_RI7rLBWQJGpBRCkxjtijON16-sYrLy4_xqINflV3NF84F_St7jOCv-aDIKiOBxJK_xBknzTF5G9U9-lmtWJo9chtPJRB6RKZb5T-16GjYPS_gsbyUcNhbqgR7ehwWMRugs0nXdHRB60QaDT-sEus_1U2dNIJPRDrduBYvDrYzC_-xRwLA14mEyxl76uiafk8NrYIonTfsc_7dKDUpaO2b10Dr6Xhc5gij5NNmFNtMS0Y_XPbay4RKGWWwTwv0njyuC65Uia4WJ_7fWVQBPfzs4ucyF1kZsj1L30t9uHbFkhLbhRpyY26iSiCW6M-V6xlJz_pIGkjTIKhNAaF0qlBgbUDxf1Nwy5kSa-iP4baSq5tEeKU11_k0nUAt41aF2-L5N9WjhojyJvI8U5ug0hxgqWepZ3xBFccTEySiOb7Xe9hIBXMuechmdGS1Ak6HDZa1V-WSFLFuFs_ZhvJ0ju2ufK1oSJG0NNlDOdJOyVq8c4bAhmxQkFaNe0IId19_GgTaI7YSQXagxFUQAsNHD2jN3c9uMOM0lSEm2oSSxs2AU37dkgrWQRYNgat7r-R7orA28xjHnIB6Dt52o2pc_U6yL_hbFtSg67lj2wOI5T8GPUw8KmeWxkex6UFwFIxN_8nA5fViC_mVuXqTPnuzeLj4-AGjHA1hLYE-eewJ0THm--XnyI1fEMR6_sg6jslkoSzB-Ete9FSaYTtp6-1h6z8-pcYodnsy--FJZ_YymjOUbaNA8IhhrfHxW-BEv0mrf-bR9bt9vKs6ZG69Qnxh36NsM7nmAv71tBYPcPR6oweC-tNSCoIBQK6IrWjfUqWOrEEW3U-Qn0P01cNsEPgr1aWq5srhetQk9wRWdTd6jjBKnX-KLWxZ3QsCEWuqQ3D2acipHqiRI6k2zc3-q6ntLjTMUBE5ht5Ebnt0kMNgh8OKqpxaN-EOeSUlN9Ii5ixSLud-Xo13TG1SkrZsbSnddUIJ6Tbr0M54HAt_OPdHYGbNGkz5FwWQDuAa_YzzJ-zScqoEu_n1lWYp4Ss1p5abcumOj3VXsK9YSJJ_WDphU66oEyIrN_w5Xvs3fiKwsFuRzmxmQkRPe9QYxaAELX0u-pgb_MiV8lnkSuRa9Au5yQH9F8gG9UD7Nm4O9g07mqQgc_CIlwGJ-Weo-og80zO3UorL4ElsEcRBZ31lp0srSq9CW3gIfp6W05mawVVXrSK4ylPnPMluU8B69q4ipGqxh3KEYw9_Ri__m1SBCelgJRgEPJ3UE9IvU-JDwjho8FPxdVdsqQ4obgLTO7DxL8gVIj16m143KNwnLK1z3Rc3WwGyNwHpXDna8wfVJC81txXyXcnfd2OzisaeoocMr1bF5nHQzOGIft8TqIomvnxXm6y-CiePc5ZbrjErkIGTsNwzM-m9ybfK80nHcQG5CTxzDAU6rafFzfJstjSPoUwmLTneCa1ig6frnD-W_k0PCPPr8oxw==",
  "id": "rs_010a146dccf04543016ab43eaea8dc87d0952dac21abb5e21e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.3,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The retreat successfully unlocked the right arm. From this high pose the cap appears left of the nib in the wrist view, so I’ll move the pen leftward and modestly forward while remaining high, then use the updated camera alignment.\"}",
  "call_id": "call_BPW0yr1eo4AxNES9g45L0N2o",
  "id": "fc_010a146dccf04543016ab43eb004d887d0aa5c6012ae0e3a4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BPW0yr1eo4AxNES9g45L0N2o",
  "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]: [-0.5613, 0.7681, 0.7315, -0.7197, -0.5159, -0.3912, 0.9985, 1.248, 1.6047, 1.457, -1.0142, 0.9081, 0.9897, 0.0778]\nstate[eef_state]: left_x=0.2515 left_y=-0.0509 left_z=0.193 left_yaw=0.0649 left_pitch=-0.0694 left_roll=0.044 left_gripper=0.9985 right_x=0.2401 right_y=0.29 right_z=0.2353 right_yaw=0.016 right_pitch=-0.0427 right_roll=-0.0636 right_gripper=0.0778\nstate[joint_eff]: [-0.0479, -0.4034, 6.8718, 1.5263, -0.1929, -0.0415, -0.0171, -1.1692, -7.5556, 9.2239, 0.9402, 0.6227, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753ba34c50b2259eeb5c8b30cf863a20b7979554960fa8faeb76c873e915044f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3686ece1a840dbdb5b629f98a0dddf2d62c91d969146b200052f2a39953924de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5472edfaccf18ee4e94db43a7bb88a1ffd1a8374ce90f62506d76b0d4fcf8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 2.873 s

