adhoc - adhoc_7a589053.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: 200.3 s
total steps: 347

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 detached cap is the short black piece left of center, while the pen lies diagonally right of center. I am moving the left arm to a high approach over the cap, with the gripper rotated along the cap’s axis so the jaws will close across it.

move_to

left_x0.4000left_y-0.2000left_z0.1500left_yaw-0.7000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3798, -0.0216, -0.0246, 0.9993, -0.0154, 0.7914, 0.6083, -0.379, -0.0231, -0.0151, 0.999] state[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.0031 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.4991, -1.4838, 10.5915, 1.7363, -0.0366, 0.0806, -0.0855, -0.9094, -1.2239, 9.9214, 1.8779, -0.0269, -0.0024, -0.1197] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1.0},"note":"The detached cap is the short black piece left of center, while the pen lies diagonally right of center. I am moving the left arm to a high approach over the cap, with the gripper rotated along the cap’s axis so the jaws will close across it."})

tool

executing move_to over 18 steps (1.8s)

step 18

assistant

agent noteThe cap now appears on the left wrist camera at the jaw centerline and right at the bottom edge, indicating it is under the fingertips; the pen remains farther ahead to the right. I am descending straight onto the cap while keeping the jaws open and aligned across its narrow width.

move_to

left_x0.4000left_y-0.2000left_z0.0050left_yaw-0.7000left_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]: [-0.3569, 1.5253, 0.8749, -0.0338, 0.2337, 0.1337, 0.9993, -0.0181, 0.7979, 0.6125, -0.3912, -0.0235, -0.0147, 0.9989] state[eef_state]: left_x=0.387 left_y=-0.1841 left_z=0.1224 left_yaw=-0.6372 left_pitch=-0.0917 left_roll=-0.0339 left_gripper=0.9993 right_x=0.2946 right_y=0.0024 right_z=0.1805 right_yaw=-0.0025 right_pitch=-0.0145 right_roll=0.0008 right_gripper=0.9989 state[joint_eff]: [-0.5128, -7.2684, 9.6889, 2.0488, 0.1978, 0.2173, -0.0855, -0.0889, -1.7299, 6.7214, 1.8291, -0.0611, -0.0464, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.005,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap now appears on the left wrist camera at the jaw centerline and right at the bottom edge, indicating it is under the fingertips; the pen remains farther ahead to the right. I am descending straight onto the cap while keeping the jaws open and aligned across its narrow width."})

tool

executing move_to over 8 steps (0.8s)

step 26

assistant

agent noteAt table height, the cap is centered between the left fingertips and aligned lengthwise with the tool. I am closing the left gripper fully to secure the cap.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3607, 1.8874, 0.7498, 0.4019, 0.2447, 0.1528, 0.9993, -0.0185, 0.7994, 0.6121, -0.3962, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3965 left_y=-0.1915 left_z=0.0038 left_yaw=-0.6623 left_pitch=-0.1387 left_roll=-0.0408 left_gripper=0.9993 right_x=0.2939 right_y=0.0022 right_z=0.1789 right_yaw=-0.0033 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9989 state[joint_eff]: [-0.3077, -6.9128, 5.135, 1.1697, 0.398, 0.1294, -0.0855, -0.2803, -1.2923, 7.159, 1.8193, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height, the cap is centered between the left fingertips and aligned lengthwise with the tool. I am closing the left gripper fully to secure the cap."})

tool

executing move_to over 10 steps (1.0s)

step 36

assistant

agent noteThe left gripper settled nearly fully closed (0.008), so the first attempt missed and the cap is not held. I am reopening and lifting slightly before the prescribed outward correction, avoiding dragging the cap along the tabletop.

move_to

left_z0.0600left_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]: [-0.3607, 1.9045, 0.7494, 0.429, 0.2398, 0.1528, 0.0083, -0.0185, 0.8001, 0.6121, -0.3969, -0.0235, -0.0147, 0.9989] state[eef_state]: left_x=0.3992 left_y=-0.1916 left_z=0.0012 left_yaw=-0.6578 left_pitch=-0.1305 left_roll=-0.0348 left_gripper=0.0083 right_x=0.2939 right_y=0.0023 right_z=0.1785 right_yaw=-0.0029 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9989 state[joint_eff]: [-0.1162, -9.9624, 4.9299, 1.326, 0.1685, 0.022, 0.5348, -0.0752, -1.3333, 6.9949, 1.7411, -0.0415, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.06,"left_gripper":1.0},"note":"The left gripper settled nearly fully closed (0.008), so the first attempt missed and the cap is not held. I am reopening and lifting slightly before the prescribed outward correction, avoiding dragging the cap along the tabletop."})

tool

executing move_to over 10 steps (1.0s)

step 46

assistant

agent noteWith the jaws open and slightly raised, the cap is clearly visible on the jaw centerline but extends upward from the bottom edge, showing that the fingertips were just short of it. I am advancing the grasp point about 2 cm outward while retaining the same lateral alignment and orientation.

move_to

left_x0.4200left_y-0.2000left_z0.0600left_yaw-0.7000left_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]: [-0.3607, 1.7542, 0.7933, 0.1825, 0.2371, 0.1398, 0.995, -0.0185, 0.8009, 0.6121, -0.3973, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3889 left_y=-0.1872 left_z=0.0355 left_yaw=-0.6509 left_pitch=-0.1813 left_roll=-0.0582 left_gripper=0.995 right_x=0.2939 right_y=0.0022 right_z=0.1782 right_yaw=-0.0033 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9989 state[joint_eff]: [-0.1026, -9.812, 8.5265, 1.6044, 0.0513, 0.0659, -0.1636, -0.2803, -1.2923, 6.9949, 1.7411, -0.0415, -0.0269, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.2,"left_z":0.06,"left_yaw":-0.7,"left_gripper":1.0},"note":"With the jaws open and slightly raised, the cap is clearly visible on the jaw centerline but extends upward from the bottom edge, showing that the fingertips were just short of it. I am advancing the grasp point about 2 cm outward while retaining the same lateral alignment and orientation."})

tool

executing move_to over 3 steps (0.3s)

step 49

assistant

agent noteAfter the outward nudge, only the near tip of the cap remains at the bottom center of the wrist view, consistent with it now lying directly beneath the grasp point. I am descending vertically to table height for the corrected grasp.

move_to

left_x0.4200left_y-0.2000left_z0.0000left_yaw-0.7000left_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]: [-0.3523, 1.8084, 0.9306, 0.0517, 0.2501, 0.1524, 0.9989, -0.0185, 0.8036, 0.6121, -0.4122, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.407 left_y=-0.1924 left_z=0.0412 left_yaw=-0.6631 left_pitch=-0.2237 left_roll=-0.0725 left_gripper=0.9989 right_x=0.292 right_y=0.0023 right_z=0.1744 right_yaw=-0.0032 right_pitch=-0.0416 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [0.4034, -8.6769, 8.5128, 1.6142, 0.359, 0.1587, -0.1245, -0.294, -0.9504, 6.9812, 1.8291, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.2,"left_z":0.0,"left_yaw":-0.7,"left_gripper":1.0},"note":"After the outward nudge, only the near tip of the cap remains at the bottom center of the wrist view, consistent with it now lying directly beneath the grasp point. I am descending vertically to table height for the corrected grasp."})

tool

executing move_to over 3 steps (0.3s)

step 52

assistant

agent noteAt table height the cap has disappeared beneath the left gripper, while the arm reached the commanded horizontal position, so the corrected grasp point is over it. I am closing the jaws 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]: [-0.3473, 1.9442, 0.9527, 0.1429, 0.2653, 0.1806, 0.9988, -0.0181, 0.8051, 0.6121, -0.4137, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.4177 left_y=-0.1967 left_z=0.0053 left_yaw=-0.6883 left_pitch=-0.2405 left_roll=-0.0707 left_gripper=0.9988 right_x=0.2919 right_y=0.0024 right_z=0.1737 right_yaw=-0.0029 right_pitch=-0.0446 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.1573, -9.7299, 6.2291, 0.4518, 0.2369, -1.0232, -0.1294, -0.0889, -1.2376, 6.9812, 1.707, -0.0317, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap has disappeared beneath the left gripper, while the arm reached the commanded horizontal position, so the corrected grasp point is over it. I am closing the jaws now."})

tool

executing move_to over 10 steps (1.0s)

step 62

assistant

agent noteThe second close also settled at 0.008, confirming another empty grasp; continuing blind would risk pushing the cap farther. I am retracting and parking the left arm so the overhead camera can reveal the cap’s exact new location before re-measuring.

