adhoc - adhoc_7320f131.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: 224.2 s
total steps: 282

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 diagonally near the center-right, while the short cap is separated to its left. I’ll bring the right gripper above the pen, rotating it to match the pen’s diagonal so the jaws will close across the barrel.

move_to

right_x0.2700right_y0.2000right_z0.1500right_yaw0.7000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.017, 0.7937, 0.6022, -0.3801, -0.0196, -0.0116, 0.9993, -0.0154, 0.7914, 0.6086, -0.3782, -0.0216, -0.0124, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6496, -1.5248, 10.5094, 1.7949, -0.0659, -0.0464, -0.0806, -0.8957, -1.2513, 9.8667, 1.8437, -0.0366, -0.0562, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.2,"right_z":0.15,"right_yaw":0.7,"right_gripper":1.0},"note":"The long pen lies diagonally near the center-right, while the short cap is separated to its left. I’ll bring the right gripper above the pen, rotating it to match the pen’s diagonal so the jaws will close across the barrel."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe right wrist view shows the pen already parallel to the jaws, but its barrel is about 17 pixels to the image-right of the jaw centerline. I’ll shift the gripper roughly 3 cm that way while keeping the current height and orientation.

move_to

right_y0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7994, 0.6037, -0.3813, -0.02, -0.0185, 0.9993, 0.5476, 1.013, 0.5472, -0.152, -0.107, -0.0647, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0053 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2671 right_y=0.1892 right_z=0.1374 right_yaw=0.6633 right_pitch=-0.053 right_roll=0.0076 right_gripper=0.9991 state[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.707, -0.0806, 0.0073, -0.0122, 0.4308, -3.0017, 7.747, 1.9267, -0.0952, -0.1099, -0.1148] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.16},"note":"The right wrist view shows the pen already parallel to the jaws, but its barrel is about 17 pixels to the image-right of the jaw centerline. I’ll shift the gripper roughly 3 cm that way while keeping the current height and orientation."})

tool

executing move_to over 3 steps (0.3s)

step 20

assistant

agent noteThe pen remains aligned lengthwise between the fingers; its near barrel section is only slightly right of center and well inside the open jaw span. I’ll make a small final lateral correction and descend to table level for the grasp.

move_to

right_y0.1400right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7998, 0.6029, -0.3813, -0.0196, -0.0189, 0.9993, 0.4156, 0.9627, 0.5278, -0.1814, -0.1787, -0.1181, 0.999] state[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.006 left_gripper=0.9993 right_x=0.2748 right_y=0.1595 right_z=0.139 right_yaw=0.6202 right_pitch=-0.0443 right_roll=0.0045 right_gripper=0.999 state[joint_eff]: [-0.3487, -1.0188, 7.3915, 1.7558, -0.0562, -0.0317, -0.0171, 0.8957, -2.947, 6.8034, 1.7509, -0.2906, -0.1441, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.14,"right_z":0.01},"note":"The pen remains aligned lengthwise between the fingers; its near barrel section is only slightly right of center and well inside the open jaw span. I’ll make a small final lateral correction and descend to table level for the grasp."})

tool

executing move_to over 9 steps (0.9s)

step 29

assistant

agent noteAfter descending, the pen appears with clear wrist-image space below it, which on this camera means it is still a few centimetres short of the fingertips toward the base. I’ll lift slightly, advance 3 cm outward, and refine the lateral centering before the final descent.

move_to

right_z0.0600right_x0.2950right_y0.1250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8055, 0.6029, -0.382, -0.0196, -0.0193, 0.9993, 0.3161, 1.4204, 0.157, 0.5499, -0.2478, -0.1761, 0.9989] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1759 left_yaw=0.0007 left_pitch=-0.0129 left_roll=-0.0061 left_gripper=0.9993 right_x=0.2652 right_y=0.1361 right_z=-0.0002 right_yaw=0.6117 right_pitch=-0.127 right_roll=0.0237 right_gripper=0.9989 state[joint_eff]: [-0.3761, -1.7026, 7.3368, 1.7167, -0.0317, -0.0513, -0.0122, -0.5538, -2.7966, 3.2068, 1.1893, -0.2466, 0.0513, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.06,"right_x":0.295,"right_y":0.125},"note":"After descending, the pen appears with clear wrist-image space below it, which on this camera means it is still a few centimetres short of the fingertips toward the base. I’ll lift slightly, advance 3 cm outward, and refine the lateral centering before the final descent."})

tool

executing move_to over 4 steps (0.4s)

step 33

assistant

agent noteThe outward correction brought the pen’s near end down to the fingertip region, and the barrel is now nearly centered between the jaws. I’ll descend vertically with a tiny centering correction, then close on the barrel near this end.

move_to

right_y0.1350right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0223, 0.9993, 0.2211, 1.235, 0.3614, 0.2401, -0.3008, -0.2256, 0.9989] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0027 left_pitch=-0.0137 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3087 right_y=0.1267 right_z=0.0708 right_yaw=0.5851 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9989 state[joint_eff]: [-0.0889, -1.347, 7.1043, 1.6972, -0.0562, -0.0366, -0.0171, -0.3624, -3.9179, 5.9829, 1.326, -0.2711, -0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.135,"right_z":0.0},"note":"The outward correction brought the pen’s near end down to the fingertip region, and the barrel is now nearly centered between the jaws. I’ll descend vertically with a tiny centering correction, then close on the barrel near this end."})

tool

executing move_to over 5 steps (0.5s)

step 38

assistant

agent noteAt table height the wrist view still leaves substantial space between the pen’s near end and the fingertip line, so the grasp point is short of the barrel despite the earlier hover appearance. Because the jaws are aligned along the pen, I’ll slide 3 cm farther outward and 2 cm left to bring the barrel onto the jaw centerline without crossing it sideways.

move_to

right_x0.3350right_y0.1550

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8124, 0.6029, -0.3824, -0.02, -0.0223, 0.9993, 0.2558, 1.6157, 0.2512, 0.6926, -0.2825, -0.2237, 0.9989] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1739 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.0083 left_gripper=0.9993 right_x=0.3044 right_y=0.1342 right_z=-0.0009 right_yaw=0.6045 right_pitch=-0.08 right_roll=-0.0062 right_gripper=0.9989 state[joint_eff]: [-0.1846, -1.6615, 7.241, 1.7314, -0.0659, -0.022, -0.0171, 0.3214, -4.041, 2.6735, 0.8816, -0.0806, 0.2271, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.155},"note":"At table height the wrist view still leaves substantial space between the pen’s near end and the fingertip line, so the grasp point is short of the barrel despite the earlier hover appearance. Because the jaws are aligned along the pen, I’ll slide 3 cm farther outward and 2 cm left to bring the barrel onto the jaw centerline without crossing it sideways."})

tool

executing move_to over 3 steps (0.3s)

step 41

assistant

agent noteThe pen now runs into the bottom fingertip region in the right wrist view and lies between the two open jaws, with its length still aligned to avoid side ejection. I’ll close fully to secure the barrel.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8146, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.3016, 1.7111, 0.3611, 0.7124, -0.2615, -0.2104, 0.9989] state[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1735 left_yaw=0.0029 left_pitch=-0.0217 left_roll=-0.0086 left_gripper=0.9993 right_x=0.3317 right_y=0.1547 right_z=0.0043 right_yaw=0.6249 right_pitch=-0.0518 right_roll=-0.0188 right_gripper=0.9989 state[joint_eff]: [-0.1983, -1.5248, 7.0085, 1.707, -0.0708, -0.0513, -0.0171, 0.1162, -5.1897, 4.1915, 1.5165, 0.0611, 0.1441, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The pen now runs into the bottom fingertip region in the right wrist view and lies between the two open jaws, with its length still aligned to avoid side ejection. I’ll close fully to secure the barrel."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe closed gripper settled at 0.018, below the 0.04 empty threshold, so the pen was still just short of the grasp point even though it reached the visible jaw wedge. I’ll reopen and advance another 2 cm along the pen axis for one corrected grasp attempt.

move_to

right_gripper1.0000right_x0.3650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8154, 0.6029, -0.3824, -0.0196, -0.0227, 0.9993, 0.3092, 1.7153, 0.3912, 0.7174, -0.2478, -0.1921, 0.0177] state[eef_state]: left_x=0.2957 left_y=0.001 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3424 right_y=0.1586 right_z=0.0129 right_yaw=0.611 right_pitch=-0.0248 right_roll=-0.0208 right_gripper=0.0177 state[joint_eff]: [-0.0479, -0.9094, 7.159, 1.6923, -0.0513, -0.0611, -0.0171, -0.0615, -5.012, 3.8769, 1.2381, -0.0855, 0.0024, 0.7009] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_x":0.365},"note":"The closed gripper settled at 0.018, below the 0.04 empty threshold, so the pen was still just short of the grasp point even though it reached the visible jaw wedge. I’ll reopen and advance another 2 cm along the pen axis for one corrected grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteThe pen rotated during the corrective slide and now enters the wrist frame from the lower-left, so it is no longer aligned with the jaws. I’ll lift clear, rotate the right tool to match the pen’s new shallower overhead diagonal, and shift slightly toward the barrel before re-checking alignment.

move_to

right_z0.0600right_y0.1900right_yaw0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8185, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.2909, 1.7653, 0.458, 0.6872, -0.2676, -0.2138, 0.9949] state[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3578 right_y=0.1596 right_z=0.0105 right_yaw=0.6209 right_pitch=-0.034 right_roll=-0.0238 right_gripper=0.9949 state[joint_eff]: [-0.3214, -1.6342, 7.3504, 1.6923, -0.0513, -0.0562, -0.0122, -0.8, -5.4085, 5.9419, 1.6874, -0.105, 0.1685, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.06,"right_y":0.19,"right_yaw":0.25},"note":"The pen rotated during the corrective slide and now enters the wrist frame from the lower-left, so it is no longer aligned with the jaws. I’ll lift clear, rotate the right tool to match the pen’s new shallower overhead diagonal, and shift slightly toward the barrel before re-checking alignment."})

tool

executing move_to over 4 steps (0.4s)

step 65

assistant

agent noteThe pen’s overhead axis is about 0.25 rad, but the tool only reached about 0.45 rad after the last short motion, leaving the barrel strongly diagonal in the wrist view. I’ll raise a little more and continue the rotation toward alignment before attempting another descent.

move_to

right_z0.0800right_yaw0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0227, 0.9993, 0.5858, 1.6302, 0.5552, 0.4767, 0.1207, 0.0551, 0.9959] state[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0029 left_pitch=-0.027 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3497 right_y=0.2108 right_z=0.0505 right_yaw=0.4448 right_pitch=-0.0325 right_roll=-0.0235 right_gripper=0.9959 state[joint_eff]: [-0.0342, -1.5521, 7.0496, 1.7802, -0.0464, -0.0366, -0.0122, -0.0479, -8.0615, 5.9282, 1.5458, 0.2906, 0.1783, 0.0904] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.08,"right_yaw":0.1},"note":"The pen’s overhead axis is about 0.25 rad, but the tool only reached about 0.45 rad after the last short motion, leaving the barrel strongly diagonal in the wrist view. I’ll raise a little more and continue the rotation toward alignment before attempting another descent."})

tool

executing move_to over 3 steps (0.3s)

step 68

assistant

agent noteThe continued rotation made the pen nearly lengthwise to the jaws, and its near section is now clearly left of the jaw centerline. I’ll shift the tool about 4–5 cm toward that side while finishing the small remaining yaw correction and maintaining clearance.

move_to

right_y0.2500right_yaw0.0000right_z0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0231, 0.9993, 0.6437, 1.615, 0.5812, 0.3729, 0.2684, 0.168, 0.996] state[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0031 left_pitch=-0.027 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3447 right_y=0.2045 right_z=0.0485 right_yaw=0.3179 right_pitch=-0.0725 right_roll=-0.0302 right_gripper=0.996 state[joint_eff]: [-0.1983, -1.4017, 7.0222, 1.7021, -0.0611, -0.0855, -0.0171, 0.1983, -7.1863, 6.3795, 1.8437, 0.0513, -0.1148, -0.0024] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.25,"right_yaw":0.0,"right_z":0.1},"note":"The continued rotation made the pen nearly lengthwise to the jaws, and its near section is now clearly left of the jaw centerline. I’ll shift the tool about 4–5 cm toward that side while finishing the small remaining yaw correction and maintaining clearance."})

tool

executing move_to over 4 steps (0.4s)

step 72

assistant

agent noteThe last command did not track—the readback stayed essentially unchanged—so this configuration is kinematically awkward rather than a valid alignment move. I’ll retreat inward and higher to a less constrained pose while keeping a pen-matched yaw, then approach again from there.

move_to

right_x0.3000right_y0.2500right_z0.1500right_yaw0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.0196, -0.0254, 0.9993, 0.6456, 1.615, 0.5812, 0.3733, 0.2649, 0.1608, 0.996] state[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1719 left_yaw=0.004 left_pitch=-0.027 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3441 right_y=0.2058 right_z=0.0485 right_yaw=0.3266 right_pitch=-0.0729 right_roll=-0.0339 right_gripper=0.996 state[joint_eff]: [-0.3487, -1.306, 7.0222, 1.7216, -0.0464, -0.0317, -0.0122, -0.0479, -7.1726, 6.3658, 1.8486, 0.0415, -0.0904, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.25,"right_z":0.15,"right_yaw":0.2},"note":"The last command did not track—the readback stayed essentially unchanged—so this configuration is kinematically awkward rather than a valid alignment move. I’ll retreat inward and higher to a less constrained pose while keeping a pen-matched yaw, then approach again from there."})

tool

executing move_to over 7 steps (0.7s)

step 79

assistant

agent noteThe retreat succeeded and freed the arm, though it overshot leftward and the wrist image is motion-blurred. I’ll return to a moderate hover directly over the pen’s overhead position, using the pen’s shallow diagonal yaw, so the next image can guide a clean descent.

move_to

right_x0.3100right_y0.2500right_z0.1000right_yaw0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8227, 0.6029, -0.3809, -0.0196, -0.0257, 0.9993, 0.9043, 1.4788, 0.8482, 0.1184, 0.4423, 0.3347, 0.996] state[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1714 left_yaw=0.0042 left_pitch=-0.029 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3221 right_y=0.293 right_z=0.1665 right_yaw=0.3445 right_pitch=0.0989 right_roll=0.0888 right_gripper=0.996 state[joint_eff]: [-0.0205, -1.6205, 7.241, 1.79, -0.022, -0.0464, -0.0122, -2.4821, -7.9248, 4.9162, 0.9988, 0.7985, 0.2369, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.31,"right_y":0.25,"right_z":0.1,"right_yaw":0.2},"note":"The retreat succeeded and freed the arm, though it overshot leftward and the wrist image is motion-blurred. I’ll return to a moderate hover directly over the pen’s overhead position, using the pen’s shallow diagonal yaw, so the next image can guide a clean descent."})

tool

executing move_to over 5 steps (0.5s)

step 84

assistant

agent noteThe stabilized wrist view now clearly shows the pen: its near end reaches the fingertip row and is centered, but the shaft is tilted about 19° to the right of the jaw column. I’ll rotate the tool clockwise to make the shaft vertical in the wrist image before descending.

move_to

right_yaw-0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0257, 0.9993, 0.9016, 1.4925, 0.7727, 0.0772, 0.4728, 0.3988, 0.996] state[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0045 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3117 right_y=0.2702 right_z=0.1227 right_yaw=0.2863 right_pitch=-0.0036 right_roll=0.0584 right_gripper=0.996 state[joint_eff]: [-0.253, -1.6068, 7.0496, 1.7021, -0.0708, -0.0269, -0.0171, -0.3624, -7.3504, 7.8154, 1.8632, 0.1441, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_yaw":-0.1},"note":"The stabilized wrist view now clearly shows the pen: its near end reaches the fingertip row and is centered, but the shaft is tilted about 19° to the right of the jaw column. I’ll rotate the tool clockwise to make the shaft vertical in the wrist image before descending."})

tool

executing move_to over 3 steps (0.3s)

step 87

assistant

agent noteThe yaw correction is not tracking in this pose, but the pen’s near barrel is centered at the fingertip row and the remaining tilt is modest enough for the parallel jaws. I’ll descend straight down without changing the well-aligned horizontal position.

move_to

right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0261, 0.9993, 0.9016, 1.4925, 0.7727, 0.0895, 0.4671, 0.3923, 0.996] state[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0047 left_pitch=-0.032 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3122 right_y=0.2723 right_z=0.1247 right_yaw=0.2943 right_pitch=0.0047 right_roll=0.0627 right_gripper=0.996 state[joint_eff]: [-0.1573, -1.2513, 7.3778, 1.7167, -0.0708, -0.0757, -0.0171, -0.2393, -7.3641, 7.7744, 1.8584, 0.1929, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.0},"note":"The yaw correction is not tracking in this pose, but the pen’s near barrel is centered at the fingertip row and the remaining tilt is modest enough for the parallel jaws. I’ll descend straight down without changing the well-aligned horizontal position."})

tool

executing move_to over 9 steps (0.9s)

step 96

assistant

agent noteAt table height the pen stays centered, but its near end projects well above the fingertip line, confirming the grasp point is still a few centimetres short radially. I’ll slide 4 cm outward along the pen’s axis while keeping the centered jaws open.

move_to

right_x0.3500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.831, 0.6025, -0.3817, -0.0196, -0.0257, 0.9993, 0.9028, 1.8832, 0.5823, 0.6189, 0.4797, 0.3878, 0.996] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1687 left_yaw=0.0042 left_pitch=-0.0385 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3093 right_y=0.2661 right_z=0.0003 right_yaw=0.2874 right_pitch=-0.0329 right_roll=0.023 right_gripper=0.996 state[joint_eff]: [0.0752, -1.935, 7.1043, 1.6923, -0.0562, -0.0659, -0.0171, -0.0068, -6.3248, 3.4393, 1.1404, -0.1636, 0.1685, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35},"note":"At table height the pen stays centered, but its near end projects well above the fingertip line, confirming the grasp point is still a few centimetres short radially. I’ll slide 4 cm outward along the pen’s axis while keeping the centered jaws open."})

tool

executing move_to over 4 steps (0.4s)

step 100

assistant

agent noteThe outward slide brought the centered barrel all the way into the bottom fingertip region, with the shaft still running between the jaws. I’ll close now on the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8333, 0.6022, -0.382, -0.02, -0.0261, 0.9993, 0.8078, 1.9335, 0.6662, 0.635, 0.4145, 0.3347, 0.996] state[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.0415 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3469 right_y=0.265 right_z=0.0061 right_yaw=0.2736 right_pitch=-0.0116 right_roll=0.0392 right_gripper=0.996 state[joint_eff]: [-0.212, -1.6342, 7.241, 1.6874, -0.0708, -0.0464, -0.0171, -0.2803, -7.1863, 5.6547, 1.4481, 0.0952, 0.0073, -0.0122] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The outward slide brought the centered barrel all the way into the bottom fingertip region, with the shaft still running between the jaws. I’ll close now on the pen."})

tool

executing move_to over 10 steps (1.0s)

step 110

assistant

agent noteThe gripper settled at 0.049, just above the empty threshold and consistent with a thin pen barrel; the shaft is visibly centered between the closed fingers. I’ll lift 8 cm to confirm the pen follows before working on the cap.

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]: [-0.0204, 0.8333, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.9434, 0.6769, 0.625, 0.3958, 0.3088, 0.0489] state[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0045 left_pitch=-0.0412 left_roll=-0.0106 left_gripper=0.9993 right_x=0.3488 right_y=0.2656 right_z=0.0028 right_yaw=0.2934 right_pitch=-0.0245 right_roll=0.0226 right_gripper=0.0489 state[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6679, -0.0708, -0.0317, -0.0122, -0.1299, -7.706, 5.8462, 1.4774, 0.2222, 0.0464, 1.1697] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.08},"note":"The gripper settled at 0.049, just above the empty threshold and consistent with a thin pen barrel; the shaft is visibly centered between the closed fingers. I’ll lift 8 cm to confirm the pen follows before working on the cap."})

tool

executing move_to over 5 steps (0.5s)

step 115

assistant

agent noteThe lift confirms the pen is securely held; it rose with the right gripper and extends forward from the jaws. I’ll park the pen high on the right side so the left arm can approach the cap without entering the same region.

move_to

right_x0.3000right_y0.0500right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8391, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.7176, 0.746, 0.3416, 0.3878, 0.305, 0.0541] state[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1664 left_yaw=0.0045 left_pitch=-0.0469 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3489 right_y=0.2677 right_z=0.0672 right_yaw=0.3021 right_pitch=-0.0166 right_roll=0.029 right_gripper=0.0541 state[joint_eff]: [-0.1573, -1.9487, 7.0769, 1.6825, -0.0806, -0.0611, -0.0122, -0.335, -9.1829, 7.5145, 1.58, 0.2076, 0.0024, 1.0281] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.05,"right_z":0.2},"note":"The lift confirms the pen is securely held; it rose with the right gripper and extends forward from the jaws. I’ll park the pen high on the right side so the left arm can approach the cap without entering the same region."})

tool

executing move_to over 19 steps (1.9s)

step 134

assistant

agent noteWith the pen parked clear on the right, the cap is unobstructed near the center-left and lies on a shallow opposite diagonal. I’ll bring the left gripper above it with the tool aligned along the cap’s axis.

move_to

left_x0.2800left_y-0.2000left_z0.1500left_yaw-0.3000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.8444, 0.6022, -0.3817, -0.02, -0.0261, 0.9993, 0.0181, 0.8936, 0.6788, -0.4042, -0.2146, -0.1101, 0.0541] state[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1649 left_yaw=0.0048 left_pitch=-0.0522 left_roll=-0.0107 left_gripper=0.9993 right_x=0.3037 right_y=0.0467 right_z=0.1835 right_yaw=0.2486 right_pitch=-0.0425 right_roll=0.032 right_gripper=0.0541 state[joint_eff]: [-0.0752, -1.8256, 7.159, 1.6728, -0.0708, -0.0757, -0.0122, -0.294, -2.9333, 9.7573, 1.6923, -0.2222, -0.0659, 1.0281] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.2,"left_z":0.15,"left_yaw":-0.3,"left_gripper":1.0},"note":"With the pen parked clear on the right, the cap is unobstructed near the center-left and lies on a shallow opposite diagonal. I’ll bring the left gripper above it with the tool aligned along the cap’s axis."})

tool

executing move_to over 18 steps (1.8s)

step 152

assistant

agent noteThe left wrist view shows the cap nearly centered and parallel to the jaw column, but with clear space below it, so it is still a few centimetres short of the fingertips. I’ll advance 3 cm, make a 1 cm centering correction, and descend to table level.

move_to

left_x0.3000left_y-0.1750left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8391, 1.1446, 0.6525, -0.2893, -0.4171, -0.3466, 0.9993, 0.0174, 0.8967, 0.6788, -0.4343, -0.2283, -0.1242, 0.0595] state[eef_state]: left_x=0.2695 left_y=-0.1876 left_z=0.1265 left_yaw=-0.3063 left_pitch=-0.1285 left_roll=0.0259 left_gripper=0.9993 right_x=0.2992 right_y=0.0488 right_z=0.1771 right_yaw=0.2673 right_pitch=-0.0725 right_roll=0.0363 right_gripper=0.0595 state[joint_eff]: [-0.3077, -3.5897, 10.0308, 1.7998, -0.4127, -0.0659, -0.0806, 0.0068, -2.1128, 6.9949, 1.9072, -0.0024, 0.0659, 1.033] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.175,"left_z":0.0},"note":"The left wrist view shows the cap nearly centered and parallel to the jaw column, but with clear space below it, so it is still a few centimetres short of the fingertips. I’ll advance 3 cm, make a 1 cm centering correction, and descend to table level."})

tool

executing move_to over 9 steps (0.9s)

step 161

assistant

agent noteAt table height the cap remains centered but still appears above the fingertip region, matching the same wrist-camera offset seen with the pen. I’ll slide the open, aligned jaws another 3–4 cm outward along the cap.

move_to

left_x0.3300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7048, 1.5871, 0.384, 0.4068, -0.3321, -0.2703, 0.999, 0.0174, 0.9012, 0.6785, -0.44, -0.2291, -0.1246, 0.0595] state[eef_state]: left_x=0.2942 left_y=-0.1699 left_z=-0.0004 left_yaw=-0.2808 left_pitch=-0.1712 left_roll=0.0366 left_gripper=0.999 right_x=0.2985 right_y=0.0489 right_z=0.1746 right_yaw=0.2684 right_pitch=-0.0827 right_roll=0.0391 right_gripper=0.0595 state[joint_eff]: [0.4991, -4.1915, 3.3299, 1.0281, -0.0611, 0.2125, -0.0464, -0.0752, -2.2085, 6.9812, 1.6923, -0.1343, -0.0562, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33},"note":"At table height the cap remains centered but still appears above the fingertip region, matching the same wrist-camera offset seen with the pen. I’ll slide the open, aligned jaws another 3–4 cm outward along the cap."})

tool

executing move_to over 3 steps (0.3s)

step 164

assistant

agent noteThe first outward slide moved the cap toward the jaws but not yet into the bottom grasp region; it remains lengthwise aligned and clear of the fingers. I’ll continue another 5 cm outward with a tiny lateral recentering.

move_to

left_x0.3800left_y-0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6235, 1.6691, 0.4541, 0.4469, -0.2977, -0.2405, 0.999, 0.0174, 0.9031, 0.6785, -0.4419, -0.2291, -0.1249, 0.0595] state[eef_state]: left_x=0.3242 left_y=-0.1649 left_z=0.0001 left_yaw=-0.2457 left_pitch=-0.1553 left_roll=0.0252 left_gripper=0.999 right_x=0.2983 right_y=0.0489 right_z=0.1737 right_yaw=0.2687 right_pitch=-0.0864 right_roll=0.0398 right_gripper=0.0595 state[joint_eff]: [-0.0479, -5.5863, 6.065, 1.3358, 0.1148, 0.2759, -0.0171, -0.0752, -2.0034, 7.1043, 1.6532, -0.1245, -0.0366, 1.033] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.17},"note":"The first outward slide moved the cap toward the jaws but not yet into the bottom grasp region; it remains lengthwise aligned and clear of the fingers. I’ll continue another 5 cm outward with a tiny lateral recentering."})

tool

executing move_to over 5 steps (0.5s)

step 169

assistant

agent noteThe cap now reaches the bottom fingertip region, but its near section is about 2 cm to the image-right of the jaw centerline. I’ll shift the left gripper rightward by that amount before closing, to avoid squeezing the rounded cap off-center.

move_to

left_y-0.1850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5316, 1.8061, 0.6193, 0.4412, -0.2508, -0.2062, 0.9989, 0.0174, 0.9089, 0.6785, -0.4618, -0.2291, -0.1249, 0.0638] state[eef_state]: left_x=0.3742 left_y=-0.1651 left_z=0.0006 left_yaw=-0.2124 left_pitch=-0.1457 left_roll=0.0129 left_gripper=0.9989 right_x=0.2957 right_y=0.0488 right_z=0.1683 right_yaw=0.2693 right_pitch=-0.1111 right_roll=0.0462 right_gripper=0.0638 state[joint_eff]: [0.2667, -6.4342, 6.4889, 1.3748, 0.1294, 0.1929, -0.0171, -0.0615, -2.1128, 6.9402, 1.8339, -0.1343, -0.0317, 1.033] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.185},"note":"The cap now reaches the bottom fingertip region, but its near section is about 2 cm to the image-right of the jaw centerline. I’ll shift the left gripper rightward by that amount before closing, to avoid squeezing the rounded cap off-center."})

tool

executing move_to over 2 steps (0.2s)

step 171

assistant

agent noteThe lateral nudge did not track in this low configuration, but the cap is still visibly inside the open jaw span and extends into the grasp point. I’ll close carefully on it now rather than slide against it further.

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]: [-0.524, 1.8179, 0.6369, 0.4362, -0.2451, -0.1993, 0.9989, 0.0174, 0.91, 0.6781, -0.4641, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.3789 left_y=-0.1653 left_z=0.0006 left_yaw=-0.2133 left_pitch=-0.1463 left_roll=0.0141 left_gripper=0.9989 right_x=0.2953 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1147 right_roll=0.045 right_gripper=0.0638 state[joint_eff]: [-0.3897, -7.159, 6.0786, 1.4774, 0.0611, 0.2369, -0.0073, -0.1846, -1.9624, 6.9949, 1.6288, -0.1538, -0.0513, 1.0281] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The lateral nudge did not track in this low configuration, but the cap is still visibly inside the open jaw span and extends into the grasp point. I’ll close carefully on it now rather than slide against it further."})

tool

executing move_to over 10 steps (1.0s)

step 181

assistant

agent noteThe left gripper settled at 0.049, above the empty threshold and consistent with gripping the cap’s narrow body. I’ll lift it 8 cm to verify it follows and to prepare for alignment with the pen.

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]: [-0.524, 1.8179, 0.6369, 0.4412, -0.2481, -0.189, 0.0488, 0.0174, 0.91, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.3798 left_y=-0.1652 left_z=0.0016 left_yaw=-0.2166 left_pitch=-0.1411 left_roll=0.0224 left_gripper=0.0488 right_x=0.2952 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1151 right_roll=0.0451 right_gripper=0.0638 state[joint_eff]: [-0.0205, -7.5966, 5.012, 1.5311, -0.0659, 0.0317, 1.1746, -0.0752, -1.7709, 6.9265, 1.5849, -0.1441, -0.0317, 1.0281] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.08},"note":"The left gripper settled at 0.049, above the empty threshold and consistent with gripping the cap’s narrow body. I’ll lift it 8 cm to verify it follows and to prepare for alignment with the pen."})

tool

executing move_to over 6 steps (0.6s)

step 187

assistant

agent noteBoth objects are secure, but the left wrist view shows the cap’s tapered closed end projecting forward, meaning the jaws are holding the opening end. I’ll set the cap back down so I can regrasp its closed end and leave the opening exposed for the pen tip.

move_to

left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.524, 1.6024, 0.7258, 0.1169, -0.2539, -0.2005, 0.0591, 0.0174, 0.9119, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.3756 left_y=-0.1616 left_z=0.0601 left_yaw=-0.2047 left_pitch=-0.1585 left_roll=0.0237 left_gripper=0.0591 right_x=0.2954 right_y=0.0488 right_z=0.1668 right_yaw=0.2709 right_pitch=-0.117 right_roll=0.0456 right_gripper=0.0638 state[joint_eff]: [-0.0889, -8.3487, 8.8547, 1.7802, -0.0904, 0.0464, 1.033, -0.0752, -1.9487, 6.9402, 1.5995, -0.1148, -0.0317, 1.0281] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.0},"note":"Both objects are secure, but the left wrist view shows the cap’s tapered closed end projecting forward, meaning the jaws are holding the opening end. I’ll set the cap back down so I can regrasp its closed end and leave the opening exposed for the pen tip."})

tool

executing move_to over 4 steps (0.4s)

step 191

assistant

agent noteThe cap is now supported at table height in its known orientation. I’ll open the left jaws to release it without changing the horizontal pose.

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]: [-0.524, 1.7744, 0.6411, 0.3325, -0.2638, -0.2008, 0.0655, 0.0174, 0.9138, 0.6781, -0.4652, -0.2295, -0.1276, 0.0638] state[eef_state]: left_x=0.3704 left_y=-0.1567 left_z=0.0014 left_yaw=-0.1939 left_pitch=-0.1954 left_roll=0.0435 left_gripper=0.0655 right_x=0.2953 right_y=0.0489 right_z=0.1662 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638 state[joint_eff]: [-0.1162, -5.5179, 4.0684, 1.3358, -0.0464, -0.0415, 1.033, 0.1162, -2.1265, 7.2684, 1.5897, -0.149, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The cap is now supported at table height in its known orientation. I’ll open the left jaws to release it without changing the horizontal pose."})

tool

executing move_to over 10 steps (1.0s)

step 201

assistant

agent noteWith the jaws open, the cap remains on the table and its pointed closed end is clearly farther forward along the aligned tool axis. I’ll lift and move about 5 cm outward to place the grasp point over that closed end.

move_to

left_x0.4200left_z0.0600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.524, 1.7885, 0.6331, 0.3775, -0.2615, -0.2081, 0.9951, 0.0174, 0.9142, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638] state[eef_state]: left_x=0.373 left_y=-0.1586 left_z=0.001 left_yaw=-0.1932 left_pitch=-0.1741 left_roll=0.029 left_gripper=0.9951 right_x=0.2954 right_y=0.0489 right_z=0.1661 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638 state[joint_eff]: [-0.0752, -8.3624, 5.5453, 1.0672, -0.1832, 0.0269, -0.188, -0.1299, -2.0171, 7.2, 1.619, -0.1587, -0.0024, 1.0281] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_z":0.06},"note":"With the jaws open, the cap remains on the table and its pointed closed end is clearly farther forward along the aligned tool axis. I’ll lift and move about 5 cm outward to place the grasp point over that closed end."})

tool

executing move_to over 4 steps (0.4s)

step 205

assistant

agent noteThe regrasp hover now shows only the cap’s tapered closed end entering the bottom-center fingertip region, indicating the opening end is behind it and will remain exposed after grasping. I’ll descend vertically onto this closed end.

move_to

left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4549, 1.7729, 0.841, 0.1547, -0.2359, -0.1909, 0.996, 0.0174, 0.9142, 0.6781, -0.4648, -0.2291, -0.128, 0.0638] state[eef_state]: left_x=0.4147 left_y=-0.1529 left_z=0.0403 left_yaw=-0.1549 left_pitch=-0.1792 left_roll=0.0242 left_gripper=0.996 right_x=0.2954 right_y=0.0488 right_z=0.1661 right_yaw=0.2712 right_pitch=-0.1195 right_roll=0.046 right_gripper=0.0638 state[joint_eff]: [-0.1299, -10.5368, 7.7333, 1.4335, -0.0317, 0.2759, 0.0855, -0.2256, -1.9077, 6.9812, 1.5751, -0.1343, -0.0806, 1.033] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.0},"note":"The regrasp hover now shows only the cap’s tapered closed end entering the bottom-center fingertip region, indicating the opening end is behind it and will remain exposed after grasping. I’ll descend vertically onto this closed end."})

tool

executing move_to over 3 steps (0.3s)

step 208

assistant

agent noteAt table height the cap’s closed tip is centered between the left fingertips, while the rest of the cap extends back toward its opening. I’ll close on this end so the opening is free for assembly.

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]: [-0.4522, 1.8759, 0.804, 0.2577, -0.2287, -0.1967, 0.996, 0.0174, 0.9161, 0.6781, -0.4648, -0.2291, -0.128, 0.0638] state[eef_state]: left_x=0.4108 left_y=-0.151 left_z=0.0014 left_yaw=-0.1529 left_pitch=-0.216 left_roll=0.0261 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1656 right_yaw=0.2712 right_pitch=-0.1214 right_roll=0.0465 right_gripper=0.0638 state[joint_eff]: [-0.2803, -9.1556, 6.3795, 0.6471, -0.2808, 1.1062, 0.0024, -0.1026, -1.894, 7.0632, 1.5995, -0.1245, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0.0},"note":"At table height the cap’s closed tip is centered between the left fingertips, while the rest of the cap extends back toward its opening. I’ll close on this end so the opening is free for assembly."})

tool

executing move_to over 10 steps (1.0s)

step 218

assistant

agent noteThe near-zero gripper reading shows the tapered-end close was empty; the tiny tip was slightly right and baseward of the grasp point. I’ll reopen and shift about 2 cm inward and right for one corrected grasp on the closed end.

move_to

left_gripper1.0000left_x0.3900left_y-0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4519, 1.8858, 0.7921, 0.3023, -0.2356, -0.2005, 0.0096, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638] state[eef_state]: left_x=0.4133 left_y=-0.1508 left_z=0.001 left_yaw=-0.1461 left_pitch=-0.1926 left_roll=0.0212 left_gripper=0.0096 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638 state[joint_eff]: [-0.1436, -9.4701, 6.065, 1.1013, -0.0073, 0.0366, 0.7595, -0.1846, -1.8667, 6.9265, 1.6142, -0.1538, -0.0757, 1.0281] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0,"left_x":0.39,"left_y":-0.17},"note":"The near-zero gripper reading shows the tapered-end close was empty; the tiny tip was slightly right and baseward of the grasp point. I’ll reopen and shift about 2 cm inward and right for one corrected grasp on the closed end."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteThe open wrist view now reveals the cap clearly at the lower-left; the previous rightward correction moved the camera the wrong way. I’ll shift back left by about 2.5 cm to put the closed end on the jaw centerline.

move_to

left_y-0.1450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5339, 1.8744, 0.7605, 0.3264, -0.2893, -0.268, 0.995, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638] state[eef_state]: left_x=0.3975 left_y=-0.1723 left_z=0.001 left_yaw=-0.1466 left_pitch=-0.1752 left_roll=0.0064 left_gripper=0.995 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638 state[joint_eff]: [-0.7726, -10.2085, 4.0137, 1.2479, -0.2369, 0.0659, -0.1392, -0.1573, -2.0171, 6.9812, 1.5897, -0.1636, -0.0806, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.145},"note":"The open wrist view now reveals the cap clearly at the lower-left; the previous rightward correction moved the camera the wrong way. I’ll shift back left by about 2.5 cm to put the closed end on the jaw centerline."})

tool

executing move_to over 3 steps (0.3s)

step 231

assistant

agent noteThe correction places the cap’s closed tip at the bottom center between the left jaws. I’ll close on it now.

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]: [-0.4702, 1.8576, 0.7204, 0.3683, -0.26, -0.2333, 0.996, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.4013 left_y=-0.149 left_z=0.0008 left_yaw=-0.1274 left_pitch=-0.1654 left_roll=0.0061 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638 state[joint_eff]: [0.1299, -9.3197, 4.3556, 1.3504, -0.0513, 0.0171, 0.0904, -0.1573, -2.0171, 7.0632, 1.6093, -0.1148, -0.0464, 1.0281] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The correction places the cap’s closed tip at the bottom center between the left jaws. I’ll close on it now."})

tool

executing move_to over 10 steps (1.0s)

step 241

assistant

agent noteThe second tip grasp is also empty, so the closed taper is too narrow to retain. I’ll return to the previously successful body-grasp pose; the cap opening can still be approached axially near the left fingertips.

move_to

left_gripper1.0000left_x0.3750left_y-0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4679, 1.8523, 0.7105, 0.3798, -0.2611, -0.2348, 0.0111, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.4007 left_y=-0.1473 left_z=0.0017 left_yaw=-0.1237 left_pitch=-0.1586 left_roll=0.0033 left_gripper=0.0111 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638 state[joint_eff]: [-0.1709, -7.7197, 6.0376, 1.4725, -0.149, -0.0317, 0.7497, -0.0889, -1.9624, 7.2684, 1.6142, -0.149, -0.0659, 1.0281] 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_gripper":1.0,"left_x":0.375,"left_y":-0.16},"note":"The second tip grasp is also empty, so the closed taper is too narrow to retain. I’ll return to the previously successful body-grasp pose; the cap opening can still be approached axially near the left fingertips."})

tool

executing move_to over 10 steps (1.0s)

step 251

assistant

agent noteThe left gripper is back at the body-grasp location where the cap was retained earlier. I’ll close there again.