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

message 148 changed as sent

message 156 changed as sent

message 160 changed as sent

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.767, 0.7315, -0.709, -0.5163, -0.3912, 0.9985, 1.1778, 1.9812, 1.6394, -0.8196, 0.8299, 0.8486, 0.0771]\nstate[eef_state]: left_x=0.2528 left_y=-0.0517 left_z=0.195 left_yaw=0.0648 left_pitch=-0.0597 left_roll=0.0373 left_gripper=0.9985 right_x=0.29 right_y=0.3686 right_z=0.155 right_yaw=0.0538 right_pitch=-0.1165 right_roll=-0.1495 right_gripper=0.0771\nstate[joint_eff]: [-0.0479, -0.7863, 6.694, 1.5507, -0.2515, -0.0464, -0.0171, -0.3487, -13.2444, 6.1197, 0.9695, 0.3785, -0.1245, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.7681, 0.7315, -0.7189, -0.5159, -0.3916, 0.9985, 1.2919, 1.3117, 1.3891, -1.2392, 0.9207, 1.05, 0.0778]\nstate[eef_state]: left_x=0.2516 left_y=-0.051 left_z=0.1931 left_yaw=0.0651 left_pitch=-0.0688 left_roll=0.0433 left_gripper=0.9985 right_x=0.204 right_y=0.2145 right_z=0.2837 right_yaw=0.0228 right_pitch=-0.0306 right_roll=-0.0173 right_gripper=0.0778\nstate[joint_eff]: [-0.0068, -0.5675, 6.6803, 1.5556, -0.2369, -0.0562, -0.0122, 1.0051, -5.4769, 8.6906, 0.7741, 0.6667, 0.1685, 0.0024]\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 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 0.7681, 0.7315, -0.7197, -0.5159, -0.3912, 0.9985, 1.248, 1.6047, 1.457, -1.0142, 0.9081, 0.9897, 0.0778]\nstate[eef_state]: left_x=0.2515 left_y=-0.0509 left_z=0.193 left_yaw=0.0649 left_pitch=-0.0694 left_roll=0.044 left_gripper=0.9985 right_x=0.2401 right_y=0.29 right_z=0.2353 right_yaw=0.016 right_pitch=-0.0427 right_roll=-0.0636 right_gripper=0.0778\nstate[joint_eff]: [-0.0479, -0.4034, 6.8718, 1.5263, -0.1929, -0.0415, -0.0171, -1.1692, -7.5556, 9.2239, 0.9402, 0.6227, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753ba34c50b2259eeb5c8b30cf863a20b7979554960fa8faeb76c873e915044f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3686ece1a840dbdb5b629f98a0dddf2d62c91d969146b200052f2a39953924de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5472edfaccf18ee4e94db43a7bb88a1ffd1a8374ce90f62506d76b0d4fcf8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_010a146dccf04543016ab43eb30d4487d0b21d43c759cbd65b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.38},\"note\":\"The high-pose lateral move shifted the cap 15 pixels toward the nib as expected; it is now only about 18 pixels left of center. I’ll move another 9 cm leftward at this height to finish centering.\"}",
  "call_id": "call_rAro0ZrF7gE5NJpbSwPG7Vcd",
  "id": "fc_010a146dccf04543016ab43eb4167087d0bb0cebdb9708938c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rAro0ZrF7gE5NJpbSwPG7Vcd",
  "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]: [-0.5461, 0.765, 0.7315, -0.7189, -0.5163, -0.3912, 0.9985, 1.3052, 1.948, 1.8683, -1.2053, 0.9009, 1.0672, 0.0778]\nstate[eef_state]: left_x=0.2521 left_y=-0.047 left_z=0.1938 left_yaw=0.0803 left_pitch=-0.0662 left_roll=0.042 left_gripper=0.9985 right_x=0.2396 right_y=0.3668 right_z=0.2254 right_yaw=0.0274 right_pitch=-0.0841 right_roll=-0.1158 right_gripper=0.0778\nstate[joint_eff]: [-1.9897, -0.3487, 6.9128, 1.4823, -0.1978, -0.0611, -0.0073, 0.8821, -8.1846, 9.1829, 1.326, 0.7448, 0.2662, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c060e4955b15d0c5b9b2691e7b5566bb666e113232f6b72bb3f99d6b1b5e87e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3f7f05767487ce70259f7ee6998dd1d0745934c2629b699f95bf0c107f1294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24415b2132d33d0b93ed39f431bd8de2ce1d641c68882c05fa7a7fe3a4c20fc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]