move_to

left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3473, 1.9602, 0.9489, 0.1745, 0.2668, 0.1783, 0.0083, -0.0185, 0.8055, 0.6121, -0.4129, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.42 left_y=-0.1978 left_z=0.002 left_yaw=-0.6873 left_pitch=-0.229 left_roll=-0.0694 left_gripper=0.0083 right_x=0.292 right_y=0.0023 right_z=0.1738 right_yaw=-0.0032 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.1299, -8.2803, 5.3675, 1.5604, 0.232, 0.0415, 0.5299, -0.3487, -1.3333, 6.9949, 1.6679, -0.0562, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The second close also settled at 0.008, confirming another empty grasp; continuing blind would risk pushing the cap farther. I am retracting and parking the left arm so the overhead camera can reveal the cap’s exact new location before re-measuring."})

tool

executing move_to over 18 steps (1.8s)

step 80

assistant

agent noteWith the arm clear, the cap is visible around image (80,116), well left of the pen; the earlier lateral estimate was too far toward the table center. In the left wrist view it is down-right of the jaw column, so I am making a corrected high approach mainly outward and only about 8 cm toward the arm’s right.

move_to

left_x0.3800left_y-0.0800left_z0.1500left_yaw-0.7000left_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]: [-0.0006, 1.0187, 0.8043, -0.5884, 0.0513, -0.0608, 0.9971, -0.0181, 0.8093, 0.6121, -0.4133, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.305 left_y=-0.0056 left_z=0.1661 left_yaw=-0.0225 left_pitch=-0.2324 left_roll=-0.0749 left_gripper=0.9971 right_x=0.2922 right_y=0.0024 right_z=0.1726 right_yaw=-0.0029 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.9989 state[joint_eff]: [0.2667, -3.3573, 9.7573, 1.5507, -0.0904, 0.0122, 0.0073, -0.212, -1.6068, 7.0222, 1.7363, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.08,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1.0},"note":"With the arm clear, the cap is visible around image (80,116), well left of the pen; the earlier lateral estimate was too far toward the table center. In the left wrist view it is down-right of the jaw column, so I am making a corrected high approach mainly outward and only about 8 cm toward the arm’s right."})

tool

executing move_to over 7 steps (0.7s)

step 87

assistant

agent noteThe cap is now fully visible near row 142 but remains about 44 pixels to the right of the jaw centerline; its depth is already near the fingertip convergence row. I am shifting the left arm laterally to its right by roughly 5–6 cm without changing reach or height.

move_to

left_x0.3800left_y-0.1300left_z0.1500left_yaw-0.7000left_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]: [0.0059, 1.4712, 1.0386, -0.5606, 0.4103, 0.3614, 0.9983, -0.0185, 0.8143, 0.6121, -0.4152, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3684 left_y=-0.0647 left_z=0.1322 left_yaw=-0.5721 left_pitch=-0.3104 left_roll=-0.1203 left_gripper=0.9983 right_x=0.2922 right_y=0.0023 right_z=0.1709 right_yaw=-0.0032 right_pitch=-0.0553 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [-0.335, -6.7077, 8.8684, 1.2918, 0.3883, 0.2418, -0.188, -0.335, -1.5385, 7.2547, 1.7216, -0.0366, -0.0562, -0.0122] 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":{"left_x":0.38,"left_y":-0.13,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap is now fully visible near row 142 but remains about 44 pixels to the right of the jaw centerline; its depth is already near the fingertip convergence row. I am shifting the left arm laterally to its right by roughly 5–6 cm without changing reach or height."})

tool

executing move_to over 6 steps (0.6s)

step 93

assistant

agent noteThe cap is now nearly aligned with the jaws—about 13 pixels right of center—and its long axis matches the gripper. Because it is still fully visible with clear space below, I am correcting the last lateral offset and advancing about 2.5 cm outward so the fingertips, not just the camera, reach it.

move_to

left_x0.4050left_y-0.1450left_z0.1500left_yaw-0.7000left_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]: [-0.16, 1.5471, 1.137, -0.6163, 0.3882, 0.3187, 0.9982, -0.0185, 0.8158, 0.6121, -0.4141, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3683 left_y=-0.1235 left_z=0.1336 left_yaw=-0.7027 left_pitch=-0.3514 left_roll=-0.1503 left_gripper=0.9982 right_x=0.2925 right_y=0.0023 right_z=0.1707 right_yaw=-0.0032 right_pitch=-0.0557 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [-0.4581, -6.612, 9.8256, 1.2772, 0.0611, 0.0171, -0.1929, -0.1436, -1.4291, 6.9949, 1.6679, -0.0171, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.145,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap is now nearly aligned with the jaws—about 13 pixels right of center—and its long axis matches the gripper. Because it is still fully visible with clear space below, I am correcting the last lateral offset and advancing about 2.5 cm outward so the fingertips, not just the camera, reach it."})

tool

executing move_to over 3 steps (0.3s)

step 96

assistant

agent noteThe forward move shifted the cap down to row 177, close to the fingertip area, while it remains slightly right of the jaw centerline. I am applying one small lateral correction of about 2 cm before descending.

move_to

left_x0.4050left_y-0.1600left_z0.1500left_yaw-0.7000left_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]: [-0.1967, 1.6749, 1.2846, -0.6697, 0.366, 0.2848, 0.9982, -0.0185, 0.8185, 0.6121, -0.4152, -0.0227, -0.0147, 0.9989] state[eef_state]: left_x=0.3921 left_y=-0.1389 left_z=0.132 left_yaw=-0.7088 left_pitch=-0.3928 left_roll=-0.1722 left_gripper=0.9982 right_x=0.2925 right_y=0.0022 right_z=0.1698 right_yaw=-0.0036 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.4444, -9.1556, 9.265, 1.1697, 0.0904, -0.1099, -0.1929, -0.212, -1.5658, 7.159, 1.7021, -0.0317, -0.0708, -0.0122] 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":{"left_x":0.405,"left_y":-0.16,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1.0},"note":"The forward move shifted the cap down to row 177, close to the fingertip area, while it remains slightly right of the jaw centerline. I am applying one small lateral correction of about 2 cm before descending."})

tool

executing move_to over 2 steps (0.2s)

step 98

assistant

agent noteThe cap is now centered on the jaw column at about x=115 and aligned lengthwise with the gripper. I am descending vertically to table height while holding that alignment.

move_to

left_x0.4050left_y-0.1600left_z0.0000left_yaw-0.7000left_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]: [-0.2249, 1.7149, 1.3495, -0.7143, 0.345, 0.2474, 0.9983, -0.0181, 0.8185, 0.6121, -0.4149, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3965 left_y=-0.1483 left_z=0.1335 left_yaw=-0.7024 left_pitch=-0.4225 left_roll=-0.1876 left_gripper=0.9983 right_x=0.2925 right_y=0.0024 right_z=0.1698 right_yaw=-0.0028 right_pitch=-0.0591 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [-1.0051, -8.0342, 9.7573, 1.3553, 0.1783, 0.0171, -0.188, -0.1983, -1.3197, 7.0222, 1.7314, -0.022, -0.0708, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.16,"left_z":0.0,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap is now centered on the jaw column at about x=115 and aligned lengthwise with the gripper. I am descending vertically to table height while holding that alignment."})

tool

executing move_to over 9 steps (0.9s)

step 107

assistant

agent noteAt table height the cap is directly between the open fingertips at the bottom-center of the left camera. I am closing the left gripper to capture it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.9125, 1.0798, -0.2657, 0.3359, 0.2256, 0.9989, -0.0185, 0.8196, 0.6121, -0.416, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3988 left_y=-0.1579 left_z=0.0091 left_yaw=-0.7104 left_pitch=-0.445 left_roll=-0.2019 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1693 right_yaw=-0.0032 right_pitch=-0.0614 right_roll=0.0013 right_gripper=0.9989 state[joint_eff]: [-0.3624, -7.1179, 4.506, 1.0623, 0.0855, -0.0904, -0.1294, -0.335, -0.8821, 7.0359, 1.6581, -0.0415, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap is directly between the open fingertips at the bottom-center of the left camera. I am closing the left gripper to capture it."})

tool

executing move_to over 10 steps (1.0s)

step 117

assistant

agent noteThe cap was squeezed to the right of the closed jaws and the reading is still only 0.009, so the rounded piece was ejected rather than grasped. I am reopening and lifting; I will re-center slightly right and use a partial close matched to the cap diameter instead of crushing through it.

move_to

left_z0.0600left_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]: [-0.2493, 1.9198, 1.0702, -0.2634, 0.3359, 0.2184, 0.0086, -0.0181, 0.8204, 0.6121, -0.416, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3952 left_y=-0.157 left_z=0.0034 left_yaw=-0.7093 left_pitch=-0.4588 left_roll=-0.2133 left_gripper=0.0086 right_x=0.2924 right_y=0.0024 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0622 right_roll=0.0013 right_gripper=0.9989 state[joint_eff]: [-0.1846, -9.6889, 6.2701, 1.0818, 0.188, 0.0611, 0.5495, -0.2393, -1.4427, 7.1316, 1.663, -0.0562, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.06,"left_gripper":1.0},"note":"The cap was squeezed to the right of the closed jaws and the reading is still only 0.009, so the rounded piece was ejected rather than grasped. I am reopening and lifting; I will re-center slightly right and use a partial close matched to the cap diameter instead of crushing through it."})

tool

executing move_to over 10 steps (1.0s)

step 127

assistant

agent noteWith the gripper open, the cap stands about 20 pixels to the right of the jaw center and near the fingertip depth. I am shifting the tool roughly 2 cm to its right and restoring the forward reach before the next descent.