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]: [-0.5415, 1.824, 0.6559, 0.4011, -0.3145, -0.2848, 0.9948, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.3804 left_y=-0.1608 left_z=0.0006 left_yaw=-0.1258 left_pitch=-0.1492 left_roll=0.0021 left_gripper=0.9948 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638 state[joint_eff]: [-0.4855, -9.4017, 4.1504, 1.2967, -0.1783, -0.1099, -0.1538, -0.2256, -1.9897, 7.159, 1.5946, -0.1343, -0.0611, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The left gripper is back at the body-grasp location where the cap was retained earlier. I’ll close there again."})

tool

executing move_to over 10 steps (1.0s)

step 261

assistant

agent noteThe empty close confirms the cap shifted forward during the regrasp attempts; the overhead view shows it just ahead and slightly left of the left jaws. I’ll reopen and move directly onto that new table position.

move_to

left_gripper1.0000left_x0.4400left_y-0.1400

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, 1.8187, 0.6571, 0.4164, -0.3229, -0.2886, 0.0097, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.3834 left_y=-0.1621 left_z=0.0061 left_yaw=-0.1204 left_pitch=-0.127 left_roll=-0.0045 left_gripper=0.0097 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638 state[joint_eff]: [0.2256, -7.3368, 5.2444, 1.4335, -0.0024, 0.0171, 0.7692, 0.0615, -1.9624, 6.9538, 1.5604, -0.1392, -0.0317, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0,"left_x":0.44,"left_y":-0.14},"note":"The empty close confirms the cap shifted forward during the regrasp attempts; the overhead view shows it just ahead and slightly left of the left jaws. I’ll reopen and move directly onto that new table position."})

tool

executing move_to over 10 steps (1.0s)

step 271

assistant

agent noteThe overhead view now shows the displaced cap directly ahead of the left fingertips, about 4–5 cm farther outward. I’ll advance the open jaws onto it while closing, keeping the motion aligned with the cap to avoid another sideways push.

move_to

left_x0.4800left_y-0.1500left_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]: [-0.4049, 1.9228, 0.7952, 0.3985, -0.2447, -0.215, 0.9949, 0.0174, 0.9169, 0.6781, -0.4652, -0.2291, -0.1276, 0.0638] state[eef_state]: left_x=0.4323 left_y=-0.1348 left_z=0.0035 left_yaw=-0.0867 left_pitch=-0.1313 left_roll=-0.003 left_gripper=0.9949 right_x=0.2955 right_y=0.0488 right_z=0.1653 right_yaw=0.2711 right_pitch=-0.1225 right_roll=0.0471 right_gripper=0.0638 state[joint_eff]: [0.5265, -7.5419, 7.4325, 1.5849, 0.1001, 0.2418, -0.1587, -0.0615, -1.9897, 7.1726, 1.5751, -0.1294, -0.0073, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_y":-0.15,"left_gripper":0.0},"note":"The overhead view now shows the displaced cap directly ahead of the left fingertips, about 4–5 cm farther outward. I’ll advance the open jaws onto it while closing, keeping the motion aligned with the cap to avoid another sideways push."})

tool

executing move_to over 10 steps (1.0s)

step 281

assistant

agent noteI secured the pen and initially secured the cap, but the cap was grasped at its opening end. During the required regrasp it shifted forward near the left arm's table-contact reach limit; subsequent closes were empty, and I could not recover and align it with the pen within the trial budget.

give_up

hindsightFor this cap, grasping the end that first enters the wrist-camera bottom region captures the opening end. To leave the opening exposed, approach roughly one cap-length farther outward from the start, but center the narrow closed tip laterally before closing; it is too narrow to retain if more than about 1 cm off the jaw centerline. The pen was successfully grasped by the right arm near right_x≈0.35, right_y≈0.266, yaw≈0.29 after advancing until its barrel reached the bottom edge of the wrist image.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3965, 2.0426, 0.9882, 0.3298, -0.2543, -0.223, 0.0099, 0.0174, 0.9169, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638] state[eef_state]: left_x=0.474 left_y=-0.1464 left_z=0.0041 left_yaw=-0.0662 left_pitch=-0.125 left_roll=-0.0046 left_gripper=0.0099 right_x=0.2955 right_y=0.0489 right_z=0.1654 right_yaw=0.2714 right_pitch=-0.1221 right_roll=0.0472 right_gripper=0.0638 state[joint_eff]: [0.4855, -8.8821, 7.5419, 1.4823, 0.1197, 0.1587, 0.7595, -0.2393, -1.9897, 7.1316, 1.6093, -0.1636, -0.0659, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I secured the pen and initially secured the cap, but the cap was grasped at its opening end. During the required regrasp it shifted forward near the left arm's table-contact reach limit; subsequent closes were empty, and I could not recover and align it with the pen within the trial budget.","hindsight":"For this cap, grasping the end that first enters the wrist-camera bottom region captures the opening end. To leave the opening exposed, approach roughly one cap-length farther outward from the start, but center the narrow closed tip laterally before closing; it is too narrow to retain if more than about 1 cm off the jaw centerline. The pen was successfully grasped by the right arm near right_x≈0.35, right_y≈0.266, yaw≈0.29 after advancing until its barrel reached the bottom edge of the wrist image."})

tool

give_up: I secured the pen and initially secured the cap, but the cap was grasped at its opening end. During the required regrasp it shifted forward near the left arm's table-contact reach limit; subsequent closes were empty, and I could not recover and align it with the pen within the trial budget.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 13.14 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7937, 0.6022, -0.3801, -0.0196, -0.0116, 0.9993, -0.0154, 0.7914, 0.6086, -0.3782, -0.0216, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.5094, 1.7949, -0.0659, -0.0464, -0.0806, -0.8957, -1.2513, 9.8667, 1.8437, -0.0366, -0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a14ec50a3f025152cc173ce71674be4cdddadf21f4e03fa69128bb832c2236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f268e1c475e10a5cb211499539f1f7669c75b1353a28501b4b638d43c957b600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a4aef85831e8a6f96f9bdd42a299aee77400f4c3b77d1e1b34878c416f463d",
      "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 · 6.763 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoTVRl2ROflgs0ybyZBks2ILdczOgpcSoiUVLo7wTGMJa9OyHRTdzvMXz6_ewVkriE4_mYPmSBRjDk4Xbn9jVP2b0SIgkRrfmEb7_ScHZQaoNg6B5Hv_h7GjvsxY3WHB3zQrvHveGVCC6pt41jYYCtF0ADdaFHFgHL8CexrMe4PkdU8YA5VLKwckNPFR5qmAI7MePPTaHJpsAmg8RorekRA_e4OrkNd6OU8tuJ8hlp_EaoIutZI7B_u78cFA7wrrZ8W3FvTaVBHD5GZvgtwhkzQPAhynDpbKTG03SQnKh9TfGdH8qlbMc8XUKwTj-d03ZC_7sbxziZ2L28S1UNDzGQZO1-_l7PLPeNzHKzz8h3h74N6a19QC27V1LqQq7cmK3re2TmATeww4SPTLBok-gHtE341Wi2VGdWG6upzyF_4OB-5PJQzpMHSi2bgUoEZmj50MTeH3PXApxMQm_P2ZfOB4Wpt0HrYG-_TDte6gmEfZf25gQq_qWzjdD-uaogvayn49jNJD8YHDVlUATwenCOCm6gKYyUWxOLt-HH9b_OxVgbjrM99V9xyQwlvrvOIdo7APbvVpcFrMGQBUmIr7JhUQMcBcr2xHAHkjqKNXQmvhnuS9oK7BZPnoNVtXhJyK3E_Cd2YldnYud08vh5aLYovHN5e3wq76-fS_WXWN7qE2fFwT77b-4mCeWx9Iw1ufAkWvfxpJZlOz2O9YHoFy89cskNbiyRmQN2lrXERBb4yXgMSQCKh-svqCFup937nK2kiZs9WuK7iHY6O-v662D4gEHl1yt_kFACZbIqMEsJUH6svMQXwXk564FNh_mddHLmbQxp6mUOrJFbBhvIRVck1_XcCdR1gBop2MQb91zTn4nXDG0LBwZ3V1bmWIVJVzZoodTeRqhO0g6drH6dTLfrVITfLX4bgJlBPnkuPXQYZWrwnZxT2pEZn80ambNM-Z7C3MbyIvCpIPCPYfml34txcGW_enlFbNqRIPJjdGFdihHVo9e0cHxhbBqX30O49nauYTMRGWeb-zQs9L5eyIx0gnCzczeAsyQfZ8piZPydZlhtoMK4BehffQgVwiKIuJ9-8Jm3Bcu__jC5S_yGZ0NkICh2aNBtpatB3MZAB3Ko20IVMRcQ33WauXcbrGYUiqiU78XmFTaEZGmiXsIAyzud1QXbI3BwoafFAJ0Hp3IpefRqJi6VIatfVb9GkX61ANGLGLUq0iuN-Q00H54awH6hFz3BtSLjeOFvYSywHx7agE5gNgWzwt6H-kj8XBSF3X10FKwpUxBw6iD8NMyHpwF8Mb6gxcxJytv9fv8MwEDiEgCZVqivz0AQZ3uxmzpylhcM1cD3gwXUvXJVa9LfJFlzpl13fEkO--_d7xn3Zq15zxcs3avBi2TxozPyWGpN556_JOQ8bioAlF2vC9bQyQv1GMbA7GB9SEpDwBi1S3FwF8QVFtQvB3nw58Xh8vigvKLmyNBa3G7rX3niaITqtHd7UmCRlj4NOnNVcm1YLdluJO273FUBLfi6AJKDQRQbAoJZgXLN5GNt3Ln0M5teu0OpLVa9CSvk5zMb19uGY3TLgzBnyTnFB9CuaDFtWgtB6pWzddVrGeUv-S8rf9UA05cKkRNbBDI9G-7MRSjNDlDZ3FDORypYAyH6o7L2H_20UsEfhcSG6jXoVQxCA4ERZEHmUKR_JJRXXHdRjHyVFboJ3ESpYfPcTxAaYOMghDqtJtbEkE3Qf7OkaimrCV6l8T2vrhcwfGH8q7-ySTv6PoepqzDmBegQaTA2Nadwf1VNFxbPjFFNU5K8rVXRAPIcdeuNWoftEwtDZFBX9Fz88OhEUSpFBW4rASXOWGIpu5hBey_s57vM-kWjsD2eb0lhTdvdHlte6wbpFYnTLo2EoP_hxEw2IqW6DBJAQEgVFzF_UEGcKzfoNSIDdGR-j5ytl7b8BkfDLxDh-Gn9wgDly7awS2pg5L--3Eyk2gtY7egNofORutJt1dNfc2C6obIgofrB9mdRyB0MO6lc3Yjz7eqn5LoFTM3Vf0mgwSmVlhsfQeLiZZniS7q4ruPKmc1DcrHVigbnxapeAw9Wgkplh2ZicxHeApFZXgEpN1cFtrRVNKaeTmdAuDDzL3JUY-mTViTAujSVR6xYD-9tddWlXWTslvVfuuNLJxFFEF9YqFANG2s-aamMrt6VAU3U-e3yAVThE_eas9OZbRYyWgS_IZpFT1bUn9gcFgMsuotrlGr8_yHZ9YStUOaFT2-yMcyx_mEeMpLoxsGT8i8b-mlnaOOiZ9Q1L8dQAz0d0K_-pObLfVT-n9efEO36Pvi0Bi4Fj9FvmquJVleh7DXuTrLncWGD_maStOil72AFMc1v887zoxsyy01-vPiPvmWuzG_ZKObtwJQVtOoG6jQBgz60MKLsvFTwbLgkPiK5Huc3TlLZaVNOOpXabpuu9Soe0N4121iwOrdkLjOX8XBkt6as3YjhdgTDAq4XnTh4ToWsfvkAnfuBxTEg1mDb6aSVSwAG4o1gN-VSfB-24cO-6xPrD_YKohH4ioEK169iYAWzRxdMHfJaMLfAdbMJshQ668_1mdQOn38Z0YGB8JsVsvB6mupPr7HjelOz3vHJAx3FxfKAsuLp6AAxwxIfYNW_XyZoIZ8cpNl-Qh1i02h-D3k-DXG4cb_cTxJa34hWYdgtaC082iVVK61pTmQ9f1gzJqdmlrbnoH0cM3eMKnK-bkncVio8d8bzjT6DXyFmkhve8L42mxMDwnPWegpaU2G77Gevdh8qYqxEJp1UF_tDpaFunuP7E1gEKRAz90E4aJWmW43Zr6AvIgxpOg37K9UBKGH4SMd2D_m7TeizgFSVPPqQRHYAk8y25-zWRtq8WLv2lwciuI1-K2IsJJytreQjsMIWpXrMvpaiFsOgtoRw3-dHC-GYcYoBwZPD1mAVLdTnbaDwIisYWtvVgjdMmG4uV_kRvw7TU4iBC3t_LeEhtVld_0I31ehU-Sj6f6Orb1gPBowcXTnwN_f0itPbOWG2I4qJeWaf_DlTsK6EuWbaujO8J0bfI4hbYUIoTO8FCbDlRza97F49JOShcPp8Oj4wxGvNuX6SVBSmAWkt-zNQ-k-wCFkw55q9LmQO6XGuewzThOJkT8AmHkRmwiKoQOVAfUheZPC_nBEE4nKDtVi1-oLhQ0VSMBwEG1zxvjczZTH51-ZaUS2tT0VXAKBuG9WPphj-5OrnZVOfPV3ZO_S925ncj4e1QaDG_C48HMeRjAXWYhI9A7AVFdUS8838VWvv2K3Czj2c7ak1Si5_7xkaCpI3EEz6imYZREALJriTmZaAD-jVz56ZeZnaSZuyRJh_68im8Uue-r0TyCIyDpxQszwzAzzEkFPKX9kV4ze5yv1rtlfFUJHzRH13ZQvTfU7wmQhGRBjirnS3pY1CAAhwHFVlVn2BU1stjrZlMciM_KZZ4S-ErSez8RQy5krhFU5DJK3ufufIbLOsr_jCE9-w46OXe6u1AdbKTwwhUI4FdizaNgeb38aj__JMuuq-0W-Xc9A66aXUFRrhUTRlKCqq-SKaSo1x3Pp1Bc52CFu7dcgU8AfOJW9DrU-uT_pEpCvuKO-dK_8ps96IMKLgURaOyUSPWEYUrcNrKZaHfaNB4cjS6-eL7q5yb8aNW_oKXoA_R-MFpP66Fo0qkWhLVsg_kwKwXbCAv5zmQXYZOroiOJsN1loRZFwAWQP_k3fudn6GWGwC70_DtkYY7Ieh_wkCKprFr8d4Bu6eHHyILc9Fey_X6_cK3HxpmM3-5URPw-KC2FHY9Vwx61gP9fwmqRd9iJ3R_vP0ruvtqysSN7r6vvInigVG50WNeD2CRm4gyGzUtzQ2SJHiEGA==",
  "id": "rs_0f26f7a48333f1d8016ab44a07c18087d0ab7dd845ce13366e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoTK1jG8i6HbplNuSC7fbzw-uFZ2suemEUwMHUNLdlyB_-iZbZ5qktlhu-USD3MOhKKam5yFX0NE5_VqRLFldv7y-AGMTE3Q1eNGJprgM9sJNIUhRoeshYX9ykTo7HitLQaw-gZbdnzs9jmG8u5O2iaD2wED5on8yrTTKtg2Z63FRCPNiBbCWUY3RAZOmfKr2jFchohOH0bvAqiv0LDYxgd3Bd9n9ZbuFiCL_K18SPsZfi9uBJVQ8-ZlVR2zl1VvrktZDDSQnAkqFqtN7uBpCV2USLqh0GEQcy9t7Ju0wo-nwvcl9KMdyPFYJ5N05CWOKg4R86U87R0gjbOCf2yL4xSPGEik8Qo7O9OVfvafw8lwSBKrJ1BzTAyC2VyqpTLNeKaIZ9Muy1ErwO8_N5sPggTZ8N_0ZjBzhdD8KehFy4iWtiDyuURLQIwEnkWiHNmlrFVu6sDuqw9wN920MGRcARJ9bAgrzyJaLVyMzoEOBhC_J9PAndahqr-p1E89EDfY0qMtTBm1fYddW7iKf98VtKDv442KVcTpRbYLAQ_hilioweXf5aCQ1MOsdG1msfGuutBEhDDuiy_S1i_jbYjrgbMsVfTHyOgnLINs8WRFQ_g8dKaHkwaGb303c0gjrhWiw9ioLAIIi_z9wookJsAKVZHePC5Eet9FLcWyh4tRrL5wEAgnVuD7bLVy_xaHla8wR26hlnZJbEjcI90zOeeZUMiP98tQQ00NGF1ydg5KXG9BCErKvvpfKOchZGBLhyG5pw_ApbREL-uWx58VRtHtKMqjK8OwImGvCfx12T1UgouBSB3IUSoqjx5npHgHPxHR6_esg9Ea1M7CREYTM3PQ9-8wuyhp_M-Pa6OZKnzFU8nbUltQwtJ61irDYA_O60tOZE_2AZ_kY_FsWeOrBL1aOHQNDNNXRG0aKK4EH2LdzZUZAKkFg4-y6XMQREwMgfzUDFni0VZwk4tCLRW2egUZj4cEzk06T8uuc-T33eqRLcFHmFMqA1ZH9mlfhqWX-j-iiHIW8pkPuPIZphHzHkSWOyVbZNJUow779bOkdwJq08YO34ybJw3tsb8BgpEdzvSqpr08VXyfBHbKAvu_Beo_Vm8xN8Y0sRd_7eTlkFJI4W8pXU2M2ERCkPUBXbqOoFu6Y_9Rc0lPA3lMD3KXXiPj1PK9nxEEwATOqzTQVukf8qVa0SsV-NlWnAsxA4YQRL9FxBQba1FkBxbUYOGUR2L2iknHI6Uymr9W07qJbtsCkqG39pUhNCLyrhj4wgq6Mdgdwt5NZ8Db0sO0Hl0xqBSt9EWdxR_K0DE2Qly_2L2eCIYPJs1uKv9GWBSaii0oZWR9_1ZRGod-1hDrMCRCF0fsD1FA80hvtkuMmWl_k9PLn03lacxuWvSoXQXxLDwSNePPa8ilNcWyr0BeHXkjaeQ7KxjjP157EAz_HQMnzJifwqJaNnpoHXeWDH2DAz0QWZy8QPoaM4vr9E6nhERFAiPebOj4-U_0McOtloJ1KesVNTf9oBJu_Bf74INpYb7SG35dl2wbqP-sgkDNNU14MeODFQjlc_SGDFcJ7d13TQwN2sXic24w6Ct1tbAN-0mzW5Q0IpD9s534wvEt2NsmdNoZcjzN4VBJpFjwXfx1Pbkvk9hhe5wfGGHBpK8wLQAM5x1hCdR8rzFFAGoo8Xvc29-3o-473wnw_k-YkShfQ42BrFI2_n97LKOt0QjPTTyakMXF99nXsnsJeS8GquoOC7SwqI6O3COUe2IIxKL01C354aKCBmqSngVaXAC4FJm2Lv54DOthqVlwWjU7bjAo7jPrdhVo46Qsj2Vvmzis5dseexOulOzDqaQHr8A2QJBKmZts0F3QgT9TE4VEoHoWl1NWncG1RGzkjIVfaC_3TOYQR8sfSayxQgc6L-NhY0kvZtZp_7FkKcGXurwH_Xgd92Of4UhixDApHLOB3Or0lTtboYqf-Y4QdxPp4jZeES5rywx-9f4cVMWRS5VuNIOhF-tvi9Betu4bauuvNHlUcA7LtcAiAxQmWUZFr-eX7cKftoTElKLfOZQuuR4UQCFhfGbeHJ1BcMgXnbxnFZD4nzBlZhFRWrEHwzFSHvXskzeryg6g2aUhoTOH7Yusr6o_mHzAOOgnSrrFHi892v3ERzICm-QsFZ-eqKfBeHIx2ru2TbPqaXWNGcYaI1Ac1VRvrJRm11-CvhWBOCKqwUqg3193t7E_r3y26Dc4-A2WiEw6zy_vKRooYp5dY_SpaSCGpEcUlgFYOPk39IcDuj7tgjACHnYbuaU-J5nTVMvyJUymbJ8SYkf1dOOCZeGKbO8RAVOtI8D5GncTuX-80vamt2mwGAedqLoNrymy8X4c-kVSsxwm9JJkwtscD10BCtIuOi3NPCop5d5cwZSqYfVpka7Gh-0r08qd6w8ftPuBHqY9W-XG0qbefgw_VPZVLXxOKO0VVCEuyKvp2FDMMG-1REF84TfM1gJtMk5pJitsAgYpgu8mrrZItvhX_cGP8aQS7A1TUgoCaT9ZQpEq98xU_oOwGmL7jYbBMiny_KvVKmSLh4wPXBVdROgYTiu93tF--Ah0TY-1MEXnRHTD5TBERDy9KbqnXlLe7jKamXGjy3KLWFzHRZl0L0xe12NZUz7aA113mlBDk7oIvjJ-k4IoypacEiKGnLu9xeNvKEXLzdMB1vOWVE9mnLLyA5z_Jlj3dMNAOh-WWpr_Un5sS_8u7qvdFuMUto2COgDEQD9b3G9VUl6ge-bOsRJZFfW1jHcJv_AvA590-_bYZCEweY_JVx8iCchA3cdpF9z0bnOUJc9rcX2QYtSsyVkEjOSJWoB8KAZRys7LvAqX0XDe0h04KEawmx0ZUQgNDSDN7OvnUMRkSKq9-hplWHvSTqC9iO-fNkkfGWMiIBP8l8gU4aHMJYP68ZIa63JvwEmGEB1V5wCEzkqihGPTQNZnlF6giD7N_-lHamzMCHtKD7dwNfrlZxhV2tUuMyBNBjAqTnp6HMuXDuo45TFvvpSRvAOw6HB4ej-mqx1dhat_yX_vBAliZnlUhLnrPNFOYZv-c-CCU99Dz84xZNGt2VxfOgbdsDUNaa-_0ccQTE1OtopP6L5ZnLiw6cqQ_mmDnkMu3Thwqzp7bH_agJ_AoCraOk-N5eP2Ev_jpMgaGs4bdQ5Y1el9DoTPJg0W__B30qTAXkwoeP_2SGsJyydyjL0FZAv_otJgBqY3QX8cXe2tK2xUfHg6hyWdDVv40J5u2F9R1ZZLTJOHgXJqHe-tGZrMks17Qmm9GLojUoUVNks-_CudkdMMuvk-pysc-GxErCynIstJ6WPsiG9-4advWNXJf49MJnXzoM_9y2jOE2D7AkZKyo5Ka_nHD1E0jUodq64zLuQyg9GnmKqTMC9_OFmDc2t-N42PuEgvgN0jus0SKjWhiqC0LnKve-QgDkKBp6gZ-xp0frNv3LhVe5T_0e9aCaWWfYgE1mhaKHOq240bDsTENXDUze___bv-o91w5qx_ep6YiANMxKKlV5yMglPHBQA-C5hLrc8cUqiJs761wy1T5cOnwF4g-fTd_hTRu4wuCww4LE8xSwp-eMRmnMPqnaXs1Bnus9TrMXge1QZ-dJeVcWxKcLi-7FstvMPxH6D01HTRWiFxuowDAVSn7LScZa63n5YG0RHCKvbyPWjs6x1fFFg9fQVr-M_inoafKOCEpOC0-jipUK4shgpCcegoA_KKGS2s6jNpK3a6UNjQiKPUjvJpOdi4Zhrh6YcWBzNkOSbdq0uYLu0I8cvDpP_JR1U_VWCgtcpixV16K3VmJX2Or5kRPN5JxPqMSZH0zxIAnOUVPirPPp8OG-u-3b7QtU7TZgb8G9KQw43C-wlWSSnxY363VStLyf5OvkDSACLJhIYpawL1mK1918NbbDDmoELyg3PeATwKYN9OYjJmb9W7IcZgsY7X7fyvys0ZHLxS8iymVYBrdhl-Na01WRWaY8grqI_l-qj9I8PLw==",
  "id": "rs_0f26f7a48333f1d8016ab44a0d277887d08710cddcfb6045c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.2,\"right_z\":0.15,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"The long pen lies diagonally near the center-right, while the short cap is separated to its left. I’ll bring the right gripper above the pen, rotating it to match the pen’s diagonal so the jaws will close across the barrel.\"}",
  "call_id": "call_KhFhFF81npYSIBynvp9fl3He",
  "id": "fc_0f26f7a48333f1d8016ab44a124a2c87d0b0efc9209b35e8a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KhFhFF81npYSIBynvp9fl3He",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6037, -0.3813, -0.02, -0.0185, 0.9993, 0.5476, 1.013, 0.5472, -0.152, -0.107, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0053 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2671 right_y=0.1892 right_z=0.1374 right_yaw=0.6633 right_pitch=-0.053 right_roll=0.0076 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.707, -0.0806, 0.0073, -0.0122, 0.4308, -3.0017, 7.747, 1.9267, -0.0952, -0.1099, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628959150f54eac1b8da5c65b0323a738bbc37f9b37f4873a6dd9f8e51bab403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b4964213bed966e1e62f22421f6163777d442654b4ec6df3695ff13a350b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4f780ede07545ffe951524b0cd231b6ab9abdb7d319739210c38716648039a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.433 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7937, 0.6022, -0.3801, -0.0196, -0.0116, 0.9993, -0.0154, 0.7914, 0.6086, -0.3782, -0.0216, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.5094, 1.7949, -0.0659, -0.0464, -0.0806, -0.8957, -1.2513, 9.8667, 1.8437, -0.0366, -0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7994, 0.6037, -0.3813, -0.02, -0.0185, 0.9993, 0.5476, 1.013, 0.5472, -0.152, -0.107, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0053 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2671 right_y=0.1892 right_z=0.1374 right_yaw=0.6633 right_pitch=-0.053 right_roll=0.0076 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.707, -0.0806, 0.0073, -0.0122, 0.4308, -3.0017, 7.747, 1.9267, -0.0952, -0.1099, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628959150f54eac1b8da5c65b0323a738bbc37f9b37f4873a6dd9f8e51bab403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b4964213bed966e1e62f22421f6163777d442654b4ec6df3695ff13a350b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4f780ede07545ffe951524b0cd231b6ab9abdb7d319739210c38716648039a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f26f7a48333f1d8016ab44a16370087d0b68f33b29ef4c93f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16},\"note\":\"The right wrist view shows the pen already parallel to the jaws, but its barrel is about 17 pixels to the image-right of the jaw centerline. I’ll shift the gripper roughly 3 cm that way while keeping the current height and orientation.\"}",
  "call_id": "call_8DSmjpKoNDnwOczjQ8dhEYeL",
  "id": "fc_0f26f7a48333f1d8016ab44a1b573487d083979286c53bc057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8DSmjpKoNDnwOczjQ8dhEYeL",
  "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]: [-0.0204, 0.7998, 0.6029, -0.3813, -0.0196, -0.0189, 0.9993, 0.4156, 0.9627, 0.5278, -0.1814, -0.1787, -0.1181, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.006 left_gripper=0.9993 right_x=0.2748 right_y=0.1595 right_z=0.139 right_yaw=0.6202 right_pitch=-0.0443 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.0188, 7.3915, 1.7558, -0.0562, -0.0317, -0.0171, 0.8957, -2.947, 6.8034, 1.7509, -0.2906, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c75e6be59449c66e5e23b2a6e0a8a7e73857c13b70cc2b344e1cd6d5f4a58bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d128d6de2c85277a82a1ffe724f009523d0560389f733eb37b3a2e0ad88bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a32f0b90aee9f3fd8def9c922fba88b4adcce9b77fe29dc0915fb2311ca4325",
      "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 · 5.311 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]: [-0.0204, 0.7994, 0.6037, -0.3813, -0.02, -0.0185, 0.9993, 0.5476, 1.013, 0.5472, -0.152, -0.107, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0053 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2671 right_y=0.1892 right_z=0.1374 right_yaw=0.6633 right_pitch=-0.053 right_roll=0.0076 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.707, -0.0806, 0.0073, -0.0122, 0.4308, -3.0017, 7.747, 1.9267, -0.0952, -0.1099, -0.1148]",
      "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]: [-0.0204, 0.7998, 0.6029, -0.3813, -0.0196, -0.0189, 0.9993, 0.4156, 0.9627, 0.5278, -0.1814, -0.1787, -0.1181, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.006 left_gripper=0.9993 right_x=0.2748 right_y=0.1595 right_z=0.139 right_yaw=0.6202 right_pitch=-0.0443 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.0188, 7.3915, 1.7558, -0.0562, -0.0317, -0.0171, 0.8957, -2.947, 6.8034, 1.7509, -0.2906, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c75e6be59449c66e5e23b2a6e0a8a7e73857c13b70cc2b344e1cd6d5f4a58bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d128d6de2c85277a82a1ffe724f009523d0560389f733eb37b3a2e0ad88bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a32f0b90aee9f3fd8def9c922fba88b4adcce9b77fe29dc0915fb2311ca4325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEohkVuIo6pKizdFIDNsDMXlk_tuoZJjQij_AgrpT7lSSrDn6eX_GXipf2TSa2hb7zMWtLWBthIfCPG5_4RWgYEDpE95G83JQZBrbOt5nChpAP6tIVIC0-oDpqysq9f6wQUVwAJiks_oOc7LevGM68ZzY9XSYYomaMJL-qFHkHPRiHGPjmyynRaDGox-C2YzQX4PO9gAsSndLEm8yH288eXLojAKzrATA1W6xDqR4HeeqcJuFTFVzsI65wOzHhMQZ7rXNP0DyV8gE1FneRwLs4kXI-17vS2wEW__-_JKxjDZQOrOxinuFHHN1g-B6epGDnNheq1vW2PS3Q5mh9sxO3sKH6_KTfoizOOlcx_l2_JteBbTp4MHXgIEFTFeCG0wnXbqEH5U4CUo7vhZE89cIbr52ZwGWo_X6hSPMJWyMQninqSAOFYVdV8ovD0zkmmlsp2b9qJKAAM_E-qd01r-_mfRoR9gs6daGeMSsKJWIIU0h5jzVQLEQxY6Z0lBc2qDLUcCaVc444w45a0HTKyceKD4Vj-SGkGJD42tHxsV9HE6fXZFRpNoP5SCVsyObATSfcHy05WbQ2YRCnqG6CxgvaLKn9eiQE6VP31Y-sma4KHucEq4OzQC-60fsj9zzWoUdFp8JEhMJj78NH3h6HHTl46amxolDwfEVSW0en1-C92w3pVsgIIy4fYaehWYYN0m3KPybTzcbGq5mDMYJG4PZMaj2fJAyuv32Q0N5wSsM3GMq7k5tiKlADJESr-xAJF32DDiVH9AAtROxGl_-btJblK-lIyiS6qMIQLYGrav9ZiwfeQtlteID3DycdkU61Stg3k5WZRetwKGAuAt3CKykYH52yUtdEbRsYZryz9nbTZMOMaZ__UrrXgmoEilecPdPliAQBrBgo-RtPvWnxwvZdUkRtOJF0jn8xlUGnvpldXvlUdFw8CPdO0sD7d5xLdvU7WhpD2G3KSrZa5Iz5Wzim5FAs8nVGvD4zgOCV3GIfQmrrg49JijnooQRzBZtavewkdqG9wzDEnAVfUik-UOAhpM5-5WkCxgbyhiCXbP1upFm2u4jA978ha3fM_Ew2FuqfnROFkhDX62n465nLZxY4zhIFD0hqMd8epBy4y7hYU_zWyzt7mdFYTaaqTS_bOp0RDSdL3raRdLzV4v5595j-FDgcXEIJqNcDjSmXtv00u_eRlDCp91_CxtlUb6H02Qq6rgJC3noPyCMD4qLOiCjGUXZFKcR5p4Y73hNdyjfyXsFV4tBlPN2YvvcGudIjZRCeeO9zg7H1ATQY2JtsFa0vk5xmkw-je6M5TZAac0986unTqmbbOZPN-21SqMOOas9h45IdwY8sN8vz_yV7wNezMuBdoeu7l_Zzk9LZ3fk3kL6EcXJKekRwOZmmBw2kjn-FjsY2PfDFdIB42GU_Ja_ugvBZV55_gsljcWyztajc9EwaerfNnhzgoRIkIDCgaoK-sODPq1RV7l1-btQLNMg0juHHsx0nIzKCFBor3mJO8NKL-Ks5bRewziAdrbhgNesp2KkFFrBsMfsZOW1EklcJEyV2cTmdYzQJmjkZj7TD3Awj9dEq4Vk3jwaPHaVlvnIwRc-zg5yzol5Finwns2yLAHJgqc6rsJEPgLrH67xWmwnWeJ260foRoVGvv_FWq3FpwunscUqtYmopjudHz5r0xEwBrNkf3UxKtL9udow-dunkVSk3LeqGZ3_sybiTw9eDzCke4KocHr04L-dggM7yiN9fQaygtdvOVirIu8gx-YfJ3Pt_BQrmf7jwajBAt_xBjqBUE6NW4JWJDcMTEDOIUQqAWyed67nvxJxjb64l1CYxc28g0lk2K4VK8o4MXqIznsOYbMT-7roVZ5KL1yTwb4wWBi0xRl9eFWBLXOb1ze0u-VUS7k5mRr_DxmpL-Gkn64o1qLJVnTfV-zmvCc3W431SpKsD-s1rrz5GclqUqre6F9AKaomfb8NMll4Ol0jEudsoIx3_20McUnJrjBC5scUmIQ_pjbb0hNZp3PgZdUFZGdz-PkNe_5UhyJYm62U6T93geRkXwWu6IiAfovh0_CvQk4bZaxOvIAUYtTwtEIQ1o3NW-imkA8hX4zZqJuM_l5k8OVSuuyTfYTZSZYqwKQYsB6GJ6ePgB9CcvphJlJ3NvZdLzF6_8ZsZfut9Lx7-PVNizpKW2NvvOhp5BQ6umfEhNVCQQ3RrlMKLYjAKSLLx5RVqfFCgUpV3YPGgVqvGV2kJppyTfcTVuGNjxBqcZQehP3y1BQcxdD7Z9_digXp5-yup47pXaLwKfooMjtR96EzApeJyRb9PQJknYYo9BJ2ky06AKd8B8jAb0JDUDgqqneUwtTE-kglfzYHKH58ZTCTC1FPEgtAAumGA1y2U-h7rqw3mscUL3Wam1noGsK15sjXOpenjzlM8b8VqxCo5-ZOXUy_G6RIiv0lV7GRGgrjurA-4lNl2bLkKcsr8mHuKDWhtnXyFbbz67dPKfeA2vrAf60uKwvrTpIAXROZaI5aa3uEKbk7_SRtQY4cdd3nsYqUHcoJ5ppcNySzcLT8XM0",
  "id": "rs_0f26f7a48333f1d8016ab44a1d401487d099503c7c3e83fcd6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_z\":0.01},\"note\":\"The pen remains aligned lengthwise between the fingers; its near barrel section is only slightly right of center and well inside the open jaw span. I’ll make a small final lateral correction and descend to table level for the grasp.\"}",
  "call_id": "call_SVqt8COHrIvePghx2ZSGYr61",
  "id": "fc_0f26f7a48333f1d8016ab44a202fe887d090e1da52cd97b14c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SVqt8COHrIvePghx2ZSGYr61",
  "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]: [-0.0204, 0.8055, 0.6029, -0.382, -0.0196, -0.0193, 0.9993, 0.3161, 1.4204, 0.157, 0.5499, -0.2478, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1759 left_yaw=0.0007 left_pitch=-0.0129 left_roll=-0.0061 left_gripper=0.9993 right_x=0.2652 right_y=0.1361 right_z=-0.0002 right_yaw=0.6117 right_pitch=-0.127 right_roll=0.0237 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.7026, 7.3368, 1.7167, -0.0317, -0.0513, -0.0122, -0.5538, -2.7966, 3.2068, 1.1893, -0.2466, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbbd5d80f3bbd74b11e8824205dbab2bc9f19e50694e27cb79987c6aae3adb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605f76d10cffd0e61a714751a1a9f870b9aa80a646635239f3ea53457c7d854f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e20b76f2d14eeb0d2c690cf72cc9dbf6f74125b1e7242dc62d79958a9aa885e",
      "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 · 3.066 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.017, 0.7937, 0.6022, -0.3801, -0.0196, -0.0116, 0.9993, -0.0154, 0.7914, 0.6086, -0.3782, -0.0216, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0021 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0028 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.5248, 10.5094, 1.7949, -0.0659, -0.0464, -0.0806, -0.8957, -1.2513, 9.8667, 1.8437, -0.0366, -0.0562, -0.1099]",
      "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]: [-0.0204, 0.7998, 0.6029, -0.3813, -0.0196, -0.0189, 0.9993, 0.4156, 0.9627, 0.5278, -0.1814, -0.1787, -0.1181, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.006 left_gripper=0.9993 right_x=0.2748 right_y=0.1595 right_z=0.139 right_yaw=0.6202 right_pitch=-0.0443 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.0188, 7.3915, 1.7558, -0.0562, -0.0317, -0.0171, 0.8957, -2.947, 6.8034, 1.7509, -0.2906, -0.1441, -0.0171]",
      "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]: [-0.0204, 0.8055, 0.6029, -0.382, -0.0196, -0.0193, 0.9993, 0.3161, 1.4204, 0.157, 0.5499, -0.2478, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1759 left_yaw=0.0007 left_pitch=-0.0129 left_roll=-0.0061 left_gripper=0.9993 right_x=0.2652 right_y=0.1361 right_z=-0.0002 right_yaw=0.6117 right_pitch=-0.127 right_roll=0.0237 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.7026, 7.3368, 1.7167, -0.0317, -0.0513, -0.0122, -0.5538, -2.7966, 3.2068, 1.1893, -0.2466, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbbd5d80f3bbd74b11e8824205dbab2bc9f19e50694e27cb79987c6aae3adb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605f76d10cffd0e61a714751a1a9f870b9aa80a646635239f3ea53457c7d854f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e20b76f2d14eeb0d2c690cf72cc9dbf6f74125b1e7242dc62d79958a9aa885e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f26f7a48333f1d8016ab44a23bdc887d09394d436afaabdfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_x\":0.295,\"right_y\":0.125},\"note\":\"After descending, the pen appears with clear wrist-image space below it, which on this camera means it is still a few centimetres short of the fingertips toward the base. I’ll lift slightly, advance 3 cm outward, and refine the lateral centering before the final descent.\"}",
  "call_id": "call_X2yHewSwyUyhFDgIgqtaMjxM",
  "id": "fc_0f26f7a48333f1d8016ab44a26f2ec87d0b1ff5e45613a8384",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X2yHewSwyUyhFDgIgqtaMjxM",
  "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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0223, 0.9993, 0.2211, 1.235, 0.3614, 0.2401, -0.3008, -0.2256, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0027 left_pitch=-0.0137 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3087 right_y=0.1267 right_z=0.0708 right_yaw=0.5851 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.347, 7.1043, 1.6972, -0.0562, -0.0366, -0.0171, -0.3624, -3.9179, 5.9829, 1.326, -0.2711, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39e7cdb893e4faa446eca36904d416f59bdadae46f4fe8478f24740b1ade89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345e1f3394522db09ba3a431b448d84283ec3ec07dfc21a4fadbc632b371602d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9c483df019add128cbeb56d1d10d8adf5e965c27f7ac1a187383f8af2be6bd",
      "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 · 4 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]: [-0.0204, 0.7994, 0.6037, -0.3813, -0.02, -0.0185, 0.9993, 0.5476, 1.013, 0.5472, -0.152, -0.107, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0053 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2671 right_y=0.1892 right_z=0.1374 right_yaw=0.6633 right_pitch=-0.053 right_roll=0.0076 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.707, -0.0806, 0.0073, -0.0122, 0.4308, -3.0017, 7.747, 1.9267, -0.0952, -0.1099, -0.1148]",
      "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]: [-0.0204, 0.8055, 0.6029, -0.382, -0.0196, -0.0193, 0.9993, 0.3161, 1.4204, 0.157, 0.5499, -0.2478, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1759 left_yaw=0.0007 left_pitch=-0.0129 left_roll=-0.0061 left_gripper=0.9993 right_x=0.2652 right_y=0.1361 right_z=-0.0002 right_yaw=0.6117 right_pitch=-0.127 right_roll=0.0237 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.7026, 7.3368, 1.7167, -0.0317, -0.0513, -0.0122, -0.5538, -2.7966, 3.2068, 1.1893, -0.2466, 0.0513, -0.0171]",
      "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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0223, 0.9993, 0.2211, 1.235, 0.3614, 0.2401, -0.3008, -0.2256, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0027 left_pitch=-0.0137 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3087 right_y=0.1267 right_z=0.0708 right_yaw=0.5851 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.347, 7.1043, 1.6972, -0.0562, -0.0366, -0.0171, -0.3624, -3.9179, 5.9829, 1.326, -0.2711, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39e7cdb893e4faa446eca36904d416f59bdadae46f4fe8478f24740b1ade89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345e1f3394522db09ba3a431b448d84283ec3ec07dfc21a4fadbc632b371602d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9c483df019add128cbeb56d1d10d8adf5e965c27f7ac1a187383f8af2be6bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEorIaX7HCDBZogPyjfKqd7m6Nnuua31GCgwtLu-1OMykXpvLvJJiegEIu3OadcUiEDWOWQaqfNjtyocKlwelYVgCJhclbHTiSPQdU7qRoivHoOpScluYsIDaW9LDgrthQQ7HyFfYhne2ljwWZsBMu6xTFk0lsAZ6y5UExZo_dPq4CHDuI4uVfMZt2ANncrREfGCKdO0jUE5e_skBokfb9mE3DCzMcD4msOG3IIY_on80Szo5cvEy9pJZw81i2OusnOYmNz4AMAK7TK6A728elTPI9kL5fhC-JeNRQVG2TMCu_HhHWMQKoQ2_ZrhMyDJBLHS-pfklLcOeYh-f1T3heRMP82Lhi3iwkD81F-I63tktGNaIvnXggZWTP84maOEo-6xJ5Y3EhhdDopmJ9p4lA-4TqpKJXlbFZ5jPddNgshjUF9PjMbD73X6-wgY3JeIXg1_nMuRSgdZHmbg5nvcXAEE2a7JEhHEjLHLyT8NdI2E6D-Sd2Fn2ufPDPrtEiyr-alB87QVdTtI9KIOSLDfVkA0aOFk8rs_Qejrs8IXmV-46JZdVS69smqxX_pYLu2SmDPX2bAaxvW7lYM7YcKbiaA66TszQiUMYmRHVYIuRFZpk5TneYY0SpfCCZ88wMl3hg3DH5Lp6MQ5G5YnWzb4S9SJ7zfRXbLSetLSQhiV7VJiTNXNdH2mauEKFp9lwWUUcAvu1drH19a8cZTFhFXhTagZvXa5qSoPsyfL8oKLYV5K-m0bFyUiS8vPcleHPtmxQ7pbNvwWa_rLf2MXcYLsSE6rhGU6UcaDEtMkr6FbF7b5HZm0If7xXC8TG8ac9VMeozxgILrwqV23n6CIRIlF_jbNzq57PbpLk-AH3ZEm9WbsdP4vVEz05IO3ouphuqSJQVNsRezwYHU1vQbLtnk9wScw_fTFVVoCUpacl56DFJ_aV07_wfnkRhM7Cb8ghFjPi_e4XqENAl-8kZT747g_D_7yq3w4BJI4eZTMcBeSPTfITYRdrSZxfXFMseKWXLmPm05tGD2OHXt2n7iZZ3A0_6v0xiE4SwUM6wdvekBalSabJNs_9sJhoAVlNe4IVCSXS5mK1n4UwDw4uwcx5vorHKTotZtJdk3xJD9DFDg0gc0PgEwfuDisBpCpxPBzouZeoEne4UAYXOvo_GZlXYtoDUOSVZ0pKBY-FlILzJVgXkUkMrNGgb2q1Kp-Cie4oosnqHI7fg8ZOxruihVO0QZaQbqXBOqATmmvdToaj5aWywAf0DsO3-DMNxhCxyVvibRxuYU_9UO2KOR_mCAY_WpeNqM0WyXc1eEwLkzuj69w-3uR1DuTcT9Eib3YbYP7mCI5EuPFbFkOFHxmEnvGMBEpipQetpLFSzwGvcSxRT4m3AxYqn91IjlRb91zZHl2i6ypN-C1BEQAnvb9AcFLaodRe_0vL-LnVrDFtrgpSxLd3sTSbyg7_VJqurHrlytbLIcB4dcRqIy5E1n7Ei-5yeTgHlQCBXrB0kJyeuek7eoq-ju23dxAc78e1MM1LD_DuD8KsLa-7o70uNmjkD9NK_9KuKqN0s0gH7evoLCsxRG19D3heuKRoonlw3waNbV75H3QouGGUuLEEOF5WNqHZo39jQyzSVFVRl3sdQ49s7iTPyK2UlApHljxua7VDhp2W3z9t3ZdQKOjykyEbcLvfy6nBd7KPN_HTpEHyaZ4WhJltykHUE_9BynPGzuzCur0qXbp9AyFf28dVeKuL7_puLc6Up_L5pRMpQA5NXVmKMYamlMav7jz4A88oh_GrvWsigE4TDZO",
  "id": "rs_0f26f7a48333f1d8016ab44a29306c87d086813330e343b290",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_z\":0.0},\"note\":\"The outward correction brought the pen’s near end down to the fingertip region, and the barrel is now nearly centered between the jaws. I’ll descend vertically with a tiny centering correction, then close on the barrel near this end.\"}",
  "call_id": "call_lvbAvuej04dQdWzGI4PDBwA7",
  "id": "fc_0f26f7a48333f1d8016ab44a2a4f1087d0a562b591da736c3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lvbAvuej04dQdWzGI4PDBwA7",
  "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]: [-0.0204, 0.8124, 0.6029, -0.3824, -0.02, -0.0223, 0.9993, 0.2558, 1.6157, 0.2512, 0.6926, -0.2825, -0.2237, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1739 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.0083 left_gripper=0.9993 right_x=0.3044 right_y=0.1342 right_z=-0.0009 right_yaw=0.6045 right_pitch=-0.08 right_roll=-0.0062 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.6615, 7.241, 1.7314, -0.0659, -0.022, -0.0171, 0.3214, -4.041, 2.6735, 0.8816, -0.0806, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95164897965e157f1ca10648820a1cfac03fa663e24c85a1ea8cc54c46b56bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a8d1ad7a9e68aca95b75dd6781806132e8d1dde5002554c31747b6153bd762",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe86b638df835e549ddc3b2c72fcbabf96d01c691d1531af6400118159a584b5",
      "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 · 2.411 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]: [-0.0204, 0.7998, 0.6029, -0.3813, -0.0196, -0.0189, 0.9993, 0.4156, 0.9627, 0.5278, -0.1814, -0.1787, -0.1181, 0.999]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=0.0005 left_pitch=-0.0065 left_roll=-0.006 left_gripper=0.9993 right_x=0.2748 right_y=0.1595 right_z=0.139 right_yaw=0.6202 right_pitch=-0.0443 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.0188, 7.3915, 1.7558, -0.0562, -0.0317, -0.0171, 0.8957, -2.947, 6.8034, 1.7509, -0.2906, -0.1441, -0.0171]",
      "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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0223, 0.9993, 0.2211, 1.235, 0.3614, 0.2401, -0.3008, -0.2256, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0027 left_pitch=-0.0137 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3087 right_y=0.1267 right_z=0.0708 right_yaw=0.5851 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.347, 7.1043, 1.6972, -0.0562, -0.0366, -0.0171, -0.3624, -3.9179, 5.9829, 1.326, -0.2711, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0204, 0.8124, 0.6029, -0.3824, -0.02, -0.0223, 0.9993, 0.2558, 1.6157, 0.2512, 0.6926, -0.2825, -0.2237, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1739 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.0083 left_gripper=0.9993 right_x=0.3044 right_y=0.1342 right_z=-0.0009 right_yaw=0.6045 right_pitch=-0.08 right_roll=-0.0062 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.6615, 7.241, 1.7314, -0.0659, -0.022, -0.0171, 0.3214, -4.041, 2.6735, 0.8816, -0.0806, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95164897965e157f1ca10648820a1cfac03fa663e24c85a1ea8cc54c46b56bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a8d1ad7a9e68aca95b75dd6781806132e8d1dde5002554c31747b6153bd762",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe86b638df835e549ddc3b2c72fcbabf96d01c691d1531af6400118159a584b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEovhbK80aCyTtzheh4q-wse5SeIpVmLvvSe8VCeQRk9lrSv9ioof4xwnXgA18kFnQ8Fk9trIVUwqGZdsdnyJlSeGfGU6qnU7uFatVdPadqtDIWXbOGTcgnC4yhsIZNs6ufnrG3ekYUJlSgBYi9yiKP0Rh1dAoqGrazUcVjXWUMlj0OvAJLRU-lQXb2b_Lij54nWBA1zLplehyDVWkg4a9fTHq3vBRWVEXpKEV-Z2C8CiKizL7Zr82gtfl1-sT1oyvUcXBdDQDywiQTQ5eHeQcRFY1jiTuHq7QHg2yJYfMivf_KqeZjbE5PDzPHOYeIa0qY8ZaLMSGvS8CeDknQ4CxQvTT8bwh9YGeYUL4dbynUcQ7ZzW6RzdqYUHmKitWZpuMzVDvFs3HodF8aavxAvArU9QbLjYb76zk5xG3ZQgesh0ibjhNBhfvr9b18HmMJKbESEGahLpEjA0faOWRhrtF5GJyUFZaVlIMFAm6LtmFrn2pBhZTi8qkipK9X79LrDr3E3XfGlRXO2s_GgRqjP3yZq5f8L5Kjgo16JqHjHLIZ4Vb-MTKragl-SHW1uXV0qaXgS5jS8z0YU0tRUoJIpXfGIf6t3VopE4SHZ8rv7ThnIw9ly8JjIexZAcJuV6JTUx2GLEbWlDAmx8mkT0kRjmYAvqf3HT_bxF3WW-OCA1TrD7J0S3k8G8M17VhHWQVSfWj5M4cmUHdKN-y0KrwySgzw97eTAnJ5cwyIWwgUAE6vT2YxQRG54wabxJkG9brsXa1yAK-GLoFu6i0DyYTI7qQSjnFQHFHog_Jmz_-bQQu03g-CkEXWM9OkufltvNJ_XBJYD3W8kjTxZb-Mkbi4PEm-VyuWMRBBXwrvUtul93i1TzQcoWS71TjEiqPvbLKRLVlOjYjIiNnFUSpSpg_zNX4BTZQqzCUKjRTzzuj2Go7-dL9X0srDgWsYsGw91a7fNbct7bLJbFDGrpVf_zdd25yqTnEjbfuF5iwKz5HyYHnhaknerl5t89S6YrV5sOJUTUe1ot7rSQasdubcc4k26FO-KDiTIJItFa6Qmdj85vz5kzDVSPEVkxafNhpPW7cT807wq5HE9cVVUtNHNP5WT6kN90NBMwnpj63w0bz6oi2Ig3T9W6Dm7SlJ4YYZue_pb9LTumm1emEdzZtbDCeWlmMCKTWajZQ0HXfDe97LSvjw9Dp2StxPnVBLZuk4W2isxTPAkKLQTz0qVoKSCmnSBpIfhCUnY2ZQ1COvlcdz6_4hCMnTeWC7ypHzPqNk6lxTBqat4sL3wjvm14A6QiM7HiJhQmkSaE8rewOxBdiaEB5vfdPziOG6ZGnBLPv-uQqgYwdqAFTXYlCih0t1007SL3EpObt5kHSPwEpnNx_cPOZ8oCzWjbMI59eyshPJ12oQ12GgJtBpsFPLq95gupzGRluL6HGDFJn2jSXQoX-NLLXgnJXNvvuk3NsV0b9CpPZkiPz8hFkEcDMDrLQ_VLd8alJQN9aRKKzdsZI8r4WK9T3jhuEpfUfxR5ZOeuyt2J2pmytTjMFRyikQcd6hV6H7NztwbIRU8G4E7f1BaW1FcKYr16ukIoqsOcjDNBN25y5-_aGFSuxj-ur6OWGmMvX2TZwkRsrI8L7_1szGWZ0fEQBGpqjRAHnD5Kl-FA9MJIUk7G8WrnpulG1_LeG5WNYEtpOduLcFAopPOSrYuRzBnoTPIN06hsmr6sHMP_biboyMqytww7nGdiDbCIZaMokUcK7gUjCUdhD3jqOhSwWXGrD3JOyEpc5Q68Ht_zQQNx8CcGJjgcaYYz_FHozxr61pR3eA10gDSe01fzy7igs8xN3reu_1hhxLUBz0r4t0mPnyhvdT36MDS0zcPIXz_0TAnWsm-qRgfeiJ9oON5nc1tL7ohDfbSiXFRdUl7alD7T6azKhLI97HPcokMHMoiDbAGU0RQug9Y2jTY0Lb5VP8fc7E9CsQY06kmC-kdEvdhsqQOUDbgomB35P9k0HK5vnhSZ7u861xDGbyZ09zxqSGM8RZa4F6z0iF2CoeNLKoxGWFTbc4uIK7k9ij3RprRfdm5lTwozdCxekNz6HI-zm97PCoBtOsa6Q0uK2GOrW9bt0cgkG46",
  "id": "rs_0f26f7a48333f1d8016ab44a2cbc5887d0b8aa93510350d4b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.155},\"note\":\"At table height the wrist view still leaves substantial space between the pen’s near end and the fingertip line, so the grasp point is short of the barrel despite the earlier hover appearance. Because the jaws are aligned along the pen, I’ll slide 3 cm farther outward and 2 cm left to bring the barrel onto the jaw centerline without crossing it sideways.\"}",
  "call_id": "call_UmZPoQqb0znZYh2arOcc8FIS",
  "id": "fc_0f26f7a48333f1d8016ab44a2e6d9487d09eeb7a48d0f50217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmZPoQqb0znZYh2arOcc8FIS",
  "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]: [-0.0204, 0.8146, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.3016, 1.7111, 0.3611, 0.7124, -0.2615, -0.2104, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1735 left_yaw=0.0029 left_pitch=-0.0217 left_roll=-0.0086 left_gripper=0.9993 right_x=0.3317 right_y=0.1547 right_z=0.0043 right_yaw=0.6249 right_pitch=-0.0518 right_roll=-0.0188 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.5248, 7.0085, 1.707, -0.0708, -0.0513, -0.0171, 0.1162, -5.1897, 4.1915, 1.5165, 0.0611, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abb8e229c400c541c71f7fe71a843967f80edda710ad4440655b94bfe9f5678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd2be894a6536b030ef9e2be58c026a8fe8551c6a83169d353b89dbbfae5dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb08570cdd246c67d673b3b1e4747c09e11142374cc9a8d6968149268bf34ec",
      "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 · 3.949 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]: [-0.0204, 0.8055, 0.6029, -0.382, -0.0196, -0.0193, 0.9993, 0.3161, 1.4204, 0.157, 0.5499, -0.2478, -0.1761, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1759 left_yaw=0.0007 left_pitch=-0.0129 left_roll=-0.0061 left_gripper=0.9993 right_x=0.2652 right_y=0.1361 right_z=-0.0002 right_yaw=0.6117 right_pitch=-0.127 right_roll=0.0237 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.7026, 7.3368, 1.7167, -0.0317, -0.0513, -0.0122, -0.5538, -2.7966, 3.2068, 1.1893, -0.2466, 0.0513, -0.0171]",
      "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]: [-0.0204, 0.8124, 0.6029, -0.3824, -0.02, -0.0223, 0.9993, 0.2558, 1.6157, 0.2512, 0.6926, -0.2825, -0.2237, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1739 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.0083 left_gripper=0.9993 right_x=0.3044 right_y=0.1342 right_z=-0.0009 right_yaw=0.6045 right_pitch=-0.08 right_roll=-0.0062 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.6615, 7.241, 1.7314, -0.0659, -0.022, -0.0171, 0.3214, -4.041, 2.6735, 0.8816, -0.0806, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0204, 0.8146, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.3016, 1.7111, 0.3611, 0.7124, -0.2615, -0.2104, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1735 left_yaw=0.0029 left_pitch=-0.0217 left_roll=-0.0086 left_gripper=0.9993 right_x=0.3317 right_y=0.1547 right_z=0.0043 right_yaw=0.6249 right_pitch=-0.0518 right_roll=-0.0188 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.5248, 7.0085, 1.707, -0.0708, -0.0513, -0.0171, 0.1162, -5.1897, 4.1915, 1.5165, 0.0611, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abb8e229c400c541c71f7fe71a843967f80edda710ad4440655b94bfe9f5678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd2be894a6536b030ef9e2be58c026a8fe8551c6a83169d353b89dbbfae5dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb08570cdd246c67d673b3b1e4747c09e11142374cc9a8d6968149268bf34ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoyd89XHSW-3zR1zRepm9obUeG5Cm0QlN_qholhOtVcUsj2cW3oqqkTyKBJZI4IhSrXmJsJ92OSUE53fykLVIFiSmOFAjNI0UKg7Sj9CkjqIyj3o8s8VNOOOQUs8qm6jNmzeUN37gxTWfseQTJuyKkq5PWV59tRFVaBURJrlLWo4rrtKQjhViqrzLk_kWlIQ8FdSU8s1luLvR7lBylV17t-HMmztzdh5_2CND4SIBkW449PeNeTd-StkYS68ry072nIBBKssyGsdnOCzq2FZ_qPk5rHdHgzjJajIc2yNu9weYjh6o7w7RcOXrdO7QrwwDy3lXLdQG1HlVd4grLwLNXkhqLVcEGi4Ufv5KVz-YRyvt4wJrABmSRWhnH6-sjcA3Wx_W1QnE7blGcB5GaluRPdsboLugZGUIOsoJnG3ZLl_9I5OWgUit1lND1M9vW7ob4ERm35jNsutieCFclbgrf0o86rfjHKannXyFS4BWvJboC7JKNEws3dCcSwRFi028P0cJKPQ7H8nEc8pwDCiBIWqZD-5S6ZtD0kUIolFjGililuQO2uV_HGIVyTSCmgi376EzGf8Q-FiDaypfLqOJKK6WAqj8Nr9knrQwxx4x3nGoch93WYMFo3NuZDyhj9ayygF3s8QJFb02IhfHDEBiCl9oAxsPQkGmadn9UoOO36CpjFOBNiGygDrJxgEPGaszm6StLGPUOsYYGhgEqtTiT5mhQ8WppDusqfi3QM6fAMEaRduhe3eY4UNL0DBz-obTq9kgGd0YT-flJSlZaph2HbLLbVWAET04dCM0ySWNsSY4qF-24lyZayUlxG7-zeOosJZ10tpH5S72LhkFIzZ8mDTbcp9-Ljsk0MgOsqX3zcel5sPMhB-Ej7C6qbcuhmu4qsbNYJgqtDnKnhDmsiR4PDE22JElVwbsaYd0-304kWHkfreLTPUMZI9S-XzKjMzj5RX9QzN442KDAKU25qzSxatJztDqEWumyoQVW1ITJhfQcGsHKjRE6WPXT54APheUlgemstElQqjosWL7PXqDPGtPKpL2MR4YpXfErMJe5g4VAKWLSIKkxPEuoyRpvgs5nkw8DOtmDR7idetyBZESWByrNiONkRrrfZtnWtjK9Z1wUZnv0UUENyCH9Dv4jr61lIpis_7Z-lK93LKvrEIscTZaTzIimYDLLs66a3qLkm9ePk8vx1rsGhR4nbKipB0CsWVTsQGpxI1pqnBF_QP_MrEXd6i49sBmnBmEG91OmSNDNod-uExU_6ib7Jq6zQXwW0eYoZkOtX6T41VcYAJuhTI4CmyKEvS18dKmBqhru4xykvSn1d96yqxCYNnp2li1xGYD8IL6y60DdrUHxWv8Q4Md7PgY5D-6cXcuN6kMcyeT0LvX5ALnpVQ-y2nRSxs8gy",
  "id": "rs_0f26f7a48333f1d8016ab44a30f7f887d09ed696c3bb7d92f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pen now runs into the bottom fingertip region in the right wrist view and lies between the two open jaws, with its length still aligned to avoid side ejection. I’ll close fully to secure the barrel.\"}",
  "call_id": "call_BqII7REF2Pin27AxrUvsgJnN",
  "id": "fc_0f26f7a48333f1d8016ab44a31689087d0bb33fe8b31d41728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BqII7REF2Pin27AxrUvsgJnN",
  "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]: [-0.0204, 0.8154, 0.6029, -0.3824, -0.0196, -0.0227, 0.9993, 0.3092, 1.7153, 0.3912, 0.7174, -0.2478, -0.1921, 0.0177]\nstate[eef_state]: left_x=0.2957 left_y=0.001 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3424 right_y=0.1586 right_z=0.0129 right_yaw=0.611 right_pitch=-0.0248 right_roll=-0.0208 right_gripper=0.0177\nstate[joint_eff]: [-0.0479, -0.9094, 7.159, 1.6923, -0.0513, -0.0611, -0.0171, -0.0615, -5.012, 3.8769, 1.2381, -0.0855, 0.0024, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c279116bdf7f0af38eed72a53cfbedaa71a6850d27ea516c58806170b827f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c9fab274370841d34967f434eac9129a691bf5ebf90147d16c9e33e7f78f69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4027871086ce26fe5019d114006396d0e33bdeed9d4d36c02ca4bcd58ed6f6de",
      "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 · 6.747 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]: [-0.0204, 0.807, 0.6029, -0.3813, -0.02, -0.0223, 0.9993, 0.2211, 1.235, 0.3614, 0.2401, -0.3008, -0.2256, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1756 left_yaw=0.0027 left_pitch=-0.0137 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3087 right_y=0.1267 right_z=0.0708 right_yaw=0.5851 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.347, 7.1043, 1.6972, -0.0562, -0.0366, -0.0171, -0.3624, -3.9179, 5.9829, 1.326, -0.2711, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0204, 0.8146, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.3016, 1.7111, 0.3611, 0.7124, -0.2615, -0.2104, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1735 left_yaw=0.0029 left_pitch=-0.0217 left_roll=-0.0086 left_gripper=0.9993 right_x=0.3317 right_y=0.1547 right_z=0.0043 right_yaw=0.6249 right_pitch=-0.0518 right_roll=-0.0188 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.5248, 7.0085, 1.707, -0.0708, -0.0513, -0.0171, 0.1162, -5.1897, 4.1915, 1.5165, 0.0611, 0.1441, -0.0122]",
      "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]: [-0.0204, 0.8154, 0.6029, -0.3824, -0.0196, -0.0227, 0.9993, 0.3092, 1.7153, 0.3912, 0.7174, -0.2478, -0.1921, 0.0177]\nstate[eef_state]: left_x=0.2957 left_y=0.001 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3424 right_y=0.1586 right_z=0.0129 right_yaw=0.611 right_pitch=-0.0248 right_roll=-0.0208 right_gripper=0.0177\nstate[joint_eff]: [-0.0479, -0.9094, 7.159, 1.6923, -0.0513, -0.0611, -0.0171, -0.0615, -5.012, 3.8769, 1.2381, -0.0855, 0.0024, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c279116bdf7f0af38eed72a53cfbedaa71a6850d27ea516c58806170b827f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c9fab274370841d34967f434eac9129a691bf5ebf90147d16c9e33e7f78f69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4027871086ce26fe5019d114006396d0e33bdeed9d4d36c02ca4bcd58ed6f6de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEo3PNfkKfhbg0pGiMEx7cdrofP7EfdU8xMUoYNfIBKvdm5k_2ELAw5iE5x8mQincErD8Xb-SYKUUq24u8mgjHviD5iuhTbr9MdTrThffUjTJMJ3O1isnyPH-PO-0hcSTZCdBWCrNUzn7TQi6WXw2JE7v2U1YrFMtSgHAYVhJU63LXCCEtZVgIuAr3v0FrJeA1N57JeQawcpSXb-Q8pApRB4svqO89DzE1mwELL8c0ll3KQIfeAKKPlqLG7O_ZPDEZuAzSbzHOQRgjgXRLwZMwHwuzmKyiM2ey139QtxjLwAqSI6TQGFuUkOmu_-Hf3lfHAnPX62gcuIlF1qf6w8vOMTU-jSKEDE3I4s7VXytZ-Up9dgom1y-TEJy6-woZ0BQlXsFbPliwLrQjOOx8-_4ogTvDI7hygmf5LMNIPUoq8CAy6QWZl8C_G4GZ3m9wsaDK8hFufLdqDTo_LhuRrJw4PItC5Y5f5psWN5SJ7Qlr0WA4wjT7F6vrlikxXUL-eNjw4TKBI5DI1zZ19t-gvcm2nCrbt0BmHKtUVgFzYxM905-2FQ9usq03YuTT3Vjfu5y1hR2am3aRxTyziQ67fl9qyaPb9eupes8woAQE1tDzLStHmIzBlONBvLfm4dgFhk0UbciVq2nTbJoRTR1rBXeG_RzaTHSXd1uW-Vsux3GECv0TPwGoCGJLQqhaFSuo_Te5pLxt4gRmquGcuir9w6M5pr35bI44H4VTjIglbDs53okOCL54riNX20d2LlC7En_nT6v9zG7S57Em9tyMCo4XdvfOVPwgtqLSrdSe88M4xPmkCdkg0GgaLOVSMtT8ZPQoAHlixLtmv8q0ks-AdGekOZ_Fbv9bAfkntbY9QWADuFlgqaaxoJmGDIBNKOCr8dG8axQ68mOME1L48-OM7vVMeA9FnXz_KIpKQ9hOLL2X9Gdy80-O3jE2U4wA-KArhQp93RFyUCzygyqDorb2oSi5M953o1dHCSNkg1Os1yIzDojphBu41HdjQ4ITtrQGae_4VW5UbMA66QzsJsvVxRvaxjI7uERio_S-fNDGWHmzl3pC0nkJFdhS_7UdKzW0NW8xG2gWO1hXi6k11Hxmvc4c6YcQjAuCTrGAfgguxFnH22QT47RAxyt0WsFg5oQ1wpbeiM2mw8GndSfYELyH6MXSEyLX75eebu_t8SyQNmPFF9-_jjWnxXj2oSllXRBG_ZSqCwBCvXWRETHKDBBZevG58vd0kVMEFovSyuoO_W0gep5lWvHdQTifk5RrUigzNsH95nQJ8LaWexenpmknoaU8YNNk4OgiOxXTQ_dfUKxuqiYwIqwAVS2MvEBPch8gAb4Df6GITIgwfMlOod8c2H6Kd0IDgIX3EvQNY5NZl1HJqt9nK71p1XUA3DkTe9ir9-BlQ3dVaoL2VjruaFfE3kVcdfTC9z11u267EDSKQtF856kUY8pDnP7ZwdWqhkAWEOOFA7HwvsbOHYIHdsgmoRmQcTdkCImalsclH9H2VD1Ct_o7yPwy-trcHql_9RjjKylkrJghordHo9ryfhCmQJxgcCLSECxaQDSLhZYsGpKCRWOSMxeSmAmk0ksMyxE6mOg2nMStJJ_uCTm315F77hageBA79NNnAZ4Sc3NU-B-kfIOyujteSR881nPwfXnXfqwy6kkykL7GPO6CBmwrqi6wn8ddFShDpaEdTY60JNtqAtnyy6zaA8i3_5O9UtD6dVsn-2LU2rzOetnUva6J5VsxHSfsqrrSgDPCGlq422ahZGy4u6JR6_TaT4idDmLBuWt1vn_t4UzKPjUQW6Rn99a34HblKjXlHn9m4SH4uqgQvK_2Rtvg3sWFkp8BB1DECfLL3HEXlEv5KxbULGZfCJnNZb8sWuQhrYwQJUOJnv2_McVqiBQqw8rGFEQ3VDX08twls7Ozy0VrvYM7Hh6q4wXfTp8uE6mCxTEXHCWLDE3JOsxuGZWOe1jvewNOHXo2TA1zALjYZ0YMBlr6Q27dp5bz1FkhqEN_aCrElepItK1u1LN76N3hWhYBy0oTSf1s2i6Fn3DWzEe_Kx1Nh9J_uklWLLa-CjRWkJiQYTsgBaeaAG8bBUgzg5PeUbXsb0ZNwSmcyWjdeSKe1Yh9mSznSxA9H75XdRbXpADWwk3uOGzME4_O7V4shCFASNCUsxO4Szvw0su4_GFUwVci28h-tnd37wCt9ye4bLJEDqwolslIfUuPUxWdGoQDG_51j--cLybUZTmdUvNSRNxiU6jN9cehmPm6-o3guUqdpKGWqWlaYedCuTAqy13HR9SD0Jw5SL3X3aJaPCeHem-g76sFpzg4ypfck9ABNBOPq5Ikps1_fgi_XjxothhGATpq2BHNc8hKVt4_MGK5Um3JzKQzjoHD8gxpQsXz22E_Yd59WJPiG7fJw=",
  "id": "rs_0f26f7a48333f1d8016ab44a34548487d09062f160c8ee96bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.365},\"note\":\"The closed gripper settled at 0.018, below the 0.04 empty threshold, so the pen was still just short of the grasp point even though it reached the visible jaw wedge. I’ll reopen and advance another 2 cm along the pen axis for one corrected grasp attempt.\"}",
  "call_id": "call_TnpdLAIxvXQXLZqRLC6YLYXx",
  "id": "fc_0f26f7a48333f1d8016ab44a363c0c87d096a60e7847cbfac1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TnpdLAIxvXQXLZqRLC6YLYXx",