move_to

left_x0.4050left_y-0.1800left_z0.0600left_yaw-0.7000left_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]: [-0.2493, 1.8557, 1.1469, -0.4664, 0.3275, 0.2085, 0.9948, -0.0185, 0.8204, 0.6121, -0.416, -0.0227, -0.0147, 0.9989] state[eef_state]: left_x=0.3848 left_y=-0.1529 left_z=0.0326 left_yaw=-0.7109 left_pitch=-0.519 left_roll=-0.2425 left_gripper=0.9948 right_x=0.2925 right_y=0.0022 right_z=0.1691 right_yaw=-0.0035 right_pitch=-0.0622 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.0889, -12.0274, 8.7453, 1.072, 0.1832, 0.0269, -0.149, -0.1846, -1.3607, 7.2137, 1.7118, -0.0464, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.18,"left_z":0.06,"left_yaw":-0.7,"left_gripper":1.0},"note":"With the gripper open, the cap stands about 20 pixels to the right of the jaw center and near the fingertip depth. I am shifting the tool roughly 2 cm to its right and restoring the forward reach before the next descent."})

tool

executing move_to over 3 steps (0.3s)

step 130

assistant

agent noteThe cap is now centered on the jaw column at the bottom of the wrist image. I am descending straight to table height without further lateral motion.

move_to

left_x0.4050left_y-0.1800left_z0.0000left_yaw-0.7000left_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]: [-0.2962, 1.8965, 1.2682, -0.5629, 0.3061, 0.1593, 0.9989, -0.0185, 0.8223, 0.6121, -0.4168, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.3932 left_y=-0.1719 left_z=0.0453 left_yaw=-0.7132 left_pitch=-0.5483 left_roll=-0.2557 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989 state[joint_eff]: [-0.2393, -9.388, 8.8274, 0.9451, 0.1636, 0.0122, -0.1245, -0.1162, -1.4838, 7.0632, 1.7216, -0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.18,"left_z":0.0,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap is now centered on the jaw column at the bottom of the wrist image. I am descending straight to table height without further lateral motion."})

tool

executing move_to over 3 steps (0.3s)

step 133

assistant

agent noteAt table height the cap is directly beneath the jaw center after the rightward correction. I am closing only to 0.07 (about a 7 mm gap), which should grip the cap’s cylindrical body without driving it sideways as the full-close attempts did.

move_to

left_gripper0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3084, 1.9896, 1.2526, -0.4713, 0.2924, 0.1417, 0.9985, -0.0181, 0.823, 0.6121, -0.4175, -0.0227, -0.0147, 0.9989] state[eef_state]: left_x=0.399 left_y=-0.1768 left_z=0.0094 left_yaw=-0.7065 left_pitch=-0.5715 left_roll=-0.2589 left_gripper=0.9985 right_x=0.2924 right_y=0.0023 right_z=0.1681 right_yaw=-0.0032 right_pitch=-0.0664 right_roll=0.0011 right_gripper=0.9989 state[joint_eff]: [-0.4718, -9.6342, 5.1761, 0.8571, 0.2857, -0.6081, -0.2125, -0.1709, -1.347, 6.9812, 1.6972, -0.0171, 0.0024, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.07},"note":"At table height the cap is directly beneath the jaw center after the rightward correction. I am closing only to 0.07 (about a 7 mm gap), which should grip the cap’s cylindrical body without driving it sideways as the full-close attempts did."})

tool

executing move_to over 10 steps (1.0s)

step 143

assistant

agent noteThe partial close reached a 7.5 mm jaw gap and the cap is no longer visible beside the fingertips, unlike the ejected full-close attempts. I am lifting about 9 cm to verify in the overhead view that the cap rises with the left gripper.

move_to

left_z0.1000left_gripper0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3084, 2.0022, 1.2404, -0.4126, 0.2913, 0.131, 0.075, -0.0181, 0.8261, 0.6121, -0.4198, -0.0235, -0.0147, 0.9989] state[eef_state]: left_x=0.4063 left_y=-0.1789 left_z=0.0055 left_yaw=-0.6908 left_pitch=-0.5419 left_roll=-0.248 left_gripper=0.075 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0025 right_pitch=-0.0717 right_roll=0.0016 right_gripper=0.9989 state[joint_eff]: [-0.0752, -9.1556, 5.6137, 1.0623, 0.1832, 0.022, 0.2613, -0.0889, -1.6615, 6.9949, 1.6728, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.1,"left_gripper":0.07},"note":"The partial close reached a 7.5 mm jaw gap and the cap is no longer visible beside the fingertips, unlike the ejected full-close attempts. I am lifting about 9 cm to verify in the overhead view that the cap rises with the left gripper."})

tool

executing move_to over 7 steps (0.7s)

step 150

assistant

agent noteThe cap did not lift—it is visible ahead-right in the left wrist view—so I am not treating it as secured. To make progress while keeping the left arm raised, I am moving the right arm to a high approach over the long pen, aligned with the pen’s diagonal axis.

move_to

right_x0.3800right_y0.3000right_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]: [-0.3084, 1.9263, 1.422, -0.7284, 0.2871, 0.128, 0.0719, -0.0181, 0.8261, 0.6121, -0.4198, -0.0231, -0.0147, 0.9989] state[eef_state]: left_x=0.4001 left_y=-0.1762 left_z=0.0678 left_yaw=-0.6992 left_pitch=-0.5978 left_roll=-0.2714 left_gripper=0.0719 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0028 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989 state[joint_eff]: [-0.3897, -13.053, 9.265, 1.033, 0.1294, -0.0415, 0.1783, -0.1162, -1.4291, 6.9949, 1.6874, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.3,"right_z":0.15,"right_yaw":0.7,"right_gripper":1.0},"note":"The cap did not lift—it is visible ahead-right in the left wrist view—so I am not treating it as secured. To make progress while keeping the left arm raised, I am moving the right arm to a high approach over the long pen, aligned with the pen’s diagonal axis."})

tool

executing move_to over 25 steps (2.5s)

step 175

assistant

agent noteThe right wrist view shows the pen centered between the jaws and extending lengthwise straight down the jaw column, indicating good lateral and angular alignment. I am descending vertically to table height to grasp the pen across its shaft.

move_to

right_x0.3800right_y0.3000right_z0.0000right_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]: [-0.3084, 1.9217, 1.4212, -0.746, 0.2867, 0.128, 0.072, 0.6334, 1.6535, 1.0653, -0.1184, -0.0475, -0.0364, 0.999] state[eef_state]: left_x=0.3963 left_y=-0.1749 left_z=0.0681 left_yaw=-0.7025 left_pitch=-0.6106 left_roll=-0.2774 left_gripper=0.072 right_x=0.3689 right_y=0.2858 right_z=0.1291 right_yaw=0.6814 right_pitch=-0.1438 right_roll=0.0018 right_gripper=0.999 state[joint_eff]: [-0.0752, -9.6342, 6.2017, 1.0134, 0.1099, -0.0757, 0.0073, 0.3761, -7.9795, 9.3744, 2.0488, 0.0317, -0.022, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.3,"right_z":0.0,"right_yaw":0.7,"right_gripper":1.0},"note":"The right wrist view shows the pen centered between the jaws and extending lengthwise straight down the jaw column, indicating good lateral and angular alignment. I am descending vertically to table height to grasp the pen across its shaft."})

tool

executing move_to over 9 steps (0.9s)

step 184

assistant

agent noteAt table height the gold pen tip is clearly about 45 pixels to the right of the jaw center, so the high-view alignment was misleading. I am lifting slightly before a lateral correction to avoid sweeping the pen across the table.

move_to

right_z0.0600right_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]: [-0.308, 1.9217, 1.4067, -0.7444, 0.2867, 0.1284, 0.0721, 0.6376, 1.9808, 0.9161, 0.3328, -0.0513, -0.0494, 0.999] state[eef_state]: left_x=0.3927 left_y=-0.1736 left_z=0.0636 left_yaw=-0.7059 left_pitch=-0.6226 left_roll=-0.2833 left_gripper=0.0721 right_x=0.3781 right_y=0.2959 right_z=0.0043 right_yaw=0.6961 right_pitch=-0.1687 right_roll=-0.0042 right_gripper=0.999 state[joint_eff]: [-0.0342, -10.5504, 6.2974, 0.9841, 0.1587, -0.0757, -0.0073, 0.3761, -7.8154, 4.6291, 1.2918, -0.1148, 0.0611, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.06,"right_gripper":1.0},"note":"At table height the gold pen tip is clearly about 45 pixels to the right of the jaw center, so the high-view alignment was misleading. I am lifting slightly before a lateral correction to avoid sweeping the pen across the table."})

tool

executing move_to over 4 steps (0.4s)

step 188

assistant

agent noteWith the right gripper raised, the pen remains about 44 pixels to the right of center and is at the correct radial depth. I am shifting the tool roughly 4.5 cm to its right while preserving reach and yaw.

move_to

right_x0.3800right_y0.2500right_z0.0600right_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]: [-0.308, 1.9213, 1.3762, -0.7242, 0.2871, 0.1284, 0.0721, 0.6373, 1.8778, 0.9588, 0.1699, -0.057, -0.0536, 0.999] state[eef_state]: left_x=0.3883 left_y=-0.1723 left_z=0.0557 left_yaw=-0.7091 left_pitch=-0.6315 left_roll=-0.2885 left_gripper=0.0721 right_x=0.375 right_y=0.2946 right_z=0.0376 right_yaw=0.7031 right_pitch=-0.1856 right_roll=-0.0023 right_gripper=0.999 state[joint_eff]: [0.1026, -10.906, 6.1744, 0.9695, 0.1636, -0.0024, -0.0122, -0.1983, -11.2889, 7.788, 1.5409, 0.0073, -0.022, -0.1197] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.25,"right_z":0.06,"right_yaw":0.7,"right_gripper":1.0},"note":"With the right gripper raised, the pen remains about 44 pixels to the right of center and is at the correct radial depth. I am shifting the tool roughly 4.5 cm to its right while preserving reach and yaw."})

tool

executing move_to over 4 steps (0.4s)

step 192

assistant

agent noteThe first correction moved the pen from x≈154 to x≈137, but the arm tracked only part of the requested lateral shift. I am continuing the same direction with a modest additional target so the shaft reaches the x≈110 jaw centerline.

move_to

right_x0.3800right_y0.2200right_z0.0600right_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]: [-0.308, 1.9194, 1.3373, -0.6933, 0.2874, 0.128, 0.0721, 0.6102, 1.8542, 0.9432, 0.1303, -0.0658, -0.065, 0.999] state[eef_state]: left_x=0.3837 left_y=-0.1709 left_z=0.0466 left_yaw=-0.7109 left_pitch=-0.6371 left_roll=-0.2921 left_gripper=0.0721 right_x=0.3736 right_y=0.2798 right_z=0.0355 right_yaw=0.6903 right_pitch=-0.2166 right_roll=-0.0022 right_gripper=0.999 state[joint_eff]: [0.4308, -11.3162, 5.9282, 1.0037, 0.2418, -0.0562, -0.0171, -0.2667, -9.7573, 5.7504, 1.8046, -0.2125, -0.1392, -0.1197] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.22,"right_z":0.06,"right_yaw":0.7,"right_gripper":1.0},"note":"The first correction moved the pen from x≈154 to x≈137, but the arm tracked only part of the requested lateral shift. I am continuing the same direction with a modest additional target so the shaft reaches the x≈110 jaw centerline."})

tool

executing move_to over 5 steps (0.5s)

step 197

assistant

agent noteThe right arm did not track the second lateral target at its low, awkward pose; the pen therefore remains at x≈137. I am raising to a true clearance pose while keeping the desired lateral target, which should let the IK unfold and complete the shift.

move_to

right_x0.3800right_y0.2200right_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]: [-0.308, 1.9163, 1.2907, -0.6617, 0.2878, 0.1284, 0.0721, 0.6102, 1.8542, 0.9432, 0.1379, -0.0727, -0.065, 0.999] state[eef_state]: left_x=0.3766 left_y=-0.1687 left_z=0.0358 left_yaw=-0.715 left_pitch=-0.6477 left_roll=-0.2981 left_gripper=0.0721 right_x=0.3739 right_y=0.2815 right_z=0.0369 right_yaw=0.6961 right_pitch=-0.2086 right_roll=0.0021 right_gripper=0.999 state[joint_eff]: [0.4308, -11.2342, 5.9419, 1.0037, 0.2369, -0.0366, -0.0171, -0.4171, -9.7573, 5.7504, 1.6874, -0.1197, -0.1245, -0.1197] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.22,"right_z":0.15,"right_yaw":0.7,"right_gripper":1.0},"note":"The right arm did not track the second lateral target at its low, awkward pose; the pen therefore remains at x≈137. I am raising to a true clearance pose while keeping the desired lateral target, which should let the IK unfold and complete the shift."})

tool

executing move_to over 8 steps (0.8s)

step 205

assistant

agent noteAfter raising, the arm reached the corrected lateral coordinate and the pen shaft is now on the jaw centerline (about x=101), extending into the fingertip region. I am descending vertically to grasp it at this corrected pose.

move_to

right_x0.3800right_y0.2200right_z0.0000right_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]: [-0.3023, 1.9099, 1.2301, -0.6083, 0.2947, 0.1284, 0.0721, 0.4557, 1.6016, 1.0767, -0.2607, -0.1764, -0.173, 0.999] state[eef_state]: left_x=0.3702 left_y=-0.1654 left_z=0.0242 left_yaw=-0.716 left_pitch=-0.6458 left_roll=-0.3061 left_gripper=0.0721 right_x=0.3824 right_y=0.2259 right_z=0.1326 right_yaw=0.6899 right_pitch=-0.2083 right_roll=-0.0015 right_gripper=0.999 state[joint_eff]: [0.1709, -11.2889, 6.0513, 1.0476, 0.2515, -0.0171, -0.0122, -1.1282, -9.8803, 9.306, 1.5458, -0.1294, -0.0659, -0.1197] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.38,"right_y":0.22,"right_z":0.0,"right_yaw":0.7,"right_gripper":1.0},"note":"After raising, the arm reached the corrected lateral coordinate and the pen shaft is now on the jaw centerline (about x=101), extending into the fingertip region. I am descending vertically to grasp it at this corrected pose."})

tool

executing move_to over 9 steps (0.9s)

step 214

assistant

agent noteAt table height the pen shaft runs centrally between the right fingertips. I am closing to a narrow 4 mm target—enough to clamp the pen’s roughly 5–7 mm barrel while minimizing sideways ejection.

move_to

right_gripper0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2985, 1.9068, 1.1751, -0.5598, 0.2955, 0.1284, 0.0721, 0.4446, 1.8534, 0.7975, 0.2321, -0.1848, -0.1982, 0.999] state[eef_state]: left_x=0.3637 left_y=-0.162 left_z=0.0125 left_yaw=-0.714 left_pitch=-0.6487 left_roll=-0.3087 left_gripper=0.0721 right_x=0.3746 right_y=0.2184 right_z=0.0032 right_yaw=0.7019 right_pitch=-0.2436 right_roll=-0.0042 right_gripper=0.999 state[joint_eff]: [0.3077, -11.2068, 5.7915, 0.9353, 0.3639, -0.0269, -0.0122, -0.6222, -6.4205, 4.3145, 1.2967, -0.2027, 0.0806, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.04},"note":"At table height the pen shaft runs centrally between the right fingertips. I am closing to a narrow 4 mm target—enough to clamp the pen’s roughly 5–7 mm barrel while minimizing sideways ejection."})

tool

executing move_to over 10 steps (1.0s)

step 224

assistant

agent noteThe right gripper stopped at 0.058 instead of the 0.04 target, a non-empty thickness consistent with the pen barrel, and the shaft remains centered. I am lifting it to confirm the pen moves with the gripper.

move_to

right_z0.1200right_gripper0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2947, 1.903, 1.1187, -0.5076, 0.2951, 0.1284, 0.0721, 0.4446, 1.869, 0.7944, 0.2707, -0.1848, -0.1982, 0.058] state[eef_state]: left_x=0.357 left_y=-0.1583 left_z=0.0013 left_yaw=-0.7099 left_pitch=-0.6492 left_roll=-0.3084 left_gripper=0.0721 right_x=0.3782 right_y=0.2201 right_z=0.0021 right_yaw=0.7007 right_pitch=-0.2244 right_roll=-0.0093 right_gripper=0.058 state[joint_eff]: [0.335, -10.988, 5.7231, 0.9841, 0.3004, -0.022, -0.0122, -0.0342, -9.7846, 5.8462, 1.1209, -0.0562, -0.022, 0.8132] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.12,"right_gripper":0.04},"note":"The right gripper stopped at 0.058 instead of the 0.04 target, a non-empty thickness consistent with the pen barrel, and the shaft remains centered. I am lifting it to confirm the pen moves with the gripper."})

tool

executing move_to over 8 steps (0.8s)

step 232

assistant

agent noteThe pen is confirmed lifted in the right gripper at a stable 0.061 gap. The idle left arm has drifted down to the tabletop with the cap-like piece on its jaw column, so I am reopening and raising it to a controlled approach pose before one final cap grasp.