  "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]: [-0.0204, 0.8185, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.2909, 1.7653, 0.458, 0.6872, -0.2676, -0.2138, 0.9949]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3578 right_y=0.1596 right_z=0.0105 right_yaw=0.6209 right_pitch=-0.034 right_roll=-0.0238 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.6342, 7.3504, 1.6923, -0.0513, -0.0562, -0.0122, -0.8, -5.4085, 5.9419, 1.6874, -0.105, 0.1685, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:089ea84b944aa037250e2891cf3f6b196eb332237404c20a606c077be05195e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474321dafa2af149fcf0f7bac988662516394285bbb32ce1b71734cf1b61859b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e90fd67ed3202aa8b302c793e0babf6bdc141ff645867df426636f93583fbb",
      "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 · 6.43 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]: [-0.0204, 0.8124, 0.6029, -0.3824, -0.02, -0.0223, 0.9993, 0.2558, 1.6157, 0.2512, 0.6926, -0.2825, -0.2237, 0.9989]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1739 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.0083 left_gripper=0.9993 right_x=0.3044 right_y=0.1342 right_z=-0.0009 right_yaw=0.6045 right_pitch=-0.08 right_roll=-0.0062 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.6615, 7.241, 1.7314, -0.0659, -0.022, -0.0171, 0.3214, -4.041, 2.6735, 0.8816, -0.0806, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8154, 0.6029, -0.3824, -0.0196, -0.0227, 0.9993, 0.3092, 1.7153, 0.3912, 0.7174, -0.2478, -0.1921, 0.0177]\nstate[eef_state]: left_x=0.2957 left_y=0.001 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3424 right_y=0.1586 right_z=0.0129 right_yaw=0.611 right_pitch=-0.0248 right_roll=-0.0208 right_gripper=0.0177\nstate[joint_eff]: [-0.0479, -0.9094, 7.159, 1.6923, -0.0513, -0.0611, -0.0171, -0.0615, -5.012, 3.8769, 1.2381, -0.0855, 0.0024, 0.7009]",
      "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]: [-0.0204, 0.8185, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.2909, 1.7653, 0.458, 0.6872, -0.2676, -0.2138, 0.9949]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3578 right_y=0.1596 right_z=0.0105 right_yaw=0.6209 right_pitch=-0.034 right_roll=-0.0238 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.6342, 7.3504, 1.6923, -0.0513, -0.0562, -0.0122, -0.8, -5.4085, 5.9419, 1.6874, -0.105, 0.1685, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:089ea84b944aa037250e2891cf3f6b196eb332237404c20a606c077be05195e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474321dafa2af149fcf0f7bac988662516394285bbb32ce1b71734cf1b61859b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e90fd67ed3202aa8b302c793e0babf6bdc141ff645867df426636f93583fbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0f26f7a48333f1d8016ab44a3945fc87d0b1d445c71a79e07d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_y\":0.19,\"right_yaw\":0.25},\"note\":\"The pen rotated during the corrective slide and now enters the wrist frame from the lower-left, so it is no longer aligned with the jaws. I’ll lift clear, rotate the right tool to match the pen’s new shallower overhead diagonal, and shift slightly toward the barrel before re-checking alignment.\"}",
  "call_id": "call_juQW9AxEpI1SE01qlYXzPucb",
  "id": "fc_0f26f7a48333f1d8016ab44a3d1ee887d0ac7dedfcdea6dac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_juQW9AxEpI1SE01qlYXzPucb",
  "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]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0227, 0.9993, 0.5858, 1.6302, 0.5552, 0.4767, 0.1207, 0.0551, 0.9959]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0029 left_pitch=-0.027 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3497 right_y=0.2108 right_z=0.0505 right_yaw=0.4448 right_pitch=-0.0325 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.5521, 7.0496, 1.7802, -0.0464, -0.0366, -0.0122, -0.0479, -8.0615, 5.9282, 1.5458, 0.2906, 0.1783, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a93003979acceccecedf0fd920b45ba4cee6d084dd3faa57c82fc192d22802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19319b67ae9e7a2113d63d7f86c3170b925e9e5a332742d088bea3450efe9253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43e0da4f794466af25493d35ea683652dc0e6c87e565a4b134d0f6185633e63",
      "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 · 3.993 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8146, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.3016, 1.7111, 0.3611, 0.7124, -0.2615, -0.2104, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1735 left_yaw=0.0029 left_pitch=-0.0217 left_roll=-0.0086 left_gripper=0.9993 right_x=0.3317 right_y=0.1547 right_z=0.0043 right_yaw=0.6249 right_pitch=-0.0518 right_roll=-0.0188 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.5248, 7.0085, 1.707, -0.0708, -0.0513, -0.0171, 0.1162, -5.1897, 4.1915, 1.5165, 0.0611, 0.1441, -0.0122]",
      "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]: [-0.0204, 0.8185, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.2909, 1.7653, 0.458, 0.6872, -0.2676, -0.2138, 0.9949]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3578 right_y=0.1596 right_z=0.0105 right_yaw=0.6209 right_pitch=-0.034 right_roll=-0.0238 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.6342, 7.3504, 1.6923, -0.0513, -0.0562, -0.0122, -0.8, -5.4085, 5.9419, 1.6874, -0.105, 0.1685, -0.0952]\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 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0227, 0.9993, 0.5858, 1.6302, 0.5552, 0.4767, 0.1207, 0.0551, 0.9959]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0029 left_pitch=-0.027 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3497 right_y=0.2108 right_z=0.0505 right_yaw=0.4448 right_pitch=-0.0325 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.5521, 7.0496, 1.7802, -0.0464, -0.0366, -0.0122, -0.0479, -8.0615, 5.9282, 1.5458, 0.2906, 0.1783, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a93003979acceccecedf0fd920b45ba4cee6d084dd3faa57c82fc192d22802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19319b67ae9e7a2113d63d7f86c3170b925e9e5a332742d088bea3450efe9253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43e0da4f794466af25493d35ea683652dc0e6c87e565a4b134d0f6185633e63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpFND5P9wWOYay-2QvuWOCxy-GmoVNW9HWYh0RCPeIYFGswoSZF5i8_GDbuMmQm1crhulArPQbTDTE_D8Y95FikDTymt7VmvdZj-52aiC0ZA2eeK56o1AMQBV2oRhV88om6cvRbNKK-lc0X3a0o3ABmL1zjWSIxorUgEX1luWyFzflZjkQotlJMl9xTY8i2p-n6DQN65DRcPGdt8ISLuDl-eCNC4KyFm9gjlfGhyGLcynJC4LLtRSUOTUmdg4YM1S2LH_ZIIrukWLNqjl9VBiAKwW5vi7p31mPhZK4odKknX-L9793jK9vaoK0tsucRwLxJ7LqqREUin4UuLaz6gWEb0Q3LFfKSnfSi47PDg1aJnRuzCbSX-p-kUbMLlaaLeYoC82HtRT1ljlqVV0Ha9VNNJ4UdezF9387y9rv3-Qds06ht5B3HHdpGiLe3TCyszOd3fbHabJDLzXb_BIbUowixE65RMSDxPnjcsHKcERoWIjAi7W8JOq-NzRmjgZ_vXM4EJcXqWYN5y-mbSvwj1g3ZDC9uNkLTaaETk83DRpu6iHTTtHxumLcRZsAuLB9NvgMW_-8s69uzICDAtMwcC90wDKaQyLCSTk-qhTMXVhGeumzZ3DWqPoWsxwiJ467_Ku1ccICd2YTllYlxw6A6hutR6PeI8iSwfHdJcBJdMHAUchVpkBlxg6idJDd1JwxCLxTY9-Aml66tBkgWDPKCOvqdnoZhigHdDrNEGJWkF--JB1DeoiGNNNTPtVhwJ4DOxEvtceKbETfpGrWTPZOF5FQilBQsXAYdbqFwLjzkcpwiVroziO-XqkRbiBCjd0HOZjqrWbm3Bsw578O_f7M8U1yscfnZdRYhNZ3rwPDWcTo83dAzdV2iGNyJZjQLapGGPxPqPDS0v9N-F3AoH8j2BUOyHYW69DE4VcqotJPdUu6nlAowep03QuA6blaWxRWCd5WWoAg0WGT11EncI31G_CxA-5jjr3Ng4pFl7BicEYnjPeS9iLk7Y-aWlPdNZcRsts61vncWQJu6uMawyrnw-2zJG7CK2CdwI1wjRyKvycDR3Gi8T7H3c_9uJTLSYKg8d8oGyBSEuHxEQANdom5L-MQngpe0bE86O9gYLW6t8bimnauBtGGGwx-ZFc4mkYD3Kh3--MxwGz9awGerc32Fc2urQStLpN_ePTnkwh2mcZShEnjdcMGOHcGxng1JOQtWsd29FbomDIpGR7L5ADkOficeneMozLj7KF_ciDTZVwxE-suSW62jXJSw8lSD0w8Bo-Gt6gpOTFffKHt9uGd9v0CdF8zCzeVhwQCzS0waV2y19_IQIxIxOXqxLdYggkU1XbGhe0ZdkHHFgJHesRVoqDDRO1HeUREjm5czWLvmQmXwrVwOIicp96fmZ1gIzZoTcZJ-fivNuRAtCmtqzcWkXVgueWO0hiqfjRXl8fzcTPThG9pjrofM75xRKP3-pUBwTNv2kq2wK_qTCX8DtzatvdBwBjv1dmCl9Yu98nyjBGXuA7YkMk_YSyN95ZuJjgjosuBXD_oKZpzo62q_4-lIBcZWriqvu-3RwQMUkZuS-GaPfaN3CgeNg8nT2190ucsjqiw8HtNAA8dblxSuAQrezFc6ulxKHkXxXjpS_dZR_MfFLh_t1Qe6Ls0HfUVfxc1FA2fpmb-9fd5rFC7HixG5ZhgtuWagagDwhPXwz87uNZIIoMtPjzWpGEBxmTUYlVNBi3FLo5Xu5nha7AWT4OeP62VDzWs-pfBn8lUH4j_Gfv9DQwkAxbMjce6AviZa6WbbAGupGi0WTjo24wGj5hxKu-9ktWSWxd-1wSKOTrXfcKNpbXW_2JICE2y0104mfwA0Za9YxEEtMlg46rSekKhe5SCpSssaMjFyAHf8h6skp0vPxIIFI1Fo2GjLNzGNVXFMsA7-X36faHzAEINYNW2O3qu8MbyTB8sfHM9UpyKQZZIAvW60xWxWVGXoxLWkqXYLpc3jfa8t2yuL_PXdwFmkq0a0S4jFsq2BzyfNAfIrTCvpdb9tyuSNaR6EBnDrUru36fwGiw5kE3KR7yBB3Co6oY9uHjVPV7-5aEWMiaqzyvlsY7_fa4rvQ7L5suiCGAZF7EjuWc30eTQC5AKP9D67SELuT9VXsT4IZWvdwHeMllUKGYelRwOlngofvzo07BcneJ-HS-eWzHnsWD2bjdfgLl2XMtF7juBs_fbAOK7y_0OPk07FRvm0cClpZZyi8Hkp8Ydzlow-JXXdGeulGW8pwj0HiTWHDHoSN7ZDvMBx3PEeeaRtaexNGPC2I1-4E9hEZ6-HvXnISniSy-cBZYcochyJ2akZZnJqCCzY2L_v5g1Zd4Tkgq00axN9gPIQZ0g_-a-FV41PvCuuOuXth_MAVpzDPQtMd60gxE8iyKVTgg4CGuTqrelIZY5AwGDmbhaHP9f8-W_nEaMya3cyje1spDJ_L4Cdx9v-2MTLuo44vitwWDzxRKCv3dsjb4nBImjpBHywrR493ex4h6mtCpQMJLHipHMhzHLbiKXmu581HgAiA_iNEFqy34jWElfQZ8I3lxsovdUykp6TTNEA0JITVYlQG_OmQ-JUZWI2RFRtjizc5A5qAQl8761Zdau-v0qQaWnsJjnA7rrH-9uqA_fqF1Qr1XUIF8BNDfIkfzBhQJmrHIEeeN8S3ze3TxmkggEMKxmwgT_9Qsl7GKBJqFXqpi8QIVP9aUM7F6KOszQXQ8k7uOrR-o9gBySq6xPY9jVZ0xMMj19E78ei2tS4zRK58b9iBMvl4aOJb4hGg22X5Z-3gJskJuVAuGeRHk0aSQ9sz-2klwwnvGUF82zg_jue04T7aCrj-L83QmqSFhKiMOr5qvPE5At1KWFxeVh7ibs6FlvJS0NSoWKUxUtcRgXJwt6ECbpcG2JJlFCQ27kiyC7Wo8gPxsR2tKj2rZyrYkyRnL-LKXa5gCL8MYok5o8C_UPjio2sq1chJIJlg_E27vFOFcm5Cg3TgJqSXNRVyA27NczH5IrYt5lJDjPEvZ3eaSW1gG7pfngMLYpQv4_L2LTNrCW7Xbhzi9RkgdAjSDpf1Byi",
  "id": "rs_0f26f7a48333f1d8016ab44a40493887d0abe515f776efc3e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_yaw\":0.1},\"note\":\"The pen’s overhead axis is about 0.25 rad, but the tool only reached about 0.45 rad after the last short motion, leaving the barrel strongly diagonal in the wrist view. I’ll raise a little more and continue the rotation toward alignment before attempting another descent.\"}",
  "call_id": "call_pJ2jcHGtt6rd9Gq9NMocP343",
  "id": "fc_0f26f7a48333f1d8016ab44a44a7e487d09bc6e5e584078947",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pJ2jcHGtt6rd9Gq9NMocP343",
  "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]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0231, 0.9993, 0.6437, 1.615, 0.5812, 0.3729, 0.2684, 0.168, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0031 left_pitch=-0.027 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3447 right_y=0.2045 right_z=0.0485 right_yaw=0.3179 right_pitch=-0.0725 right_roll=-0.0302 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.4017, 7.0222, 1.7021, -0.0611, -0.0855, -0.0171, 0.1983, -7.1863, 6.3795, 1.8437, 0.0513, -0.1148, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5014529fd5350e4492ba486ae368b98baa3e72004dd4b2cc6dd3d1f21544314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b788adc1acb1f15342fab76f9e236a1da8de98ff869db62cd6b8645b74fb51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f6e734725b0706064817326af8d0b4bf50384c142f7462d0387eb2442d70d3",
      "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 · 4.283 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8154, 0.6029, -0.3824, -0.0196, -0.0227, 0.9993, 0.3092, 1.7153, 0.3912, 0.7174, -0.2478, -0.1921, 0.0177]\nstate[eef_state]: left_x=0.2957 left_y=0.001 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0232 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3424 right_y=0.1586 right_z=0.0129 right_yaw=0.611 right_pitch=-0.0248 right_roll=-0.0208 right_gripper=0.0177\nstate[joint_eff]: [-0.0479, -0.9094, 7.159, 1.6923, -0.0513, -0.0611, -0.0171, -0.0615, -5.012, 3.8769, 1.2381, -0.0855, 0.0024, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0227, 0.9993, 0.5858, 1.6302, 0.5552, 0.4767, 0.1207, 0.0551, 0.9959]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0029 left_pitch=-0.027 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3497 right_y=0.2108 right_z=0.0505 right_yaw=0.4448 right_pitch=-0.0325 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.5521, 7.0496, 1.7802, -0.0464, -0.0366, -0.0122, -0.0479, -8.0615, 5.9282, 1.5458, 0.2906, 0.1783, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0231, 0.9993, 0.6437, 1.615, 0.5812, 0.3729, 0.2684, 0.168, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0031 left_pitch=-0.027 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3447 right_y=0.2045 right_z=0.0485 right_yaw=0.3179 right_pitch=-0.0725 right_roll=-0.0302 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.4017, 7.0222, 1.7021, -0.0611, -0.0855, -0.0171, 0.1983, -7.1863, 6.3795, 1.8437, 0.0513, -0.1148, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5014529fd5350e4492ba486ae368b98baa3e72004dd4b2cc6dd3d1f21544314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b788adc1acb1f15342fab76f9e236a1da8de98ff869db62cd6b8645b74fb51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f6e734725b0706064817326af8d0b4bf50384c142f7462d0387eb2442d70d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpJBdXqWThBJaM1APOo6JNsTZVWcKiarcyUWKfti3Ni3fu62FvT6yVN8_gyumR3gOf4c2pw2M3LUprG2aR6PlnDtR-KBZz61Zq_etAzT-eA9ASf_AoGEFSTuVN_vuRQoWbnQYZFnT7PqlzFi778huvIGoRKkclveRWUNsvrLjbrtJn32toF78zrLa1IP4xq3u68W7MfCmq6aT6kRkkhhe0KlcXFImmcBacTHB4pSxniGwAb7pJq1mw2D4RtXr11KsYbG91j3SoPBh1gZ5NwtOkpmcZwev-54lNQz7LGswBe3tSL9ICkn3ky2uN_sEt2QPiBLP9FudcVAvFYfsQ7-AHJDaiomYPlR6P2fACie-QDIVDsNNcDT1TcbFMwa9lAIg5FM8DPeiXVH1Db4PbqNQBGH7O6vJq2KVPzWbjYvqV_2Ecw-FTux9-JDBUXoIesr_sNrZcT-98rhAIAMvoXTQ0204sH9sOxVWb3eCEKHqSqO8QdQ6UTc_sHQgnQKcUsd_kxSciQ_Q2x5htLDFs_pLSfancuSKTO0aPd3Th5RT-iTqBtN6C6v_zJ2MCksXX1Ub4_TrPdx8hItRmbk_8Nt7TKFQJ8tB8iU1uUdmVSlkdSEsUnqkgsVW8I6jz6RyOQZLGOQBaFNlxsisu05--JnwWnpAjazuf23C6VTmsJPLp-_-l_GKNBIhtYJw9zA4WZ5qc0ZVr2tAWFTM9ToBQbk1imGKrNdFTS8qoA9W7GwBgj-jtgHpdrM0lEHvBLK-Tzmm4icRvZWLukbkTGQE8yqsNkFmk3rCMnt5l2FyqmWV_nIbGP5bQckkHCWCsm9a59-xyumlbdlFKQdtoN-4EDarBRAzrrHTn3gPvTeeJZupqWb4aSD2ohj-oCY2nMoAOWTT-mkKlKAN6g6K4HCo40cWDtqPJNWk2rw6hMKExnI7qrSays22ewFaJDYoT-yWPS0gsY4cHkcb1iIKHG8IjnZHIu2vqZkg6BdgMSzbyb6G--Lwip9vbP3oVFwNlQPFj2vMWbPpHEXw5DAozlJiDq8WvUs1EdpWwu-F4AS388feNKi9pd7Bhqttrt-yNb2AUFczXSpeoYP7BkRMWdn_m0mfQX6gCYw2Rl1M_i1W5R0of02UOaFn4k8rXNlLtA3Gb-CRUpgt6xJLJU5FAtBIX2cI4VH4BOMc9Wo8xaSQ3VmHbSMeP6bOFqK4WqxGr69WqKIod5d5FJf40wskbzbieV1HyX5huV-B_UwzYEF9QFm-l_p7AhF-b5vR19QBx6aB7fAYE_3ICtuxikSNJsF-TUyRhxPcvrnYc_iG6Yd6A9GXFmohmERVQTJ24XN9hf5KRS3w_BGbiNmhORvZU_ZJBUJdOL4UReQp1up6mVCCX41vs5puMO-mv4fldaCTgFFnRf_rxEKHSIasOvWTxz2BBL1hpLNtevHxoZ-LARo5a5wasidoiL41DsOXETRDWfQtKrcsikYc2JwBIRw1mr1Bo4XBdFxYL1GGX9RK2pL7FpV2jh_PsTSi93_pePzfX4caplULM0luFeIpXUjR0aPNXhekfQ0yBICSLRVHqPHWzPI7hO9Nrgn1p_L0INPULHbeCwPd9Tsf31C2WMVprU3K7yiby9MVmVaY0zPbfJEVuq4G6zIsugYsWWMY5DR36smids-DercdKXbTdgLFE6X5yC5A38NHjCsRBHIQcn5NZEDzk1rjgi6E-csaCPX6parJgqSzL4v8jxyydx66d-G5B8kKuJJ_SPEz2Yg8-uakCFgze_bm-zdtGFz3_y5dRVosvWHTIVCpXcWWVUyUSHqG1xOaZZ7eC3N0oWnSt-gaGCpmPo8kT2B0Iz-dgdUOEKWZ62otCRIsBbaZEi9hFtTWdE8hU6CDZs9dvPkGvyJszbGsHOmJIF1Y4q7rbRjmgvTHfRjG83cHBe60k_h872CoETv9x-wXTytGvR7dAVe4UeBLJRniPTeQCQj5CmIDzo8f0zij1JbOio3Hpyf1s9Lz0qAi-Sww==",
  "id": "rs_0f26f7a48333f1d8016ab44a470b7c87d09e1dced1e687e3fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.25,\"right_yaw\":0.0,\"right_z\":0.1},\"note\":\"The continued rotation made the pen nearly lengthwise to the jaws, and its near section is now clearly left of the jaw centerline. I’ll shift the tool about 4–5 cm toward that side while finishing the small remaining yaw correction and maintaining clearance.\"}",
  "call_id": "call_01tLMch7MSOF4v0Uf8NDFmLN",
  "id": "fc_0f26f7a48333f1d8016ab44a489e7887d0bdd0ec82bb14ddc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_01tLMch7MSOF4v0Uf8NDFmLN",
  "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]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.0196, -0.0254, 0.9993, 0.6456, 1.615, 0.5812, 0.3733, 0.2649, 0.1608, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1719 left_yaw=0.004 left_pitch=-0.027 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3441 right_y=0.2058 right_z=0.0485 right_yaw=0.3266 right_pitch=-0.0729 right_roll=-0.0339 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.306, 7.0222, 1.7216, -0.0464, -0.0317, -0.0122, -0.0479, -7.1726, 6.3658, 1.8486, 0.0415, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be4d8b53316f3029ddf804c54e8edf6179b69e5b3d146c75d1fa7c11ee367c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ea95de6814746ce49436355d779aa1d5a2f2b9e623acd621afe4ac621e311f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5f114c77e1b8356b27d773b949830c72134f3fa8e0ff7404ca7abbd4fe38e7",
      "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 · 4.759 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8185, 0.6029, -0.3817, -0.02, -0.0227, 0.9993, 0.2909, 1.7653, 0.458, 0.6872, -0.2676, -0.2138, 0.9949]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.1724 left_yaw=0.0029 left_pitch=-0.0255 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3578 right_y=0.1596 right_z=0.0105 right_yaw=0.6209 right_pitch=-0.034 right_roll=-0.0238 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.6342, 7.3504, 1.6923, -0.0513, -0.0562, -0.0122, -0.8, -5.4085, 5.9419, 1.6874, -0.105, 0.1685, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0231, 0.9993, 0.6437, 1.615, 0.5812, 0.3729, 0.2684, 0.168, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0031 left_pitch=-0.027 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3447 right_y=0.2045 right_z=0.0485 right_yaw=0.3179 right_pitch=-0.0725 right_roll=-0.0302 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.4017, 7.0222, 1.7021, -0.0611, -0.0855, -0.0171, 0.1983, -7.1863, 6.3795, 1.8437, 0.0513, -0.1148, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.0196, -0.0254, 0.9993, 0.6456, 1.615, 0.5812, 0.3733, 0.2649, 0.1608, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1719 left_yaw=0.004 left_pitch=-0.027 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3441 right_y=0.2058 right_z=0.0485 right_yaw=0.3266 right_pitch=-0.0729 right_roll=-0.0339 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.306, 7.0222, 1.7216, -0.0464, -0.0317, -0.0122, -0.0479, -7.1726, 6.3658, 1.8486, 0.0415, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be4d8b53316f3029ddf804c54e8edf6179b69e5b3d146c75d1fa7c11ee367c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ea95de6814746ce49436355d779aa1d5a2f2b9e623acd621afe4ac621e311f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5f114c77e1b8356b27d773b949830c72134f3fa8e0ff7404ca7abbd4fe38e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f26f7a48333f1d8016ab44a4b3f9887d09df5c6eb37c4b1f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.15,\"right_yaw\":0.2},\"note\":\"The last command did not track—the readback stayed essentially unchanged—so this configuration is kinematically awkward rather than a valid alignment move. I’ll retreat inward and higher to a less constrained pose while keeping a pen-matched yaw, then approach again from there.\"}",
  "call_id": "call_T2otuSJWaT47rjz7tw6Qz9nS",
  "id": "fc_0f26f7a48333f1d8016ab44a4d777487d0b5f0a6a04d6d6934",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T2otuSJWaT47rjz7tw6Qz9nS",
  "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]: [-0.0204, 0.8227, 0.6029, -0.3809, -0.0196, -0.0257, 0.9993, 0.9043, 1.4788, 0.8482, 0.1184, 0.4423, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1714 left_yaw=0.0042 left_pitch=-0.029 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3221 right_y=0.293 right_z=0.1665 right_yaw=0.3445 right_pitch=0.0989 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.6205, 7.241, 1.79, -0.022, -0.0464, -0.0122, -2.4821, -7.9248, 4.9162, 0.9988, 0.7985, 0.2369, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae832670bc1fdc18ca2a0e5c28a0f5df0a5b6f150476467f2d62aa66d5471d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83b89c407cecc74c8a9062dc90b3e1aa6b814449f8ad2066dbf773c458ddda8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be40b2242fc4b1838f971b6564afe477c3b28be346a80e6c4f9c9a3445650ae5",
      "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 · 7.117 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0227, 0.9993, 0.5858, 1.6302, 0.5552, 0.4767, 0.1207, 0.0551, 0.9959]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0029 left_pitch=-0.027 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3497 right_y=0.2108 right_z=0.0505 right_yaw=0.4448 right_pitch=-0.0325 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.5521, 7.0496, 1.7802, -0.0464, -0.0366, -0.0122, -0.0479, -8.0615, 5.9282, 1.5458, 0.2906, 0.1783, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.0196, -0.0254, 0.9993, 0.6456, 1.615, 0.5812, 0.3733, 0.2649, 0.1608, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1719 left_yaw=0.004 left_pitch=-0.027 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3441 right_y=0.2058 right_z=0.0485 right_yaw=0.3266 right_pitch=-0.0729 right_roll=-0.0339 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.306, 7.0222, 1.7216, -0.0464, -0.0317, -0.0122, -0.0479, -7.1726, 6.3658, 1.8486, 0.0415, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8227, 0.6029, -0.3809, -0.0196, -0.0257, 0.9993, 0.9043, 1.4788, 0.8482, 0.1184, 0.4423, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1714 left_yaw=0.0042 left_pitch=-0.029 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3221 right_y=0.293 right_z=0.1665 right_yaw=0.3445 right_pitch=0.0989 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.6205, 7.241, 1.79, -0.022, -0.0464, -0.0122, -2.4821, -7.9248, 4.9162, 0.9988, 0.7985, 0.2369, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae832670bc1fdc18ca2a0e5c28a0f5df0a5b6f150476467f2d62aa66d5471d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83b89c407cecc74c8a9062dc90b3e1aa6b814449f8ad2066dbf773c458ddda8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be40b2242fc4b1838f971b6564afe477c3b28be346a80e6c4f9c9a3445650ae5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpTWdmtKiObJ5elcCqTctGoZzWPolccezerygCLDXAnMy55hWbCS0q7dzzNIOe29ko8su4a5lhyECmS1xJ3fVHnElcbji0DgmJN7VFrO-3OJe6hgHcuU60FTEnR91uI9nyJPju8YcWpyvAFAfVB3k0VjA2D2dYmQ1LOchTD5uwENFWMtuwSPVY4AHjZkqcqeuE3ybAhHfpvAx4bSSC7pX3ko4867Y0hrk2XYnc2VKRCsZgTRxIN1q5tBE_G5qqpwDN6Dp3bzYmgdr5DzUVYLlvEZYoKSslaBBSunL6NPEC82fx1L_r2EH1gVRptfclxp1Ou65U4LYSsRd8xzHA_QlRXN6FGZr5UtQ0Plhe4wE7xkK3JVkab9rkeQgkoacxCPRmpQrbU0Wgb-7vM_dD9RfDOWZD04wxOkgQYbOnVUitTutSw6ZaBF946It7WoGz7qQRaIBJS8AGloidcYHfPrBS7gLlM6YHAJrXlRPGw35XXlp4ciGOHVcn9DqOZjKioWrSFck2csPtHR7fU5uADo8WP-yrI0UlvCTtgvyCfaldvm8xqD6rWnIRn1vOVEWDtBnVK1yapvwHRJkrN1i-3pyBomCBJsfuXStbSa1GccMk2nDrNaj73XUMZKFiZwK_gukPsHReSl9BASgpdtK7vqFDJcsz9ox9ZLO-zvwGzjkQ2hVB0qltLbv9U0EO-eI4oxogdrWrGhlG-KZ7AGFGlW7RW39YiBPXzoXB4OR_m1Np_5S0TPE1mjeH5UgKhLo8O64mcRzqaPQAKMUtlASdu4gFZQTTtmgh3MuM8v_2UsRFch6BXseYi3L9rl9cO2RhNP7GPe1zTD2uUcIUzkBBxB0jS94dNh35Pq0uQwHr4pIJ1oE-e5P6Vi7K0qZIPeEDYivXt3FXhQN05qU6mfVqPVph4-1HCK1Sd19r5rnltiN94nMRCWXrmo44NTkrx6XIF3Zzz4q7VFp3-DX2_0X2rF3UQUbqskNxS5JjsnXN6HxgAW2bPheqxz-v2NdA1PqRHT34IMvrTJWQg7lbN2YYCd7Yrb0XZ5rFVY7GxRCvkV9RwxDLJh1KMzlRUlbdBG-BYt2fyOOd9w88Jw-GBmDULnCiagoig52r3l-JkARxKDHNiyQ-PFTJAOHTNtmjbsJIIInFI3iIeKsiacyctl5iPJWt17sMn7XglTDHdz91nWQl828gBRp0rRvqGrhMRXCn0wSyQRHgHlkRocytTCVVNlfMNICTSg4zviq0Hm8Z_h7NPbhwZh7uDaF5UAKSOw0m0_z-XbsXAYEV39-fLBwhmwBXusVwbBvKTtkDoUo-7Hb1gRBSWyh8tehtTtf6D0Dgiss42quV-HAvM2SeCDwr89Pzez2UOp7bXzgF4ijqw2OMXXRAcKHQuFvnAUnPTSiDGRSvPMGhy7pl3H90F0t_UjjUYvJ6Roju937VwuSHzpofvhUIYGcwxTqulFYyB0QTy1wyKpzpAXsI1ccoyTeCLY9xzBpezmMhWmwlMg8gGDURUOxqZyimzGpvwf0L6bpje2kcPTjXU1T0AgBmScutxWTwSwbcN6rndX3n9XNF0JKc1uK3PFACGDn0EW4HOHxm_wAAvtjrddEwKL87AFFv_lz0xvzqnv6gWARYc8nVIizVYCYFCxAsAvO448mm96wICtkFK5cw2mAmbC6zgJR8maT-zUEUIVmKp-1zsHR44ZE0rSLLZdoEt7tX6kbuIKAsOoQ495qWQaF0ss92tyc9wWNaObqPCJ0jfjAkcsZTueTYk-CtCGDBof7xEdEybxyjb6A2FmbynR5isE9JXB0QzdhjF0roZsfLSCFx7PbVzmARQi0E51J2wYPVPKHgcd9h132kU5C3bN8ESAm-CHK-ZFoWFzGsZdinAtbuakh5Mqn8YWx3kMzDqALXxM-9HZVyvasLdfe3creHIQ2m0fgm-09nVoDuY6W5k1AFGv9sVIdV-4ApEM8MghpNqqwqQxO3LrIy5Nhh59A5QVFzfWF1BhLgXlJShTEOyUO-wQ3xmIL2VV76v4nviqqy8_R-02H8ZAn-ah_KhnCrVVR9YwrGpM6ZDSUrrDSyJlR7OdkzejWxocm3tr4Im1oEO9BYpFaXtkpntLoOqbXyf7hJl-lnMxyO7wkKdQIoOxRT77gxBZId0ZdyIsLA3glzi5YQABeO18iaUnRjC-zyX412yF1uCkY_Z-sVe9KF1rRFN5lmLYwxOSXYQmFANuvEME_vOwvEgAc-FvZ1v5Dctg6dHzi7bLTmQ4SCvWa8k82pZenyRx6zIMej6hSEuU8i18EQAAOKR8TqTEhoYoVQ8PGCiYDwANTZOHxAK5Sq4jQtVzCb1M4l7huvXV_FIlDUNfiWZMXX-vfQA",
  "id": "rs_0f26f7a48333f1d8016ab44a50719c87d09ee230d2274bb987",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.25,\"right_z\":0.1,\"right_yaw\":0.2},\"note\":\"The retreat succeeded and freed the arm, though it overshot leftward and the wrist image is motion-blurred. I’ll return to a moderate hover directly over the pen’s overhead position, using the pen’s shallow diagonal yaw, so the next image can guide a clean descent.\"}",
  "call_id": "call_QEi4MOMLidGgfUSdFCjLjc0Q",
  "id": "fc_0f26f7a48333f1d8016ab44a52b32c87d088bc663b395f4f18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QEi4MOMLidGgfUSdFCjLjc0Q",
  "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]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0257, 0.9993, 0.9016, 1.4925, 0.7727, 0.0772, 0.4728, 0.3988, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0045 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3117 right_y=0.2702 right_z=0.1227 right_yaw=0.2863 right_pitch=-0.0036 right_roll=0.0584 right_gripper=0.996\nstate[joint_eff]: [-0.253, -1.6068, 7.0496, 1.7021, -0.0708, -0.0269, -0.0171, -0.3624, -7.3504, 7.8154, 1.8632, 0.1441, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30277393dd335deb4efa790402de723dd7b0ff59c22ec6ef3cc88210953dcbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec4e96f3a0009f15cfab7a8ec8419dfabcd9cc3230cb731fa038e3a01009bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016c838026828cd659b8d9ccb9703d04b1ab751821df14e678c02acd46398332",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 5.179 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.02, -0.0231, 0.9993, 0.6437, 1.615, 0.5812, 0.3729, 0.2684, 0.168, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.0011 left_z=0.172 left_yaw=0.0031 left_pitch=-0.027 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3447 right_y=0.2045 right_z=0.0485 right_yaw=0.3179 right_pitch=-0.0725 right_roll=-0.0302 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.4017, 7.0222, 1.7021, -0.0611, -0.0855, -0.0171, 0.1983, -7.1863, 6.3795, 1.8437, 0.0513, -0.1148, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8227, 0.6029, -0.3809, -0.0196, -0.0257, 0.9993, 0.9043, 1.4788, 0.8482, 0.1184, 0.4423, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1714 left_yaw=0.0042 left_pitch=-0.029 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3221 right_y=0.293 right_z=0.1665 right_yaw=0.3445 right_pitch=0.0989 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.6205, 7.241, 1.79, -0.022, -0.0464, -0.0122, -2.4821, -7.9248, 4.9162, 0.9988, 0.7985, 0.2369, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0257, 0.9993, 0.9016, 1.4925, 0.7727, 0.0772, 0.4728, 0.3988, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0045 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3117 right_y=0.2702 right_z=0.1227 right_yaw=0.2863 right_pitch=-0.0036 right_roll=0.0584 right_gripper=0.996\nstate[joint_eff]: [-0.253, -1.6068, 7.0496, 1.7021, -0.0708, -0.0269, -0.0171, -0.3624, -7.3504, 7.8154, 1.8632, 0.1441, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30277393dd335deb4efa790402de723dd7b0ff59c22ec6ef3cc88210953dcbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec4e96f3a0009f15cfab7a8ec8419dfabcd9cc3230cb731fa038e3a01009bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016c838026828cd659b8d9ccb9703d04b1ab751821df14e678c02acd46398332",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpb7LxEzuP4IoYpFzLQZp4x_Ae9SaDAsh0wduRmbfYG7dTXBJXLwO82B2k9-2ZJlU28gON7cAdX-3JrE1D1gRFsOVgzH8zlslpXSeqR2PAKvDBSNsesTBjjk00sWy62kqag6UlvlNMkaVATEfsod1Q9NCQIvbV-4y6ufG9ISxMLiNHIFkyn45r35u000zwaiWblD5vDUIOasskuDzYk9MetKAPmj6wQ_dhNqfMTeDhyaOhNhjakhvp9sw1KNlm-NHWpEIX8sS85UQ5rix--tiXKPYKblMz9yExkwV4ZeCQMsPOEkA78VsWH71yNe5nMqKb2Bz6EBDoI5055epyXRgLUieFhLqSGmAbxhDLNWaGMQBG--LTUyJ2QJgg96YJnjbvtlo1e7C8zepreoe2aLWQbuTwt-rWYuw2us7wFyVUWfyvKqkIoVfX3whXcmd7jd53tirJQYqyYhFDL6tNeqcXiKCnPsuoUSB3nEXs8WSwWbjS0wr5TRA4iG8FHgZs8JbTA18FgNknZraDjgxNr71-eiXAt_SLAVOjTnW0tcbOBEaZjT-_0PLY7foHizU-xttPOp0wMrK88IFcHfiucUODkodHUtCcDnSwvEbNPnGa9z0_xvZ8berJi0RAvvCaA_e6C_s3k1rE2NJ52g8-5DS38XCIbyMKvE_81USLprzBiQ2OaIPprLH4eq0TjTH4bmffLMaS3Tfjcxx350XURIF9VDzyC9Ia4w08DLapTQbHVjauX4609LAuTL3yni7AXU-JdcsSj7M76Qr4ZaxaO-JPln_jwOOIlVDnlZU1_1fyPvupLN3aWQWNgPDcyU__4KGjEjAHnh8c2QI6-_A232TGUg0VpRweiyYHwxqgTbzIOe-xPoC5IyF1mJJy4E_-iy3gKZ5D_uMgpTvFP3lDI2MVtcwA0SWzGpFg3UkOHVd2pwNBKU6tAaEXaPeBrjYog_fqQAUwr21jHzbr8cyKBmwxOYKw9Ij-9-junxcw5rJxNFCIhotUa9OM0qU52VVupqu5Boq0wcevvsQeJDp1mbhfqNHkVOOj8r11bqzPAtWMlwSysMZwGcb9e78m4hKi0l_kplOiobCn7AdPJ5OM1EHVRg5cEdscGHkxsaslFeQX5mJXhx3KE4snGLpbXUUpOov2tAYbYLwo-siDjU5HOUHbI_esTzb40du_kjwryDFto2RTBkCgeDs-xLP6bQQPWC49ABY4CBU9EESNIJAzsO4CK-EDN_B7lA6i-IRkhrrFZcu07v35xquwe5mcfsTfwMNAXHD1XfwOh99M_n6RSq04m7zGT8SKiBxXL2VdG69iRKQreF5FyghE2j1O3ItHsX9YYvShvubwXAq_ckX8v2NFfup-sCTzt4U6SO1auEfbDKZvwyFO0ZkDbl_yuSPYHiEvDbv9kHk-IK73z_wntu1Fu1hVBUOIFUa3W3-dtyLf9dg90wbIu5M2O7SGEhgzjIJ9Y3d9jJKK_OVdSwtPo05CkpMHtlEW_ldI7ukJWNGgwtJwBITFtKHCFIr5x_s5Rg_s24Jt9o3kn8J6TOeCaSBSWj52wKYD9o-0O7bzNxu5L5-yEEE5_UZgIN2jAa5ziaPtd4rw31a2kkdKY7gdFZeCw3ECgQatErxovdSbOvJm5dSH04G5kIOYYoixhII4hcO20R6LIUhU2xqullUKf3AZuJbu6SHR4qHim6C8uf3VzBvcGhKfIKUP_OAPSCq-EBcuSFl9uVFhHjws3kVzaQ5ZnEB0_TjkfiojUostGCwhXkqfTH1vtN1edIKh7KStZ85KTxk6AlWZlkdkRIPDd1R7KRoc2v6rgTLGPdpiPCeGDDHcEQWDkLrRkseT1bPwXp8kPgmnSIYyhZZyY1DjfVTzz1PkLm_fRlovgaD8b-PA_BadvSmewKnY6S61FcLAra4KgQA0dfXcON7_3qlCY0yL_ACpQ1pnm2Ndbk_cltvUuNX0_D0ieVGEG75UpC1a1PNAjZT1J3AcP5xbYSmTFTJYeWxE3i45U60P5QqKKKqwlPSLgO-FaRorw-qmWGbijZIg-20kEmfxwfQL7AvB5HDMP2ppAX6DKnybum3viFdWYyXDM1mRuCQaRCvrGydYXBnyvLS-uu01ScSxfD87z8fhL5WLPZbAyi9i_14STJKssbp1vF0bvXufWmrN_QPRrJnDeam0DX7_bwCHmEA8bhqEL3oVixqNu9HcEisKwWjIcTtaaXds26TgXhyMJpS2DST8AdBXmSFTvLQ1bN_CH_cGANH2T43e5VIez4AgAq1ADGa1tX0ZsnKMDGhbUmV1eFHH1IlwR3iWuKz3Yrdc0wvaxgyL2QAr6PsLeZ-77ZJ0CLbbfbmJfLsXpjKiDA6tUSh2RDi8UnTzNvuyvrIhR3omKtaPeTmzWioqjOfyq7GzDrSVcu7Rvq_I40ZmqgRtrApbwbDQ13fgEk0yQQx-haUuwPBoEtIWGBmT5k3GH8l6ryS6yrNT1dAyYqfA4mXukiDl0y-xzezxeF8OsXi0leOjhL4DnMimY5h3M9ylXR5kjUVhVkg8LGvEbUlc26X1l9nHdDz4Vg_hQtCRB-YSUKUbGXbx3trZdskZh1OWdQ941WmOhbXZecJH5PcI5dJyseWN2WaRApgF2VIdoy5CQEf6NrLJrl8j9kqFbCquLA6WyRKdixu-ot7pyUefprtLqHUCJvyK6uTi_Qu1gHXXLFkw4PrA3S6qvCF5JT3h5OxAl94O3GK3L5pC5jS0Ktyz0ow0tjekXjD5TTmvDKjBPb5apg5acZcoQYZZYq565Ez1_HMNS8PAUEISP4B8tNTb-jaiVpDsl0g-nWSlvNqxDJJXH00p6HTwp5oF8NH-ZJGqdIdREMy9Co6oNjQTx_KyyMc6C6TG0JrUW--hhaF_0wVf9syKfH_T8D9lRrqkqP2RViDnkWM2sfSThmbsphwgrv7_8QV4V2eDj58BZfBV8uVqklGxaTU4z1T7t7z-q5VsLZkOLsYqgCb1vz7_KCB8oknm2Ox4n07v8xqy8EIwQASd3s8Y03WUo_DGAhCec4DSNRU6sH_uP01BSGt0xonmPAUrBV8E58jbl5WSwfTPqtMIwELG_xC_hwLAK028-_aFgleXpLn7qBhl0gdMm8sOOjXsGhfkKfM5oxq8hZ6j1V6f6B4PqacRnn76LKObqIrC8sRfbtohmJu-oX_cN__UpQnPBYPttfLX1BMvMIbOYq41lV6u6ByCNxLt_pMipMTB8JUs7rSaoO_uJslJu_wRHhXUdVt3yAYb1OTGHVjsxgqQUcrmyVcOuk3xRnQ9CjoAtN-SgyXBwwYyK4G5Mbr5HyYE8iY3Wa4Ls022WIuPkkqaiR0pfJXlQ2hJsyg27kHtc-S7D8NHJuSaEwtAKPgyOntsLAAeeIwNl3gRZjLN6Mi3rrWkXnQwuc8Lf9qU-dgZA550Zh07fbNltRmRbwFcRRdHl5PsZCTpD4-tboAxnqBDH596CNtOfwhQ0_kqaQWiON4rw3BtNz76SID6gkvA6Nd-Pk06A0QqwIABi3WPXllmkeLZRehru_rhLQoSjDjVOmYECZzGJ5I6rUMhExTKUPMmRmJ_rzS2MeoK2Cu-HRnB6vus5-LjZwPd93GlHP9RgnmEkpcZgHBENcmOJgyK9Of35AXcO4gZXSv0tOEd78qvhFl55MTtpspi2SNnEZbDEfIQ=",
  "id": "rs_0f26f7a48333f1d8016ab44a55438887d0b52dc4c2b40fa10e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":-0.1},\"note\":\"The stabilized wrist view now clearly shows the pen: its near end reaches the fingertip row and is centered, but the shaft is tilted about 19° to the right of the jaw column. I’ll rotate the tool clockwise to make the shaft vertical in the wrist image before descending.\"}",
  "call_id": "call_TUAKtFDfFdEUJ8HJuWgvYNQX",
  "id": "fc_0f26f7a48333f1d8016ab44a5a229c87d0a2d96ababc96a447",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TUAKtFDfFdEUJ8HJuWgvYNQX",
  "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]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0261, 0.9993, 0.9016, 1.4925, 0.7727, 0.0895, 0.4671, 0.3923, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0047 left_pitch=-0.032 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3122 right_y=0.2723 right_z=0.1247 right_yaw=0.2943 right_pitch=0.0047 right_roll=0.0627 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.2513, 7.3778, 1.7167, -0.0708, -0.0757, -0.0171, -0.2393, -7.3641, 7.7744, 1.8584, 0.1929, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d486dea6eccd7349987a9173519d52b3b038a7f18f9cc54587964d95aa039f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8283ceb5e2c3c06cb0d74180690bfbfdb8b73a307eaab3c93249e91cb3ad3fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0258a94214ab84b8db00fd3eda5b77c06be2c06e32e20a596cde2481175ab3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.181 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8204, 0.6029, -0.3813, -0.0196, -0.0254, 0.9993, 0.6456, 1.615, 0.5812, 0.3733, 0.2649, 0.1608, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.001 left_z=0.1719 left_yaw=0.004 left_pitch=-0.027 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3441 right_y=0.2058 right_z=0.0485 right_yaw=0.3266 right_pitch=-0.0729 right_roll=-0.0339 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.306, 7.0222, 1.7216, -0.0464, -0.0317, -0.0122, -0.0479, -7.1726, 6.3658, 1.8486, 0.0415, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0257, 0.9993, 0.9016, 1.4925, 0.7727, 0.0772, 0.4728, 0.3988, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0045 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3117 right_y=0.2702 right_z=0.1227 right_yaw=0.2863 right_pitch=-0.0036 right_roll=0.0584 right_gripper=0.996\nstate[joint_eff]: [-0.253, -1.6068, 7.0496, 1.7021, -0.0708, -0.0269, -0.0171, -0.3624, -7.3504, 7.8154, 1.8632, 0.1441, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0261, 0.9993, 0.9016, 1.4925, 0.7727, 0.0895, 0.4671, 0.3923, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0047 left_pitch=-0.032 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3122 right_y=0.2723 right_z=0.1247 right_yaw=0.2943 right_pitch=0.0047 right_roll=0.0627 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.2513, 7.3778, 1.7167, -0.0708, -0.0757, -0.0171, -0.2393, -7.3641, 7.7744, 1.8584, 0.1929, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d486dea6eccd7349987a9173519d52b3b038a7f18f9cc54587964d95aa039f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8283ceb5e2c3c06cb0d74180690bfbfdb8b73a307eaab3c93249e91cb3ad3fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0258a94214ab84b8db00fd3eda5b77c06be2c06e32e20a596cde2481175ab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpggaS34X3-oSR-AMoFXmN6-yM67Wsfb8sOgKtBqdGrm5MJiwV85d0rK6G0bxyIDW5er1NLxTHQFYI9tZ7mlhJFCqTVDPjQVA-GoObCP-H_T7593MxMxmO35b8fXikNswdX9eTYPR8dBafOsd9XkR6px-aDoDHpee4WxkkBSLWDwHSqlGH1j3jc9ka46txXQXjFu_hfjc4I9JuvHtjqtxOBFClCcuHCylcQI-h5q7WI3EmTsZIPq8wfzxOEWuL3Z765zQ764hUA-9JlBWxS51ZqK6w4gOnEIgtZpEdA9yli_L_b4PYFhAXv1HStqpnDTu6Mc0VmiRTayfEtLMpsXwku0A72XSQxSCpOX9GBE_Cm3GvFkUMJ3hN_zvKX4OEMQ5uWKSqPxQeYo5WyLhHgIS4xQ1sefl1AjpZuWfAOHASPYiips884Q6KEN77zE2ZjF1m3dYvKLN-uBBjNVVWquzJYM-86RHRxSMmb_wYU9lKPx9S1dSsoLE_8leESedu1-xYPQ_0_vp09p03EmMIhvz6KKqQea-dnbjFalZgC3uBOiJA1BbGyxnNkzqitE0vMqlxpCsj_PAHmyZ2PMGBW0JIE3nNUPFoRJ57_U3e0F_NAairS1HqJhhxw13_PktrlP0wTZ2i7wAwmuEelhuOmoQk5MmXoWn9UjYZU_U-qNOzoYZH1IkqKSZ-OlP7rbkDulEA7SjHZyFgLNj1F_yqtAY4cQW2jpUFqOp0bVb79zWW7wo5ZP023bdpbYOHnpSkG7sydAdAaLLPZY4mc9xQzcLwCUaGbfJB_SiY6OCkdcQsazwZ-AdqFA1lkmVpF4o17cs8fzEFcrKUJrNF6Hx1bin4RFTirIr9kA4dZmy_ANzS__JSXagyt59y_VrngFyOzxwdWEypS6J4-bhAUZoYFGWzR5UN9T3GTRl1rxOi-n8FNmZ0uct0wb7EzuCSmTwgSDh6zhj4CllHWPf1qXi9ILxRqPnmUPrEfSCyzB7vCuchXCPvdgUirc6DcXOaYiMg3YMUJtCbdpXudLQMxIF_7uq_KYkz-hIS1uyiJdsEtgZtqLQwTrcZfwZCgL0iQl41i62fUR-jI5nLtr0EpTK9fXDbKhboU7aq3DzM478A6R6_zpPV6XCWDN8xCLElCL5kB7nFBRkUKvBdxN0nVGcldgeYIuMw8jVkJiij_9Q3-frXN3WCPOpUNzz4zHzMISQkIGPmO8FK6tCkVeQHOJL57Uf5qRsls68PYvNW-h_5rD7khhXJhTTDA_NABSLlmQt6TJSqoX52YoSxlb2TKBJhN5nJz0hKtW6Z_m4JrgXPu_roZl3d2srIwYi2W_nr2KWJHrlTMJMO4BzKJhIJy7ilOvRugaZhGrVr-M0x3nFutrJYWZvBN5qsvu8X73e4n3_42UwkhQBYW7_BgyStI4kLG8qGeIp9c75iGnKoAd7_TvMXGbBETS-Zo1ZUw4qoRambk6oHjTTEEQ1BNUB3O0cyO6f0VnfFxHd0Hzba3I7l3_ODHl_ifh8ZN8x6YxTcXg1mO432T0T7dXhCEjdEKlXweecigqORSxWfuTdE4OZfUBoUdbhD-qn5-tLAKp6RRJ3iE87kQJfT5Auk13pTLdM56s2QAfMAR_Ij-Zr3sPKpLEGwHiLvrQzIG8UlKr1A2kcQFFC5bLkQ8GoikWFrHMM5-MpngvzdKffh-3NEk3CcAJqCfdyl_HygSUsv4pvEOhhb0D2_xz84lnWMLsGLn_7kqtuXXVy85Cf0k_DK0he7thL-SEq_XjFDagahULFsRjiChbU7qWA_3l4DyzkQKKBnbTh7cacnIY-mbd6pQr5ebwoNgQUCZ2HyTpzLGL6swx2wDm9g5lmPmlkW08oHr40CSVMTggB9oOUoEGh0G2H6iFrYp4YMdYR47Kt6wOUr9Os1fgpq46cEARacq5cHko0SvCfzS_Vgtv_R1R3R_gZ9E1lCMxAUuu5Y4aXncUcJQyu95L3Dna-ROQhy9YOl-sOLEcVZlC3si4TAgEdeyJHJIBVG8yKkaCZGG9eKKfFdp7w-jeboxX5Vh9r6Kc-cG55H-yoOZP1uDuKkrKWnALJKLoSfgwxq-SFAQ6SWDrPPIpxs58TLhKLx8G3vpsUR7aGoLdeMPQtSIpShw6GLblWlq-HNR2rgXqoLHkGjMLkdGJWKPXnv6JKOtKSsrfCAn8CKH69lAqlvez7sVeggLKjYLeaYlCSaouy1L77U5EWtrPpjhnX7f1TRPxi_YNgBik9-TktUO0pnvp5pX5Z7X-p2Ivug0qt9aR2aq8P0BS4lqaQyyxhoYwaUMk9BMwuaSs1td-2dhD2Gr0QWsT3gySSrCLxUiwcEELfRoNxofmVGiw4gLmONNJsrmxj0T4slge1Ia2zixSfyzDGFRSsG0UpT25kiTzGHrdwBc8M5Cazx0rU7PmCAHTQt2sfQqINTJeXChEQOoVbQVQNWgh_zOb9dUm38-08hWriF86MAbfSiVMZYjSV-jyUREws3c5mJiexqWlXO5QjowxZ-4ZLuBAfxK-CgIeFIkGm_4ooHUKPqTYA0YIgfFWeAi2PMbECX04Gt8XME84lRCqYC-kQQTGEqU0-jVjZcvGhrWzkCQf2opYLDwPZNDJgLuLvcKe6TpbwV5l7tKAaJ0crkJH-DZETD0EwP8MLx0R9q7dn0UMcTxmtPgQwExT_R6RYXJOVdVyG0h0iUsx2ryRzl75tirAexlDiqhTEuZtnxbJIJXabh_LcfusDhSe7TVfRrzxGGCsysaRnF5EYWFKraO1VgSblx9ixOILw3UlhXA33KtGn6CLaB-VgYbMN-ebjOZzsohn68cW8cpor6hZTZplqjKVLvlZaGjLa6L23O1-RV42SrmdJgxVKlor4IYOlhLh1tSnIMNbO72r4HXqpQNmkC7dYcDVTwaZGoQSkJdJdZJKG4uoGuq0gjo8FM6pW50IY9CzkiKPBl_0M6eCyTHSMD3PE_aYi-g7DwCYMD40rs5Myb7Z5jT1h8Hz4E40CSw1TNttGlDbmbc223PIT-0LcFgKd0Fhxv3XESjfxFfFTMpY0MvajRjzF8vGk8QveljmbiTDWiqL8DG5UVMPK6mn0tMPZi4Za7lwgmiw8qFaByF2pe7X48Jw3oYmE4ksSdBkcCyzUEqggHlfTWjxn__GXTwIhnzilBt4HlbL_yiKp9WdxuS8O72TihrAkSuHzYGwcrEG5hzkPel4IWt5re_xbZXU5btRItJea8wYrLxi8bEQ4-_0U5FBvzhMcLoj20HVl8UOFDrLIsIIL9Fn71jgPcq-J6TCUCpUNZseLWBcyE0jrXru4bOO_N2KuxB84XVmEUjpvlfV4Pxwyyuxj9ET_xaXGQU_cpOzv8=",
  "id": "rs_0f26f7a48333f1d8016ab44a5ccb7c87d0b227f408dcbd910e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.0},\"note\":\"The yaw correction is not tracking in this pose, but the pen’s near barrel is centered at the fingertip row and the remaining tilt is modest enough for the parallel jaws. I’ll descend straight down without changing the well-aligned horizontal position.\"}",
  "call_id": "call_1QY7Ld7cWLNLfp74fkw10Hkj",
  "id": "fc_0f26f7a48333f1d8016ab44a5ffb2487d08011c99bc85db3c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1QY7Ld7cWLNLfp74fkw10Hkj",
  "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]: [-0.0204, 0.831, 0.6025, -0.3817, -0.0196, -0.0257, 0.9993, 0.9028, 1.8832, 0.5823, 0.6189, 0.4797, 0.3878, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1687 left_yaw=0.0042 left_pitch=-0.0385 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3093 right_y=0.2661 right_z=0.0003 right_yaw=0.2874 right_pitch=-0.0329 right_roll=0.023 right_gripper=0.996\nstate[joint_eff]: [0.0752, -1.935, 7.1043, 1.6923, -0.0562, -0.0659, -0.0171, -0.0068, -6.3248, 3.4393, 1.1404, -0.1636, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a302ba65c001bee83a89628b88987e06a22018ee09001cb712e6aa5852d24c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb3b74afbd07aa248b7074e12975636b68708e9b2216b2108d416ed2b1f2ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f44329b5511843b90b3c23fd83b6ffada8f17cf9084b936a2b2f67a1b1f96aa",
      "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 · 2.711 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8227, 0.6029, -0.3809, -0.0196, -0.0257, 0.9993, 0.9043, 1.4788, 0.8482, 0.1184, 0.4423, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1714 left_yaw=0.0042 left_pitch=-0.029 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3221 right_y=0.293 right_z=0.1665 right_yaw=0.3445 right_pitch=0.0989 right_roll=0.0888 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.6205, 7.241, 1.79, -0.022, -0.0464, -0.0122, -2.4821, -7.9248, 4.9162, 0.9988, 0.7985, 0.2369, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0261, 0.9993, 0.9016, 1.4925, 0.7727, 0.0895, 0.4671, 0.3923, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0047 left_pitch=-0.032 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3122 right_y=0.2723 right_z=0.1247 right_yaw=0.2943 right_pitch=0.0047 right_roll=0.0627 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.2513, 7.3778, 1.7167, -0.0708, -0.0757, -0.0171, -0.2393, -7.3641, 7.7744, 1.8584, 0.1929, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0204, 0.831, 0.6025, -0.3817, -0.0196, -0.0257, 0.9993, 0.9028, 1.8832, 0.5823, 0.6189, 0.4797, 0.3878, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1687 left_yaw=0.0042 left_pitch=-0.0385 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3093 right_y=0.2661 right_z=0.0003 right_yaw=0.2874 right_pitch=-0.0329 right_roll=0.023 right_gripper=0.996\nstate[joint_eff]: [0.0752, -1.935, 7.1043, 1.6923, -0.0562, -0.0659, -0.0171, -0.0068, -6.3248, 3.4393, 1.1404, -0.1636, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a302ba65c001bee83a89628b88987e06a22018ee09001cb712e6aa5852d24c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb3b74afbd07aa248b7074e12975636b68708e9b2216b2108d416ed2b1f2ca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f44329b5511843b90b3c23fd83b6ffada8f17cf9084b936a2b2f67a1b1f96aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEplr4yak2x0C1VpUiwiggm-RGbt5cGYTdV7O14xqnYrngZt1O2iHjABxGx_57xyE72gBnNoQsi7VhFJbc-1OJ4iAnVKzWrDnD-CrkS_J3j1QBZK-ewB-eHQapB4CDmT5U9_9_Y_KfgOB8gQilfKAqegD9OXzl31RCMET1S9ozXwzETnxsQsSQMFO-lJ3NnqaAF07SLDBmEdyKL-vxGk7WMy8WhLnj6izair6kxS5JCP0y7TZzlHgEhk9ZvjAb7OpDNZqjckDD6l4prNtYYgXWMoV36HLB1wUgwpmkTk8HMjBpoTyrA21hiU9SRrrHFth3-TsShCrNVX7WwaHgZ-GBurOrm7Kweo01f6cIrpdHqPFtHYQ_E1pKxWREqkrA2l3oA5QaGaE2nauDfIKDR_skn0uOtbLzTPhDRI_FOTnL_UPsitNpgP-ylqHULYf_Sg3a6qvkmPylBgE7l00CgKCKYG6H97uX29uIQRgP9efFUWiAi5aY3B84Tt63vXHu5TeGbgeDSxpBYctimJd-GYgZoEX-diwQgO-bJ6SIVGv1dGovxwemn3AVYAV-aUCFUPJROiFeicbrjxr967ngTWGmpE4HUS5FPfPJ4_TBG67Jp892xkb4NahiTSi9L8kxd2322_54xH-8Dw0X3j8Pt4m2o-bQAEkBxhByHn7YxzaeDklODXX-Lru5Giqq_n17JWGZeTDc6uPbScbY-8HGaDonp2_Wbm8__ECTTLn-t_M-J1F-sm-6FFhdfOgPzyPihW_h3X4gomyxZ8D_-DMN6o16uVHNPdqVzvIRqbxhRsnh2p1Gx563NxQ9THF8hJEga-PrqVZxqze24F0MHJHBzaM855QFtFA8OGAL9VGWn3qY8FeEZ6lsFv6g0WVWtVC29AJ13Uahc9kFcmyZ51j4mHK1JrBkOk9wbSXNvyP9XM0W9ZbeIXgMb3etfty1ywQ_lkEI2_Jkl-qppPwhqzYZbOZqpuqxIC2r5Y5lYiBIqO7tjdC8Laaz_0-DW_RSwzxc8xVcNMEDr5Q2egsq_PYfVh3wn3g9fPXY-tgANaD6zZuN9PmhPQdfk3lgvk3oCC8bInN56vZ2edaPKHC8FY8uopq8n-DhGpHF8-STzWifaETjwMKbF369Va42MXzw7kG5ESBf57rWYzaP-BsS-D2_KGcE8IjcNCjiZ6nFeRJAdlhBuiiU27gO-e02wvWA4fOJAN5fHQwmopvx1HqbkjwnSSG3HBaU17o-H5KubHpQjzvPaXdQWEPODnpTrvTZBjjaL94bod_QqHvSmNMd28X04S2Yp8-jWp2wptwd49R5AwUiQzeHN6CG6ape8diQz7tTinYDiu202ltH8XQM2051fq_qEsuDCrEK80AjXEJkEQ9EzmI8GINODgAAaH2twkWORDCknMFq38DqObNn0OWlzaXEvgHYF2uNW1gVr_2r2zoeLVB5M7fuaqfLvw7PN2Ii1UtdMpOLJqZfhXJ3bfr5zdXtr-CqDAfTPq2-aH_aniyiXc76omf-ccshusn8Nd3wOTUJ-4qOfKv-jiCZQwfpePcesNmDfRf04Yd14ADf88CuNDhyh81PzWVBpPdHG2oKvSbUwAfcsOe1bsMi7i_9-nZ_Q4H4UzJm1vgyaNn2PSkoAImJ1ZBd_3UGBKQMqFdL8Il9y0zQxNrfpvAfU4qZ10MYIwL5ZR4TQXiTfwmOXqF7s2_WX7Qw9yE6JF6D3Tg0FOsylmbXeeze7xc-UQKuQ82h2ItCFYS7jRtrhIyxADvyul0-0hqlwy4YRwjQrs2_E9ZPdK2G6KnzMF-DA--3Q8Up9GHdK1kN4xGwac-vpmFOZq8fFs3XEteYoDxDQhJXYb0i3AherxJ7-QSmbx4QiA-kRynRiuTsLdkZkt7FORhfY1gGs=",
  "id": "rs_0f26f7a48333f1d8016ab44a63084887d0a1520e35edd83799",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35},\"note\":\"At table height the pen stays centered, but its near end projects well above the fingertip line, confirming the grasp point is still a few centimetres short radially. I’ll slide 4 cm outward along the pen’s axis while keeping the centered jaws open.\"}",
  "call_id": "call_F2aBEwjcCf43af7WAXSlrter",
  "id": "fc_0f26f7a48333f1d8016ab44a64d57487d0b04a0ea3983cd781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F2aBEwjcCf43af7WAXSlrter",
  "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]: [-0.0204, 0.8333, 0.6022, -0.382, -0.02, -0.0261, 0.9993, 0.8078, 1.9335, 0.6662, 0.635, 0.4145, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.0415 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3469 right_y=0.265 right_z=0.0061 right_yaw=0.2736 right_pitch=-0.0116 right_roll=0.0392 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.6342, 7.241, 1.6874, -0.0708, -0.0464, -0.0171, -0.2803, -7.1863, 5.6547, 1.4481, 0.0952, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8391e8a57c882d8e3c463695bc757bdb1d7df2b269722417b46b2b69a2601c29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ecf8134690cc1926045584de6c5c76d7cb39d76d0ded4822f71fb06785a86e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa32520349861ce487322a91f4d1337c797bb9dee31182987fe5b82fd4fa882c",
      "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 · 2.314 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0257, 0.9993, 0.9016, 1.4925, 0.7727, 0.0772, 0.4728, 0.3988, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0045 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3117 right_y=0.2702 right_z=0.1227 right_yaw=0.2863 right_pitch=-0.0036 right_roll=0.0584 right_gripper=0.996\nstate[joint_eff]: [-0.253, -1.6068, 7.0496, 1.7021, -0.0708, -0.0269, -0.0171, -0.3624, -7.3504, 7.8154, 1.8632, 0.1441, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0204, 0.831, 0.6025, -0.3817, -0.0196, -0.0257, 0.9993, 0.9028, 1.8832, 0.5823, 0.6189, 0.4797, 0.3878, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1687 left_yaw=0.0042 left_pitch=-0.0385 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3093 right_y=0.2661 right_z=0.0003 right_yaw=0.2874 right_pitch=-0.0329 right_roll=0.023 right_gripper=0.996\nstate[joint_eff]: [0.0752, -1.935, 7.1043, 1.6923, -0.0562, -0.0659, -0.0171, -0.0068, -6.3248, 3.4393, 1.1404, -0.1636, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0204, 0.8333, 0.6022, -0.382, -0.02, -0.0261, 0.9993, 0.8078, 1.9335, 0.6662, 0.635, 0.4145, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.0415 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3469 right_y=0.265 right_z=0.0061 right_yaw=0.2736 right_pitch=-0.0116 right_roll=0.0392 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.6342, 7.241, 1.6874, -0.0708, -0.0464, -0.0171, -0.2803, -7.1863, 5.6547, 1.4481, 0.0952, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8391e8a57c882d8e3c463695bc757bdb1d7df2b269722417b46b2b69a2601c29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ecf8134690cc1926045584de6c5c76d7cb39d76d0ded4822f71fb06785a86e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa32520349861ce487322a91f4d1337c797bb9dee31182987fe5b82fd4fa882c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpo7N720LYlqRbGGgkDLEQ1ylCqL5eYCIZYoGPYGtwPgI-B5tVV6U0_lmb0cmt4RpzCQ8ZumWyCCvAja6L2hj-ttn5dZ2AVObvI1DxWaDo-1qIj2SvInOQ_NWQ_vZpJ5qvS1nHlh7qJ2fln1MUm0JBAJU2mAgixWCrJh1bQXz1eT5iELeIHQCdcLAFyPUNwqrxiQ2xiiqWGkc5CirYnmE5vzxm7WtNPavaiLu1SvaMuSFhv_3d3FN8XoyJLBkuJ6Xz7e_6jobZiv5vAMxBgqrfJGS2_AwghkewpiLVCuuJuGHgaP0p7mxhu7wEyoF4gPo7QCaIJcUXr7-rmaFC2eF9FaaZXzNiuz7Cr-GaLfgmTjv6SP_rJua4Q7xxNjhVmGTXmz7sKkHBhj1ynF3_lHQQDAUCBGko4NWOYzuTPULXEjn0yWSq17y7y5xsdFjoPCs6HuEcKA3YhvzLhtva3vZuphQYSCFXu_QOR0X3kntv78YMVSLEiYDw9Levq0xnygNyDA8fwPnET-apNpugogu-Toj9j07JeUYu6bjoSaC6s5IaZVz78aWcl1Ge_HziRRN7Zd35r1WcMAwvihVjbs3_PP5uhWeJEDx84boqgCHskk00wfLsZK3JucwAYKj_bFUPcpw3V_OtKf0fp0h5thJfYKNE2WotagYSNG7g0YiuUMsFd7Ho4MA4gkaMHEIoyhJA5-bd7_vHsaxZkEsHIuNI8iJSgQFoPEEGqnG3javiXxYvOsFFlj213KNneq3HIA6Ot-3vAHAq5lqTpOIlsWTqciZ02tQ8MmKiqIi3fNvEgPECxBCPIzOGo41fn0an0UxEk94ftiyAFITVTvLXtv3Jl60EdN1lShSfozC_Mk_5U2nHXSwW7ITphWh9WdXrFR2jBYpFXcrg-NrCQ3WS5VzUoVD5c8BqO10swZhfRZdp9vG-qjcxFuCoQ5skQ_mrVhWK3ZyuT-YukhpVpcOvvdRlCkC-QW3xt-MVCEGJ9QtAZhgGwK8YG6UwiANsy3XqO5xQufbGzqlGSpTmKBTL27AFnJYz_TD16HBd67lKsuiVJCxRA_xphWuOIg5Vtsb5vN8LRVpBgYuS9ckrJn8lvIBcnNzkRo4VKok-jAy_tRIA6sxyE93O05xNJnTHTK1THvNZkmvGupr-DaluuA-JXWtGEC_RvUyHV0dmPiEkNilUV76CHLqmh1ciREzOntZLdg1TsB1xBaEze0S8uS2ybABgtptszspf6PUujyAWCXHpR8Mk=",
  "id": "rs_0f26f7a48333f1d8016ab44a679ae887d0aee9e7e6d3d9164c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The outward slide brought the centered barrel all the way into the bottom fingertip region, with the shaft still running between the jaws. I’ll close now on the pen.\"}",
  "call_id": "call_jHgdqL5vhWp370Szv20TLRgU",
  "id": "fc_0f26f7a48333f1d8016ab44a67e9d487d096f5e31b987246c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jHgdqL5vhWp370Szv20TLRgU",
  "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]: [-0.0204, 0.8333, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.9434, 0.6769, 0.625, 0.3958, 0.3088, 0.0489]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0045 left_pitch=-0.0412 left_roll=-0.0106 left_gripper=0.9993 right_x=0.3488 right_y=0.2656 right_z=0.0028 right_yaw=0.2934 right_pitch=-0.0245 right_roll=0.0226 right_gripper=0.0489\nstate[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6679, -0.0708, -0.0317, -0.0122, -0.1299, -7.706, 5.8462, 1.4774, 0.2222, 0.0464, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79958e6087914c7ee9f8bbfa9f19524552d89acabbec2f4be88113277a7e359b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c0b2e5ad737ac3f48b46d0618e7f3b696efdd8a61fcd624ee777c211ba4e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ebbe0a3382f2df7191430644a74d4d7e3276805414096885ac3aa43d9abdd4a",
      "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 · 5.034 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]: [-0.0204, 0.8249, 0.6029, -0.3817, -0.02, -0.0261, 0.9993, 0.9016, 1.4925, 0.7727, 0.0895, 0.4671, 0.3923, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1706 left_yaw=0.0047 left_pitch=-0.032 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3122 right_y=0.2723 right_z=0.1247 right_yaw=0.2943 right_pitch=0.0047 right_roll=0.0627 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.2513, 7.3778, 1.7167, -0.0708, -0.0757, -0.0171, -0.2393, -7.3641, 7.7744, 1.8584, 0.1929, -0.0171, -0.0171]\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]: [-0.0204, 0.8333, 0.6022, -0.382, -0.02, -0.0261, 0.9993, 0.8078, 1.9335, 0.6662, 0.635, 0.4145, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.0415 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3469 right_y=0.265 right_z=0.0061 right_yaw=0.2736 right_pitch=-0.0116 right_roll=0.0392 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.6342, 7.241, 1.6874, -0.0708, -0.0464, -0.0171, -0.2803, -7.1863, 5.6547, 1.4481, 0.0952, 0.0073, -0.0122]",
      "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]: [-0.0204, 0.8333, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.9434, 0.6769, 0.625, 0.3958, 0.3088, 0.0489]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0045 left_pitch=-0.0412 left_roll=-0.0106 left_gripper=0.9993 right_x=0.3488 right_y=0.2656 right_z=0.0028 right_yaw=0.2934 right_pitch=-0.0245 right_roll=0.0226 right_gripper=0.0489\nstate[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6679, -0.0708, -0.0317, -0.0122, -0.1299, -7.706, 5.8462, 1.4774, 0.2222, 0.0464, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79958e6087914c7ee9f8bbfa9f19524552d89acabbec2f4be88113277a7e359b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c0b2e5ad737ac3f48b46d0618e7f3b696efdd8a61fcd624ee777c211ba4e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ebbe0a3382f2df7191430644a74d4d7e3276805414096885ac3aa43d9abdd4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEps9hUAg-mPyqTuRkd_1V0f91Eoxj-Z7pPjOVQDg5RJNpM-CMeXXt6wRryokYUoBoqFEe8DK2TL_K--bvrkiAn2dlLHLxrOHXqCqS9ncgwyPMWpNz-KJ0pHjs02Cy-RRPWXMl7cxXQTsKyED0RFaYEChkvI7aD4o4bYjL0DZgwUnaeXH9gKp0CaMeg7FEpGLayE0ItCBqMwYU5P79NnEYBhofs5Lcauc-aNtBzKScoDZyIfdezUJTu24a2kEffSNi2PgPaIQPFblO8jVrgsoWBFr-5RMxm5-XTYnSLlqEbqIZaCeaDcscSqmPK1qH_W4qCJowrWOeXQcXSCodW71dnEFgfw7wwOYYPJ3UNtGYQkmLmt2SnWGgAjTarm0OsLE5ZTySH4IDUlk9OO3cBpx6NYYuRrHsmR-PxO3y8VfaWcKKx0qltN37bXlKfZ1LXaYGzTdYtyY3SdMJRZi8XPauOm8cJC-fz6_7aVRmCAWigVLeitljFnl4mxzSooxrQHsqZ6OH0gLjIGTZTy9cMKzKBMHx30HMingqutkmfl3pnCIfRxaNvXi1NNSQT2_lvM2fPO0-12vRU9JKYhbx959aJu1l_cpUOt3jF-QzS5iyRPUnQLoiAppDhFde3rVttXK6tg9GeERv-dC6poCk-Z_JNIQkl3YbNWCUox86-AkxCBF-lrvj1Ad-He5WtC3AATRauGFL3-hqoTGpQEf0Qzo5w45QpNuPiu8G9N9OcN4WBJE09OF76PzRLu5xebt2aixOfEluznednBuT9Pmzii2G0zQ9mhFiSrS3IkJqOEZOwlgPqtuAe08QiDRO4O75ql-0Do_6sbtK-SNh_RLTOJTpnsRTAv5fCNcEGj-4EfzXkICp8myXOmxjwE064CA1N9BpWyzaPOAVMa-SrU6m6ncHBRNAsTE0QKbBJEsa2RAnDYB9ABaTWlvnx5MyfN5ZOtM8OU9OoTP_2xRgaeX7us5JPCUO6CO4B3BydbykKHRlfOZpykOsCq7l8a0tAoMnVFVOEfbE3c1RpYW2eBpb-UIXx9uZsSenEe9o5OvXLy1wQNTgOEMheF_SYnGrtit4GxnGJ-XVzdAqbfQqvMB1rcx7gPy-RAC02oeKD4L2YO2TCEWWQ0NKMQzVIP-tH-d14ALGo1RFBIm5JcFY-s1H9Q1aHiQto1SlJFmXYXqCQCXtgr03B4mPv_uZ1BLTw32At8cIe_ZDzNuViZFZxH56vef5taFxs7JKkVqGh-pL3nLKSQfL9wwPOyCQZ_fZHmQYTWd--YZ0i_zREnD7kuzKBZYtmNIAP0z8l8keKY3bsunJznKSxPzWQnqLpIS4OXJv6K0H9-UkwoDxx9Q_s02nrHJ0C3XOIM5GzLyZEzdozT-HvJxnkOGg8Nu_tuuExWt63m4xLjs7xB1ur5v3b2A0NBXEOOAau4T76fGkQTZVCedjyh1wNuaZrXN6xEXEpRNPzpTWXAYUMHmfxbOgaO4y_stUJ8iA==",
  "id": "rs_0f26f7a48333f1d8016ab44a6af7e887d0898c3d3ca18b4927",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper settled at 0.049, just above the empty threshold and consistent with a thin pen barrel; the shaft is visibly centered between the closed fingers. I’ll lift 8 cm to confirm the pen follows before working on the cap.\"}",
  "call_id": "call_jBbql6Jdq3EaZdZUX0gHrGHG",
  "id": "fc_0f26f7a48333f1d8016ab44a6b4a9c87d08fbd040fce5941ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jBbql6Jdq3EaZdZUX0gHrGHG",
  "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]: [-0.0204, 0.8391, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.7176, 0.746, 0.3416, 0.3878, 0.305, 0.0541]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1664 left_yaw=0.0045 left_pitch=-0.0469 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3489 right_y=0.2677 right_z=0.0672 right_yaw=0.3021 right_pitch=-0.0166 right_roll=0.029 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -1.9487, 7.0769, 1.6825, -0.0806, -0.0611, -0.0122, -0.335, -9.1829, 7.5145, 1.58, 0.2076, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fca6364f3dcd6cb84d05ee9e358d45e498379cf198a27f9966fc834e0f589c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9a23bdc4c5954353d24e69594fe326861cc336e68bb709a5b66f63111e1db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f64a1044c93991082c049a6d93ab5b2c8933580db54531eed64aa7971757ac9",
      "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 · 3.055 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]: [-0.0204, 0.831, 0.6025, -0.3817, -0.0196, -0.0257, 0.9993, 0.9028, 1.8832, 0.5823, 0.6189, 0.4797, 0.3878, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1687 left_yaw=0.0042 left_pitch=-0.0385 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3093 right_y=0.2661 right_z=0.0003 right_yaw=0.2874 right_pitch=-0.0329 right_roll=0.023 right_gripper=0.996\nstate[joint_eff]: [0.0752, -1.935, 7.1043, 1.6923, -0.0562, -0.0659, -0.0171, -0.0068, -6.3248, 3.4393, 1.1404, -0.1636, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0204, 0.8333, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.9434, 0.6769, 0.625, 0.3958, 0.3088, 0.0489]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0045 left_pitch=-0.0412 left_roll=-0.0106 left_gripper=0.9993 right_x=0.3488 right_y=0.2656 right_z=0.0028 right_yaw=0.2934 right_pitch=-0.0245 right_roll=0.0226 right_gripper=0.0489\nstate[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6679, -0.0708, -0.0317, -0.0122, -0.1299, -7.706, 5.8462, 1.4774, 0.2222, 0.0464, 1.1697]",
      "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]: [-0.0204, 0.8391, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.7176, 0.746, 0.3416, 0.3878, 0.305, 0.0541]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1664 left_yaw=0.0045 left_pitch=-0.0469 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3489 right_y=0.2677 right_z=0.0672 right_yaw=0.3021 right_pitch=-0.0166 right_roll=0.029 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -1.9487, 7.0769, 1.6825, -0.0806, -0.0611, -0.0122, -0.335, -9.1829, 7.5145, 1.58, 0.2076, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fca6364f3dcd6cb84d05ee9e358d45e498379cf198a27f9966fc834e0f589c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9a23bdc4c5954353d24e69594fe326861cc336e68bb709a5b66f63111e1db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f64a1044c93991082c049a6d93ab5b2c8933580db54531eed64aa7971757ac9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpxCbgQ6RV4xpWBUNtEWTkqYm-JLY7b2ss4U9ASfyJE1in7bnL3HJ-WMuEwwC6t0utaggS0MFUvIR4MFMVibDBvsdNSQwO6fFNciwKIRiDphF6XnLFZQfAlqkDX3f1gGNWG4UxINcCrzq-h2vOtdZfvKYRgu3q95kg3KH7_xyaFwh56kgjiN7zKBPDhl4IQaUc8d45rg43XkwDuLQtPoWeMib2Uggoiabal-to-JEiXu7V71mZcDPczdOj_fzCqRdoPPSK5_4e926HnPjqyEFEzTah1Gc7ywOTBh6nAOLoDpS6bkKQ0EV_pmIcaKYYCwQVUIg2P3PGI__dMbKbCDHwGceea5DygZE8twOGXF-eyWOPCAXx-eUBYr-5M42M-zwqtAoNBYS6ylKDfRAQpPPm_IZiAUsyTnAHdMxXjk0orzGzUN33h1JRnNtOSjdKZ3TagzasuGemgFQ62_dDrQvzvu6Exi-pYHIHtGzTILkfpIJWZHEp6PKku2fsbW7uGr0FDaq5i_H2m9NMqtcnosoOtcn8qH8VN33Who6gQBzO4AwvvVGOKs0EqPaMgsKGraBzA_I3fOUXj5gzo-bwlBZaEHSP9qGiGOnPWRP8hAE72BLKfCqRWw1LqgUE8ZQRyQl8FQQzgVCCNI4jw_B7OLfmczAXE_LFD0t4tcrsziTNNxUMJEgl8Imz9CnLSFdERtTLPA1YEudkzrCQGYT5c5wEsLglM-VshuxWBVCIMIoMrgCd_hnpaiHHAk19MbhldMtY5BrwDSScnZkBL-u_nk1u_GE7AQWD4WDcMJuBqpX50XPEFCo5mR68xivHRrbdXK8DpTZqmYhJWkqN8uP95xoaHiQsSG10TafrvSq5qzcCODRU6fCJROFM3Z-C-SHxn22d-ErfE6Uhnq_3cUo5DxmqWm-8tO8eWNYsFj5dYKG5AMuwOFbU8_jU3BvRkd6bwtdFkVaFs-phnkyJy8V5c1k1vVfUmFkmM5HkviL4vWQbAJg9dGylzcjCtoZoNt4Dmkp20FG3nvZ57Va_mTJ6q2PM_L_Be-AHhuz7NZTxkk13Ok6hi_QmvZ5Qnpj5wsT40liXuKnqEIjBuFQ7ceGzi6pMzwr3THkk9028SCaPuKJciudCNVxQ3tDcR5Z5xvXW1QxBSZIqiorXLQonrwIxTNnc7gP_0cM2YTT1CZEitT4Bh3E1Zn3UaMVwh8i9kchIfZd9hTkOIiJKtbq3W4-gA0WQSMhQ1PlitY841DfHjJFNAMOhtrnVlpP8su3IwcLOMSVEfAjmXpw3IuHXkDpuWJVf3wTGVbFnB5lUBh7uL3X6AlL2gBkhbpUrnzB8fEliQIJQoshfNxYjJOrYfkQSU7dQwhfWeiKiP_u2KVHqq14JIUNv57ADIiJBQSmf5UElV8XL7Qpm7R7VZLJOkVggnRQ2ppY2CWXjB9L6CbIqz77he8ardRgdPBTbAVvtc_L496XTpZjOVaB_Z1P3DAmXD0dmtnkdAHPEE8UnMEWgNqMzalPV4D5v3vyZwBJuFFc8FpRwtxdHXfCRvLOCkm6BfgEQVzQo2Lv8hbV7y2AGWVGnEjxisFQlv6eZRMvNGzNKWqQnsdRgHFI0a4-QfZiJG8RIvXJ0ymZ6HT17BPd8b8Sv9h4iW0LEjGnG5eud_0V5wyFsGXRrPsJpDZoRVk3PQGUJdO45nl9lONr4qBQdqSaLlrW7-vcL9boYK61nlnBiXubxSddWlYYZiCRylOuKJRZSPRESLYfB16p0j1AHq_-9mB8QzpduWZXVDpRJWt5AlE59M9UlAnwYYOzOLf2o_DpiTjTtLGk1WqvQ_-kebitWnyfCJKLidOIgY59iQyh9Hf51AcdnU90THAcrfPzqLWg6G5NJEfeJRB2J5dtwV8rP4NdNpd-u5t22e3C7xE38KOoUnToJR8uolPHWXWwwEloDaruGvOUh2upoKB3GPQTYCJsg-v_-TyU8oQxT1RwSzrZrUNXN5ei2xW1MMRgw4wUV5T3KUY5fRhrbSqF3kWbEEk7OjmFSh68SFys-iRpjDr9QAFeY6TqRu-nPMxh5hZ53Czpgdd2J2S6Pzf9AoFC9fb14uV_sK1z5fvbeKZbN-W6J5UwMeGli50KDtaZfBhNHJVPb0QaP3L3cGcYwhM96Sik1oM9se_ku3lPbRR1wfihTdj5UQ6DM976KSO824Sg3GUTErxHXVDF7RjF-Hj7e_xpt3bLA3miggS2n9bv2ltFpuv_S5kyHOxBA6lvgsvXBJ-nLcvXhA_nvSYJ8HGpMfBnSQXXnBqSnZ8UpMsiZzBk_cT0XdNE6EP4xAQE8CkU-eWGYLw12YawkL8xaXk9ZgHYzpq0pDGQfkt-XJ1Il-I72QSWjgEFKINZi9g_zVlyQsJ_cKtV0hekaLS_A02qTtVaO4ZP6nYiOwsQxPhDOP1qhF30fmXg4hcXsPnvXC12knc8Ci9kPB9qqWJYe2IuQU_p5yJDf8qOSNT196SNmRQgNU60KNSQFlV3xeG287Ud-F67mDFd0au_hse-WPnAKnUlBaabohlABnVGRcdErBMY-v6gtaW5BuFJWIyJdnfzmjo5XrnT9hpo1VIqeji8I9NdUhgO-FVQtE8qsKzbdzblEa7FZLf0zLCq-LGvadmpqJAA8cNZSdY0DDdwvm1Vl-_8Q=",
  "id": "rs_0f26f7a48333f1d8016ab44a6e075887d0a12347b74a76e996",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.2},\"note\":\"The lift confirms the pen is securely held; it rose with the right gripper and extends forward from the jaws. I’ll park the pen high on the right side so the left arm can approach the cap without entering the same region.\"}",
  "call_id": "call_9dYT26y0LBYpbI3da44RrcEZ",
  "id": "fc_0f26f7a48333f1d8016ab44a7095ac87d08de7e78591f6b965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9dYT26y0LBYpbI3da44RrcEZ",
  "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]: [-0.0204, 0.8444, 0.6022, -0.3817, -0.02, -0.0261, 0.9993, 0.0181, 0.8936, 0.6788, -0.4042, -0.2146, -0.1101, 0.0541]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1649 left_yaw=0.0048 left_pitch=-0.0522 left_roll=-0.0107 left_gripper=0.9993 right_x=0.3037 right_y=0.0467 right_z=0.1835 right_yaw=0.2486 right_pitch=-0.0425 right_roll=0.032 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -1.8256, 7.159, 1.6728, -0.0708, -0.0757, -0.0122, -0.294, -2.9333, 9.7573, 1.6923, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1be47f1be48addcd7480716d78da6f681480840f905c7df38655601d912e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db799554c464a9ac8a9b36818bf64be60a86a168c0af84ab5aa760a9f9133a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a13d962510d63d7425a0c521d76627edccb7461820c240b7dd7df38d46182f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.699 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]: [-0.0204, 0.8333, 0.6022, -0.382, -0.02, -0.0261, 0.9993, 0.8078, 1.9335, 0.6662, 0.635, 0.4145, 0.3347, 0.996]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.0415 left_roll=-0.0109 left_gripper=0.9993 right_x=0.3469 right_y=0.265 right_z=0.0061 right_yaw=0.2736 right_pitch=-0.0116 right_roll=0.0392 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.6342, 7.241, 1.6874, -0.0708, -0.0464, -0.0171, -0.2803, -7.1863, 5.6547, 1.4481, 0.0952, 0.0073, -0.0122]",
      "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]: [-0.0204, 0.8391, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.7176, 0.746, 0.3416, 0.3878, 0.305, 0.0541]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1664 left_yaw=0.0045 left_pitch=-0.0469 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3489 right_y=0.2677 right_z=0.0672 right_yaw=0.3021 right_pitch=-0.0166 right_roll=0.029 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -1.9487, 7.0769, 1.6825, -0.0806, -0.0611, -0.0122, -0.335, -9.1829, 7.5145, 1.58, 0.2076, 0.0024, 1.0281]",
      "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]: [-0.0204, 0.8444, 0.6022, -0.3817, -0.02, -0.0261, 0.9993, 0.0181, 0.8936, 0.6788, -0.4042, -0.2146, -0.1101, 0.0541]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1649 left_yaw=0.0048 left_pitch=-0.0522 left_roll=-0.0107 left_gripper=0.9993 right_x=0.3037 right_y=0.0467 right_z=0.1835 right_yaw=0.2486 right_pitch=-0.0425 right_roll=0.032 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -1.8256, 7.159, 1.6728, -0.0708, -0.0757, -0.0122, -0.294, -2.9333, 9.7573, 1.6923, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1be47f1be48addcd7480716d78da6f681480840f905c7df38655601d912e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db799554c464a9ac8a9b36818bf64be60a86a168c0af84ab5aa760a9f9133a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a13d962510d63d7425a0c521d76627edccb7461820c240b7dd7df38d46182f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEp2HlolXgNZAmVoMujRwSc9cs8_Cxm4ZAyS8b6_Eh_gf09-utnUMaM33jnW5JZyTxC1LMpaCBuliEnl9mTxwtPFF4SEKF3vkDXa-M_07tWQjWiZQdkOHvqXrc9tz63jjV-UCcQUB7EF7PzJwR_k8xOnbN51LQREgOqKNMY-DNoVCGu-WXDS1SylAw8R97cc2bMZPV4MPcPKPIo-eGfL9KMbu3c6t8sX6QCs3XN51Flxe5IaXnZ1VuJX9IWOJoio_d7XI1k_j90oKqyQ_6YcsE-xOYY-b9pH3vaawzdKRdpEmHq__V2TTA-3DysS45GX6E4NCfdY7kwmTLk8WT6hgnNMZD8yPu7kx23vCzmC20_0qk1UhoLfTuucP3pw7KgeaRawDOIK2fVA95maXB0uT0gzNe_7ClJQnHJCwTzUw8Al4zTOCZXvCEOr1LrzCmrXNuboulV0elx4A7r_VbRrLZGgx6P1_tD0EIvIGMgO300iHDYUrsMgMnB11wYjHK5jlDR3n-iDeD7ediaEeyCEhCkhApgJZCYhuxIQuhuusEKTRKDLLz8z9XZb16TSmnFQhHgFTdu-w1LnyBvxVHKrfRmYFJ8bqYacutoZnDc9hsUh6Wqnbz6zl-H3spXGMeA_MNWWJPZDsguiac45vimryEOwyk1pnu8Ma-Sy0SikQaM3pmVqC5J35YMhpXGaO3buLjKtD8uo_xRm74-MZwd-Q3b361Ww3by1SVnPDUa5rh0F1MOrbyVNWOA4Rs-ERFP0XT_V7GsjqZNvWMyNtvLTI1hSE4iXnTR0T8qzWabfYuO3l-0qe8GHxltfwcrLTl68FKv4v3SkS9KpomyfvXhq5uNMUWsCt4ElBIGSq2k_Zj0Eax7AceKDS-noNYH2q0UAUSdI9ZxNDqRS4pOh9G7_JycRzb0ckJeNQXFs9UtVBZCBmI6zhHufQBoilneNiRjfDdM_usJswZCMSBjqhfyEG3Z7mYca_WtfcyT2gj3VOfqr-17u75IhwzNUcqcoKrJzchJoOFaZa0iUlIuNLLikMBiLRolYACn_7aLN_3qrtqk78GEfaznArAfbyyNDn1ZHwOMofjrkQ2Dfz2T3CUvbFuJ5j8GFmSmnowrhXnmFp0Am5qEHwLAKhOdVb-BgUcNsamfsIdoeWoU3uUcP_kSC6r2jh-Id2uU7laaHx3Y-Qpr-Uti24JmiZrVHWiBv9yw8wm9qfPkFvZdGvbDQzZuV2fKYmpdiOX6RX58T-cb26C2HmiSuIz8g0a5fsWb8VueJvzWesUJUdFFKCFYCrIrWtlSG3Q49-CYaryzF-uIvifePg344jaYIBJlVY41NztaI4mSgGstz-t24dkd7BwBEhi81FCRA3pY4HmiCW5nUlajb3oL8IOGsZ36l64vlbLqWgxFhzuXL6Jb3rEPmQall6Wo0Rm6a-yV7P7xczaoqHmgWibVwihujkgdetNla09Hj5wV7UgSVGRRgcVD6rWv60mDUWTzeXMOgfFCrFuLyIlQh1XFyErG0pPmFlpuNUrqNB0zYshHbDsS_pEHN1kCWd1a41JlCcv02HHH2xpiZscVz53i6V9rdKuF2zf1KJc0VkZXuBFRkg5fLnrqFlcd5PsqW6UztUWuwfzuokmdgzq5f9IvUtsmDqWshqwcwUwSlBvUUzSMUajVplc4UFZMrspCajEv1b_2UksFLB6LJnyI6Z_0=",
  "id": "rs_0f26f7a48333f1d8016ab44a746cb487d09c289c3b4a7c602e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.2,\"left_z\":0.15,\"left_yaw\":-0.3,\"left_gripper\":1.0},\"note\":\"With the pen parked clear on the right, the cap is unobstructed near the center-left and lies on a shallow opposite diagonal. I’ll bring the left gripper above it with the tool aligned along the cap’s axis.\"}",
  "call_id": "call_4TljmxGRKYKwWvmAfXObjC8m",
  "id": "fc_0f26f7a48333f1d8016ab44a757bb087d09ff31663f44c19e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4TljmxGRKYKwWvmAfXObjC8m",
  "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]: [-0.8391, 1.1446, 0.6525, -0.2893, -0.4171, -0.3466, 0.9993, 0.0174, 0.8967, 0.6788, -0.4343, -0.2283, -0.1242, 0.0595]\nstate[eef_state]: left_x=0.2695 left_y=-0.1876 left_z=0.1265 left_yaw=-0.3063 left_pitch=-0.1285 left_roll=0.0259 left_gripper=0.9993 right_x=0.2992 right_y=0.0488 right_z=0.1771 right_yaw=0.2673 right_pitch=-0.0725 right_roll=0.0363 right_gripper=0.0595\nstate[joint_eff]: [-0.3077, -3.5897, 10.0308, 1.7998, -0.4127, -0.0659, -0.0806, 0.0068, -2.1128, 6.9949, 1.9072, -0.0024, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8edc7e7016fc80fb32323369bb14e8237167ab50b9f8fda82f97901ebd5eda06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e021632ee96091c3fb5f1bce472a638f2bc19069f70b5f41d9ad5683dca073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e9348b2dcfa22cfa7871279f3ac583459c907541b1d921b01861b6b004b125",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.189 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]: [-0.0204, 0.8333, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.9434, 0.6769, 0.625, 0.3958, 0.3088, 0.0489]\nstate[eef_state]: left_x=0.2967 left_y=0.0011 left_z=0.1679 left_yaw=0.0045 left_pitch=-0.0412 left_roll=-0.0106 left_gripper=0.9993 right_x=0.3488 right_y=0.2656 right_z=0.0028 right_yaw=0.2934 right_pitch=-0.0245 right_roll=0.0226 right_gripper=0.0489\nstate[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6679, -0.0708, -0.0317, -0.0122, -0.1299, -7.706, 5.8462, 1.4774, 0.2222, 0.0464, 1.1697]",
      "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]: [-0.0204, 0.8444, 0.6022, -0.3817, -0.02, -0.0261, 0.9993, 0.0181, 0.8936, 0.6788, -0.4042, -0.2146, -0.1101, 0.0541]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1649 left_yaw=0.0048 left_pitch=-0.0522 left_roll=-0.0107 left_gripper=0.9993 right_x=0.3037 right_y=0.0467 right_z=0.1835 right_yaw=0.2486 right_pitch=-0.0425 right_roll=0.032 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -1.8256, 7.159, 1.6728, -0.0708, -0.0757, -0.0122, -0.294, -2.9333, 9.7573, 1.6923, -0.2222, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.8391, 1.1446, 0.6525, -0.2893, -0.4171, -0.3466, 0.9993, 0.0174, 0.8967, 0.6788, -0.4343, -0.2283, -0.1242, 0.0595]\nstate[eef_state]: left_x=0.2695 left_y=-0.1876 left_z=0.1265 left_yaw=-0.3063 left_pitch=-0.1285 left_roll=0.0259 left_gripper=0.9993 right_x=0.2992 right_y=0.0488 right_z=0.1771 right_yaw=0.2673 right_pitch=-0.0725 right_roll=0.0363 right_gripper=0.0595\nstate[joint_eff]: [-0.3077, -3.5897, 10.0308, 1.7998, -0.4127, -0.0659, -0.0806, 0.0068, -2.1128, 6.9949, 1.9072, -0.0024, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8edc7e7016fc80fb32323369bb14e8237167ab50b9f8fda82f97901ebd5eda06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e021632ee96091c3fb5f1bce472a638f2bc19069f70b5f41d9ad5683dca073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e9348b2dcfa22cfa7871279f3ac583459c907541b1d921b01861b6b004b125",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEp8LwQvJX9ARZApTSN0coWe4S34OCcLPdkfPLa_aSyQL0Dg73zjA6f2_W4xIzk2y3vR7b_CtdKMLnl13T2xwkDmxG8s2RfZXL7mVi90t86mS-17EuhgvNbHf8eTTpUkIzgvezfyDyEv1P405GAQCvVc_EqE24AwrPx-UzOuNQLtQSAoRFKtMf2nxkSesJOAneM4Bba5snHXn0ycZ6LOqqyyVZ0GA0tzcxIXCT-gvDNTBs3wGImf4i6YfxylQ-_Tmt1H77Akts-ORO-zyiaiGsCtFPfOzpsKIHdDGFDY8fxr3bDhL7Q9HMF6qX7_st-fVtXIayqxIBIAYD8Az0pUcBfe1u3FgIl-7jhC2TVixHrnC7JLogLJ5dv8eUHKvTh8AY5cInQ-ofeaIE2QV-Crakat-L3rD7bk3mhO1j9QXA77ZoebwFDHtuXgtkbBNbm7nGqpN10PPPP_pbkdYTi3cKdQSWf6hHe3zOeMw0SPxRjMAzAuESuXWJkTObn2DKq3U32UOFajUV-jVVhmXTmFb9T0maPCupAL0d3IF7mzDXKhw-p7H6-PBmmOZGDYaIotlhTLaAe8NpxH96g7LlTFPyA5es6puTC21JoKagGiw8nSkW1GgYO_Vrj7PtkkTS6GQlucIeq9mq66P_GoINHJbpJfYw7qGMf2CSWqsSqVc7gaLkQtYR0D5iZRgOw-FXHWjR2RCPSw4vV0LddffGbxLBwNdOjZEtsvxbgFSG60fkCe3baU6LKxlhbkeF6y_E8dtdhsh3dsIGKfOLEuNoLB_Vxe9BDi-zCbAvzZeh0XYvH3ZGBXoq8XMElzm_xfDy7RTfu2KLbWO8000rZA86uLM0DkZ6Hm6NGLDeqF0YCDKdlX81JTl45AWywXSlfN2xcRwGsD_PtnTbk06rVQE9SLn5H3JQne3mNbuw0IDgBlF16TnBVNc1ecDSHGR2XvMTIkN4hMdI92kTj1o4uF9tPsAWIgj_1io36Oh1HtVcTF6A69VHwe4jzNQ8rYO-BIOaaZyfFczuDy4KmTG-mjcOBpPfVS2BKkOqqK4tEBsEOPrwR1RMzDnw-LhCSQ_p3nRoqrqrUJPRy9QLK_mXxJGkzcPov4Njd_ESMkhxHG9ENX6CX2pmdWYwRckkOFRXarGX9-mQm73v0cj2QHTrwQ3SabBpWFDnUinrJEm1rbiSerlk_3YN2uPTGng6PqtAOPlRkvYchNFLFCosyyq6GawayrZHhwdaFNuhpERYLOUDI-fSuM6RLMHnSwooRKJLDneRqpLQ4SeFk3tz9xTD-jimfUbDzcEnwodmDFvYIuue9SnVVpkpaFtqQ4mnUzYs-NzhkR0vQeJQ2d1lkB856sBzhfigMl3awYchPG6hP_5x6eVVZhv5PSs9P1ZhJll0YCtY_Q55FikxW_v50Rt1Ey2NF9GqxHpFgkJkm6rKk9Gig3posr8Y38WB2vtDP7lht5osDTtivm_2nXVgk5-p_zSdCkX1uIebfdtgaqH2yzwRY6QCc_MZALUDSLd92nR3DJJ9TL5Jx0S-pFWRpSPUbzggfU3VrpxXE8K8RSe4-nspVDoo4Jn2IH4M6CxCzBmA1XzW8KzIkWJNiPDPpEhJ4CTELMKCy7vFzitNGEl6P4c7ikYnCGcQpvjb73Br6RJtCvdvJf8LbvFU0OgV7MmT203OaU5tHwCIqdLPDmiFEPJ0GQBGzcZv6FWf5BHZl-YB3QzAnyLTYdDPmmUxguMwRZl0YNyby0jzlVw1V_L6HQLDheY57div6jY2dF8WkReVmWNpfsxDXFBa5lB8p3RjZHhsn06S7McpJhY8z7jXq9T6sQEqxWtrrpKXaqFamGT7sqhL1TeN8_ZOVP8CXzYtgTkAjJJ5zY9oFhMyELbXrM9zYIVSaRnaHpVoM7iKzpOsR-aUVW5C4xChaKeQzfFUlWvyzmLW_fl0ONGBotAGtaF_7ZzIJSOKkNN5wbgpfN_VZR5o09gP8ZewgLvEvbWMxk8IYz0bS-LlNKGgl0tORyhwTKTM7ucgmWgODxEpDziwlc38xkSXnyTLV4sHT1gHrD_6XDdhYpD_xS4JWguHlhMipd6YVRImv7XN2TWfBzt1BL02bdb4DZJvGI3HZx6ov2LY2km_EfRXZfn5RTxeuX1X46pYEv_HGzFb-OSReb8h9TcimKUsRiqLNbo1AnrlgwHx7x4c4FMEKlVy6Hl_YpV_Q93JWq56by7SlMMxV2AEIBEG49095SLJgRcQSSdl9mkzOOg4KUd5orn2i9SNMezoGiSbKQHXGPareKcLhO_byyTcMj2PGh-Fpq13nq7cgrecs-qBuYkqd8kskjeM5diVPJQ6-4_VO86GT8sFHape8aKLP_4zj7f-a_ypmq4XJg_Ca81KZb9I20GpHKa4APXitqsqAi2RiwL13DCJl-_M68j6QALcGhas9A6K95Hh_RY2ix85fbMO6L5da2kdDMQ1Chk2GwtjA=",
  "id": "rs_0f26f7a48333f1d8016ab44a794a8887d0ba2ad5a684f87c69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.175,\"left_z\":0.0},\"note\":\"The left wrist view shows the cap nearly centered and parallel to the jaw column, but with clear space below it, so it is still a few centimetres short of the fingertips. I’ll advance 3 cm, make a 1 cm centering correction, and descend to table level.\"}",
  "call_id": "call_9jfBTGlyDZhnaPEgRsqn5jkQ",
  "id": "fc_0f26f7a48333f1d8016ab44a7c1df487d0a5942d9ffd94f6ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9jfBTGlyDZhnaPEgRsqn5jkQ",
  "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]: [-0.7048, 1.5871, 0.384, 0.4068, -0.3321, -0.2703, 0.999, 0.0174, 0.9012, 0.6785, -0.44, -0.2291, -0.1246, 0.0595]\nstate[eef_state]: left_x=0.2942 left_y=-0.1699 left_z=-0.0004 left_yaw=-0.2808 left_pitch=-0.1712 left_roll=0.0366 left_gripper=0.999 right_x=0.2985 right_y=0.0489 right_z=0.1746 right_yaw=0.2684 right_pitch=-0.0827 right_roll=0.0391 right_gripper=0.0595\nstate[joint_eff]: [0.4991, -4.1915, 3.3299, 1.0281, -0.0611, 0.2125, -0.0464, -0.0752, -2.2085, 6.9812, 1.6923, -0.1343, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca919711aa70670b3db7d76e0bc796f3d4e94b2357835c25a93ce643085c2135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50136fb4ee57088dd0b1744f6b65b5a2daa27f826e7c55af835fec1ca88aad85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6716c09f2fe86ed2c5890b90eb14444fce67a928df86a34d10b9ac265e6ff1c",
      "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 · 3.064 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]: [-0.0204, 0.8391, 0.6022, -0.3817, -0.02, -0.0257, 0.9993, 0.7986, 1.7176, 0.746, 0.3416, 0.3878, 0.305, 0.0541]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1664 left_yaw=0.0045 left_pitch=-0.0469 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3489 right_y=0.2677 right_z=0.0672 right_yaw=0.3021 right_pitch=-0.0166 right_roll=0.029 right_gripper=0.0541\nstate[joint_eff]: [-0.1573, -1.9487, 7.0769, 1.6825, -0.0806, -0.0611, -0.0122, -0.335, -9.1829, 7.5145, 1.58, 0.2076, 0.0024, 1.0281]",
      "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]: [-0.8391, 1.1446, 0.6525, -0.2893, -0.4171, -0.3466, 0.9993, 0.0174, 0.8967, 0.6788, -0.4343, -0.2283, -0.1242, 0.0595]\nstate[eef_state]: left_x=0.2695 left_y=-0.1876 left_z=0.1265 left_yaw=-0.3063 left_pitch=-0.1285 left_roll=0.0259 left_gripper=0.9993 right_x=0.2992 right_y=0.0488 right_z=0.1771 right_yaw=0.2673 right_pitch=-0.0725 right_roll=0.0363 right_gripper=0.0595\nstate[joint_eff]: [-0.3077, -3.5897, 10.0308, 1.7998, -0.4127, -0.0659, -0.0806, 0.0068, -2.1128, 6.9949, 1.9072, -0.0024, 0.0659, 1.033]",
      "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]: [-0.7048, 1.5871, 0.384, 0.4068, -0.3321, -0.2703, 0.999, 0.0174, 0.9012, 0.6785, -0.44, -0.2291, -0.1246, 0.0595]\nstate[eef_state]: left_x=0.2942 left_y=-0.1699 left_z=-0.0004 left_yaw=-0.2808 left_pitch=-0.1712 left_roll=0.0366 left_gripper=0.999 right_x=0.2985 right_y=0.0489 right_z=0.1746 right_yaw=0.2684 right_pitch=-0.0827 right_roll=0.0391 right_gripper=0.0595\nstate[joint_eff]: [0.4991, -4.1915, 3.3299, 1.0281, -0.0611, 0.2125, -0.0464, -0.0752, -2.2085, 6.9812, 1.6923, -0.1343, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca919711aa70670b3db7d76e0bc796f3d4e94b2357835c25a93ce643085c2135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50136fb4ee57088dd0b1744f6b65b5a2daa27f826e7c55af835fec1ca88aad85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6716c09f2fe86ed2c5890b90eb14444fce67a928df86a34d10b9ac265e6ff1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f26f7a48333f1d8016ab44a7ed1ac87d0a79ddf3e0304f28c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33},\"note\":\"At table height the cap remains centered but still appears above the fingertip region, matching the same wrist-camera offset seen with the pen. I’ll slide the open, aligned jaws another 3–4 cm outward along the cap.\"}",
  "call_id": "call_y3yjE94jBL85x2tEpkc3kF8i",
  "id": "fc_0f26f7a48333f1d8016ab44a7f33e087d0ac27e222999ab805",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y3yjE94jBL85x2tEpkc3kF8i",
  "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]: [-0.6235, 1.6691, 0.4541, 0.4469, -0.2977, -0.2405, 0.999, 0.0174, 0.9031, 0.6785, -0.4419, -0.2291, -0.1249, 0.0595]\nstate[eef_state]: left_x=0.3242 left_y=-0.1649 left_z=0.0001 left_yaw=-0.2457 left_pitch=-0.1553 left_roll=0.0252 left_gripper=0.999 right_x=0.2983 right_y=0.0489 right_z=0.1737 right_yaw=0.2687 right_pitch=-0.0864 right_roll=0.0398 right_gripper=0.0595\nstate[joint_eff]: [-0.0479, -5.5863, 6.065, 1.3358, 0.1148, 0.2759, -0.0171, -0.0752, -2.0034, 7.1043, 1.6532, -0.1245, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e16ef79a6f5cab0a1e0463eddc3ddcde551565114c7b21d1325a5dbf031047e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf1f7783f111507eb688a61c374a539874765ba42c600d98ee6b32780862b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c5eea19fae4d1cfdbbbeb9ff3cb6df4fee5bd9491456d79a16a9876aa8929d",
      "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 · 3.271 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]: [-0.0204, 0.8444, 0.6022, -0.3817, -0.02, -0.0261, 0.9993, 0.0181, 0.8936, 0.6788, -0.4042, -0.2146, -0.1101, 0.0541]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1649 left_yaw=0.0048 left_pitch=-0.0522 left_roll=-0.0107 left_gripper=0.9993 right_x=0.3037 right_y=0.0467 right_z=0.1835 right_yaw=0.2486 right_pitch=-0.0425 right_roll=0.032 right_gripper=0.0541\nstate[joint_eff]: [-0.0752, -1.8256, 7.159, 1.6728, -0.0708, -0.0757, -0.0122, -0.294, -2.9333, 9.7573, 1.6923, -0.2222, -0.0659, 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]: [-0.7048, 1.5871, 0.384, 0.4068, -0.3321, -0.2703, 0.999, 0.0174, 0.9012, 0.6785, -0.44, -0.2291, -0.1246, 0.0595]\nstate[eef_state]: left_x=0.2942 left_y=-0.1699 left_z=-0.0004 left_yaw=-0.2808 left_pitch=-0.1712 left_roll=0.0366 left_gripper=0.999 right_x=0.2985 right_y=0.0489 right_z=0.1746 right_yaw=0.2684 right_pitch=-0.0827 right_roll=0.0391 right_gripper=0.0595\nstate[joint_eff]: [0.4991, -4.1915, 3.3299, 1.0281, -0.0611, 0.2125, -0.0464, -0.0752, -2.2085, 6.9812, 1.6923, -0.1343, -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 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]: [-0.6235, 1.6691, 0.4541, 0.4469, -0.2977, -0.2405, 0.999, 0.0174, 0.9031, 0.6785, -0.4419, -0.2291, -0.1249, 0.0595]\nstate[eef_state]: left_x=0.3242 left_y=-0.1649 left_z=0.0001 left_yaw=-0.2457 left_pitch=-0.1553 left_roll=0.0252 left_gripper=0.999 right_x=0.2983 right_y=0.0489 right_z=0.1737 right_yaw=0.2687 right_pitch=-0.0864 right_roll=0.0398 right_gripper=0.0595\nstate[joint_eff]: [-0.0479, -5.5863, 6.065, 1.3358, 0.1148, 0.2759, -0.0171, -0.0752, -2.0034, 7.1043, 1.6532, -0.1245, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e16ef79a6f5cab0a1e0463eddc3ddcde551565114c7b21d1325a5dbf031047e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf1f7783f111507eb688a61c374a539874765ba42c600d98ee6b32780862b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c5eea19fae4d1cfdbbbeb9ff3cb6df4fee5bd9491456d79a16a9876aa8929d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqDwYFwqO8iNz_4XLC-Ig1yc-0_iqDNLYcUMJcjj7weO1Jnj-4vOQSy_k6H5v9bT1idzqNVhCoVvh294HOBTZ0sbuhb3Ee7PGh376m_GIg7l6qqh3R4flVSHZUnp3YxQbIsITBLEIMkGrNXS9WIjrR8rQD1Yqe9m36JbHmHSUex8yZ6Q1_5UrOt_R0iPqWrq4i8jojApJ-itascMlQOsORDb_go4gc62gKhMdPO12DN4Glw0dW8N7lH-g62mHQ02tTpxb_lHr0yXcI_D4iAfBhScvmgT5IkoXCTtwGtAlayOKrd7zH4hhlJLcoAnvE7lcm751F5iddrBrpzt4N1HA1YuOS_JQ0j7UnoHgT5q6DSahUudJpjR92NYLNkGN-cUX663NESlOCK0YHIhPEXN01dkBtGe5_hh4ZUQ6eZm9EK_hgGp2By-a7TNF7wlIG013q5bSZQjy0FMISwe3Z1ktoAf-ViKhdgkelwivTVifs6RQHvnZ-EOGZMUNZWxekkyfh_0rHlqejiJvEFPReGB9127jZqN4FlnzInyRyB8Mp-mptPO4Xwz7UaYmIXh2lG4J5CIVrwhmHyeCCE-9Nlmi_HEWlFXMqyO7xL_nVRTFNXfNsPwmwC45DGkQ8t_7icJGMnd7wTFEYCcn66m7eAETkOs3Emn0RHvCW1NO4GsHq6-F2dPtz_iZIg2cL_YII5cz96TCiGYPVb8gZCjThzyFduUN6IQ1BMMMXr-C9RUf0CO9Smly8MFv7gDwdQog22SNB5BBOUnu9rOlDCXVuIZIzyYCwfe3eNkRTHrxeYORBFBGuX_zUqzzKJ34qipS7uQOrKNf6NFLNHUMvNB9HLmZavFWiCKYZ_mHC4xCqXXZJViD-njkDVjoHU04wHL_5fEMK5MisXjHtksVqDhRztBnpNzSBwheJx6muYtfvPTCu-KLvb9iCV098rvJIuUU70JHUKJUJ9MMrhcgILX4bVyKPPrtfqjQZ5C-HygrwBNZmOZfJ9ZzgsyxgMl1Fx-O938UPoYiI0y_QEliGf5Dpd7zan8a1MkzHxzIBdDd-rgYasmpOvzMuUu7Iakg3UXuGiiqHmLjiBa5y9kPkPcbOJpPTVlj6P0xgLmno0OGiVrN49p1BQrQ6TTXrVuAYuiZ7XffqHWIzkoW1DVm-DEVQn6FVBorYgfLE8e16oFQr2Obd9ppJipxlyCtX5J3IFP3rsjMXgQB0RVomdWXthH8LAEdQzfl-jCrkL0bVFRR5g-TFSnI98W6GCs8b3W-8uJJNqZQ3ghWixskhyeM52pWzP4VoR9hBLX4ZbigDlnzQLKPPjhufMML36gqUAEFvP_DbmDOsJlAedKvjfBf5pO2cgaA6wu9TpqBXrDyQIMtIfGhJvicNbtLBXbPB9Vj9EVPcQj3zj8ylp38PpJWjW-wWJUgT-k4xWFYI2KWzhEBghpUYvEQYXGqfqfWoJKyRQLbYkJYOO4CinqLnyrePV12ncU9pwINySgrXFN697x_ofpvGDxjlihwHpirnNOFllkfAgD5kWf-wPZX1f-TPOPmqgVTzt0OE7ZraAr7KKbJQbN1nSajoHVXyFKdJCdQIoHQRa_JiewUZwqqykWYQSyPqcy0-CWzSGzgEPOHk5rH4M6Kygah4C7ca6-ibSnb2txh4Bspyh9tIW0CJgf97dBOOryqy5mOijozVQEse-ITLu9H1WUacEm12IzfXXmKFG2aAS52QjHplAetiTNSXlFwaSTdoPW_rBUJcr_Myu2L8YDzsO_3E=",
  "id": "rs_0f26f7a48333f1d8016ab44a810f4887d084ff1174c82678ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17},\"note\":\"The first outward slide moved the cap toward the jaws but not yet into the bottom grasp region; it remains lengthwise aligned and clear of the fingers. I’ll continue another 5 cm outward with a tiny lateral recentering.\"}",
  "call_id": "call_crMlzoT0tKLT2LIYGe0pCZY4",
  "id": "fc_0f26f7a48333f1d8016ab44a82555c87d09482a3948c907ec1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_crMlzoT0tKLT2LIYGe0pCZY4",
  "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]: [-0.5316, 1.8061, 0.6193, 0.4412, -0.2508, -0.2062, 0.9989, 0.0174, 0.9089, 0.6785, -0.4618, -0.2291, -0.1249, 0.0638]\nstate[eef_state]: left_x=0.3742 left_y=-0.1651 left_z=0.0006 left_yaw=-0.2124 left_pitch=-0.1457 left_roll=0.0129 left_gripper=0.9989 right_x=0.2957 right_y=0.0488 right_z=0.1683 right_yaw=0.2693 right_pitch=-0.1111 right_roll=0.0462 right_gripper=0.0638\nstate[joint_eff]: [0.2667, -6.4342, 6.4889, 1.3748, 0.1294, 0.1929, -0.0171, -0.0615, -2.1128, 6.9402, 1.8339, -0.1343, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9c600f9f8457976bd6c7a07072c3a0980724c167e6458a7d75810f2b08fb39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d04c5301f879d59055695a06429e95f96600a36df2e7342855dc0ab80d5cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52106e5f7279198d894e31407859dfcf4a4693c5955f57bdec80bc6cce81c8e",
      "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 · 3.09 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 95 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]: [-0.8391, 1.1446, 0.6525, -0.2893, -0.4171, -0.3466, 0.9993, 0.0174, 0.8967, 0.6788, -0.4343, -0.2283, -0.1242, 0.0595]\nstate[eef_state]: left_x=0.2695 left_y=-0.1876 left_z=0.1265 left_yaw=-0.3063 left_pitch=-0.1285 left_roll=0.0259 left_gripper=0.9993 right_x=0.2992 right_y=0.0488 right_z=0.1771 right_yaw=0.2673 right_pitch=-0.0725 right_roll=0.0363 right_gripper=0.0595\nstate[joint_eff]: [-0.3077, -3.5897, 10.0308, 1.7998, -0.4127, -0.0659, -0.0806, 0.0068, -2.1128, 6.9949, 1.9072, -0.0024, 0.0659, 1.033]",
      "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]: [-0.6235, 1.6691, 0.4541, 0.4469, -0.2977, -0.2405, 0.999, 0.0174, 0.9031, 0.6785, -0.4419, -0.2291, -0.1249, 0.0595]\nstate[eef_state]: left_x=0.3242 left_y=-0.1649 left_z=0.0001 left_yaw=-0.2457 left_pitch=-0.1553 left_roll=0.0252 left_gripper=0.999 right_x=0.2983 right_y=0.0489 right_z=0.1737 right_yaw=0.2687 right_pitch=-0.0864 right_roll=0.0398 right_gripper=0.0595\nstate[joint_eff]: [-0.0479, -5.5863, 6.065, 1.3358, 0.1148, 0.2759, -0.0171, -0.0752, -2.0034, 7.1043, 1.6532, -0.1245, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5316, 1.8061, 0.6193, 0.4412, -0.2508, -0.2062, 0.9989, 0.0174, 0.9089, 0.6785, -0.4618, -0.2291, -0.1249, 0.0638]\nstate[eef_state]: left_x=0.3742 left_y=-0.1651 left_z=0.0006 left_yaw=-0.2124 left_pitch=-0.1457 left_roll=0.0129 left_gripper=0.9989 right_x=0.2957 right_y=0.0488 right_z=0.1683 right_yaw=0.2693 right_pitch=-0.1111 right_roll=0.0462 right_gripper=0.0638\nstate[joint_eff]: [0.2667, -6.4342, 6.4889, 1.3748, 0.1294, 0.1929, -0.0171, -0.0615, -2.1128, 6.9402, 1.8339, -0.1343, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9c600f9f8457976bd6c7a07072c3a0980724c167e6458a7d75810f2b08fb39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d04c5301f879d59055695a06429e95f96600a36df2e7342855dc0ab80d5cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52106e5f7279198d894e31407859dfcf4a4693c5955f57bdec80bc6cce81c8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqGK_kggO-U81UCMqbrN9LhH9K0kNQtlf0HqSYYmlA70I8ddD9XBr1fhmMOvaTdXu3RS42y2bZnVL04FBM9Gj4NH65l20AWzMnG2T6abpwKTVJ71vBGrH8-mJCb3Z0QuFUjmkeVNcag8kFfRKWanWa7ltJVFrQza52dLtKCtdgzoZ6hyaA_Pynh26RqShJeXZLR3gVfCt4CGi1HLEKEImThLIoUByWHjpwq8rAkuxLA6_C2jVhAkWzI5ZicbS_3BJxQwlfvoN0pl1vLoY1UgxDEQGB2Vno7mTN9fPCVnWApcsd1QC33kW66zEmUyZN0ZAC_XW5HYWMC-E8C0sfhAgmOJwaos_TUAbP38t4fR2yraJdQLG1nt_8iD6t3f3ePaQeQWPH9yBq2moaL7wFbgNRO1kg2-0d_Knj8UWriHPjsg_I2aukbDll4VzeNUuE06Agf5ZuS7v81MhLO2M2_Z5Dw3K9086taWCUFdxEpZcLWdp99bV-fg0JfnSok9jn-cikZup3-zggwDOLf0tZah0soVFaaLoA4Z08Yn0xDDuX2Q7PmGb5dmVXUTajn4zCyTiPHQqpK0EfWVTHzDKMpSBk7uxEX7YK7oysD4VNNSgqhhw9LurXocOKTTwsANuh8jboRjk93ReimkqQDDy0L7nXqwrw99gT66HTOraNVmwoWWoFUMPCy59Fbp001mGCXn_lrWdr20fAnf0V66N5LpaxEnWDTU_h9wfLN23Zd7Z-5uYgI5V8bTak6KnUDTd9TkJXmoVhIgqI2Md1X3c6SyLuMOj2m4bZr36Go60lR4oePwiyZFHmBStAg3Qwy8c1e64vID9WdMojYYoHoAvfYWS29gLOSTqaDQYhQ1cknWZSG-d9rZmhI__VOU9fQu09GdJAiyGx4L47kTxtDG6jDfbU2mr9i17DNGsEH0W8o_OT6a6ZRrKBxP35Xey3SN2zUuLX7g9ic5AkTiKhjutJWjT2cQQo0MJuRKZmcDZJ2OxMJaE78L2Qe8v-ZasvZlSod4mpMVCSrL-_kJqPdwTJT8_NO_qoM8wTYIdLZF1IFYrYrzrGiNLRhEox23GAiyOmqLWLyq_0VK5MRCKxPW7RGFVpT87jsLAsC0i_MiudQsTuWXmcl0WVxzKZD63QZS2M2Br02e0mUOw1P-OPNv8alyWXarVOBo4y8hVzf5R2gS73WUgJOenC4gAYErR7MB6kLdncbSRd6ssiV9Rkr7hmzLqP-hxBA2cGMDCrr6gPVzb2ZGwmHy8v95pYbCqgDXERbGXPyhvcetKAWBlQCXVeIg6USmS7ywO0VfQ0qZxHK8QiWAqxtHV38x4sGEVe6H7Mz5stbZpvLEZ5piPZOX7pY0Fn_LaVJm3ifBEJNug9Wxk4CtLq5h4M3olHFFy11uOnKPZhXHl1bqxRjPn_pov8gggiGY3uoHGBsYLtu0Mire1puyceOyGfNVuKx2NkjpxSs5qpxHJPcwigb8oFOtFqxENbtkvcIJv3-gcRwukV-w2anKpXgy9L-CSH69bFlwF8V6p_bKP6n1ISUPPhsVymg3sPpa6vhCZjeATxaM53thnLVy6db3fIETNKfc5-hjtnn86UCnNRIMglsKQSf1_LGZTbSdy1Pp_6bc6jmx5Zj4QNdeCfoZJ5WcyOkTXEK95XM0cdTB8NgEG-iVhVItkAEPOH9BoQV4r7l5NCeU3g_C8lv4rQhfkGMhs8wmrdB7NNTyVmPR9To4KRnpZmpxoAKCDvqfNoasGqpVuvXavANe09slAhWPMYAC3XGNI8I_BImResCBxgWhPKPFIHkBmkRXzuyN6OjTPMKb54WtSuWGBqhOh2DG3wqTxyk3LtVmrwgjrhA9O74bFYVCOFNaDFnizQowQ==",
  "id": "rs_0f26f7a48333f1d8016ab44a84b96c87d0aceff635d7cdfe6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.185},\"note\":\"The cap now reaches the bottom fingertip region, but its near section is about 2 cm to the image-right of the jaw centerline. I’ll shift the left gripper rightward by that amount before closing, to avoid squeezing the rounded cap off-center.\"}",
  "call_id": "call_pnFWujyrwH2r6uuc95EroXGn",
  "id": "fc_0f26f7a48333f1d8016ab44a86044c87d0a2ea2499ab0a4bdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pnFWujyrwH2r6uuc95EroXGn",
  "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]: [-0.524, 1.8179, 0.6369, 0.4362, -0.2451, -0.1993, 0.9989, 0.0174, 0.91, 0.6781, -0.4641, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3789 left_y=-0.1653 left_z=0.0006 left_yaw=-0.2133 left_pitch=-0.1463 left_roll=0.0141 left_gripper=0.9989 right_x=0.2953 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1147 right_roll=0.045 right_gripper=0.0638\nstate[joint_eff]: [-0.3897, -7.159, 6.0786, 1.4774, 0.0611, 0.2369, -0.0073, -0.1846, -1.9624, 6.9949, 1.6288, -0.1538, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1605e2746be6a934974bce93c230015ec4d076ff45008d0fef5c204edba5a15a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c0295013c9abf233db194b3772dbfea97b66f5756c6936ba06ea16c4a5234b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:421337b83fb4bff67f337d7107038822c3fcfa4ce819bbcfed9ea55838ec296c",
      "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 · 2.557 s