move_to

left_x0.3800left_y-0.1800left_z0.1200left_yaw-0.7000left_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]: [-0.2867, 1.8915, 1.0756, -0.44, 0.3141, 0.1284, 0.0721, 0.4446, 1.639, 0.9951, -0.1749, -0.1848, -0.1993, 0.0606] state[eef_state]: left_x=0.3581 left_y=-0.1588 left_z=-0.001 left_yaw=-0.709 left_pitch=-0.609 left_roll=-0.311 left_gripper=0.0721 right_x=0.3786 right_y=0.2203 right_z=0.0984 right_yaw=0.7022 right_pitch=-0.2388 right_roll=-0.0063 right_gripper=0.0606 state[joint_eff]: [0.1709, -10.1265, 4.5744, 0.9255, 0.1587, -0.0024, -0.0171, -0.3761, -10.2222, 8.9231, 1.4628, -0.1343, -0.0366, 1.033] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.18,"left_z":0.12,"left_yaw":-0.7,"left_gripper":1.0},"note":"The pen is confirmed lifted in the right gripper at a stable 0.061 gap. The idle left arm has drifted down to the tabletop with the cap-like piece on its jaw column, so I am reopening and raising it to a controlled approach pose before one final cap grasp."})

tool

executing move_to over 10 steps (1.0s)

step 242

assistant

agent noteThe cap is now clearly visible in the left wrist view, centered at x≈109 and aligned nearly lengthwise, but with substantial clear space below it. I am advancing the left grasp point about 3 cm outward so the fingertips reach the cap before descending.

move_to

left_x0.4050left_y-0.1800left_z0.1200left_yaw-0.7000left_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]: [-0.3199, 1.8534, 1.4437, -0.8703, 0.3, 0.0711, 0.995, 0.4446, 1.6318, 0.9985, -0.2016, -0.1844, -0.1989, 0.0614] state[eef_state]: left_x=0.3745 left_y=-0.1753 left_z=0.0943 left_yaw=-0.6995 left_pitch=-0.6459 left_roll=-0.3341 left_gripper=0.995 right_x=0.3752 right_y=0.2186 right_z=0.0984 right_yaw=0.7027 right_pitch=-0.2544 right_roll=-0.0021 right_gripper=0.0614 state[joint_eff]: [-0.7863, -11.3436, 9.1556, 0.9158, 0.1929, 0.1587, 0.1343, -0.335, -6.9949, 6.1744, 1.7802, -0.1099, -0.0611, 1.0379] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.18,"left_z":0.12,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap is now clearly visible in the left wrist view, centered at x≈109 and aligned nearly lengthwise, but with substantial clear space below it. I am advancing the left grasp point about 3 cm outward so the fingertips reach the cap before descending."})

tool

executing move_to over 3 steps (0.3s)

step 245

assistant

agent noteThe 3 cm advance moved the cap down to row≈174 while keeping it centered, placing it at the fingertip depth. I am descending vertically to table height for the cap grasp.

move_to

left_x0.4050left_y-0.1800left_z0.0000left_yaw-0.7000left_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]: [-0.305, 1.9087, 1.562, -0.947, 0.3061, 0.0685, 0.9989, 0.4446, 1.6318, 0.9981, -0.205, -0.1844, -0.1986, 0.0621] state[eef_state]: left_x=0.389 left_y=-0.1745 left_z=0.105 left_yaw=-0.6926 left_pitch=-0.657 left_roll=-0.3486 left_gripper=0.9989 right_x=0.3745 right_y=0.2183 right_z=0.0977 right_yaw=0.7027 right_pitch=-0.2581 right_roll=-0.0008 right_gripper=0.0621 state[joint_eff]: [0.5128, -10.0308, 8.9778, 0.8816, 0.2906, 0.1587, -0.1245, -0.2667, -7.7607, 6.4615, 1.4481, -0.1343, -0.0269, 0.5348] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.18,"left_z":0.0,"left_yaw":-0.7,"left_gripper":1.0},"note":"The 3 cm advance moved the cap down to row≈174 while keeping it centered, placing it at the fingertip depth. I am descending vertically to table height for the cap grasp."})

tool

executing move_to over 7 steps (0.7s)

step 252

assistant

agent noteThe descent did not track at all: left z stayed at 0.106 m because the wrist had accumulated an extreme pitched/rolled pose near its limit. I am straightening pitch and roll at clearance height while preserving the cap’s x–y location, which should restore vertical reach for the next descent.

move_to

left_x0.3950left_y-0.1750left_z0.1500left_yaw-0.7000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2977, 1.9274, 1.5925, -0.9581, 0.3065, 0.0689, 0.9989, 0.4446, 1.6318, 0.9981, -0.2047, -0.1848, -0.1989, 0.0636] state[eef_state]: left_x=0.3951 left_y=-0.1733 left_z=0.1063 left_yaw=-0.6858 left_pitch=-0.656 left_roll=-0.3485 left_gripper=0.9989 right_x=0.3746 right_y=0.2184 right_z=0.0977 right_yaw=0.7033 right_pitch=-0.2576 right_roll=-0.0009 right_gripper=0.0636 state[joint_eff]: [-0.2667, -10.2359, 8.9641, 0.9255, 0.2662, 0.1636, -0.1294, -0.212, -7.747, 6.5846, 1.4774, -0.1392, -0.0415, 0.906] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.175,"left_z":0.15,"left_yaw":-0.7,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The descent did not track at all: left z stayed at 0.106 m because the wrist had accumulated an extreme pitched/rolled pose near its limit. I am straightening pitch and roll at clearance height while preserving the cap’s x–y location, which should restore vertical reach for the next descent."})

tool

executing move_to over 22 steps (2.2s)

step 274

assistant

agent noteStraightening the wrist succeeded, and the cap now sits centered at the very bottom of the left view directly between the fingertip paths. I am retrying the vertical descent with neutral pitch and roll.

move_to

left_x0.3950left_y-0.1750left_z0.0000left_yaw-0.7000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2939, 1.5188, 0.8982, -0.086, 0.3218, 0.1959, 0.9989, 0.4446, 1.6321, 0.9928, -0.2214, -0.1848, -0.1989, 0.0641] state[eef_state]: left_x=0.3881 left_y=-0.1721 left_z=0.1278 left_yaw=-0.6813 left_pitch=-0.0934 left_roll=-0.0456 left_gripper=0.9989 right_x=0.3704 right_y=0.2164 right_z=0.0928 right_yaw=0.7048 right_pitch=-0.2794 right_roll=0.0051 right_gripper=0.0641 state[joint_eff]: [0.2256, -8.8, 6.653, 1.8486, 0.2222, 0.1343, -0.1245, -0.1573, -7.706, 6.8718, 1.6532, -0.1441, -0.0317, 0.9011] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.175,"left_z":0.0,"left_yaw":-0.7,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"Straightening the wrist succeeded, and the cap now sits centered at the very bottom of the left view directly between the fingertip paths. I am retrying the vertical descent with neutral pitch and roll."})

tool

executing move_to over 9 steps (0.9s)

step 283

assistant

agent noteThe left arm reached table height, and the cap’s body is centered between the fingertips with its long axis along the gripper. I am closing to a 7 mm target to clamp the rounded cap without ejecting it.

move_to

left_gripper0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2947, 1.9049, 0.6346, 0.622, 0.3218, 0.2138, 0.999, 0.4446, 1.6321, 0.9928, -0.231, -0.1841, -0.1986, 0.065] state[eef_state]: left_x=0.3924 left_y=-0.1737 left_z=0.0018 left_yaw=-0.6903 left_pitch=-0.0392 left_roll=-0.0089 left_gripper=0.999 right_x=0.3689 right_y=0.2155 right_z=0.0913 right_yaw=0.7047 right_pitch=-0.2887 right_roll=0.0073 right_gripper=0.065 state[joint_eff]: [0.3077, -6.6393, 3.3436, 0.906, 0.2418, 0.0171, -0.1197, -0.335, -7.6786, 6.7487, 1.4872, -0.0855, -0.022, 0.9597] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.07},"note":"The left arm reached table height, and the cap’s body is centered between the fingertips with its long axis along the gripper. I am closing to a 7 mm target to clamp the rounded cap without ejecting it."})

tool

executing move_to over 10 steps (1.0s)

step 293

assistant

agent noteAfter the partial close, the cap disappeared cleanly from beside the left jaws and the gripper remains at the intended 7.5 mm gap. I am lifting it to a matching working height for verification and capping.

move_to

left_z0.1200left_gripper0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2951, 1.9209, 0.6262, 0.6621, 0.318, 0.2111, 0.0753, 0.4446, 1.6321, 0.9928, -0.2329, -0.1844, -0.1989, 0.0662] state[eef_state]: left_x=0.3936 left_y=-0.1736 left_z=0.0001 left_yaw=-0.6859 left_pitch=-0.0257 left_roll=-0.003 left_gripper=0.0753 right_x=0.3686 right_y=0.2154 right_z=0.091 right_yaw=0.7054 right_pitch=-0.2905 right_roll=0.0079 right_gripper=0.0662 state[joint_eff]: [-0.1299, -9.4291, 4.9026, 1.2918, 0.1441, 0.0073, 0.1783, -0.0615, -7.5282, 6.3932, 1.409, -0.105, -0.0122, 0.9353] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.12,"left_gripper":0.07},"note":"After the partial close, the cap disappeared cleanly from beside the left jaws and the gripper remains at the intended 7.5 mm gap. I am lifting it to a matching working height for verification and capping."})

tool

executing move_to over 8 steps (0.8s)

step 301

assistant

agent noteBoth objects are now lifted: the pen is held by the right arm and the cap has left the tabletop with the left arm. I am rotating the cap parallel to the pen and moving it near the pen’s forward gold tip, but slightly high, to establish a safe coaxial approach before insertion.