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

message 87 changed as sent

message 95 changed as sent

message 99 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]: [-0.7048, 1.5871, 0.384, 0.4068, -0.3321, -0.2703, 0.999, 0.0174, 0.9012, 0.6785, -0.44, -0.2291, -0.1246, 0.0595]\nstate[eef_state]: left_x=0.2942 left_y=-0.1699 left_z=-0.0004 left_yaw=-0.2808 left_pitch=-0.1712 left_roll=0.0366 left_gripper=0.999 right_x=0.2985 right_y=0.0489 right_z=0.1746 right_yaw=0.2684 right_pitch=-0.0827 right_roll=0.0391 right_gripper=0.0595\nstate[joint_eff]: [0.4991, -4.1915, 3.3299, 1.0281, -0.0611, 0.2125, -0.0464, -0.0752, -2.2085, 6.9812, 1.6923, -0.1343, -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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5316, 1.8061, 0.6193, 0.4412, -0.2508, -0.2062, 0.9989, 0.0174, 0.9089, 0.6785, -0.4618, -0.2291, -0.1249, 0.0638]\nstate[eef_state]: left_x=0.3742 left_y=-0.1651 left_z=0.0006 left_yaw=-0.2124 left_pitch=-0.1457 left_roll=0.0129 left_gripper=0.9989 right_x=0.2957 right_y=0.0488 right_z=0.1683 right_yaw=0.2693 right_pitch=-0.1111 right_roll=0.0462 right_gripper=0.0638\nstate[joint_eff]: [0.2667, -6.4342, 6.4889, 1.3748, 0.1294, 0.1929, -0.0171, -0.0615, -2.1128, 6.9402, 1.8339, -0.1343, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.8179, 0.6369, 0.4362, -0.2451, -0.1993, 0.9989, 0.0174, 0.91, 0.6781, -0.4641, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3789 left_y=-0.1653 left_z=0.0006 left_yaw=-0.2133 left_pitch=-0.1463 left_roll=0.0141 left_gripper=0.9989 right_x=0.2953 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1147 right_roll=0.045 right_gripper=0.0638\nstate[joint_eff]: [-0.3897, -7.159, 6.0786, 1.4774, 0.0611, 0.2369, -0.0073, -0.1846, -1.9624, 6.9949, 1.6288, -0.1538, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1605e2746be6a934974bce93c230015ec4d076ff45008d0fef5c204edba5a15a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c0295013c9abf233db194b3772dbfea97b66f5756c6936ba06ea16c4a5234b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:421337b83fb4bff67f337d7107038822c3fcfa4ce819bbcfed9ea55838ec296c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqKdLTzrcrqVizfFNdW2LsiAtTw-IPyfYqIzZj4qYMakgV2YTBAQh4ZFuT_h9tsU54bmtvReFJ_YkVuWLBK1KatqjZZzM_0sYf3G4pTP2CeCHORXd8exrBVEXqiT90-l_RfbqE69rjHG-TLG0gMP1tO_h78a60_1I001mMoMoxCO66pMtXPSsvjN6M_7gqar0-UbkZqQHaV7cf-lpb53vK4P8Ihme0XfOTgLqscYNm-s81vHDIrhvc9zPQCQg7Hmp-o0RZvA0gGB7UFrfwSjDK9LkoxtJrrG5V0viJA9ylZ-QqwSWDeA6IGpSO0Nqq24qDi8ViyN2LghaivkYJ8U7fJc74Rksxur1KgZwlXvA5hsNOcFkFWjrDXrq8GqDrWw9vwlgeoMnMbrIHUK6o3BTBP2_JNBd5hFr5VqzoRPEVUdchqendW4mRrDC3R4p8X6Lf9QtOnwm0H_8BRf8nfvKrpLNXuRxWpVBIyY0fNiNx7OBRPwO08q__eD91Q_GwhP6fCOx5gkvS8hfqE-lc-cRYk7oaM6rHCf0so3GaWj6nknZhlNEca_Os9al4mZAio3e7T6q4QV4mINY6mwn6ABP8hKeOvhhIkP1IzhS-2JjOiMpuNkEKieSQfKWhEJErGJ-mw5ZP-jtTqpuDDZQvs-n2LJNgfSMLKbgfZFom9XDoWMOUpiQGEzqoTb5cv_QkdoQWyaJ6s3rU-TvMnxkxV2kdC6f1zHa0fCeSnYUuM7eM7LlTIndmK8lU-j578WPh-Q-wmuqmeUV6E3c_qxIsbEn15Ny9G-nifqKnEoRC16SJvjog6AMUJpHKlYxV90jYWCPVI5apa3wZPIPxRKcGnRQoy6DJSiRoej2AhPzJFLEOQ7l9AN3DBNtqv_yD5vgPJ3NKjSHF3B2-jC9FgvjuOYg7DdwlMRWVgFTl3CWVdJikF_uFevWohYg4_axX9DnEmllwjnUr_QcqJRJVIxWig3J6DNQy3rvSNCryPziTrRt1WNdJh9VOoQ8eU9r2tNB7UzT1ovpqLve6DBOuYKLpqPcvk7Z_fWzmkTi5jsJtUNAsUgdrG3FusiCQ21ed4FZ-4mEYbZMHAtK8cdxJOCYCgIr-N6Xi3RKa_Leay9C9AD4CoM72L_lrVLwMMCGqBuoKx9u7MkiZazfXNck4KBCra3_BB3_UytxYLqjQF5Mo4BfvWLR8vMKb9nLYxrAetSDMXMl00eoaJo4MKyBq_BTDZ6CeK5JQkaAaE-kuV9ED8qxGxpmfB4YCGX-aXVxIwHudbQJ2S2ZLB-E0CuUyn4XWlbSBI4z27jCrLJMLFOkoSbGiZFMU=",
  "id": "rs_0f26f7a48333f1d8016ab44a88ba0087d0a846ca759c68814e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The lateral nudge did not track in this low configuration, but the cap is still visibly inside the open jaw span and extends into the grasp point. I’ll close carefully on it now rather than slide against it further.\"}",
  "call_id": "call_c7kSPz9Mryk8CXoFPtt3vvuM",
  "id": "fc_0f26f7a48333f1d8016ab44a89297887d08ad56efb257c1bc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c7kSPz9Mryk8CXoFPtt3vvuM",
  "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]: [-0.524, 1.8179, 0.6369, 0.4412, -0.2481, -0.189, 0.0488, 0.0174, 0.91, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3798 left_y=-0.1652 left_z=0.0016 left_yaw=-0.2166 left_pitch=-0.1411 left_roll=0.0224 left_gripper=0.0488 right_x=0.2952 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1151 right_roll=0.0451 right_gripper=0.0638\nstate[joint_eff]: [-0.0205, -7.5966, 5.012, 1.5311, -0.0659, 0.0317, 1.1746, -0.0752, -1.7709, 6.9265, 1.5849, -0.1441, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439af8589d833104792aac3773fa9a3cf75847837cfed9e44171dd0e173b0729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861a2e984f07d809f138a3765e3f537433401b75e1567d4394e3ea4b83cdf9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469e5320133f5982cc81ddf882d7dd17c030f8f9d2e92874b0e2e4e365a62341",
      "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 · 13.46 s

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

message 91 changed as sent

message 99 changed as sent

message 103 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]: [-0.6235, 1.6691, 0.4541, 0.4469, -0.2977, -0.2405, 0.999, 0.0174, 0.9031, 0.6785, -0.4419, -0.2291, -0.1249, 0.0595]\nstate[eef_state]: left_x=0.3242 left_y=-0.1649 left_z=0.0001 left_yaw=-0.2457 left_pitch=-0.1553 left_roll=0.0252 left_gripper=0.999 right_x=0.2983 right_y=0.0489 right_z=0.1737 right_yaw=0.2687 right_pitch=-0.0864 right_roll=0.0398 right_gripper=0.0595\nstate[joint_eff]: [-0.0479, -5.5863, 6.065, 1.3358, 0.1148, 0.2759, -0.0171, -0.0752, -2.0034, 7.1043, 1.6532, -0.1245, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.8179, 0.6369, 0.4362, -0.2451, -0.1993, 0.9989, 0.0174, 0.91, 0.6781, -0.4641, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3789 left_y=-0.1653 left_z=0.0006 left_yaw=-0.2133 left_pitch=-0.1463 left_roll=0.0141 left_gripper=0.9989 right_x=0.2953 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1147 right_roll=0.045 right_gripper=0.0638\nstate[joint_eff]: [-0.3897, -7.159, 6.0786, 1.4774, 0.0611, 0.2369, -0.0073, -0.1846, -1.9624, 6.9949, 1.6288, -0.1538, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.8179, 0.6369, 0.4412, -0.2481, -0.189, 0.0488, 0.0174, 0.91, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3798 left_y=-0.1652 left_z=0.0016 left_yaw=-0.2166 left_pitch=-0.1411 left_roll=0.0224 left_gripper=0.0488 right_x=0.2952 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1151 right_roll=0.0451 right_gripper=0.0638\nstate[joint_eff]: [-0.0205, -7.5966, 5.012, 1.5311, -0.0659, 0.0317, 1.1746, -0.0752, -1.7709, 6.9265, 1.5849, -0.1441, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439af8589d833104792aac3773fa9a3cf75847837cfed9e44171dd0e173b0729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861a2e984f07d809f138a3765e3f537433401b75e1567d4394e3ea4b83cdf9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469e5320133f5982cc81ddf882d7dd17c030f8f9d2e92874b0e2e4e365a62341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqN-_XHQdN4Rshe6uPpqXyt8fNgPmcvGk2aif98RTlOkAjKylsS87mznPoVOtNa1YJTCvs_MepVIpL7mhHPrDyKharBfETAJXdX9njAM3Cblg4EKPWZU-PIfw5cJ9aNgIEGRGgpRzm5NM2PWGCb-zHzeGLNkMVBfMdzfQtbG8HPq797aWBenELRhiaNG0V86QL3NKNfzoOeqzHQTaw3qV3GAv4fOy3dYl2vJS9O_z1Z19gKbYMcm_1xVceg0peFIo_CdPaRE4lZuiayQ7Rq0sM_3TPgJiTFaQ1t3Cr_awU31vKtx-f4ZKTKcX-zUFhFHvuHK5IJyfOsLiIiGp8ofKtiZJkqGDblBEy3FQB14pzUYYbFtu2Q909ZtVj2e363VKiDp7nXjeImyciY4dLnVj1v9KPmp4fw6zHj3IB_CUQHqj8HNKh_gWcy5LQGni5ZhpDQ-26WP-sbbXIg_PzCxYuiKDpm7GLhqz3JmoHWggPYA_p5W8wZhWwBXpsV4NKni4x9EfLEfBIzAaGmN-VJ29U__tqqeCo2VP10SC8tWYK05JyZVFD__Pb_b_8GYjc1ghfwyvlM6aCl8G11UU0TNiUqyqDN98Ym0zrptjsn2HhB5ZlYBiYKgWf6k1WG9psL8PsJYQjc9zTolGD3PSxC97vxbIhcDtdhSdOjdcUdAwQTbjLbVRh5BRvw14eQkqqK9q7PY_5rirEIw6oZ4GH-AXNaxDKR3gmnNuEZLyEYG_uof4XWfDQSxziRjfvwh7j-a0leLJnnFM5Jk3uAT9qjmA4s7447XmPNhoCiVyElmv1OkCA-rNwcCph-BD7NRv7LVwavp7uW7kyuiZU_nDcgpF87oMBt3kKPM4KcNl663NU3Lf9-ZxybUjjwKFjoEiwiOU3QDwHTaFHCxLhXeJl-El2HJiBT9EPZcshYYaaw5UA3zxkLPNINSUVtcup9WG9dtDmk-4tHNX9JihaGFBFSxEL82_ilCn5POu64FC_uHYNLO4PoLllmAjnuhffXyLt35XMTcRxmOiX6VyHeXlmzy1xAUMbN_LWMgRHPke8VC9fH-PtF0HHzt_7jmCQ3f1N2EK2kcmzLQ_rwzWaC4VYk-vhtPObLlUWgRFsXBVf1-I1pTKQ5iF4T2UuGCDy3-sJUkqdcVY-y3olBk1p4q5R6dGp0GwMDIIoP9BcdVFK0bGo2ViymLCYI96nyId_3EdHTp_JUBIMfuNZhg5apChKrJ9zhj9A7Du-toXQb27mkV-LqivE=",
  "id": "rs_0f26f7a48333f1d8016ab44a8c62e087d0b628499471dcbe17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The left gripper settled at 0.049, above the empty threshold and consistent with gripping the cap’s narrow body. I’ll lift it 8 cm to verify it follows and to prepare for alignment with the pen.\"}",
  "call_id": "call_DpAHL417dg80wRrsf0bggGRW",
  "id": "fc_0f26f7a48333f1d8016ab44a8c9b6887d095ab6f11cb3fa6f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DpAHL417dg80wRrsf0bggGRW",
  "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]: [-0.524, 1.6024, 0.7258, 0.1169, -0.2539, -0.2005, 0.0591, 0.0174, 0.9119, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3756 left_y=-0.1616 left_z=0.0601 left_yaw=-0.2047 left_pitch=-0.1585 left_roll=0.0237 left_gripper=0.0591 right_x=0.2954 right_y=0.0488 right_z=0.1668 right_yaw=0.2709 right_pitch=-0.117 right_roll=0.0456 right_gripper=0.0638\nstate[joint_eff]: [-0.0889, -8.3487, 8.8547, 1.7802, -0.0904, 0.0464, 1.033, -0.0752, -1.9487, 6.9402, 1.5995, -0.1148, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374af4119af48ab8faae59e87502249f9c4d6a3eb753fe6d0fbad4b08e55a918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cba989e9c4aeadd626c9e4ab8e34105945cfddbde3e2084f891a0191459469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66592c34dcef83bf40bc84cc985fb6d06d200c15ff9b57f7c97f397544ba111",
      "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 · 1.859 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5316, 1.8061, 0.6193, 0.4412, -0.2508, -0.2062, 0.9989, 0.0174, 0.9089, 0.6785, -0.4618, -0.2291, -0.1249, 0.0638]\nstate[eef_state]: left_x=0.3742 left_y=-0.1651 left_z=0.0006 left_yaw=-0.2124 left_pitch=-0.1457 left_roll=0.0129 left_gripper=0.9989 right_x=0.2957 right_y=0.0488 right_z=0.1683 right_yaw=0.2693 right_pitch=-0.1111 right_roll=0.0462 right_gripper=0.0638\nstate[joint_eff]: [0.2667, -6.4342, 6.4889, 1.3748, 0.1294, 0.1929, -0.0171, -0.0615, -2.1128, 6.9402, 1.8339, -0.1343, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.8179, 0.6369, 0.4412, -0.2481, -0.189, 0.0488, 0.0174, 0.91, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3798 left_y=-0.1652 left_z=0.0016 left_yaw=-0.2166 left_pitch=-0.1411 left_roll=0.0224 left_gripper=0.0488 right_x=0.2952 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1151 right_roll=0.0451 right_gripper=0.0638\nstate[joint_eff]: [-0.0205, -7.5966, 5.012, 1.5311, -0.0659, 0.0317, 1.1746, -0.0752, -1.7709, 6.9265, 1.5849, -0.1441, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.6024, 0.7258, 0.1169, -0.2539, -0.2005, 0.0591, 0.0174, 0.9119, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3756 left_y=-0.1616 left_z=0.0601 left_yaw=-0.2047 left_pitch=-0.1585 left_roll=0.0237 left_gripper=0.0591 right_x=0.2954 right_y=0.0488 right_z=0.1668 right_yaw=0.2709 right_pitch=-0.117 right_roll=0.0456 right_gripper=0.0638\nstate[joint_eff]: [-0.0889, -8.3487, 8.8547, 1.7802, -0.0904, 0.0464, 1.033, -0.0752, -1.9487, 6.9402, 1.5995, -0.1148, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374af4119af48ab8faae59e87502249f9c4d6a3eb753fe6d0fbad4b08e55a918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cba989e9c4aeadd626c9e4ab8e34105945cfddbde3e2084f891a0191459469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66592c34dcef83bf40bc84cc985fb6d06d200c15ff9b57f7c97f397544ba111",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0f26f7a48333f1d8016ab44a8fa87c87d081708b389c288b8b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqb9RopbshDjGuEHmNXchZWpFgVS7ALtZMeudF32kyEKyZtBKnKoH9XkKBz3DtrGq5CCD6xQXsiqB2NDpQvwJcK1WllG2rA7ss5F_LzvouD3bv_1dA1OA84MFjvCY0h1IV8XXvIylYeDxmw6BSqsutDMd9Z4cjznqNcHDWY7NCeOqHoQ10QpvkM4KXSNbU4XYx6EwfxwZ9mFV1tJ5wDZKewf4Uk_oCuu3OUxTqLx__q9finNu_V6ehKiSFgo3QSfACuCgrAhPBvvLmGCvt12M9lv4tHvO6302qt8dt4NBHLWWC2vFko018eKj7kgb-Hfe8S4tS-0iqCZpYNuQq6nY4HP1U1LnNbp6RUMnGS4yb-vxvbXOJ8-UonZ5eLhB5Sz2tOjkcvwwMPVwZ8hAtDRm0ZSW_kQn9fFPSsbcixbWvPvLPZWcBFZBN2oLdd28fvnq7kCO20PnjFCXbJocPpqzWYm1XSyXmlMzoOYefimCjD9-wCC35TXAK2KYtX6IP6zV14l_0uq3RrvDdY4MZPpL6NWnZUryNwSCzKjzj8sAJhAe6lsdSjK1LmL-YpIbhK_ycmyjKBpn9mx637EjcLbjRMC8VZhYrpFN-gd-2yZGp6pF8onG24edTWK633jP02PQsoOSr826aIWd1_Z_T11yR23-nO8K943_DDsw3RhQKfmdA9vBQKopTLrrC136gyqN5CUPfQo8q1fbYvmqzwzco1Ct9jdavHoDgfpoazjwOQdGon46FD_h_qn-QG0IqU5RjPqzXNAl9SdWtxIVllzquNygx5rcT9jAgJL8gKoTVRETj_MeOdqvFHJM9ByM587OhKBsrJe5D3JSP2qmAqv-oEBjTToJmc5w_sbKjVinEBygtjCpYF83KPUWawlPxIibpL1bVQxktNAqoY-a4M57WGZyqo9x7963qT2FX-xr4k8sy5J1-Gb25JFYmvjXIhJF-IewI6MMZiIk_RgcehYD0cZAYcelcRs4zsX94qk78QaZDu5tXz8_TNSdBUmVAvz5gE17uyXNLavvKS8XaR8Saj-QRqDYobLIOfuucoX5aYvnx4toKWxl3dZNixShVQnIO9EDAw4qM6aSuJoj1ytzd_tQYXA_a6aqxC8TpxXlRkkiX3lMQQZDffLj2-It6kErUtZEQKHm_MnL4PSaRNutKyIuwU5xRKc1mbz_06LRv8cIU5ET-6X7dy2O1fA-uS9cEzzwv2tdq2U_9yQzagZB5ExMLqacKUPUlTby_Gl-zvWT14123-phXd8cOTpLZrM3fOgzc8gcHweF0upPcHgVjYxhgW_PGf7W3F6mjHrpHb6gcZ759slZ0LVgL7RTt5bgFZqqNu29KSZNlD8wDs-pNzQG10TWKtBVou7MfMjTYfRmOVDsBNuNMgBGdiigiKAAq6yFiLDA8BPrzFCw3CNLzTpGAKku7L4vrkB-EiHC8032YxJIjnFjfQMsNYqJOn3dViQgHsn5g8QlMSp7KoCyjWaFAipxpuETSbdbSh1vNq3g7hMD2XWJdCGc78d1PvMRLT00LKuD_hZrma7FNvRXuNZCJCjCxnsUallmmEyX5c3eScp6SZkPW9DGtu67CSj_nMv4upQ6zvpRj50RoXMCatQXcld3shsCnaKFDIQy9Q2o8W_S3n9kRHQxlVpYkeLKPjIaoNJqGyNMhZqDr3EzLNqbPObrvBSI7U4imgf9YK4MEuZcMospZyjbWJ-iVUO9lgF0hjo2sH8zfeeJSawwjCGFn-jRAff8OD4ONJVOjL72J_I4bCErp14Le7oikyR11imu0AllijbFZMDZue7h00ZO7vzI85FwJ7Luht7Neu3K4AJyZbRIjZaSP6TIoXduysr5nLvbRjKkS9tXsuZhSw-d7-kDnyVmbjV7vmT_FKyyRqV7ejjbXZ1w6goomn8uStU9meqSQYkPE67yxHqKPSMC6zE-QD_mkTHIKQVtuV5QDeaLsDstVFAi5f0cCW7LuN6DFuQvf3wQ3FSegH7DdQeky71ql2uknxr_WX_SA6_mINMitykx_SaOBSaQLS0qEQRSdpRekeFajUReabJ9WAWYIMxHyK4i7YK-p8pCcqR7Hj0AdBTmyWNe55PgAPauqSHqgQElvYK0Ne3hlJbznY9lAVKXGSMPpZVKnKuhTF8SS3wmHplS1OUM6vfR_baWK47g5e_ymkHOfGh15TWjpDktPmZwVraFQjwgPSqKH3byhzBt0skEoDR684Rilshp174lJTLWjUCMmrF_9jRZHySXSPkIvO_5qQsppYBjQBxJZXy-B127TEWynyCcL6KqdNJ8CL0ZVZ9_Gqt-dNHYHDzXzkdXnI5v_LrKScEek7jYLIQZgj1Fmwxp_Rtk9JGLrohKH-Y2TPKBXmkd-w4Lc6FS73O96vy0O-ykC02ZQr8WjfzWbs1MJCNHV40vOEFaZJ66YGLnv7w4SkiHWHgRn_N0IaEEAdz4uzxScDlN5qmTdOYeikq0ljTTmov2u9OiAnZWrCBdkjWvBS04cH74bCkGdxYekl4ndyBNOpDQrJpiMK52AuRqpzQrPojDVDY6XY02u3iMw8l_s0KyIDqa8578RoPoupq8_3sAo1YjTuLCp6aaXdbsoocIYWzQNsTPP6J2dwm1VmH5mYG3gdLtx4drdvd-1pCe1CobbKPovd3nmtB4wTMV3ptqqBHcR2M81VWfpginGKr0Lu8TPKTto37hLJxn6y0jjBVk5Yw4b67s6Pl-iyVGeIvp2AcAfRy4JDHWJtV0FI_UJiwVmtby1yEXjGjBknrDxInyHtuBHbeLCW9Tvqznp7gSQLjjBm_k6AqQotWz23OFGtMfg4a90yhAw4mJ4I7mBXEAe_KkwCZhLLKydfRlZZ5JaNzkR86eSRt2FWoQrtSTM-ueOxggmtZlr_lHSqeSZMqnnlaeUpUae9dBOQn8khiKXnP6CifHjGxxcwbVKgTV7LuMS_3PFyWlbx7h_qiMfgr2sCJoKPdN8wdCn1a90CpKPDIj3pRHy4H6u4uqrS0lDy5mQb4N2ogfHtWyJ18JHb5lLamJOLNz1kckD9R-1dzm5ueCCymUIButrTmBFRm-g9jakDNCbDrFX8E5Gagv7HC9R5XJ5A31YmCZLh0hswDe1WEfXr5nldGYo3jAIQU8A9GILaRM21YR1Y-tirH9oHlKPchboT6kKSnEjYBlUfRKVVaEj96sP5Z8L9tNsM_3NeE1yiw34Hv8EkXxdmK3Z3tdCjYETkc088lGnL17sYcSYlS1HDGKtHXVZ_0u9AbrrVwhtZvRhQ3v_-lv1jj8kd1g5PmequRRgJXqY5ZGCc058z0dThmd5ASG_oPlMhSeKjK5obq_uAQM_yaL4W0mZN-JAaQmto-b6r1LSR4Kd5D2vxhBkOJ7cOnOM6B73hCtCZELt3hTPGNIragG9_F2ydTJJWZxlW5bi6fBwwxcdtBaTYvXGqjTcPHj3D9eDDeNQCT6vwa2iqnsGNQud_akMWHRNf0GGWmFMVJnwUSP3vEmsVHp7ohtQ9Ulsl5T69O0pIg747VSuky-KZPbbUamKvOdcpN1_wktUcbm6Uev4kxXfuT4WSs3T3OApv7EXHJfh95YyiwgNJd7l7TzM7afBJXFfH191uo5Xi_rAyUKyvlNpuTCNwmY_sVgd_-CVdSDzYe4G_BAQ8wz5X6XV7_w2PE776wUEnXYpw12KDdyMewXXUbMOUB3I-Z03NR8dsJf5k_pxmPGN1tnFqL7TfZil2TX9Oeeq19IV_NVISxq3wVrgv79ULFclyf1oE0Hb8-wgeY5FPmooDeCdYY5tCZN2m-Pxqe5BFA1UNM_gSjrH_xWur_kmNCE7i",
  "id": "rs_0f26f7a48333f1d8016ab44a9574b087d0bef8c8f31c951e4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"Both objects are secure, but the left wrist view shows the cap’s tapered closed end projecting forward, meaning the jaws are holding the opening end. I’ll set the cap back down so I can regrasp its closed end and leave the opening exposed for the pen tip.\"}",
  "call_id": "call_t1o0eiseVJopgjc9oGb3jtfp",
  "id": "fc_0f26f7a48333f1d8016ab44a9ac2e087d0b23083b525416dc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t1o0eiseVJopgjc9oGb3jtfp",
  "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]: [-0.524, 1.7744, 0.6411, 0.3325, -0.2638, -0.2008, 0.0655, 0.0174, 0.9138, 0.6781, -0.4652, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3704 left_y=-0.1567 left_z=0.0014 left_yaw=-0.1939 left_pitch=-0.1954 left_roll=0.0435 left_gripper=0.0655 right_x=0.2953 right_y=0.0489 right_z=0.1662 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.1162, -5.5179, 4.0684, 1.3358, -0.0464, -0.0415, 1.033, 0.1162, -2.1265, 7.2684, 1.5897, -0.149, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8e2e410eacb213143b110bc9b5d3ede99b6b1e046b2028c1a789ec206bb2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51a6a7ef558c96db66ccb30111c20d11f61c0867e30af989f2e93bf77edd177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7050b46037985e53ffc85fe35b821c301d65bf16e24e44c6fac6214cecab50",
      "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 · 4.371 s

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

message 99 changed as sent

message 107 changed as sent

message 112 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.8179, 0.6369, 0.4362, -0.2451, -0.1993, 0.9989, 0.0174, 0.91, 0.6781, -0.4641, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3789 left_y=-0.1653 left_z=0.0006 left_yaw=-0.2133 left_pitch=-0.1463 left_roll=0.0141 left_gripper=0.9989 right_x=0.2953 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1147 right_roll=0.045 right_gripper=0.0638\nstate[joint_eff]: [-0.3897, -7.159, 6.0786, 1.4774, 0.0611, 0.2369, -0.0073, -0.1846, -1.9624, 6.9949, 1.6288, -0.1538, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.6024, 0.7258, 0.1169, -0.2539, -0.2005, 0.0591, 0.0174, 0.9119, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3756 left_y=-0.1616 left_z=0.0601 left_yaw=-0.2047 left_pitch=-0.1585 left_roll=0.0237 left_gripper=0.0591 right_x=0.2954 right_y=0.0488 right_z=0.1668 right_yaw=0.2709 right_pitch=-0.117 right_roll=0.0456 right_gripper=0.0638\nstate[joint_eff]: [-0.0889, -8.3487, 8.8547, 1.7802, -0.0904, 0.0464, 1.033, -0.0752, -1.9487, 6.9402, 1.5995, -0.1148, -0.0317, 1.0281]",
      "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]: [-0.524, 1.7744, 0.6411, 0.3325, -0.2638, -0.2008, 0.0655, 0.0174, 0.9138, 0.6781, -0.4652, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3704 left_y=-0.1567 left_z=0.0014 left_yaw=-0.1939 left_pitch=-0.1954 left_roll=0.0435 left_gripper=0.0655 right_x=0.2953 right_y=0.0489 right_z=0.1662 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.1162, -5.5179, 4.0684, 1.3358, -0.0464, -0.0415, 1.033, 0.1162, -2.1265, 7.2684, 1.5897, -0.149, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8e2e410eacb213143b110bc9b5d3ede99b6b1e046b2028c1a789ec206bb2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51a6a7ef558c96db66ccb30111c20d11f61c0867e30af989f2e93bf77edd177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7050b46037985e53ffc85fe35b821c301d65bf16e24e44c6fac6214cecab50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqdc9aKEh4aUvsdu_vd3J7_D1-U9DMyVm9v_hPO7koKEzk2zQDZADuwbhw25q6l4iS3K9KCC-sH8jziIzkDqtqKwQGsAIYLETZNzwFnRtAn7Z5ua2w96t7zg4S4e__c4rIfAPBIR4P8vkxrtkPwXO9wo6mwSBCnJNBECPU1dM9KFafxkRzsyW3nXs5hyOdZ545NVHTx_Nl3cR-PQDNfCAGINql_rk1sLh1zk2bu_xvGwrXvjdaPUbCrcU9QxRlFGVhzxw1A2ffPGnKgXcoxWe8jprCpssek87xvv-I8D1J_IRWoUIFNHpeEo7fniaIY4-iQT0bqhrt_XggART3DInByazGwbRlOfhCTyxdkLIBQ545yIMZ47iHpdmv5_VWRjTZpbrkzNuiUoIBgPsrVJlXLcUawgmtULA1nFoEVGDudyRAfGhxrSVmr52UotuRL_39x1BB0fRQwhEpWldGeQ4ST9DbHjtnClln5ASBzIeKBOf2Xqr1QHstYTYgW89-RFj9tTwrC2Pl5Y96U5NL5EDMxj3Wh8S-9diy66Ry9EzVwaxsDcVSFtp6jGwwTOFqttLN-vUYl66Vix4bw2uIXzBhvO8Roo3QaqA6TXJo3fogNl_q94JNL3zyESnWo3-Nh_-ULwKwq7Vc7tA2Sd72EsP7AbCLZHa5XussI2syjjqoOR6s4v7HPqRL3lvXM0s5nlaSzL2wtOqjFk-bmqlmlilkSwK1kibXp40-HguU4TtByiXTDlyqkA3sAZpsVra_IbJ29tg_6vTlr46tBIwbMSiVjoRXBHpOv3E81yK0KuLn2xYHDifczlOV0kmYYW0F3fsx435GuR6as4-ecJftQF4vb7OjE00K27c1YoBFU0Ua5XnX6GmWvvrFHs5XrnDARulKfisuDjqNcLlLEnM5u8Tna-BBOYbLaCNpT25tkacMCQyZSGQSi_Cf8AbjBVpK7RqVR-BvTQ1MjkVG-uLGbAWu0_8YdnSJsYLMdfHNMGwBWJnEGj-kBtDwPmWHa0wEHBPiw8choVXoYjgRrfnhCbzJ54sFDEB_ICgKLN2wMGNaIaH0WWIyYvGVfL1c0jZU7Dst8zobPQHsWcNVQbNz95oQKuUBHNSLBBaIEqHb1IzFtUt7rRSXyJypqN8x47-ZtOmq-jzJRZCBiswRZBOJ_nvR8Br2gCKOKMpTVB_QYxsY2tbVRMFix2ala7do8-QiysnfhSKPIzLxJ3zbNAUgIdJuGVQ==",
  "id": "rs_0f26f7a48333f1d8016ab44a9ce1ac87d0a1f63f01433cc7b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The cap is now supported at table height in its known orientation. I’ll open the left jaws to release it without changing the horizontal pose.\"}",
  "call_id": "call_inv70LX1YhHrTq00OsoPonlO",
  "id": "fc_0f26f7a48333f1d8016ab44a9d130c87d09679de4ce81976f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_inv70LX1YhHrTq00OsoPonlO",
  "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]: [-0.524, 1.7885, 0.6331, 0.3775, -0.2615, -0.2081, 0.9951, 0.0174, 0.9142, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.373 left_y=-0.1586 left_z=0.001 left_yaw=-0.1932 left_pitch=-0.1741 left_roll=0.029 left_gripper=0.9951 right_x=0.2954 right_y=0.0489 right_z=0.1661 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.0752, -8.3624, 5.5453, 1.0672, -0.1832, 0.0269, -0.188, -0.1299, -2.0171, 7.2, 1.619, -0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff4b0194b62b913c1a5370063d7fd1bb2ed2931153008e00f7c52e2525c72c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc0477c49dc7da4ba62d193bd4504e968e4ef4bef8488558e3cf2cf681fceaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d51812e0480baafc671722ab829725fd8d9138a1d0b1a170922e3ed04e80e1",
      "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 · 3.102 s

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

message 103 changed as sent

message 112 changed as sent

message 116 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.8179, 0.6369, 0.4412, -0.2481, -0.189, 0.0488, 0.0174, 0.91, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3798 left_y=-0.1652 left_z=0.0016 left_yaw=-0.2166 left_pitch=-0.1411 left_roll=0.0224 left_gripper=0.0488 right_x=0.2952 right_y=0.0488 right_z=0.1674 right_yaw=0.2708 right_pitch=-0.1151 right_roll=0.0451 right_gripper=0.0638\nstate[joint_eff]: [-0.0205, -7.5966, 5.012, 1.5311, -0.0659, 0.0317, 1.1746, -0.0752, -1.7709, 6.9265, 1.5849, -0.1441, -0.0317, 1.0281]",
      "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]: [-0.524, 1.7744, 0.6411, 0.3325, -0.2638, -0.2008, 0.0655, 0.0174, 0.9138, 0.6781, -0.4652, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3704 left_y=-0.1567 left_z=0.0014 left_yaw=-0.1939 left_pitch=-0.1954 left_roll=0.0435 left_gripper=0.0655 right_x=0.2953 right_y=0.0489 right_z=0.1662 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.1162, -5.5179, 4.0684, 1.3358, -0.0464, -0.0415, 1.033, 0.1162, -2.1265, 7.2684, 1.5897, -0.149, -0.0415, 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 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]: [-0.524, 1.7885, 0.6331, 0.3775, -0.2615, -0.2081, 0.9951, 0.0174, 0.9142, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.373 left_y=-0.1586 left_z=0.001 left_yaw=-0.1932 left_pitch=-0.1741 left_roll=0.029 left_gripper=0.9951 right_x=0.2954 right_y=0.0489 right_z=0.1661 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.0752, -8.3624, 5.5453, 1.0672, -0.1832, 0.0269, -0.188, -0.1299, -2.0171, 7.2, 1.619, -0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff4b0194b62b913c1a5370063d7fd1bb2ed2931153008e00f7c52e2525c72c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc0477c49dc7da4ba62d193bd4504e968e4ef4bef8488558e3cf2cf681fceaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d51812e0480baafc671722ab829725fd8d9138a1d0b1a170922e3ed04e80e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqi1T8IwGNxAPRbnCspC5T183xe2cpiJPguxBSwAD8aO7GOYwpB39nFjwGJ8v2Ym0TN3Snra3MwJONNitMtGBAdcoB6vp2ztX1RO04IIdHEqcpuIcBWkTXsYlZnE-oOBUTVrL3AXgKQhIpApKj2MSZtdvcbj-DPFm12TcR2qze-4dEh1xDIcFAfRq1-9LAFiaUcohBnAte8nyRZ9ZZsqFID7yuwP67sm3tDIelUzwBCH-QRn54trd2ek5-RORyNS9459msVc7iNEEzfgD3beO1Z82XqvR4q88NRDsKP5ci0hnDbIQX1WWejO1NdZcZmQDDxt6Go1b1pchJ21TuvQ7cQu4RNK_DEVBxO25_mUgHYiauXFIEI8t2QvUmdl8doJTqoncU5s5udCaq6bu6vZjhfitzCTNinWPv7tgM-ttoPG4Z-8Q71SgMnB_PZYK-KiSJhk7lJoqTnPfLQ7I8rKdrFa24n4teHkEtycmVREcdJ_wcFEiSf9nWk6tMJg9Ofypo5q1gr1Hdti6Zm3-w-9moVQ0FCr_WQgHWnWcF6S0VN-sOKGj7MwbyqLYt1R0Cgh44qhb3pHR2Yp8cIl8m2GB87_u_Yzz8RDMOhgP2go9394YsUqiptBriYOyNvKwnauqM0l_MA1f48Yv7Z24YnFqV2wii7Q27aJf_k-76-jtSuWN8wGRS4n9UIr1JCTGoQ4c8nzIQMSM-163jbOw5fpnUgRth2-PwSfwHjrxZoalTf0yJEKodrzSAbAWyFlu2A2_wWFigwuJaVhlyq7sQ8iJpSeGu-DEOfI0_6-A4HNUeL_ftsZfAXwDdA2Lu6CszIczGAik9rxjsGToqXkXAMQlCLdnmrTxhs0dwD2jU5RrAbBLn8U3uO85SH25RmtKfpB9KDbIuNRNEtvJmPST5Ajl0A0zP2HU9H1yCLn5XZeH8kAa-3ceDqRAPgQH69wJZN_A4HBL2dky9hidAQMKP5W5CVuiTvvPSqC_yAODIoSbBSh46jK9etAtTbYehGTXq8KaBh_NvT4WpVJnBldi3NUzqrEagHJKfz8NTPdHAV5ZMESFyPg3dtn6vyUCAgTPqu-IUQRAidhrBVHr5XoxiielUn_HnRAZiL7-nPZTCU2Cxz5a2I8CnkpAlZZO8YmEMvqndX3oEgzlOjggEEKYCdVtrLcjQub0-4fK00J7VXP7wcYvTV3Ob0y765ZpwiHukWt1tRzFqXV1YtCjKJkJaz9srUF30gVcYKERi_QXnk8LJhA5a5Hw4BF6Y71yDgtk_htLoveTss1TCcA34ottg7UgnbcxqrdJfsxfGJi_wyq89D3cnIESFnOicHOPeHDOkGk_HcFLpJ38az1z6R3djmoDNxyfd0ehX3xNXGSvv8KXFFkiqHlMwKGo9xk3kwuE9QX3ZHpKLr4e4FeQbktXz1hzEONvK5DimEcKd0W_Ju4t6JwBzYVAgW1UChDIhBYii_pOmUN-Pq-zXYGTJHLLIyQ4LZ3xQ9_tO5aKzpHGNlLYlTztJkDdegell4sS_eCDzym_5VF89I7jXeSWI2P4DvkdsEhodnaJOQOecLK7sErnTgE5wJOJByeVbpZCow-6-Q9B3MyRnSn4eE8DGOA4IipHvF8N2Qe2OJqMfFF5Ou7589nD_5O649qnK0seAERgTYs0w-RArFrj6cVWf6FznzDvi1bsZRyTlBxtPRMMfap9FHFMm61VRZZw3GUQO28S0FkQIL8ruGrhiGwS_bjPfKi5j3mYVZEYqR1b74eF8COGo9o8uxoAIYOPyirYk9kYfzGKm6dZxf1adrTgbPrxD1xHJsPFDxx2b1f_XtgkUMp9ADsoZ5OpqglWHSWBOe1mUPrircHaeDA74Fk6RURzUYr5A5KtU57PoUiYlAIvYesKWFX7-aJe8B_yZEkla2RXC5ljVUSz_b_AZh-rk53ZeFE7ddEGHynsrOW_GWWBtmCg8X8N7FygVTPxZrRN3DUr4qLzDT321q1_chB3obD7JijJeJHdcUkRid2l3DJiXJ9OzwP17AhKYx5r45MK-b-ljDjwFZ1dCZy0WpnjVu4SpVapFMLg==",
  "id": "rs_0f26f7a48333f1d8016ab44aa06a5887d090564b997b945f79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_z\":0.06},\"note\":\"With the jaws open, the cap remains on the table and its pointed closed end is clearly farther forward along the aligned tool axis. I’ll lift and move about 5 cm outward to place the grasp point over that closed end.\"}",
  "call_id": "call_Zi6BzBZwZUwEyqKH3JpXNyPi",
  "id": "fc_0f26f7a48333f1d8016ab44aa237e087d0b95e84062f829694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zi6BzBZwZUwEyqKH3JpXNyPi",
  "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]: [-0.4549, 1.7729, 0.841, 0.1547, -0.2359, -0.1909, 0.996, 0.0174, 0.9142, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4147 left_y=-0.1529 left_z=0.0403 left_yaw=-0.1549 left_pitch=-0.1792 left_roll=0.0242 left_gripper=0.996 right_x=0.2954 right_y=0.0488 right_z=0.1661 right_yaw=0.2712 right_pitch=-0.1195 right_roll=0.046 right_gripper=0.0638\nstate[joint_eff]: [-0.1299, -10.5368, 7.7333, 1.4335, -0.0317, 0.2759, 0.0855, -0.2256, -1.9077, 6.9812, 1.5751, -0.1343, -0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c64661cf24888ec70519744ecebd489a5a80ac27058fe6823b2f42193e0344b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9bbd65a3394e17a52f589ef9de71a66ee5a975dd1fee1f0b39223e4a30bfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a045ad01d5b16485f6c2cf94c54075046a1596e4b8661065754955e9ede96d8b",
      "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 · 4.009 s

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

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.6024, 0.7258, 0.1169, -0.2539, -0.2005, 0.0591, 0.0174, 0.9119, 0.6781, -0.4644, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3756 left_y=-0.1616 left_z=0.0601 left_yaw=-0.2047 left_pitch=-0.1585 left_roll=0.0237 left_gripper=0.0591 right_x=0.2954 right_y=0.0488 right_z=0.1668 right_yaw=0.2709 right_pitch=-0.117 right_roll=0.0456 right_gripper=0.0638\nstate[joint_eff]: [-0.0889, -8.3487, 8.8547, 1.7802, -0.0904, 0.0464, 1.033, -0.0752, -1.9487, 6.9402, 1.5995, -0.1148, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7885, 0.6331, 0.3775, -0.2615, -0.2081, 0.9951, 0.0174, 0.9142, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.373 left_y=-0.1586 left_z=0.001 left_yaw=-0.1932 left_pitch=-0.1741 left_roll=0.029 left_gripper=0.9951 right_x=0.2954 right_y=0.0489 right_z=0.1661 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.0752, -8.3624, 5.5453, 1.0672, -0.1832, 0.0269, -0.188, -0.1299, -2.0171, 7.2, 1.619, -0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4549, 1.7729, 0.841, 0.1547, -0.2359, -0.1909, 0.996, 0.0174, 0.9142, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4147 left_y=-0.1529 left_z=0.0403 left_yaw=-0.1549 left_pitch=-0.1792 left_roll=0.0242 left_gripper=0.996 right_x=0.2954 right_y=0.0488 right_z=0.1661 right_yaw=0.2712 right_pitch=-0.1195 right_roll=0.046 right_gripper=0.0638\nstate[joint_eff]: [-0.1299, -10.5368, 7.7333, 1.4335, -0.0317, 0.2759, 0.0855, -0.2256, -1.9077, 6.9812, 1.5751, -0.1343, -0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c64661cf24888ec70519744ecebd489a5a80ac27058fe6823b2f42193e0344b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9bbd65a3394e17a52f589ef9de71a66ee5a975dd1fee1f0b39223e4a30bfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a045ad01d5b16485f6c2cf94c54075046a1596e4b8661065754955e9ede96d8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqmb6tVjPEISBeL1duGldU9H_GWHUVb6yWhkfHVOgwpTXYOn4eejSWNJYRvAwQOISWo4hJAXy05HmkxvDtVJ_eL7wkA5XyTspiWyWTYrLwgwQui6GEfY6C7acZRtnKGFFqoKVLRjbCJ8XtOvIrvyt7QqjtjCEzixqFjllca7N1ZJO6oG8zY6nATi44wYFh36Nv06ATLhYaYo8eRkLIMFc3_yWnjy-EAqY3-10ba-XiLLaDPMuqs-liw22sIxA4Dgd53rWFv0cqCgh0ff_lea9QEsoo06U6LeW-CWe-QJz-jf14V0t5F5OmtCghg_Cz9CoEYnDtL5QkrcQ6jspWPr9NVqmA32ApBhcywoH3dLGDO0E61QCPfUMobyUfhaRx-_MxqaA4DR9bNIEfxGRkp4UxCUFwn9ZmY4UuWwfn_VncSOnYeqPUXwe8y6IoR_uVOSGmT_yM5BRGxCfhbW1x99AXU0JGra36sVJogpl-GfW4BU5qRKOiSF7CTGrK52BhrcVGk8J00Cb3VyhOD8DTdwYN5sgpKh1IX793NmlvHGbbVcTr__e8qSHiSCS6Y2FlqkENJcXQtaAvJfD77N1CTaaZs0t0bg8Pi_e2uQH8mNpslMxlHo1nWkn_MKrcizkQKrdWPMYvhTfARK_dMlTxStkfulQKWLtwNyE4JMngWl89AsR_eY99NQ4Lhm-_NwMB7rUSNEPs6XBKBx-4RKBd-nMV3IGzNcwR6qs7tAzqj7_utQwvQJb6PSX6YnYdfmyxuPIfy2lYn5JZ-mVpodEMBfJDyG70eJtG2f2WxU5UxWvinr1Z-lio40EbQvOpuhZR-CnrhyV7dhhd5rNRSgKMcQbdDdU29KbEWAsOPXVrvDj4jcBnyKHnhsnHcmaT-7m0Zxkchspf9Cj8UxJ6pSO_bOAESkSBVcQNOTZLVPRDiEinhsai3FeYwgB8HA8amTrxhs8gm5Q1cHF86Vf3tuC2qlFweFiLUUPYEjAmG-NNNZQxv4jph6TZcm-6BZFMJcm7E_TWmo7sPbk7spr5ooNbSELUf22wHA_k11J3JzlqEhTOY3rsBr1IVDoC2hNXHKftRA-zwucRPQq8RC5j8CvC8yMK2J5mVSW3H4P87w21_LdfSDnuHb6twQBB-tl4yu1U8NzwiWg-QjdbmjeluDqag4K-mIs7GB_1nbsZ80XMMi-B6pwLkVDas0SQf2fzhrzVzKKXilm4Z_2CF3MgR6e7rbnx0ND3sbq5ZPAqIdW9cvJQmtPa9JIXaj9QpMKxXo4-pLsXYZ_jDobsLgCVAU4p6Ip3Sb0lvt096-VNwjNec47mPhQkoCmHhRx7QnnbtbveprG0Y7aIkO-ydZIHk9BAP4JDD5mqsMZwLGavPfTnziFxS6ind21ZhergAiy687OoXiY6vy9X69GlaJkb1g6J4PsCIpSHu6CtZq1XDbPh-wqL85wMfWL1suAA6V6MBO3Eq2-6A",
  "id": "rs_0f26f7a48333f1d8016ab44aa4966887d0a13ea810f6f78285",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The regrasp hover now shows only the cap’s tapered closed end entering the bottom-center fingertip region, indicating the opening end is behind it and will remain exposed after grasping. I’ll descend vertically onto this closed end.\"}",
  "call_id": "call_YakFiFuGgWsjspYiZoB5NdvM",
  "id": "fc_0f26f7a48333f1d8016ab44aa5673c87d084831c00a594820f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YakFiFuGgWsjspYiZoB5NdvM",
  "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]: [-0.4522, 1.8759, 0.804, 0.2577, -0.2287, -0.1967, 0.996, 0.0174, 0.9161, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4108 left_y=-0.151 left_z=0.0014 left_yaw=-0.1529 left_pitch=-0.216 left_roll=0.0261 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1656 right_yaw=0.2712 right_pitch=-0.1214 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.2803, -9.1556, 6.3795, 0.6471, -0.2808, 1.1062, 0.0024, -0.1026, -1.894, 7.0632, 1.5995, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1f315ecc64fccbaf0c247cd4e894c94d55cb659a74ea0f721e97623af9832f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0509a80625dd785f1edb0f82f0862c3e0a066c8ecb2e1dc9fc9ee1baa7d6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1498c6acb7943aa1eeefe2713d90468f254f38c9845c935714f9846ebdced296",
      "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 · 6.707 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]: [-0.524, 1.7744, 0.6411, 0.3325, -0.2638, -0.2008, 0.0655, 0.0174, 0.9138, 0.6781, -0.4652, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3704 left_y=-0.1567 left_z=0.0014 left_yaw=-0.1939 left_pitch=-0.1954 left_roll=0.0435 left_gripper=0.0655 right_x=0.2953 right_y=0.0489 right_z=0.1662 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.1162, -5.5179, 4.0684, 1.3358, -0.0464, -0.0415, 1.033, 0.1162, -2.1265, 7.2684, 1.5897, -0.149, -0.0415, 1.0281]\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]: [-0.4549, 1.7729, 0.841, 0.1547, -0.2359, -0.1909, 0.996, 0.0174, 0.9142, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4147 left_y=-0.1529 left_z=0.0403 left_yaw=-0.1549 left_pitch=-0.1792 left_roll=0.0242 left_gripper=0.996 right_x=0.2954 right_y=0.0488 right_z=0.1661 right_yaw=0.2712 right_pitch=-0.1195 right_roll=0.046 right_gripper=0.0638\nstate[joint_eff]: [-0.1299, -10.5368, 7.7333, 1.4335, -0.0317, 0.2759, 0.0855, -0.2256, -1.9077, 6.9812, 1.5751, -0.1343, -0.0806, 1.033]",
      "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]: [-0.4522, 1.8759, 0.804, 0.2577, -0.2287, -0.1967, 0.996, 0.0174, 0.9161, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4108 left_y=-0.151 left_z=0.0014 left_yaw=-0.1529 left_pitch=-0.216 left_roll=0.0261 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1656 right_yaw=0.2712 right_pitch=-0.1214 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.2803, -9.1556, 6.3795, 0.6471, -0.2808, 1.1062, 0.0024, -0.1026, -1.894, 7.0632, 1.5995, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1f315ecc64fccbaf0c247cd4e894c94d55cb659a74ea0f721e97623af9832f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0509a80625dd785f1edb0f82f0862c3e0a066c8ecb2e1dc9fc9ee1baa7d6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1498c6acb7943aa1eeefe2713d90468f254f38c9845c935714f9846ebdced296",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f26f7a48333f1d8016ab44aa96ed087d0ad7e03ee83eba1c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap’s closed tip is centered between the left fingertips, while the rest of the cap extends back toward its opening. I’ll close on this end so the opening is free for assembly.\"}",
  "call_id": "call_VEs4JcDrVq2zeSBzgYzEKXD9",
  "id": "fc_0f26f7a48333f1d8016ab44aa9aa4887d0993da871f0326575",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VEs4JcDrVq2zeSBzgYzEKXD9",
  "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]: [-0.4519, 1.8858, 0.7921, 0.3023, -0.2356, -0.2005, 0.0096, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4133 left_y=-0.1508 left_z=0.001 left_yaw=-0.1461 left_pitch=-0.1926 left_roll=0.0212 left_gripper=0.0096 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.1436, -9.4701, 6.065, 1.1013, -0.0073, 0.0366, 0.7595, -0.1846, -1.8667, 6.9265, 1.6142, -0.1538, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03087639ed0404eb6ce26b0654313726c908a6c6ef980d3453c29fd0aaf3aef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4d46b819ca225e71835ca01a07a979b9744b6d060b8cbb0b84d5644355acaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870c6b8920ec116907bdf45605bf9628d998e2a214c4cc4c4908b6a7094a3b5c",
      "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 · 4.052 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]: [-0.524, 1.7885, 0.6331, 0.3775, -0.2615, -0.2081, 0.9951, 0.0174, 0.9142, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.373 left_y=-0.1586 left_z=0.001 left_yaw=-0.1932 left_pitch=-0.1741 left_roll=0.029 left_gripper=0.9951 right_x=0.2954 right_y=0.0489 right_z=0.1661 right_yaw=0.2713 right_pitch=-0.1195 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.0752, -8.3624, 5.5453, 1.0672, -0.1832, 0.0269, -0.188, -0.1299, -2.0171, 7.2, 1.619, -0.1587, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.8759, 0.804, 0.2577, -0.2287, -0.1967, 0.996, 0.0174, 0.9161, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4108 left_y=-0.151 left_z=0.0014 left_yaw=-0.1529 left_pitch=-0.216 left_roll=0.0261 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1656 right_yaw=0.2712 right_pitch=-0.1214 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.2803, -9.1556, 6.3795, 0.6471, -0.2808, 1.1062, 0.0024, -0.1026, -1.894, 7.0632, 1.5995, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4519, 1.8858, 0.7921, 0.3023, -0.2356, -0.2005, 0.0096, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4133 left_y=-0.1508 left_z=0.001 left_yaw=-0.1461 left_pitch=-0.1926 left_roll=0.0212 left_gripper=0.0096 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.1436, -9.4701, 6.065, 1.1013, -0.0073, 0.0366, 0.7595, -0.1846, -1.8667, 6.9265, 1.6142, -0.1538, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03087639ed0404eb6ce26b0654313726c908a6c6ef980d3453c29fd0aaf3aef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4d46b819ca225e71835ca01a07a979b9744b6d060b8cbb0b84d5644355acaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870c6b8920ec116907bdf45605bf9628d998e2a214c4cc4c4908b6a7094a3b5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqysEddkhPHHGYKlc1Z4N2kJ4NS2NMUc68lEZtctit0xmgiTQtvRfd4UmeJaPTaZp0Xakdkv1KsX5uoyYhq08MwaCq-qnwp7h8Fza3tiGVMx4fADqoO_kTKMaOt1E8OZjbOgxrJkbCgFPXctdAP04plR_MWsXSaPrgNX10UuPMpO_QgSuTO9b1v2AsmYinHXzWnycoshA-Xflw0p1D_AlrLeKVVIJKDrd1Z7vHDDiAH8BsiO-JGecFZY-WPN3xUUHUxozxdosmBPHuvfxbcRYLwhKFBYfksrdm3REFo7V0eZyoH0JLn5vXz6M4yKkNlmrykX09nhzIHy2wsVDNqVa3u7MIWHzJ6B7faggOBrU0RcGAoLmjaSyDAB69yGFINE8oA7G6A8hT_4Q6xb-5R8mteUPPTfk9brTchYYlhVQ43Z5qQAOOTsLSbk_lMSunR9w6jnqrhhL5BIrbVau7fRfClnxfwsYVqel9LxvNDuRdcUkCtjFT2Jq-fPiW93Z8-WJx9rnxj5Xx0Hm3aiqFNjgY0LI5F-K_EaSQRd_WbOys1D80m4_sg5kXURbd5N--T7AUbwOn_hpKhfe0Df7_aaeK73tmleuiWPlpdK81brUNQ6p6ZrOya4BDsSpkLIgP4N18StKInSfXMBStkisps9it27Q1k3sg-2z_Xxt5g5kCaFXeEq0Q9DMo6t1Gq_s_g4ccyZjHMmgFqWXUpCggGxMuXVzK5JOi25MLjOCK0tDTG9Gt71OACR8hi7yHpeE8EyF_Qs6956pxaCk7Gw1kaECtX4B5UTWwv7TCiuszXwtJYEo9WGLCLdZdz30wyizA1dRhAFAzF0bEuJKfHIRO8GiuLpVD4rsaCrak5coIT6VOOn3oamxxrQXORa0sGLX169Yn2rmX_Fx3iUbOjmubc_Hqs4vKrgMoF9eYDWa7qjxgRbj6HZZ9eg288Jdw1XyE4M7Y9Pbv4MWImiN3X_BBJmc9LSldSn9OzkW0iweGSFLeIuN0UhWFBVqGIDnRHUk0JDX_1VxT6MHZDep9xpXpUGinaR84BCUDekkCJCY19CUcI1CTqgMzQy0p607NKfMioVYql1Ptp0tITQf3Ue6XY5iWrrT2MTCQvlKeqglgRGfdjAbdMDG1yD8MOrAT_x4eF-sR2IIv3NTRRG9Ps6_b8QUxoucJhccfH1TFDGQkbame4UU4EK-b-KW2Cj1sNifg7u9sUNCUiIKaZSJkRh8ObsBzotQEZGaL4l3vVUJ4w4TUhnuwpf2snYk01TeT1zL3nHQQYMT3-80LNSLfSy3tjg0DWQI8kPPB2q8RS1h-XZH0sH1EZjMLudl7idybGImM8b7mEDNPTWvl-CcDTmUYmnjyUfR216fSLRq1K_5Z5VOZeKqYxpjgevrJMhF6AERzdTY0Z9zNFtMq4iXVQ9Hx0jKOrS9YnZ1SvcozQ7KZsvxG5vw-JkNgXodzFm3kNtfiJSJPloB9-br-PDjIVaO5SxhhGD8QTOYpzTzQy_RuUB5B5HRzn9qBaWGYZDmvjTPKN37zNE04bcLl-tVa40ifuVqaDjf2dilZaURETO_gXWkm7aVuFYjrxEjwIHJTfIOx0GgXAIFvOPdQQ-GRCUCqcEt6CuDOpk3evxPQlqqBqfWpJKmpy6zrLwnFuzqshUg95Xh1lB8D6lBVFvwO0xMt2NfPH2V4YSPxAS5r4qlZ680Rx_zA-MHkWtKdCnbvPPG4Eg24XwNw3aNXQjPe4-NljjrnK_DRHd4jwsw4ixdu_x0uUxM97m1x7t3ZiCU34y1YIomJLx2j9h8v0f-khziHHkPxlI2255GhRqFnmRuYb6sgAMv5hXoUlp1DXPXOsXmI06NllkIiMKyIH2nTnQjWl47Roq8UqGxdZwe8ZIR8s62wB1cTM_w8HKNp2OvvQuCsYx2hOuk5j5_AkjAQSsHyZCYe0y2YJc_bQcu4NpAaCI2g4N7B2XuV-6g4seDxpr_omYYt37y5lYrJ5jcl08RF_JhvvX0xA0s5GNZi37gpVNsLXkp3-I9cBWTf_x8hs4CdtD1tBnnjJDSw7b-VxbqCeDRhhXVufebcTJd1aj2BBkW9VvJ7hKVGowR1kuUjwo1lK_nKxN7U_hhljvxxkswhTVhFr8D4jYqLAzS43Yf98_O19wBtFcdmxho3_wJPMg7UxmKnVmPIMx0GUWqS7otxCqP9uycVK8fFQS6SkOHr8h9nQNcCxrjVVayn-cFWJRugprGFjvSuoA-0jYJrkfk0Vz1aTUOhc5yFfJC7sDyc7HhRXmuNE0kx2lEnIuN1620O5t7hkjmQpzfCrUTny14ERpz-1sFCAVW73-XYnGIZGUTJqZJ2wHjHp-VR30gwCzmX9lMWmAU3mvkYwxpEZpSCzv2Zt_EQtzidFh05-A7d0eolNo5tJ-9N00vtbWl-bgbDUxj2kGVYauaLElVVrMw7_UGD6EASfl-_HGKrxzr41DmZ2Qbhg2eWcqyGzmhsO2wBS68ph1UjcLyUK54RLauHh5AjcdEdIW-WP5sxPKaFK_JK9JxTuQLvsT4RDQLzGIlRH14ngg7yFcc8gbMiWcVZkF-y2-MNIhe2xnclllt31UbfaN4vTVlphP68GRWhs2OXMn17-FlWQWWqZvzkWzy-hTyoptOz39ca0Nw_eifvItGVDdSRsDKaNPxgFohY_tS--yxX_75iScYPuvj5-5m5vzY_WOAjfsnYvDriteDneXwvlljShSjKp6THl76zyNGKKPSwcjwMm4SL1L3XYwC1UrojKgB1rdlMZd5Wa_tsmoQFk2fSnMOC516n6A6qfebuIDyKehTUtJ3WtE7J7fog5jMBH75MqWc0BFG6uoMB6y6CrumnJAOMUGWWlpFQ6ED7BxYURJ-iS0O45_jz5LpaWrFfIOpr2dgL3wdl0Ggc0o2BljNEp7BeEXdI8sImdP1peu3BgDNtLkBIu6lrQb9mHb4I9J947rQwAmRSvTS8vVaIMpvAiCPRimwEkBPHEE463mPmaYZz0MksCAYLsiCQY74ZgpfBh4cWpmiBn_dt8BjcOEzAlTUdjNbDDIvgpCESw70B8jGADlUHVlOtdC2N-S2Vi9RawJYDtd7tRXxIE4w9yHllnXLBdnHW8xt4ps0Z-MTrm6QFqzfeF2VYNSCKChZeNJFLz42cgJewlLnF-m36IhANpPWxFmA_hiWR5DKp1XBVn0ePD0iNKdzXq4tfVjEKbWojNaLAlcyki3xIDp9vjaJsGMKVYNlnTbr8eJ_WUzr8dMZxMeKr7LN-nxPrYsDeocmklOFj7CO0qSIm3gvCnbmzq4zR6sGJGGbN4qAM0knAF7S6Vr96ZewqpLv7HJFt-agv2g5ouBFAz3ODFOX4whN_vDKYgdZo1KGBs3CQcQ_-fS4zbZ1KlbBDTTbuMVY-57whONLsbh-d_kLNqabeM8z79fbX9Dmg3QcmvnvXS6wS1BVAU6Wrsemz50RWioLqZTooKwNejDwMitawKG0fR4VzrU2jsuwPbJlfFZF7PO3VXD0ksrwG6NrtLDmdNoafWkg==",
  "id": "rs_0f26f7a48333f1d8016ab44aacb68c87d0a4d7e4fb8fcbd77a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.39,\"left_y\":-0.17},\"note\":\"The near-zero gripper reading shows the tapered-end close was empty; the tiny tip was slightly right and baseward of the grasp point. I’ll reopen and shift about 2 cm inward and right for one corrected grasp on the closed end.\"}",
  "call_id": "call_L3amRPoIE3w9hPFvDuIzkpzQ",
  "id": "fc_0f26f7a48333f1d8016ab44ab1549087d096b21ec33ecaf024",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L3amRPoIE3w9hPFvDuIzkpzQ",
  "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]: [-0.5339, 1.8744, 0.7605, 0.3264, -0.2893, -0.268, 0.995, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.3975 left_y=-0.1723 left_z=0.001 left_yaw=-0.1466 left_pitch=-0.1752 left_roll=0.0064 left_gripper=0.995 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.7726, -10.2085, 4.0137, 1.2479, -0.2369, 0.0659, -0.1392, -0.1573, -2.0171, 6.9812, 1.5897, -0.1636, -0.0806, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc53188c61a5ca0a8c69ddbc7598d898c6cc07d03930d04018bb31b0d552a4a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e725338bf3738768598b9cf8be2ff6a5e8fd5957fd0c3bb81114eca03aaa37cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4e5cbc7c1945a6158b31acab2019fd2cb0f41a1b16ad341045dde188084a3c",
      "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 · 2.349 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]: [-0.4549, 1.7729, 0.841, 0.1547, -0.2359, -0.1909, 0.996, 0.0174, 0.9142, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4147 left_y=-0.1529 left_z=0.0403 left_yaw=-0.1549 left_pitch=-0.1792 left_roll=0.0242 left_gripper=0.996 right_x=0.2954 right_y=0.0488 right_z=0.1661 right_yaw=0.2712 right_pitch=-0.1195 right_roll=0.046 right_gripper=0.0638\nstate[joint_eff]: [-0.1299, -10.5368, 7.7333, 1.4335, -0.0317, 0.2759, 0.0855, -0.2256, -1.9077, 6.9812, 1.5751, -0.1343, -0.0806, 1.033]",
      "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]: [-0.4519, 1.8858, 0.7921, 0.3023, -0.2356, -0.2005, 0.0096, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4133 left_y=-0.1508 left_z=0.001 left_yaw=-0.1461 left_pitch=-0.1926 left_roll=0.0212 left_gripper=0.0096 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.1436, -9.4701, 6.065, 1.1013, -0.0073, 0.0366, 0.7595, -0.1846, -1.8667, 6.9265, 1.6142, -0.1538, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5339, 1.8744, 0.7605, 0.3264, -0.2893, -0.268, 0.995, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.3975 left_y=-0.1723 left_z=0.001 left_yaw=-0.1466 left_pitch=-0.1752 left_roll=0.0064 left_gripper=0.995 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.7726, -10.2085, 4.0137, 1.2479, -0.2369, 0.0659, -0.1392, -0.1573, -2.0171, 6.9812, 1.5897, -0.1636, -0.0806, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc53188c61a5ca0a8c69ddbc7598d898c6cc07d03930d04018bb31b0d552a4a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e725338bf3738768598b9cf8be2ff6a5e8fd5957fd0c3bb81114eca03aaa37cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4e5cbc7c1945a6158b31acab2019fd2cb0f41a1b16ad341045dde188084a3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEq3ZmuDsd8FuCxGMmgmDLg4hUTdQ6vsAR0AI_lETUtdLtTQDY4V9Fh7hTG0z0BgAA2BUyt-FQ9GhDFvZprm2DqLbCzsksn86amxCdUY0WZRuLrzZcx41OCuNFz_c4t_rRn67dSpigpAm7kGGpQuw3W5B2n30wfN1fO7b3ZIsIpQmb6QEhSRhi7poC5hC9uO6IkdT4-Ah6P17_OHbk9VUs39EX1P_N3a_9l6bW9nuLPzaeddVhf3zRRYXA4y4FQuqYFcukhVWasG_juNCtBl5JH_yxHxc7QYumqjqmVtdMFxqZ98cFXchNjmZqeeX2RNz9ZiwWemtEjjs4vinCoM3wMWsswogsWrn9CI22g-ASVoxAbwd6rchj8JTYP0kRI66KjW41BTyiuDkmpCu9bPNYmou3nPkrkiP0SCfiB01oVAT7Du61B56Anx0xQ--2a_eTdMl031MRbDrocejFfLBLIrePCsOBd_c6xqzjuDLfKsoAwPBW-M3bipK0M6vA_o2phXeuhLOHLfCamZchm1ZE-ZUZjgj5NfAqD2pjIGIv5bDyovJl7LiULPzZi6kVzxqgeYIkoeCxXgFjOvoqI-pwBzKlqP5UBU8UH1LNYRW9Mc-w68Fa0CtuGFiJvX6ruR9Z3JqPa8pOy_6t2bUAwj_KiccqE6n401P6XZw94TCtag7WP_LtXFBeCAYrkK_RZpCC4kZrmKh7IHGInGJ4y4nc-gkyLmkPJk5nwyI2nHpWxYCn8jPHwBgoV82gq0e1qE5F1V6qES7H3QaeYzuxdSVnjLJm6qdi0r7zMFWxuj3A2h62FELGaCPx_BbCjFaz1CcxaoKPFIVN-palis5Bvdhhrr7ggcobR24GM1K_RX37nL0PNtLFS7AA_T4M6P8pBES729THWDLGN6T7kroN0I822eIsjwvHNGsBuwoSqCZN9_IdvtOrMTUTP_fMoR5eVsbAp2ZN0JnP955tHo3Sv7WJP5CXbD1HAy5gjJ6IqWP8a2_EACPKjtgDRi2w07pNfxHn8cGFToZEIuHK9z2z63IRjzSS8EnwsrdykZSnFhakxsBcF0LW3GmhrmZj7Kcx-13nTpZN0wO2J8HpK3MlbBS7W7MRJiUu5RDjpwPF5JoLss3qOsPH_szL4XPYFCJ8ANRiD2TrrIOxSHslUX84IbrItXYSRO2w5Iu3PzyKfjSCp96L6Z-WlprHQBVir3W0XBPqrnSZKhwoodBgXy_KO85GdNEDLlYT47T6eW8Xqu0GBep91clq8Xdg4hBExxr7ezRQ2nM-LKGkNfHsY3aSEP165IqJ6vGBWMWUwnpnP_L1L3cQAYwdbz85rgMQsglX7SicxixPRo-St0grnLwG_KJZf5ars2Ejfv7kki4EFeFgQL61LKzc3as5v9l0wJINwhEUnQKXkmQp0QfCVlYlBPkFhAeGQ9VmXZIVGmi4jBpMd1Dio6jqUv7JutFNsnJQlWluvDhpabtADI2OwoACVUksRi61Ol3M5whKJcJNoMjpsGRDCU-K-e-tR1GjkA6PzctnwrDEdkOEpiCgGyVCZAX-WW57n6HaPVIoZOpH4sRYT5BnT_fsUT4wTfUTZGqaMZ6M_hI12CAEBooNoOwfzWJpDLZPvC3ccrLuzpOpwmbd5v3O-yjROgTARrbYjYjofTgnuHMi0UIpfEVMb4q62qWbSSSfQpt5lbpo4VguEkIid4y3rrlJ6t-MztgxUeunvbXPzgqbJ5wiz0r8iZG2H1ROjAm-H4bKdqnOt1PhLjTezT_G8vK6rdS5KukjiO3HyTwvnJSLk9TlW7H9dWNm14LSvLdzhLuvkgNY2uQxNf0uie6U2HCEXPKrWxGkbpz5vCD7_DTpQvzaSMd33VoDxSqxW8g_zEhxxAImMMgJz7dJ-SIayN-wfDXCV-dYxTNw8kAPmW6GBvr0xzFAxixwBxfs-CQpuzYhi9J9gvj1zTuhRA1_Tbfp_hBYR8XgK1t08-4-iS6Ey10IF7fOB2WUgWfjO3vqOz_KBhJI7rxh6XYDL6InmU2bacZqi47pAO5_ZGK_0dygb4wwuYFM0pQfoCmg2T8BlIriPQ_NpIe7qpJRFhGhcit1s1n-RSDgW_IaPP_4Ijh2hYf-2ygvMb__12hhsNXzIM9U8SsNns-WdxWFTxD0aug761aZlXjj1KvKybihJ0LFvNcstL281uUzW1_KACr7pkiFoShTZL6WuRE_Dqyn_e1SntMxy9YyjQBUBrIqFfVoenqfosPbk35M-Cq3j1_aLwnwi8hupo_RrdUaY6FqQ=",
  "id": "rs_0f26f7a48333f1d8016ab44ab45b3c87d09f5c942396cb53af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.145},\"note\":\"The open wrist view now reveals the cap clearly at the lower-left; the previous rightward correction moved the camera the wrong way. I’ll shift back left by about 2.5 cm to put the closed end on the jaw centerline.\"}",
  "call_id": "call_630d7vvINcyW3avn5c0nz7HW",
  "id": "fc_0f26f7a48333f1d8016ab44ab6a57487d0a73f3fe27d125590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_630d7vvINcyW3avn5c0nz7HW",
  "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]: [-0.4702, 1.8576, 0.7204, 0.3683, -0.26, -0.2333, 0.996, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4013 left_y=-0.149 left_z=0.0008 left_yaw=-0.1274 left_pitch=-0.1654 left_roll=0.0061 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.1299, -9.3197, 4.3556, 1.3504, -0.0513, 0.0171, 0.0904, -0.1573, -2.0171, 7.0632, 1.6093, -0.1148, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29acbee34638fcfe7822e3fb715f6be7399d79f479a4bb736aa0eb6ab76806f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b43c14a550dbddaafcd0c4278ba9ae0519fafc236d3432b184781eaa8a26d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6083f66701aa1c42c122fccb5b4fe3336f5bbadd978f42e8f5b8a60b1a4930f4",
      "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 · 11.28 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]: [-0.4522, 1.8759, 0.804, 0.2577, -0.2287, -0.1967, 0.996, 0.0174, 0.9161, 0.6781, -0.4648, -0.2291, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4108 left_y=-0.151 left_z=0.0014 left_yaw=-0.1529 left_pitch=-0.216 left_roll=0.0261 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1656 right_yaw=0.2712 right_pitch=-0.1214 right_roll=0.0465 right_gripper=0.0638\nstate[joint_eff]: [-0.2803, -9.1556, 6.3795, 0.6471, -0.2808, 1.1062, 0.0024, -0.1026, -1.894, 7.0632, 1.5995, -0.1245, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5339, 1.8744, 0.7605, 0.3264, -0.2893, -0.268, 0.995, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.3975 left_y=-0.1723 left_z=0.001 left_yaw=-0.1466 left_pitch=-0.1752 left_roll=0.0064 left_gripper=0.995 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.7726, -10.2085, 4.0137, 1.2479, -0.2369, 0.0659, -0.1392, -0.1573, -2.0171, 6.9812, 1.5897, -0.1636, -0.0806, 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 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]: [-0.4702, 1.8576, 0.7204, 0.3683, -0.26, -0.2333, 0.996, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4013 left_y=-0.149 left_z=0.0008 left_yaw=-0.1274 left_pitch=-0.1654 left_roll=0.0061 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.1299, -9.3197, 4.3556, 1.3504, -0.0513, 0.0171, 0.0904, -0.1573, -2.0171, 7.0632, 1.6093, -0.1148, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29acbee34638fcfe7822e3fb715f6be7399d79f479a4bb736aa0eb6ab76806f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b43c14a550dbddaafcd0c4278ba9ae0519fafc236d3432b184781eaa8a26d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6083f66701aa1c42c122fccb5b4fe3336f5bbadd978f42e8f5b8a60b1a4930f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEq51AK0J_uhk2l6GFabJx7VjudyBgFAZmhzLXaaNaUULX1i_BnkdwD_mo12c507XB0ktTop2eBBxKDM5Pk8rUxbGOqhlxqAgD7qocBevyqzSiKwRTLq_oVPJgY4_10sy0Hfplo9om6APyXTIMGLoia-gWRLUpfbtcXUCaXPwTpOavktMKekXrOSglGwWI16_Fr23l06lMpdGY5zvW1ipe5JmyzWQiOflNn6mBYOGwNtRXyMgdieyvLRaPOvRS3hL2affnjEg4-6hwv4EPgpJzFyIki19otakTneN9sGUJgBHoY8SCyZG5t4HHXnTbnSSGinsN6z757jqk-pJ-fQTdx3bgPedCsl5b7I98LsnFNwHoZ1vblx4AMcjBgU17ZRZ5cwIgYS4ZLpWNZ_LUJycfwO4wFD8YDQm3DeV5ZE1BDTymub8U50doxPKTz8HAMBBh0Aav_MTl19Lplxqv1eDPJEWE-rl_oyC3CJ8cLZCtlxR5aNkC2x2tQoCGGDwgH3Mc13bWLa-SQUPVVJet5r6VJDvu_i1fMsXF0aeDU7bnBdf9_R_Ihh6w3txZX2-k4-2CqfS4kiK4_H3lMz-Kvh1oWVEf3sEqv0uvTDoLonfa3peaibCSpFUGNfqGNY1KEA41xl05YK_6HmdcHdhI9Ydw1NdwCqoHEdg2Xfc8Fc5F9cBAcA5CuKIqa7Yy23ne4CDB0HbLTavuGuAFVDSVTHrKkxDu4wX10aPr1JDikaTqmDL1-kMvMel_kESmgHh9f7R2nJHPyC8NJHncswGPqnUWe3N0BJQlO9THhVe9nnlBp4ImsX5Gkrdzl7gi-zEui3Nwv4xSoBYSTeL-DKS1qePqTwXHTHYkLMQ7vIIP3P7RTpjENnE6rm_UlLE6uLFC7YYGFK8C7rGpVILjDR8spfYzmls1yWbqrpT3Si1Ep6RACOdLud1mPXFQ_D7T7rpBjnoY5wQqw2Tf7JUx2mw7piYmeWEprKzgTR7se4b6cPqsf7wUJ8J2YF7q_w6JgPLzXo-MkHkeGEZDI8oZh38ThA5_pYFG0kBDzQ3qf7ZLzMa-Pju8SLP2C26rIdTdpCemPMHp-fhjg-7MijLffIMWYD-OvndoLJc4Ccf2AovC_Tev5rCs4WYr9uj0oJr-hjPE0CUSZWbkZhB4fA8RGhI-05mt0nnBg5mFyshh6hOID2uqiDm7vMFpsu5bN-GU5J6nQxVged8jcgzCHPaYi_q5ZTsBPnwvQya7jVlHF_UyNLjG3R6yEwwIV8dqAxDX-NHdZ5fF8jLZYRqDK0qXU0is_FOLh3GA==",
  "id": "rs_0f26f7a48333f1d8016ab44ab8eda087d0a5c1ad02f097ee7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The correction places the cap’s closed tip at the bottom center between the left jaws. I’ll close on it now.\"}",
  "call_id": "call_RPQOhwEjxO3vPOlk5J7vDvVC",
  "id": "fc_0f26f7a48333f1d8016ab44ab9187487d095a8c9f448f8fb23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RPQOhwEjxO3vPOlk5J7vDvVC",
  "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]: [-0.4679, 1.8523, 0.7105, 0.3798, -0.2611, -0.2348, 0.0111, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4007 left_y=-0.1473 left_z=0.0017 left_yaw=-0.1237 left_pitch=-0.1586 left_roll=0.0033 left_gripper=0.0111 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.1709, -7.7197, 6.0376, 1.4725, -0.149, -0.0317, 0.7497, -0.0889, -1.9624, 7.2684, 1.6142, -0.149, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a6f523f78ed4d9a1757d22ea8105803303262ddb52d7c9d3fdd9d4b92cc321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcfbc54350bc2d67829131709ea5e951298e775cc7870cb25747ca1fc24e4752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b34ab0e613d8282827ad72824388e71e46e672a9a52b22073dcdf9dfebe5d32",
      "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 · 3.146 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]: [-0.4519, 1.8858, 0.7921, 0.3023, -0.2356, -0.2005, 0.0096, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.4133 left_y=-0.1508 left_z=0.001 left_yaw=-0.1461 left_pitch=-0.1926 left_roll=0.0212 left_gripper=0.0096 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.1436, -9.4701, 6.065, 1.1013, -0.0073, 0.0366, 0.7595, -0.1846, -1.8667, 6.9265, 1.6142, -0.1538, -0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4702, 1.8576, 0.7204, 0.3683, -0.26, -0.2333, 0.996, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4013 left_y=-0.149 left_z=0.0008 left_yaw=-0.1274 left_pitch=-0.1654 left_roll=0.0061 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.1299, -9.3197, 4.3556, 1.3504, -0.0513, 0.0171, 0.0904, -0.1573, -2.0171, 7.0632, 1.6093, -0.1148, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4679, 1.8523, 0.7105, 0.3798, -0.2611, -0.2348, 0.0111, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4007 left_y=-0.1473 left_z=0.0017 left_yaw=-0.1237 left_pitch=-0.1586 left_roll=0.0033 left_gripper=0.0111 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.1709, -7.7197, 6.0376, 1.4725, -0.149, -0.0317, 0.7497, -0.0889, -1.9624, 7.2684, 1.6142, -0.149, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a6f523f78ed4d9a1757d22ea8105803303262ddb52d7c9d3fdd9d4b92cc321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcfbc54350bc2d67829131709ea5e951298e775cc7870cb25747ca1fc24e4752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b34ab0e613d8282827ad72824388e71e46e672a9a52b22073dcdf9dfebe5d32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtErF_WLYpzrJoBCl2J7J3XMmFD7jaKaIJxjKGdePw3UnXyB6_Nav-kVIgSsSRYqTcQkHlBsQMTYYKIEZ6-2ve3cxYaxeKVtMLx5oT8C-H5F3hPSxlryBc87Y9QUI8mZgpBaIrpYa2CVqFM4iq8D1hib7X1ZHeC0eL_ZA7OTpazdnD38JSvHTZWBsIq8JmjBQ9di8m9YiHgeJrK-y5BDPj7vJW66MdoegR61Me1BaON5pPs_8J5RCOUbNA77CRgAt2ivuM38kMu3llSKCq9UhleAd4EfrQqvMLjHTlcP1Nar38gcmyV0MfCpXc9I5V1bYUso4eUbaV8eZ4k4aT1Wig2ibYM1NqMFONJA8qXlulpjhKO_l8PZHxEGHpfeq4I3200AqVAVueckAtoO1YLxPIJ7_A-HtKmI3Nikce5MLObn2mvvllkVyfDvfa_9JUwbOzk-hyEdmIXZ7_2JAPgatXk9VHBzhZsVrh8VYSRTiYqprcPYQrE_tpieOpbwBWkQ0fMp0eYGCLB1IZyMgJf-Z-zItIUFXkFS3F294pfI8ttuPUqNW2nUctRzVNVDODzyHPNUx2_UJrQUHmmOCdIyVSkdfFFcUSLJKMv5NiW0-HFWdBD9ZxV1bCD9jKnTUvWYHHSUcCsAvTMdmvN6hmWCa-YJ6eSO4nxrZhHO3j9KcjGNlQesECPp5T70fj-OYEbk2SJ2cEXanzwKBpL-HrTfwsDt2CkLnHQVPQun7GpzafBzlR3bMZunkvqJnuOXWzuxpjgU20aB-5WQgmH5bTikoyVR5iF830jL-ARddKMHvzIGlsiMoNd-kntumv8UrwQSu89V08GoqCOtwM77MmfFLRpDlC6hhtjwbXn2GhIL9WrKrU45MsjQDenz8h5TytTF_dqkIf_RKmdRaRs_Pq32Tn0kp0ZDUOaQivhhTB57HJeJkFfeRppSb6CEkit9HOD9gJ3v3AVv5_XVARdVEgi1hBlXXujUO5zijdxE9fD3Fil3Mz25yNI0yeelAK6hhJDJweys2PKcGqcqQ5L7yWk-mBYYiSnMYjkG6R-hljiAniFFbR0JfkdJIwa2UzZKlzCeHfS2khpMPF4oLOstH8TJy3QdPbPaoZLx4VbESoPxi_xH9AYtzxfXAykQ3OHatueh1N9pd-ff2bvPIdbf3oWlJ7BS9Onb_W3u3gTdlTZB12fJTytctcAt7_dlmzAvD42lJAXaVVsyWUVedmqp6-ZK2Y2jLqOW1ELIdrv9Ckk2S0Yb4EMtSkCkT2JvDb-Sc8oJvdMk3uAzXnCIJb1zbkAaiXBfTQsHJVXMjkEUwgHs9bgffZd2wqC4BYevJ26OZG84tJDgPLqWiKHZaBSMXxuE6WIOAVkp2uDHPaQV-3FWmFbIShbg3E-4izDNiuc0OmnmUMf0Hkf98x4upaxJ5EwUmvqftnBE6KVvduFXrnOYlx8u4QWdDbHlw3qts8uIZ2MZMHw4No-knd8ihxbP8rV7j9C6hzKjzUlS_scyBr_38r7vu13bQLxH1qVCMHMnB0ttIFcPV8qha8WgHwGj5nYhZHxUhDCmpy1P3RWsRi_deWvNDJMDuAIQa4US-Mh0t281BQTcIl8cFHRXD8JiFnWu-zLh4FnRHWwbaJ49AeppNt5Kl08kqRshG1558LmQn3Z87jok_uy_T_4XRjFVRL6tLmk3yL4fkqg0aPUALWKtXEJj5p0kdLRS1c5aO4iWPw3Yl6BWKqx5jMVrtfhX6k-K9dEnvVFntYzs8YEWUm8DIoBkH1B0Kf9UC1I_a_bVvOk7Z6vfSKyz18aquAhYcGmRXf3aGgKAiKUECxnnFUpnAny4AzlQnRtifdGMDOzp1hiBOagi8h6nht5yc3gFRDrSM07PfNFnKfKYuW2Uiz9BXBy8GMiDiWv-XwyuX5BcKt7NlQUhvs3sL7sG0bNXScJ7vovegrjQ7_5XllIaXdr9LO2JaiRGiDJxZfWSPkHyaSd5lJfFbQg_sXz-KST_A1hy70ghIQK1UOoapR_U4mWor-reCxY6W8mSFkBds8Q7WTxZM_ii2rzG-zoLfPxrUdB7mlOXOXUrTirjh6CwhixEkDslcRL8WXXBuizfMCFAuW838pO7cmyI0ArIytCGwO86VlsUXMrhEDaIdv4Hu9PJQvUW0NLMDjrSRATo4g6AqzDCS6yKGqirMPwrLVcxpoUNHDnaNprhpAHdndW-wBD1J2d5mUICmj6mYCcLU9foeiwdqw9t6SxphWHLIvPSfFrwotD_QcNBAVhbuNv5RvCrMamqOegEIL9AbpCG10WRKWCgv9vbhCmPvEQyN841s4WdxenOy3whsQROhoSLtAwUOSt8eWlzho47hzF4uIhIhhypxAiM8ZiwuOOc8vC1uBThFYTezw5N0TNHKRRdWbhipdwNzfopggpfDaF_Eud1zn_741VQVZ4t5xOMmIqBB4OgpJK8PQxwZfk0maRrqhrLupSeQuGf1e9CvDEIloJpo84Sfhv1r_b7V7wyaftUujh0wRPw42bmTjwISwmr3NG0eWXO2cp9UjuENtI6_FNGJ4GRRPmD_Fit7WvPttRfv50mbmhE0Js_C_VVaKzgKaHpfrQMZfIx3o8bZ_8E0ibD47Jq13Wx75NVoTDV2D-Mf1t_40_WRGX8Ve5Hi7hQ-OAKHdRBQkYJ0EMY7my5fcTx7Em3t7YyIhgQUvf_eNUxBz5YDRepjjDUtuyqNUsxTZlo3TxHkXuzIP1uPJRkPhc86uacBKqUpugeIi_dhzN-ddnCLU9RjobsD4d-hCq5Ruv8J7EqOQ-Plkyx0xIetL86_qWs2G__UIsWQ7ovAQ5KQz2aM2P_-haDLH6oN5qYVLS3RcZ2LEhG5VUO6Ws2ntBNBz8VW8aiDwmgvQafBohEfPgxIiS7SZaIEHN1ShqAMIxm3Qg27T5_2sMZtm1mfJghKCOue5gjBIIs-10B0vb7q-NKQ4otkyZkzcQEsF6c0dOf24R6c2Ly25AV-beQR2AsVd6Cw8CKd2RH3WJ2WcBtV-5BVwAxkDSl5lLtmonIf72w498PdZwJ1-xsFzI1n2PDOKxjIzqqH6RjTKcKLm_HOdMUPsteEYYljehaE6YKUdJrm9dfY4NdYUbQ8yNSaXBZjTBQIw6UtZlF8qRGgIt8AVW5v724dwrthC19tpdhVewPgG-ihWqtIblhtoNSfgw4rfwC8iLySh5pf7SXHxsZVI8QvGaG31u1JdoOcSR5qqTiXuI6GBVoQWLCczkbEvSGsVAd7CA6QXcMF6mz_D0xYKaCQHPJURZOK8ODPTMhSl2OwmS8YU8hztCvISxYlKAxZbhp6VblTqKOleAG-HOUGBHeByUB7myusWEoj_taU7OaEBqm-xx76oAjqzX9njxKmdfzDEanJ6HY9p6W0GP0sdGU6pxOm3ed-C9GvMoKF0_-hty_xz3IWzNmTOQkpqMiipyPVRHDxuhHCB45Dz8iGbtP6yL01dqJZTk7tJTQ95YqwxBzoyAhJZZP1NmEB3yC3xSlHmNOxR5t00BLyMCwwB4su8bCd9_rSSVqZLgQ2tADVtQXFffPaX3S-yZU58fYqlMSMdLf96PcHo0ukkIFmg9PTGauBeEf0WmQZO3jxpgjrWrD2ZDd41o5bGBmt9zUxm4JbyLSGRyKX6btJXgdSzbmG_EDupXhoztyxsQbF489AAgaVUxQ72BkWQc3ZXsY1RJDaamHC7RtHOlG8aZO-OHaHdhbt3hrTl3ev17F6eFW3co_qPfcSGL0oCyyEDeEmIS_jjpvthbiVp9ZgV7oZUAR2g6vcoVMcDcoR1XEXDdCAOgbkd24=",
  "id": "rs_0f26f7a48333f1d8016ab44abc3fb887d0a9b8a3b85027f78c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErFSpuPJph73ZT1QsPseUEjG6qyCIicqPD9UhCgrBybVuEV5g7nCMGi5yQjm-TAvc_KI8dVAqpLj6fHf1FoK9pxjKXvdpk9OJapCk9uu3K-whdA5ArULOKNBVcvr5zJkx3wN221tnLYYGBTQR8IJ6AYenz_-8Ca75ggAiPJI07kuEUoZGgKq7QN-L0L9eKfRvnS2VKC6M0MA-vBSZyFOWE65_cdEQRXkdnFNw-DwegsFobQiTQ6Sr-3KBQbN_dlH7GUv6hnDQQVq2kvXoT9AjTunbqzWt4I2WphwjqjmH549cH2Ig21_13CHmyDqJ1S_nhMNsTPLtstG8tExF4igr5fOJ0fw3UXQDW55vSTdbhYNbQ8Gh8Xwa_OJSFccwozm16rG9lHaHSGDcVwLUPrD_lOSV_-mEXTjfbtlhSr5QUOVkWM0fyKmOVgk8DlnW0ITw_q5DDi_FtcbJEKM7ff2P4egV4gaAsrIvTdPp04KhEAClRF3Zn5DltAy62YXmGYjVrbJtrYa-fT47A6FojSAetfFE8rC_Scs-85EKMXbKzZVnj3cEXo3zrhVP44PTVGH8GaYCliHJpdXvJu0t6zPXtgBT05I_uasQFgpgDRQnhOYpik64G2xAY4WCQEvkmjpkViM721j8VtFHdJNnTHN3fDGk1PEqaR1aBiI2evuXQAJO9JOGA8AkXyVayG3-qj1Q8N03UPFoUawr1f5N72z3aLUiT0y4ds_XFgiPz1Kbu-lEPHSVQ65FQVU4IbiEmPVeaiDFxnU4dPMDiXFIJlW9j3hfpzcOlhUsFPENbavK6pg1i2HMLG6RVLce1bfUZJ80nXEQLieDfAh4W8qlgGgdhz6boKTfl3wQRT4W4nHZiCovWBHrOd_GCSmzp5iig9YmH0VM6FMPBfwzSvMizXFEYX0rRXxfYo1ggwl1ORleia9EyXVqhbNKwZEKeIt4toWiSd6aDzdLYdcx8-LVnE0i-Kp87EFY273AUp2xlbb2P5adZeqTaQmqibFokfRdPcGZP8MqwnMWkS8zMIHoaSB7ud67H3rQgiYm3epozY051WChbMPq0LNksg6e14Q3wfB1hFJCgwPTAnvT82JjDu_KxbIIaeFmvNcrC2-TIj-h3HxkdzOswULDHr32FrG1H-RtIuRuPh-A-YEg-qZi9bd02TdyqZmItqopJmHkFaBl2jRN4WP8fZoNCnkGIcKxRULX1vtTYnDXAHbvFB1aW-Y0-pUUKsy9O10G_FUbyw1aAEoQfd_5GrrTPuju-O8_s92HdDNlaYM-JUp2HkBu9Pf8fvvoB2q9fIZwBIalsTGXTfx9J8w-k-wN1H8VT3LxljDLJ5M7z9qZzte3a6GxLzZK7wmepEILcZQNKKhORxvUt_dnLgyMWr4wq2QIINkXVPVB4tx3xlBEVXOId6d_kffDv_nKk25E8aw7NEWYWu47XzzkS2FLMy1nkcuzhQ7eNdVg3TcaZXwMCo_9HoBykSvnmyUi5knWIVQJY-rzXlrL6baJisPf1e0smmhDEwmhPo6i_mInfayJKybA-NqGBWDhJKY1__IOCgCcm3zmQV_ejrObBIEEt5-lZ4pAg719qaIAvR0PCAjAIQk3NEOXYdJcLZBhb8jGoDba9BcySlwEJralyrdU0jVoENm9Az1BVA4Xz5vVfk9iNgiIKSpeKD75MsqUrTF4L2YhzrR_pi76FUo49hteCTvhdHosOVTnzQll8__IAryyoT7tYgDLxMPiHS9U32pm7RFd03606KajPR5xelc6kgkXrr3oUINBaNRl2dh3LhZFRy9nPV65pfP3hKZ49BN671JDRtoqv9Ke36rHikabBjcSOGKuKa0UfUX6C5KBXTp947S-ru4UWFtngac6ib-37qBFqLmeo1JhSXpUPRp4i_rEr74ldegwJx65lP9SH4lZ4HZe7Uq1HcLlXSj0u2yV94brI60L-CM-GEWFjTt9rI0uhod8m-uOdqqUmjATZsxZFu-sOQ36ZRyWTk6kQgfwvhyaAl3g24eGmOTDTjHp5m5L6mcrfJQ5DMHhWsJ9R7SUJSKVYYdHA2nWgRoM-cpc9R25E_n9Ssms8LK0VIjCFpnRf5xbUGl0j7DUr1ISp2aTErhSN7hFFeaLzVewA1SBe-MX4ThGyZSqveeg1hzOup9aSngFHHOPosboVExwMLTUryryS1S7tBqdIkCEiugOCPwVgUBnthoYpbsD_EufyDB8enuJk-qLNX5tM5POQZuoesYl8SD_1S2m8jlKO8xDGpz6YZ9MRZuZIGDSqKdcLmosFABBYMBoV-eiw--9RZo5q47uiCV1_StXm1AH6CdOYEroJ3h_4lClqT3GK4J_-pQCXC_odfsSjdg955jKhC5mW11ua1l1GKN9gw6U_59LbQqVGA2FRhDI06chyOQli6MPHY5_cN08IIyOq5251cFOXDYsdxNRJiM3X01b3QpKbdWcLlAtxVQvhGGNTtWExI-9cGpmhShaNaOSYZWO8ulT95uVzLHAChgRPngnla66joK05l1skouSREch34cgiPXyPvpVQUw9p31m_QTYqmTeychWL3sLgoIhHgC0_8HTeiYvaOTABa0QsNQwHLc1LLNXP3oibMZDrBDoIOE_vAibhMKcOblF3DbQlt67B0TFU51BJBlJDr8Mwby4LXz3XSl_Z4aN4v2JNBbAfsKIhfo-3GLWe5CkW3rM2dtQxUPHJzrr0iLW2tZ_QyZSs=",
  "id": "rs_0f26f7a48333f1d8016ab44ac1cf9487d0ac6202f8cadca098",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.375,\"left_y\":-0.16},\"note\":\"The second tip grasp is also empty, so the closed taper is too narrow to retain. I’ll return to the previously successful body-grasp pose; the cap opening can still be approached axially near the left fingertips.\"}",
  "call_id": "call_PC77Ljeilv9ehcERtP0P8EOd",
  "id": "fc_0f26f7a48333f1d8016ab44ac4a9b887d0ae727a55ffe21682",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PC77Ljeilv9ehcERtP0P8EOd",
  "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]: [-0.5415, 1.824, 0.6559, 0.4011, -0.3145, -0.2848, 0.9948, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3804 left_y=-0.1608 left_z=0.0006 left_yaw=-0.1258 left_pitch=-0.1492 left_roll=0.0021 left_gripper=0.9948 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.4855, -9.4017, 4.1504, 1.2967, -0.1783, -0.1099, -0.1538, -0.2256, -1.9897, 7.159, 1.5946, -0.1343, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2cbd7501079ba30eca23196a5e72681590cb7eaa4a5a7e07fefaf655db2b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:539cbbe4eb1a79ae7403bab5bdc5fec1a7ceeda890a37d6abf3ffaaa04250209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d54e96cea23ce761a7eeba5905a63c2a0ad056aba7894263538b3fbdac2141",
      "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 · 8.936 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 145 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]: [-0.5339, 1.8744, 0.7605, 0.3264, -0.2893, -0.268, 0.995, 0.0174, 0.9165, 0.6781, -0.4648, -0.2295, -0.128, 0.0638]\nstate[eef_state]: left_x=0.3975 left_y=-0.1723 left_z=0.001 left_yaw=-0.1466 left_pitch=-0.1752 left_roll=0.0064 left_gripper=0.995 right_x=0.2955 right_y=0.0489 right_z=0.1655 right_yaw=0.2716 right_pitch=-0.1217 right_roll=0.0468 right_gripper=0.0638\nstate[joint_eff]: [-0.7726, -10.2085, 4.0137, 1.2479, -0.2369, 0.0659, -0.1392, -0.1573, -2.0171, 6.9812, 1.5897, -0.1636, -0.0806, 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 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]: [-0.4679, 1.8523, 0.7105, 0.3798, -0.2611, -0.2348, 0.0111, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4007 left_y=-0.1473 left_z=0.0017 left_yaw=-0.1237 left_pitch=-0.1586 left_roll=0.0033 left_gripper=0.0111 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.1709, -7.7197, 6.0376, 1.4725, -0.149, -0.0317, 0.7497, -0.0889, -1.9624, 7.2684, 1.6142, -0.149, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5415, 1.824, 0.6559, 0.4011, -0.3145, -0.2848, 0.9948, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3804 left_y=-0.1608 left_z=0.0006 left_yaw=-0.1258 left_pitch=-0.1492 left_roll=0.0021 left_gripper=0.9948 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.4855, -9.4017, 4.1504, 1.2967, -0.1783, -0.1099, -0.1538, -0.2256, -1.9897, 7.159, 1.5946, -0.1343, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2cbd7501079ba30eca23196a5e72681590cb7eaa4a5a7e07fefaf655db2b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:539cbbe4eb1a79ae7403bab5bdc5fec1a7ceeda890a37d6abf3ffaaa04250209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d54e96cea23ce761a7eeba5905a63c2a0ad056aba7894263538b3fbdac2141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtErKNTb0y2gUhYZnE62dq8U1e3RfX4wmYchk_iJ1ufGwnh4ytNkvhGrMyQXmETKt1RaFwsHRDOjt-AlPb8SuFeY2XwRxk0XAu-VbrFJiMveRksBSZm1VC4DjfKr5JMvrjnAoY8_5JYjhaT2o23S9qROS5dTMUn5PCZMwkWbJ3q_TECW33gAoRwVyaDWn-E0Z36T-UPOfVza0WZ86xqKV41FKncSpHBRAjA1kiECc94S42wO-bLSNMYKGyON4qZJUNsZ8jDI8ErqxoR_tRtLhXRDqfNwywBvP4pnZ8qHWO29sJNK9DAxY29THZ5Oyh1wet-wIz1f5zW5G9XjgtsX-utRgL673sc-ZGfXnQCDFJ-haJ6tt0q7z1SzesKx7U8tEPF2rOA4yn5raR5zPiejUvl7t8PJOA0oF6untgXQ8y_PwwLLjgLiHa08RBpkh5s0HzDMwuZe3Wi8uuqcpZ_4a0L9dBiaJos8FcR7eEcLyLOPBHuM3noTocA7HOuP1jmdQGtutXoQU7twI0cgN1OQzkUYzljqN7eg1PpIW9YIICYbu9uTvvbE0Jaei4SppQ7LUF7FC0ksw_o-431H2sY3KqmFyJCD_dRmzV9PjvKkHA97gm0uAjUmMRqSf6jE-Woc8kxiEDatI_6lANvalH21xF2SCdz4v2CB944pX8cEFATH3Q3JZGP7DKOeHqh9TMN3thQbu9PO27kcInLuE3nNhvYMB8QAV3OYG926grtcs7avIwyIyxBD-xzT_h9qG5BrDjvARXZOPI-unWWMu2Wg8jlyyy1hB1RWHy94HFkr6dmvtuoyhxXG4Xe4wQmy-_VqVEDktND2L97XtSpSbd7NQfX93SJISXBFdWhKGuzrQg5F-XFPXpWVygFq8-40h0Xsway575IyrsX_i5119LlScOPu4ih6qZEatwoEoBDzPwU6__eTFlwdeAP3fG4qRNDuqc0k7X9tpTgYo7V7JOBcmq1QUnXtDOhDoTqLcJrajQ_m3Abn-kWDyqOCFmJhncH-qnNQHunDfEi0g8oGF_jSs7sold9jYmpF69OPgnvTaX80PX3RAGgXtkssXyZa2rHqrPSwi6CGlgIuSd3jqM-fJdTGQw5QcX-aJcDizZOu9UBYTuuaUvGuKpjOpTUxjpelrK_Bw3zRcAwXT2uuLpAXdHEX-n_oUNX9f4NKC31Y8QLYkaI2KC6VujyZiU6pbrAxp6XJK7la14dDWxJfLIp7LBXcCQ2jDAPrq4oz_2huBPsQyrP9h6gB_VEIz1sazU6IKLkfsbRghvmpRa-pYwrD22FaYdQCgAjAbsbnhVSYuKdUPMBl_ThItQJLB0fT7VL62hoDAUz1HUjk2OzTA3Tu_xafJvE8s7HVtu_40AcbSM9nf7BCh_8LTSOzGtjhx3uWMKLOsxhOOYUBNo5sH1UFoDHcLsA==",
  "id": "rs_0f26f7a48333f1d8016ab44ac8ccc487d0acbe973dada22547",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left gripper is back at the body-grasp location where the cap was retained earlier. I’ll close there again.\"}",
  "call_id": "call_QrVXaZ3ghkqpPjAhqFZZIkN6",
  "id": "fc_0f26f7a48333f1d8016ab44ac96f7487d08c4b5ffe9144b990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrVXaZ3ghkqpPjAhqFZZIkN6",
  "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]: [-0.5438, 1.8187, 0.6571, 0.4164, -0.3229, -0.2886, 0.0097, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3834 left_y=-0.1621 left_z=0.0061 left_yaw=-0.1204 left_pitch=-0.127 left_roll=-0.0045 left_gripper=0.0097 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.2256, -7.3368, 5.2444, 1.4335, -0.0024, 0.0171, 0.7692, 0.0615, -1.9624, 6.9538, 1.5604, -0.1392, -0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ac716d1148295429f339d1d78514c60cde561fb76e1f2577e430d75c0e7c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3b0a9089569fd3c3c0b0d7dcde6065681a7fdbe4183f7b0416a976ab3dabdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8eb4dce4323f731b54aedf5cee64f056b7b0c7ad3d8bc1f0884f4920b6a4afe",
      "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 · 3.702 s