move_to

left_x0.4500left_y-0.3600left_z0.1200left_yaw0.7000left_pitch0.0000left_roll0.0000left_gripper0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2951, 1.5711, 0.7734, 0.1474, 0.3138, 0.2077, 0.0719, 0.4446, 1.6321, 0.9928, -0.2348, -0.1848, -0.1989, 0.0683] state[eef_state]: left_x=0.3906 left_y=-0.172 left_z=0.0986 left_yaw=-0.6808 left_pitch=-0.0428 left_roll=-0.0101 left_gripper=0.0719 right_x=0.3682 right_y=0.2153 right_z=0.0907 right_yaw=0.7059 right_pitch=-0.2923 right_roll=0.0087 right_gripper=0.0683 state[joint_eff]: [-0.2256, -8.4034, 9.1009, 1.7851, 0.0708, -0.0317, 0.1783, -0.335, -7.6786, 6.3932, 1.4188, -0.1441, -0.0562, 0.4957] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.36,"left_z":0.12,"left_yaw":0.7,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.07},"note":"Both objects are now lifted: the pen is held by the right arm and the cap has left the tabletop with the left arm. I am rotating the cap parallel to the pen and moving it near the pen’s forward gold tip, but slightly high, to establish a safe coaxial approach before insertion."})

tool

executing move_to over 17 steps (1.7s)

step 318

assistant

agent noteThe cross-table approach caused the arm bodies to overlap and pushed the right pen arm off its pose, with a large effort spike; the objects are not yet aligned. I am immediately retracting the cap arm to its outer home side while keeping the cap clamped, to clear the collision before any further attempt.

move_to

left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8776, 2.7167, 2.627, -1.4246, -0.9577, -1.4712, 0.0712, 0.2436, 1.6909, 0.971, -0.2974, -0.0402, -0.1246, 0.0713] state[eef_state]: left_x=0.4458 left_y=-0.3049 left_z=0.0874 left_yaw=0.6259 left_pitch=-0.0418 left_roll=0.0336 left_gripper=0.0712 right_x=0.3905 right_y=0.1081 right_z=0.0481 right_yaw=0.3418 right_pitch=-0.4541 right_roll=-0.0404 right_gripper=0.0713 state[joint_eff]: [-2.906, -13.2308, 8.253, 1.3407, -0.8962, -0.2125, 0.0904, 15.6376, -11.9863, 7.8017, 1.8632, -1.4628, -0.8913, 0.6325] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.07},"note":"The cross-table approach caused the arm bodies to overlap and pushed the right pen arm off its pose, with a large effort spike; the objects are not yet aligned. I am immediately retracting the cap arm to its outer home side while keeping the cap clamped, to clear the collision before any further attempt."})

tool

executing move_to over 28 steps (2.8s)

step 346

assistant

agent noteI secured and lifted the pen, and briefly lifted the cap, but the first two-arm capping approach caused the arm bodies to interfere and the cap was dropped during the safety retraction. The pen remains secured, but there is insufficient remaining motion budget to reacquire the cap, verify it, and perform a new collision-safe insertion; continuing would risk another arm collision.

give_up

hindsightUse explicit neutral pitch/roll for table grasps; otherwise the left wrist accumulated about -0.65 rad pitch and could not descend. The cap was successfully picked at approximately left (x=0.394, y=-0.174, z=0), yaw=-0.69, with a partial gripper target of 0.07; the pen was successfully picked at right (x=0.378, y=0.220, z=0), yaw=+0.70, with target 0.04 and settled gap about 0.058. For capping, do not move the cap arm across while leaving the pen arm uncommanded: explicitly command both poses on every insertion step, stage both wrists high, and plan link clearance as well as end-effector clearance. The attempted left target near (0.45,-0.36,0.12) caused body interference and displaced the right arm.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0605, 2.2482, 3.1302, -1.5856, -0.1429, -0.1356, 0.0712, 0.2436, 1.7046, 0.973, -0.305, -0.0349, -0.1246, 0.0709] state[eef_state]: left_x=0.4826 left_y=-0.0004 left_z=0.3867 left_yaw=0.1233 left_pitch=-0.1243 left_roll=-0.0042 left_gripper=0.0712 right_x=0.3889 right_y=0.1067 right_z=0.0425 right_yaw=0.3377 right_pitch=-0.4739 right_roll=-0.0434 right_gripper=0.0709 state[joint_eff]: [-0.1026, -14.0786, 4.3829, 1.8046, 0.0611, 0.188, 0.1001, -0.0752, -9.0735, 5.9556, 1.2821, -0.0855, -0.0659, 0.8132] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I secured and lifted the pen, and briefly lifted the cap, but the first two-arm capping approach caused the arm bodies to interfere and the cap was dropped during the safety retraction. The pen remains secured, but there is insufficient remaining motion budget to reacquire the cap, verify it, and perform a new collision-safe insertion; continuing would risk another arm collision.","hindsight":"Use explicit neutral pitch/roll for table grasps; otherwise the left wrist accumulated about -0.65 rad pitch and could not descend. The cap was successfully picked at approximately left (x=0.394, y=-0.174, z=0), yaw=-0.69, with a partial gripper target of 0.07; the pen was successfully picked at right (x=0.378, y=0.220, z=0), yaw=+0.70, with target 0.04 and settled gap about 0.058. For capping, do not move the cap arm across while leaving the pen arm uncommanded: explicitly command both poses on every insertion step, stage both wrists high, and plan link clearance as well as end-effector clearance. The attempted left target near (0.45,-0.36,0.12) caused body interference and displaced the right arm."})

tool

give_up: I secured and lifted the pen, and briefly lifted the cap, but the first two-arm capping approach caused the arm bodies to interfere and the cap was dropped during the safety retraction. The pen remains secured, but there is insufficient remaining motion budget to reacquire the cap, verify it, and perform a new collision-safe insertion; continuing would risk another arm collision.

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 · 11.19 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3798, -0.0216, -0.0246, 0.9993, -0.0154, 0.7914, 0.6083, -0.379, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.0031 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -1.4838, 10.5915, 1.7363, -0.0366, 0.0806, -0.0855, -0.9094, -1.2239, 9.9214, 1.8779, -0.0269, -0.0024, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4161a47d4cf491f56e454048802ddcc0a11762044ced0aab020d58040029cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f468141bc5c5b396d0cc556cca6a72de66612ef9ea1450e8a3aebfe13ac27be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891227ffcfcd027bcb0361538c3898e727942310003d8dc9e188aba0ca8006ee",
      "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 · 5.017 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsozxZ21URws8R8yTN0TJxnMtCSc0CIR0j0kWepJ78MYiDx9IVZXDhmq3heqyCGyrsJOYelc6KjMRNpT7ucx-vlNNXCk14eFKRRrMHsQCarHrt8vI0DRZWT0DV5q1gqqxr7dZ1ZoyYW8xuv7fJM5ezorzcWtnuxmjCMDadIjZ1iL9HJF1xeG75aoe8Brk4--_8iThIy9WN8cxsdA5aE5KBUpM5-AyZyKlmrXwtKAgalRXqGobDzwhP3TdlyjbWVHgdIw5NPWUDQRqqA8rRog8dttRpBxySMUoWQBHZ9VXX2bDZ4wjRSLgY4bYPQoU083G8NAarI7PzwS9PrauOHguntv69NshTC1RH962jjhSeepUGgMPnQnUgz9EJcNbggpjs-F1xqG0cXm1ebAxvNTr_1s8fOk1IefYtxiz_2Udzyv_dJI_nqu7cyUacBdxmoQG3tXDGc3slmtn0iJ9KZGI2Z3Bxomv1FE83fAFFDUsFuUMna0u0sEWAw_xCvKxvXSPsn8OfC1atZnDZRQM-D2j_SUhi1tSwcCcknW1K4dumLbS0rBv95t0c-ZXNxdwZ2hcF1BFNy_UkxSxV9uQ9OVg7Y_Ki6LcB9CCeW_YTivieLiNFcZ50Zu-eq1mCQvVCyn1pWMYGp1I6_7fLeGapbXr42rrByj4oJscIqjIFB9PTXKig9FxRg9BhkAtp5ipo7p4viP7HE8D7az-FOiLWFNVLJh_n43dTqasmUfKZIWPjJ6XOP-5GJSciciVVQYVehtUqXpZc60PnifxyslsYY27xpGUpftMBkXllTBNc_fuVRVReleHQagcVr-g7rkJ7l-_1ETGaPLKuqoA5dmwP9gg9XgFXui2s1XRx_wdXRABMzSDwoHMeAXofmfZIK_sa6l-vnGmflOXX9kiuVUqIO5t-sDr5DORy8legKpBVjF7wHcbxRrrUgwB3-UQSHfpEvFHupLqvgqUsiphVYV6ho6oI-_Wy1MX1hUr2z0k_V9Zwq0qVSjag_Fl2pqOUf7c2ZUbbEbb51x4hi76YVb7n4KrqF8rpSfh5BUAhu7LqcB-wlMjLLonkPfvNm-BTOy1BTn8sXWJsu0DatYyRQ9u_jaNQCJJA6RgZHKGbyft4OGyKo01S6u1EbafzKWgpXCNZDMIIUIuhjLlMayxfJHF5HgDcYMtvFKn0s5bSlP-AibQPY1eknubIzUaSWSd4KdtlV6C6TjFWJ1CJ15tyjvmsBwX-UJTSi16Cyq5W8lypFrH_GLbbPS-B54lAlpctEnRNIXir5dnoKCJNo0axGzUnPgJkfn3cHqDf2fNnytimvRrzvpytIkm2N0ooRrqXAjWnldlKBdXxfm1leIi1qFPSh6Ld--U2g3yNZunMGbTzrn9XGsBlbCVfLYNJRI4dKMn07_6b9OFzRPZQsDKwLhRmyC-J3B99DSUcfLgBwLoM_KSYa_JOhN6oQBpyra9YOZWTy2dWL0oE49o4VeQ5_jjBT6a-9MBxzvOflTvtnfDVBRpWxSby0kQ9AYR9dquVcsCvbM3lQqK2tK-eB3_wgm-Pe2d3be4xIpKc4o37WspPdRw5sSRKrmmIc_jpQmWrRzipilk_0mXNAJ2k9ldBV3nU2TCJRhGdjM3P6CevWwtVXBP7NYdXywmnomD2icdgq9cfJ3YAXr3FHtZubzUSkLtqDEs65ysJJ5WyT1yNdOSQ2UZrJWOQ-0Rdz8uibqMCsCp2jbmN89NrS1W73sT7MKmBxhmxvkJoQ7JGQGUZYvvpIlUX6IcVBjrrWNOhle2kGQmujxWqxTXYDulxPn3RN0kzgEsxUP-sZTPvqAtqlWWrOZg0gTgVAODJ-E5rKqorcXQnZHTLRY3q3u9f31A5R5jXwJI0SZ-XRrwQ24MaNDwuKp4OtunQQFTHRW5j77w_Ke3CnKzxY3tOvobckn7Pc6UzBGZDYFEHf0ASELrFEECK0nBVTc2Z5A9i9vRuRMLC5OPcGQ9cqfDeiWE9Zj81JUXfzvVd0LWynbaNttKJjeXnOo1vGciDr_bf3J21Of1dl4X42tursI01O19JwM-X-_V6eQoWVNZA1lRFCv4EsLp3yDHiQX0QScXVO_fIAtoX88CgTN_3ujqrIZXGBSPcsENC82Us9K5Ht8vwrDd7-egwlYaqBdXTeeKsuP7Cl2AN5IcGJ-kGSHxkLKqb_brA9DlTLz3RAJnCUe2sJ6NlnwMy3ICrIEFia_GFqbZU1fZnyFW3UJ4Tl0iPvQrpqnfVSN3nOc4aCMmara7XB7BY6eUGV_VrpKX1ctTzX5NzE-lR9othJsmG8-KnJ1lSO48laM1fgF9cWeX_X05lMmYSw9xFpC2Aiw36elcvMa020YwC-0xpcWJvlWRqm76mOYgn_twfgEGQ8DvOFFonQ2tP-eJ0XoGKZfoDh8ZlODKPDMOfNYQfNHh-22o84T8hnoi8WbxTLW1PvQj-QUYjz5KBhU3BWND2DXxclq3PSzPk63gFEI2gt7UcpbydpOOEq8yRvKNdDb54vKZCrTFNFEvwAQoyK-8pu7Wj5w9AzQjXH6lRoEQdIzewflztYB1uH3tlYcC9HP20Xjmu8kuptodIcCkvdM4kX6YH3h87izVBrHXaEaOFSOEi5giPURtSMwjb3j6uED7OQq8eNV3mR29JrIW0Kadsr1pRcvTh7HloRyWeafvJ6mpf6odXygChomZB-lwSamkET0ZFvzfvtXMVkxN8lS5UJa6IzcgVUVJ-b2G0WTMdi2h5eZ5IQyfi6TvsywZrdu2kyfmEj4oyHvUMnC8nJDWkL3AeAZ8W9UnGKlZo3wPW-mE8OCTA4n5iFcxgF0EoMUgErazmIZocdKQWCK2qSKVbf0tmvMKerZ2pXL7KflDN72kVjoQbFoPTwoTiW8WXDLp8OQ5jRtfe7g6gwjBB16I_p6x1A1_21RYb__yVyWlRiLNGb6VVIlKoqz8inqd64sIKXzMpJ15BYwWDAbMURBxQM8ICl2sCExpIP6H5DqciTrRhcEaL36Ed973aMdgmNbKCdHc_EpunlfdQKClKlmxfn6MMYyP0N7A6rWG7s3A8_r0gyExulHNoyby_hf1gkugCRe2g58nog66jJ1zoblW2bd3CrMubNWG-0no6H4_NL6vDxlBhyxUj4QrphqCJC79OEUSYeLEWGoM7-pd4F8Y7TQl59Cp1zXnsqUvhINTvL4e61o3g33d9Iqyet6BNmQ1FSr4m0fp48km-BnPA108gyze7xEY7lYJSijSdQp4V1lFDyEzj0TWLtjN5zE2Je_aAUxXVHiVQSjopNN9WuDOLW1Vr_Ff3pNrSno4MBHJ7NqoAv6NgORGvikWEa9ZTjYj5WDtRe_dsbIYyFE-DKjlVKMwPr-Yse4DbJFH4VLQQ12DcyqXveOEnK14mIwh9bAdx0IG7qw_11Xs9EM98b9dmrtbp7xTxM7_Igcz0SXfXxX8Nwoo6YYCEQqolm4hMs44psk6g-u5BOKcRYn8qhk6S_0h8_hnrynwz31m2U5zAs6cziFa5Oo94k4egyaRCU_bvyDMJv6uge4guHgq8Tv-qXdcrUhrcKLv3Gmw_HwBuitUWTL38XpvqklQcYb8Whsrx7KaGiz57aGqQU3RyqlxJUFjeOrLH2UE-PPMDCm3AuZKMFNqaqmTX2AbyQOrkR15blJnoz_C8FoCziSXws_cYIgO2HEipvhKt1E57zlV0AG8fIahJHpQY9bJBD62Gc9g5b8mEwlvFk21A143RRYmxvQ-ttLq30fht47A3HdppLyQQfWFplXrQxyFNytBh9Yv9dDk8v2-0B5rUWgJSbJEm13L2hsXUBFbye0R9ylZjYWrVR",
  "id": "rs_046af727926354c9016ab44b1ee90c87d0859aad6dc77320c9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsoPOxS1YqsKG8uyYf3qRfH-yHKQxM3EVJt1GO4wHX9GQDUK5Lh1ote7pSJmtjpyrhc2m2uMi786SDMS7Ssk8KHJOFqQZESPwT6vPWJ0dNCqgtpBs48BA1SOOI61I5EBjs8XqtuwX26oeWVoyExYyamkheL16f4G4Sd_t9yaMyvOXyVA1qywwWEQmbAx5n368WlFduRrcbshmn0nD9vBsq9J_dkTuFygZMsUQROSPLKItdJICwjkZv1W1dE4rwD_6Dezr5ah3Engwk5qkh14NvYrg0Xm9LmcGF_e1y6Zbp5XVRownFGzfmPPuNd74ZwlUvr2tJ-rWgj9xuQ3DT1Cdh4NYxPHpBhtnn6GF8FpbdNl2_KFCpVmqmkn4ByWUObt4aO3qYY-TjENQ6k6RCvSH1NTLn80o3DvI1ll-yqRnRwFeglmThnXfTaESS21Ej4WAXSjS6EvzcUtNQr52UupfnLFo_Xe73Qm0crROLZcmVrwQwvbP25NANKifSR15vx77R3Oh5TUxCMdK7iOcKWXTQ_XNXu5HmEN7kZ4kv_kU2Ds4-5K4ZL0-k6H8F-BlDE_hZSILISULVcdiZu-VkiQ2ECRnlYIr0PNLmXeVbgr6bJGpGeZcpypOiC8EViAeZoB6qbYD26GCWdY6wdi0JztXaFo3JVNWJtCPmbA4E-LETB6uSEFwiWv19mfs9lxw6o9P3YgqLr4HrWJn_cLnFZBA1I9FhEHOXCz7eU6a05NJNZJkWlA-YBPuBbaacHIxutL_zY6eiRuO2rXmkfeu17pzdGrYA24-V8lUhTBere