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

message 136 changed as sent

message 145 changed as sent

message 149 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]: [-0.4702, 1.8576, 0.7204, 0.3683, -0.26, -0.2333, 0.996, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4013 left_y=-0.149 left_z=0.0008 left_yaw=-0.1274 left_pitch=-0.1654 left_roll=0.0061 left_gripper=0.996 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.1299, -9.3197, 4.3556, 1.3504, -0.0513, 0.0171, 0.0904, -0.1573, -2.0171, 7.0632, 1.6093, -0.1148, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5415, 1.824, 0.6559, 0.4011, -0.3145, -0.2848, 0.9948, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3804 left_y=-0.1608 left_z=0.0006 left_yaw=-0.1258 left_pitch=-0.1492 left_roll=0.0021 left_gripper=0.9948 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.4855, -9.4017, 4.1504, 1.2967, -0.1783, -0.1099, -0.1538, -0.2256, -1.9897, 7.159, 1.5946, -0.1343, -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 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5438, 1.8187, 0.6571, 0.4164, -0.3229, -0.2886, 0.0097, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3834 left_y=-0.1621 left_z=0.0061 left_yaw=-0.1204 left_pitch=-0.127 left_roll=-0.0045 left_gripper=0.0097 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.2256, -7.3368, 5.2444, 1.4335, -0.0024, 0.0171, 0.7692, 0.0615, -1.9624, 6.9538, 1.5604, -0.1392, -0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ac716d1148295429f339d1d78514c60cde561fb76e1f2577e430d75c0e7c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3b0a9089569fd3c3c0b0d7dcde6065681a7fdbe4183f7b0416a976ab3dabdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8eb4dce4323f731b54aedf5cee64f056b7b0c7ad3d8bc1f0884f4920b6a4afe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtErTUYcKG8Jj3fcQ4KCh0kCxuzCVnChWsV8Lgl1zN5wn7vBXPdS3whtGTcHWrJMotO5HgkDgoWKYgqgpUL6BC6pX8RvSBkO340X5N15UOcsNqPloVEyBk7zCYFqrqJDRvkA9qDQ-HfrbpOn9jUO8fG-GVvzwGjjem7MUE2HGRY6hOkSfPwpKtsEu_qSLWDh31BgDuwA77UiTwN_dDFd50ws_1Gsr9i7IC_3YKFg85yd4vzWljOtv6JtrJZtKfHiS65k0CyBd3DP6q0-oDBAfRMqExEOP7lIwGQANFnTEFC5XIuH1jat9FNLRgaUipSvhuGAGIkwWkZzEgRIEsY7zO9UrxCtRaKrA-VrHrZeBVDlhpkBuWzPyKcZM5XVEn4gQHKmxhVkf7sKllvn2uco42mPxTsSiJq2OUuj75lLq3DM_0zxicv37_w5M0VGQnPGIHime0gpVv0iXsYI0gAP0QRs8E0EsrVihxMIKOS6IhbFarAVjx5WEE7lg6FxIymASwaNuJAbkOth0G0OQ_WAAc6ivJblLZMsqQiK3HhEu-i6gizNfULKGDec2XG8wF8sMaj151CT34OoXDsW4nWPMolLeEn_dQy_3dmQKQf9tbj0r8oqXQxF0C3bjFrP1OK-MZDEd4yK2WZvIOm448YrnNEf_pg6cntMF2n0R7UCndIZ5Vm0t8Agh_NQZsqrq9RyWc2-CCXw3j8DMN81x3GfKen0WIGfXfS2LvZwNB2zn08boiE67IPoGLpOTp78zfEHewmelirxH7zzzdTo61xyU51s5FgphJO-seD1yS2lm0HA_H40k9o14mR8IrlLdYd61LhAXWpmpXVN35z4OMmrWIWdeYQbeea64wYNGUTRtLxv2R88iMV64IdS2eZF7nl4qIEQnbsjdsPVIz2ZXcYrxY8b2fTOx3JqnVHrMyiKWBqyqJb6L44Zwp3F3jny-DnJipSoOsP7Lyfe-spvK-mqEZs-wr39FvzmPo6LK_NzDuLcmjoEdTMxF27xLYKWLQ31DBPrkZ_Kk48uFt5ftzbqGo9VV3_p0-T5qD2Pho9w80h4p-fRVsXNc8onye1VNRnAj7UjWf_Jj60btgATO6gtS_UBEMpGxKYuqcYlgt1pj0kFJC4l8byPxQK2d5kB0uBRmz1DTuXwxF2uzJVk8c_g5yERP6Qg6yhsmGk0F2B7iFnUPEUkMC6eOuBqP515yJf2E3JIx5F0v1kP551bp4lvhSjd7WgLcimfEZ-mwtasvfYOiwJKOJZQBxaqrcjo203DilOr5LLGGUVqRoz2n0dxjtZJwZPcajx58S05-lvunJznWE0ntuI-ja7NkyD1CDpr_pLIKbXIkBPuRnSWtWo_PXcSugUGe2d51mQ0_A7WqQP0f3g_eAvmESoCOiNMhpS13Bg7lIEUluxjDdrA7OTxfR1MYgwbqZGw40P2xTfQDhpVcrfqvx6L0TC8tdLzYLUY7ZiCQowPhOD4NyLmfJY-AfLxTUPj82UjZoqUg7Jd-qmnUeYU0Lz9kS6jOj5UtYE3vm1ynxD3fpnIgTlz6qFE_5qGEOGiNTAfWduVtHu76JUgTnYUQ-CEDfcbwq9lrai22rxqSw8i_tY2XYAbVwshyvEv-3hPHNyU3lxXba-krWBN8OyIYE3hUgvzIsWU9bXNANBUbeZsENhxiq58VLuEsN1LW_oj2vtQ2JoKXr_0mktF2nyxOKTa4AiEv_VY1HoPikFien5UBWIVUozpyEVMd7-_QNsKhsvUKLax0wKgUBEUnc00FllOoWnI60niXFyzPO5pJE24Bwqn06ZNz7VZpTxdlzh3QGQqXpybDy07z6eXILVwXVnq5Bpbj4PQtHbpjdwGFzkSPxoyFYvkSSkFRXIt_jl0Vo5NwwIAtL6u6My_i16-A--HgEsRlsUqEaSJmeTudgc-wIpPdvMy6B4UjF1XsthNcruruc0s0gdplzIoxgBVpSW0Q5uhsxDXEeHc5gNbMom3CfVwHgo6aPeR9us4t_zqhydOHeh4cGIJILGVDS0FC1A4CDtraoZsw-CQQeXPoxoJllKGnrH1QGEvFNB2Ts7MGNRksxo1p2-LnDnHMgbqkXncOFhi9rcz2jv3KZJsOV6AjJzgriS4WJ42MMXHFJ88VjmUtWPeAQW7aJWM9vzRujpLRvCumgUFsocj1DSvmJAZmoeKz22LGaN430WWEj5DplTDkVkR1F1-eNdTi6bj1aXcgy72o1KcnqzCfuHYAOf8fbdG_RNIsGfu0NTyqIAMyNT4vojFOn0nMh5YuG4GwLNonB8F6dnmfq8JCmkj5I3KMFNH8iMV5bDnobQUiPkacaLQgU0WnRdFn0mbIhC_gsxb3C1wtaRhtaX1QcRbZhw9i7Wm3PmmGFugh-_08Th_qPAVWzZATemKzgFymp3cI01Y0vRNqSRNsFXcIAva8nZJ8-pVorvzncLbhvXbyJ_K7dpxk7GDwaTCK9paK0UFWTPRDuf3Sm19LmPt1Ut4xe_Cs6jRJYxl4DfYdyf4SL22e99HM4WM6Cx92diy-VJXv72sqJ3R2ovdF_kkuT1Jazx6SXr_q22dMj-HlY-iAO6u8JTNjpiBw0ESAkd3xEaRZN4FzolX_zg-bXWSrJSNQWYk4fZZRbpk9UeEl_iU2lAs3zz9RsW5RHsxUK4klo5DxC5a0PCJkE-4_uXV4Q4ycDg4chsOV3f9ML_hD2LNbkoBnGosXlqlbQib5tkWr2y6WxqzS8LWaqO8NXVaoCyu2XViq9JPz7FBzqAwgYXAg1Em8vuIrU0wS_0hD7wY-WE9MSrjDKPl4G0FbrSZSAGx6oVXWrxMGrWAZgoLInEPqjuIhkxyp_qSPMrT-G_CjJ69sZnT1SJQVRLJmmgQrs7Gks6-_JJucFIBddetGh3nwfBCEb8w9gaGCKIyz4d5pjN9wuz5SF7-TrS4M48N8CNFy069nnSlEWETzC1m9AUQ9tVO-EoJTzY8UVnmX3AjxFqiFemZcf5jYwJgLuxmu35epxHPBKdCxRaaqf1EnYpNZJjNkIkSbVTKm468kilUREPGRdcgnaAp0ZrJwkcKOD6T56DzOEHGIxhdz7EX82Alxo0L_SbifFlZmF2NYWm4standtAHGEC93JULmlEVwvcz_9AWuyXnVn_074J7FJ27DgZnKjgfz6JXF0ZRFnwCokZ_KKIwy45SIeR-JgUJjm9uHIMuAkK03FnGd3miH_BPAm1E9WcUB1-IMPh1KK3hlHNnM2ml5ZYPGzN8ZdkaIHxiQ9br-tIci8CFfE81q-gd5EkFvwRcs6GE4ylxLCAiQ38IxFdgBid6rBih2KHJw2ECjh035WODk2cXB_f3UfBN3_4aqO5e9iP1EOSUTRMnGcQzZCV9eiR0a4iNMfEVBft3BDup6KshxzWFzc6ppgc235IR4IixwoKAK7ftg77dsrQWFYHnltbNHRLAJth2h6HwrymZL6ZEZscX3mH7rArbLDC6lbhcB8AgVEHiZwTFsMemub6hxeKKKqEhfsi6HjM9i6ToyvrWSmEUJJ5ZT-fwfYTrtDwwe7uHBV_P7poUn-OUMijwktz5FiUiQvStz-FHFzAKxxfYhbgLEcdSd96IMwRtWEva_uWOpX-Uo4-4zfWGg5_nWgVwaaPuvJBFWttDjbmSPYtLfSL1fZ-uJdiK65njzMdaiQ4MF4YpxayYIFlKm9tnIWf1-sObACUY2xYd7v5khfYJXqyuNcLUyIlxZExksQuqKZ3Zl_6_py0-hqvLSl4VBqlHhq4_m1LYq5MhaMbgeks_3Cr7agc1DRjE8FuKxvskj4ODyQbfxaH6VEa7mxxsZDIED7dpDnOYFOiPLgJdJ8HBGnV_jpCE_krYmY7mNTs62ifyW25dyAOwtQf0=",
  "id": "rs_0f26f7a48333f1d8016ab44acc5a7087d083115b853ee92756",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErTRm0QmuR12LsCaR095azVuCwNHAiy8Dzy1QptIINvu7xys-uqwj9DPFz-FHAPFB_zMx-mjyG4t_PBTcH64KnLLWkEX_TFkNos5mdL5gCe7kL50O6JvsA6J4d8eaExCPDY4JUabgERlpj6Ot9zxeCylKpqtEbVOo-SBa0QL2mReDgk1R5rMEM5p6sdTwj0lAWykR3qQJOzfjg6ySv_CFFcOep8-07JEiV7ipBPzPnROq3xJtIEUmqfHdt-NILrfnwnSVHQ4BknusFdEZEYZcTMKxLxOPg9AWU0cgUvsFHTrJFU0QlQ65IxjpjFYYiHgEJ53wpRCEPHrhPsDY8fC8w_nX7CE5_UF_RIRCuqwF2v8GcvminalI2xXK9eRklKDjFzQwWqqPinZHdeT7mQ8ByEVcsVacg_dRbWLLiSz53jD4ogbKAUn34oVqvKHkEEgib2ArDGJw6lRoKWiDceFH897A516EyF30FaqTNk0rX8iWb5z-EgtZ5Wbv0OyMj8PC8i0v3N-Qfs8YuQVM11fIQ9AfT67cErXLQlDsL-gh1ghzo_rjiJlRKK-XmNU2IQ_oRAf1gGDIwkqLUVBWMXOpqzlcUmHDGV1eSOAnJvXsokQgX9rFOgHfbnyytyuoTq2y8mAA-576T-Ip4gLQThp7ZcVqzZupD4wnT3IaAC_RRXNGcB55jVkfE05cHXHeW1BE4-264oi3zyiROl4c2y52iI35Q-naUotNhTzv3KcqclaZaFudRTwIEHMSMbXdkxp4umKKB1SDPgtaXX4r0vChzvsfUfCMzufuHH09v7n8p0jreQl-t1ZhcNZSy7dJHjXzS_tjKlRsPaRUUxKNIp_PwdaOwd7_GybGgOsC4CswchBes2BqwkfnpeGjs7Lgvbl0GgqqVH9kigCtBoTG2ooW53ieoOsXDNlFK4704ue4SMJd9zGiq-7nCtIWLAwj5jlzVHKTFHerKtDiMzreoZVHvoZGjn8q5prP-I1rM4h-mBjp8txplIbtwRxvxyDa6IQBnUqLHTS4jYWTffWMaUc33PHOfWHnBQ4B3Ur6CW3n75j9rcyEMGHJeFYsRWb771GGeMK7D3JP_mBe0AA4FQzsVRZcQRnMrRYl1939dZ5UddLl0j41xqF0gM7-N4Af6GuNAgSFuK6bEEICODU6EfVqU-EscEbm-nJhczP4Kt3yTz4uUxPy4DxIqabxOwAEPEwufshd0HhzpTmBfzpdX4WPjxqj7Dk_lYnowIxzhyYpLZiwqJ4buzHoipqe5q4FlX4D1FiR6KXsbTTTKyRj-qRPvs7crZ6kZLDNYED7lAtH7ZMbRUYnM8pUJHVjklu0PNoETz8RjAW1q4Vg_oYvjl9Njq3X2zk7Ooo30MqB_XMDwYwFxixRiOr_20Vv6FbKy1-WilnfehfcOKjbxsvM5xhQW82f64TUQC2LFmK23TpNxxvDBKoEBXi_zBd1GT1L3r1g4aU_Z3iPro2s6zZtp9OaGSgL3IKnDp1OPdZ6mcU-OznE_LRK01YclFPUpriI5wnBwRxTDWOK9vi0H01ecebT_rTVtmt0of_jnmOZ4vI-Ff0okTNl-rNp1yy9IUwH0sRMmBdVx8DkAAB_DY3V0ROyz-mJRBIL1xGASfxglEHc7Q1zV984ZwSV5yi614ZF4z_rvU1pXq1Ywp52aKF0S2XjGqe6IBk0um290RlhtM9ByzObvbe1tr7i_Y2BSFiVjbBrbyN2f-_k2s-U5kPnid3_feIUG8XTe0siU4v48X_h6lG9bWk1YEzQV8hPpqzhU33sdnq54tDSdv5wIOBJ5T10n_i2Lizwlqe7A6-8dNvWzqnXS3ocyyRRC7RpW05JIzVyo4-F3lujO6G7v09SCXnTtLpEowtUGIkPP0DW_d3P0iyg1O9MWHWBw90vHJfUjNeR6k4QGBeGSy75qz6xgehpzG5MKkhMzno_boLWFaAvDtmuveW0iwO9aa0xhJ3rE04ZLB",
  "id": "rs_0f26f7a48333f1d8016ab44ad1a9f887d09018b0519f4f940f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.44,\"left_y\":-0.14},\"note\":\"The empty close confirms the cap shifted forward during the regrasp attempts; the overhead view shows it just ahead and slightly left of the left jaws. I’ll reopen and move directly onto that new table position.\"}",
  "call_id": "call_79WKnNGJXHjcdM98zgP3AgPE",
  "id": "fc_0f26f7a48333f1d8016ab44ad2f86887d0a04ab2009e5ed65b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_79WKnNGJXHjcdM98zgP3AgPE",
  "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]: [-0.4049, 1.9228, 0.7952, 0.3985, -0.2447, -0.215, 0.9949, 0.0174, 0.9169, 0.6781, -0.4652, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4323 left_y=-0.1348 left_z=0.0035 left_yaw=-0.0867 left_pitch=-0.1313 left_roll=-0.003 left_gripper=0.9949 right_x=0.2955 right_y=0.0488 right_z=0.1653 right_yaw=0.2711 right_pitch=-0.1225 right_roll=0.0471 right_gripper=0.0638\nstate[joint_eff]: [0.5265, -7.5419, 7.4325, 1.5849, 0.1001, 0.2418, -0.1587, -0.0615, -1.9897, 7.1726, 1.5751, -0.1294, -0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1b55cf9551536c468912fb06b7cb91e329f6d8ad81b69d82a50bbfbb9be5d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ab626d22cde05b5e4340701864d1d04163df28e842f2cce81ee15291d94e60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d98a0e7b8ca68a4bd3294d390b38a23a809862354977c1906ee00c23cced337",
      "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 · 5.072 s

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

message 140 changed as sent

message 149 changed as sent

message 154 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]: [-0.4679, 1.8523, 0.7105, 0.3798, -0.2611, -0.2348, 0.0111, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4007 left_y=-0.1473 left_z=0.0017 left_yaw=-0.1237 left_pitch=-0.1586 left_roll=0.0033 left_gripper=0.0111 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [-0.1709, -7.7197, 6.0376, 1.4725, -0.149, -0.0317, 0.7497, -0.0889, -1.9624, 7.2684, 1.6142, -0.149, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5438, 1.8187, 0.6571, 0.4164, -0.3229, -0.2886, 0.0097, 0.0174, 0.9165, 0.6781, -0.4648, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.3834 left_y=-0.1621 left_z=0.0061 left_yaw=-0.1204 left_pitch=-0.127 left_roll=-0.0045 left_gripper=0.0097 right_x=0.2955 right_y=0.0488 right_z=0.1655 right_yaw=0.2711 right_pitch=-0.1218 right_roll=0.0469 right_gripper=0.0638\nstate[joint_eff]: [0.2256, -7.3368, 5.2444, 1.4335, -0.0024, 0.0171, 0.7692, 0.0615, -1.9624, 6.9538, 1.5604, -0.1392, -0.0317, 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 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4049, 1.9228, 0.7952, 0.3985, -0.2447, -0.215, 0.9949, 0.0174, 0.9169, 0.6781, -0.4652, -0.2291, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.4323 left_y=-0.1348 left_z=0.0035 left_yaw=-0.0867 left_pitch=-0.1313 left_roll=-0.003 left_gripper=0.9949 right_x=0.2955 right_y=0.0488 right_z=0.1653 right_yaw=0.2711 right_pitch=-0.1225 right_roll=0.0471 right_gripper=0.0638\nstate[joint_eff]: [0.5265, -7.5419, 7.4325, 1.5849, 0.1001, 0.2418, -0.1587, -0.0615, -1.9897, 7.1726, 1.5751, -0.1294, -0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1b55cf9551536c468912fb06b7cb91e329f6d8ad81b69d82a50bbfbb9be5d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ab626d22cde05b5e4340701864d1d04163df28e842f2cce81ee15291d94e60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d98a0e7b8ca68a4bd3294d390b38a23a809862354977c1906ee00c23cced337",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtErYndbNa85wgtusnkbDb4oUVQIdgS3-JG98VGDL8nYl-5w3tTO5BWGmt58kTEBS5nb0mOSr0YHf384TEVv3Nr6QEwwlX_-VMwpEVkI4Wn5r4LpYCndTW3N0040Zx4LUNaHjnWTYsqivimXIPMuwVAZij8gAoSj6kiUqQh1iBd31Jp8KWno-IMVAhKOw_YRWyC4XpDHIrxlT0JzgfgXZogK2BAXOex7nFHW_OYxNNvlEEnUAkZpd7XWxJZzwJhgU9cHpB6W0WI8saN2TPQfd612ngPqEpgeCB0H_GDuI0uyD2FirWdz0bzMEzQ7oS5bil6kMUhkdVh6_2YjXBaAqGjzha77PH6Wei23ZciYnI26aA608cOU_9Lr8qvskMWzbG-O0Zt3GD6caOI6PtXXCQ0H1wKRQC30Tz9OWeXRGC0aTBXy2nudikSW1HyAHSTlEM8OtDv2D3kzZ7QiU0epab_-lzCSOXxIs33ZUGC9EGj2N9R7RSxuXG34fz4_Z9UrTKyVaKI3vXOim8WhYq9QTI_B3hJ6zb7cQ6rS_VHpCsR6lJxVcR70nrifnAuA_W_RC1d5ktE-wEFwxRd77CMOWm0bGr9sgEQuCoqwiN8ep1bA0lHRHlscIQVyqgSM3UwHDkcjgopm4jiEEKkUCdd_f98wgZREwf6WowECeLwj-ThHOzttgbwRL5NMwfVdmloK1U6lNEEkMXr4uYNajOqUEZ1bHn5Kp8Pca337pgDw9PFI1TCLQjmx3bJcxHJyS24Q4sM5uS31UR7hWWRfiL1R2DuQ6MhL15Px7ewKcpwP58P3K7cwHKvsExjGqLN2CXa6PkBvKda6MAROzv1nU3VwJ4FRWysS5RD3DEE86myqllufjH6htdCp6JrfoqzvOdpRI-6d-3N9YN7AYpTcEkezqm8WBe_lFYtAnLnke49rlK0fTuPDS7weLQm4iee8yYBslGaQMNtXRPRD4VJRZz5iKK697v8QHhRtwutqMdXnsxCnfMcH5fAbYjKgxlo27_yReuBW31p1MmzBvVzqUcEUbNwwvyANs6kcZIcqa0Iih30P62a_OLFiLG3iN0eqhFZTasDOPaggs12j5gMJ7Dk08QmjXkn6gScnjRx662JiI0nQ-hkaVmQgzmYEleJloP6CCY2mIhtP1pJORCm0m9LFQqruV9jFXrZe8VbNctaDCRqXAgIQpyWY6e5E_75YDz-wCMtrbfMssrvMESyC_1_XqY-aJE2vrN0IV6f7oETt4NElp2qrBpzz1LepEsPHH8tcqUoxsDUhGw96hiGHm6vmO5Xei-DZbd-QUhvatJi8hcKLIijRvsEu5u7UbXuYIIN9lsq31erKprrxzpJUveezSCZxxnMDU1yxc1ZMu5vXTXmG1jJPz25TxtdyqZkNJ_PpWe9_nsKXazNseErPcdlso15oKanBqYDh0IrKAP_UdJ0AR4Rp2jv1OPNUjf5dm0eLXnbU2iBh0l2QLE4DFjvslRnUbh-Ugt6KYwKCfQjoPbyDMeoqjgiRJY3Dx-s0NO7WQzK8goJC0A0NmU2ADxoaIVFhF_uSYcpH_0gjkIWkvVD2oAbnMt8FgyVk0tFzcxH4A7WSXHycnPTko8oo-aEspt6cAb12W4GS2K-mrnRItwDlacCNJSQETKcolVE-MVSBLAT4_ZDpRSwcSXjVIsgO60RpWhYgsjxSJy7RQeZMukG9fbwveh03EBocYwOszBuHhOhnltTNNVSdQlQHYQCP5BlHHn3USdLj1ChifbAu1SOSK6o9tlCMMEeQ4WkTFAi5vAAcyPfTxh2aN8F_7VIlDNvOncrpq6AD1iTY5mLE2Ftbb93EHCykSujvsBaMrgvrZfh218qLHCxVycV4kzVxMh1oo3CrK9sdHLlL3atdLJwMHqadghWjN1OHlxz2aEFNIWc47S-aQ_arnaC5kjAsgZeGwE-1SzqsuSx88UiSkmZumN5NfbyV3nseol8I1eTMnOs7gnTa4F9qe-0GZdFMGMO0yQnLmAkP5AeWNhyCBJI6R-3IwjqXSs3b2v-h9dutxZnNj",
  "id": "rs_0f26f7a48333f1d8016ab44ad6130087d0bd0ccb481fc6a212",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.15,\"left_gripper\":0.0},\"note\":\"The overhead view now shows the displaced cap directly ahead of the left fingertips, about 4–5 cm farther outward. I’ll advance the open jaws onto it while closing, keeping the motion aligned with the cap to avoid another sideways push.\"}",
  "call_id": "call_MGAVEQTRMJgWCNKO7GGPItfC",
  "id": "fc_0f26f7a48333f1d8016ab44ad7c05c87d099da4c73fac818e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MGAVEQTRMJgWCNKO7GGPItfC",
  "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]: [-0.3965, 2.0426, 0.9882, 0.3298, -0.2543, -0.223, 0.0099, 0.0174, 0.9169, 0.6781, -0.4648, -0.2295, -0.1276, 0.0638]\nstate[eef_state]: left_x=0.474 left_y=-0.1464 left_z=0.0041 left_yaw=-0.0662 left_pitch=-0.125 left_roll=-0.0046 left_gripper=0.0099 right_x=0.2955 right_y=0.0489 right_z=0.1654 right_yaw=0.2714 right_pitch=-0.1221 right_roll=0.0472 right_gripper=0.0638\nstate[joint_eff]: [0.4855, -8.8821, 7.5419, 1.4823, 0.1197, 0.1587, 0.7595, -0.2393, -1.9897, 7.1316, 1.6093, -0.1636, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7362d53753ac250e9d6371d2d89a6a666ada4553bff7fa23aea5eb592951740c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01dadeaf737db8f2d9ae2759f3f1fce7b92ffcb1aa8eb91527c5df3272fb0ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164b8131e00437684030cf253d62d75927dd409a8b6495a019cfae14f1adcc18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]