3Fv4hvG3nGhvMKQU454s9Q5PgLgdSgZTxzgwbAG3WfkzbQdbS_ZKIJQ7_twKE5avHdHQjutHWQftn556w9MNvEixSGfVzOtmo818Wkahfg9GTt26dlGE_OUL2pyx1TbcTDZEhSMR8Hd8KH8Ln8nnIpjytnsK8GAYDIKP5L3qAP5chMXRlyh9Yo9Ya98bh0PEc4G-0rwhxthPcqUMtLg0QvRQNHslurdnLBeqh7bQfMU3QUIDieAiFdyQLKTRA_lQeaWyTxL_XeAmdIMGA5G56w_mBIaCToarF6qv8l0MZEkMCOgJrave-mV5ZolHfdn25LcDe6ChAiSBsL3vn2yVtVuGV9CVcu04Aq4ayWuCp7P9XYarkYOZ9vuZFKxxvhVp__I42F_YIYtcxXUX1kPi5lp3DfoSGm3Juwe7qYQ9UXUN7poC-39hLQA-Q9CgnHxkW7Lsy4HPjtaWvF0sIOWtLO-aj7ZLa6PlY246mhIXWtNDd14l6FHSYbNdFKkcjEye9TTQhEZTqON1JJSrNrgyiA1H-TzpA4vy_Pj1KrUJXS2jb3votwOdsMkct3ugZgW_huBNmbhCRxDp9xzZres3-b4KNSQHF4sYJA0ROBrYcO0IoIydbAynJEbTe8gfWqD8-hxG3_Gu_nm7tau1x2j-ywSA5iYsXikN9vogwJ0TxC3GTVzOCCZ8lJBuGf5glHS9UVM7owRBzUBZni0H1wSs0Xb4SeKY0KMnClt7wIiM16LilIXBhCzAyV90_KDhHy_UEklZdXpB-YhEAMHKOOoctTUO6Mo_ZhXdDfzeAPHU2WHqavRFdC09HJKpxAgbLmf75Q408r32CQaEqO8sCFN5UTUHJr7hhad0O-fcwz9vOU-1UNGva41qEgcxkNNxoK88G-4PRWhursveV0fslbjveDOuDcPmRWijwT2yDCH-Hd-Zcz4CSUGDvyxWEyNo84hoSMkyFgtqmCSfR4sZvLUxzx9_UbT_azhlRlkF9fr8dCFdfTVHKNF0MKfrxXHP02KpiDVNhnIuE_bEPl0gWdG2eHrJ3ICJ3ImdewEv0x0CNFMHSiYFsFwJYk0sapFvk6bgF19nnUWBID668MM0CkrYoyvq0kR-hI-4DfdcvKL4f1pMPS-X4WrYtnUj3OeNusG0qdIB9ROYG8I7FGLgYWCxUL3FQ6t4qp2OLXGg17HXMl7AESS3GqZOZGAmBZM0GvPaUMb2lU8k7GGsnxN2cOrue5UHQlggBHE2cQZ4c9ORkiRDfayd2rBXKrtexuVLXm1FVa4HySkjhkpvpubVpb7nTkJaBLyGmfRoN-P20bLO6ws245H-H6pNVwiGhvmumNG7v-NcmV1ZZd0BWTpbr8QEKEXV5VSQ1wfTZENCymNxOKf09UyEAKB4D_VUiCbUs8ytczi5y3PAEK97Te2mgCcmobJ6CddtNyUv3LNhdZq0hAllEfySpZlEN64oTJdEURBD4yt21gIgzk-IfmzV60fx-rJNDpph2VlqgpoaOrRqyH0lS0--hrEbNe_r_COg3CmXY2U7284TsWDGSjTQISJocALEvvBmDswz7qiLmrZ4KBX7r_FBCFO1LJWWrWUCxcP-rsAcP6IU4jc_A7TYN1bzgof__dtJmbGFuF7Hygj6qiDIJnXU6MmYANCLD3JIIk89hN05W3NyQAR4nyMAqTuWXNMllCsFZxcR8AVhxJ9_9FTxfuQHjIpg0y-N_zo59EYkfl3D-qN34471cWr7O658LhjTSak47rzQdG8617wV0ObmvUxPt72IzO5FEvIEfq3o-4qtVr3ACCdDe69ql9b6UsQ9y_QqCnNO1nVdBNN3EtJQBRNYPshAf_rmiZHvYpK7r66Zz0QVQu2rBTpLCr4l9bvPKxJSJsrVafKKJzM7VXwhYVvn89xEdbp4rS5-nv8d5qVGyzk=",
  "id": "rs_046af727926354c9016ab44b24895087d08240fc59ca9a06e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The detached cap is the short black piece left of center, while the pen lies diagonally right of center. I am moving the left arm to a high approach over the cap, with the gripper rotated along the cap’s axis so the jaws will close across it.\"}",
  "call_id": "call_QCC2aRPVlCNeihPkJQwdBbhU",
  "id": "fc_046af727926354c9016ab44b27dbf487d0a7def0ef513dc324",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QCC2aRPVlCNeihPkJQwdBbhU",
  "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]: [-0.3569, 1.5253, 0.8749, -0.0338, 0.2337, 0.1337, 0.9993, -0.0181, 0.7979, 0.6125, -0.3912, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.387 left_y=-0.1841 left_z=0.1224 left_yaw=-0.6372 left_pitch=-0.0917 left_roll=-0.0339 left_gripper=0.9993 right_x=0.2946 right_y=0.0024 right_z=0.1805 right_yaw=-0.0025 right_pitch=-0.0145 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -7.2684, 9.6889, 2.0488, 0.1978, 0.2173, -0.0855, -0.0889, -1.7299, 6.7214, 1.8291, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5792fbcc400659d4a82f6363c72b9aa7ed17af4254ff1315603b24928a74c77c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4932163b8f15f929cef98bd5ea49f2c09f49b5c261d076689d9c6cdb6e471cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a65cf616693f97de12ccab5bc2850776a3e23ae677a75378a32493a3ed88d6",
      "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 · 3.317 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6018, -0.3798, -0.0216, -0.0246, 0.9993, -0.0154, 0.7914, 0.6083, -0.379, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.0031 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -1.4838, 10.5915, 1.7363, -0.0366, 0.0806, -0.0855, -0.9094, -1.2239, 9.9214, 1.8779, -0.0269, -0.0024, -0.1197]",
      "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]: [-0.3569, 1.5253, 0.8749, -0.0338, 0.2337, 0.1337, 0.9993, -0.0181, 0.7979, 0.6125, -0.3912, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.387 left_y=-0.1841 left_z=0.1224 left_yaw=-0.6372 left_pitch=-0.0917 left_roll=-0.0339 left_gripper=0.9993 right_x=0.2946 right_y=0.0024 right_z=0.1805 right_yaw=-0.0025 right_pitch=-0.0145 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -7.2684, 9.6889, 2.0488, 0.1978, 0.2173, -0.0855, -0.0889, -1.7299, 6.7214, 1.8291, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5792fbcc400659d4a82f6363c72b9aa7ed17af4254ff1315603b24928a74c77c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4932163b8f15f929cef98bd5ea49f2c09f49b5c261d076689d9c6cdb6e471cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a65cf616693f97de12ccab5bc2850776a3e23ae677a75378a32493a3ed88d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsvL-EL1D4ENFzRKewJwb2NEISJdkSuZKdrLDYQM4y00qRNlLqwLfpG-ga-3pPA3kdXNYMelT0Coa2Kqh0xJ-3CdQoY6D-3I2b4ouUUsTKhQMBvFvBd-MMG4k2D_XC34lMGpg82_JDaFpBQd-5NYXX-pIYCxI8gfKZJYuCTtmFJA0MpjMOQ_j6snMjeSW_LeTcJTmemuhdv5qu0vFDQup25Tog6CoWuavTdWzAqCdQ6NGzISwMGhvhGcw4S_v7Mbij0yAEkqcHVlYPsq-AsL8EPYjJKmPe88xybAuHkAMz43IXFvgcAWyT7gnfopjdWiFuE90TWnKwcw5N61vNZSGkkD1iD4d61N9XoJMMOQ2b5eLKFn88Vxd7MEcJnN3TPz3HLiK9vA5i-vnSHbH8QNgfb4koDIKeAF2XmnPfi-SQAjLsTPDoz2K2G-G43aXsOapNZ4keY77eSzOJcLQX_yX8vL_s4_ukal71VliUGx9vsjKufkQO1Jl6nRH0eE0d5xDh9pc7JREqXCtGt6OVPMnf57CBD1VZS-7nFK9BJUKIxUjCFkzTkzs2G_vd53hW8PMQu9dZ8FKjMz3g8wjLGeZxDzszyYxq_lfgcaw_wSoO0cnboaFuqbq6hMrs8xBfTsFAUHo5D6yY-JekM68g8EvRs2V1SMRA8USKdLa9R9WuKI5Q2wVyTfiW1F_Y7LdBb0asTI8Zk16vdnUziufsUJiVG5verEgK0RVdOXSVPR2MDj2DMCJ84K4OPJ5lvsMdp-5uufhr8TG79DU0bMuLWxt4Q1nu855A6fSeftNE3kogV9cKB49bb6zQUuOO_osyJOt0BuCuzaI795nGG_dYhDv3xHP-RnDEAwf6FeW8ptwadcr5OTDuZxB2dG1X5Tx1BUsZm_ebwNQ-04OikpYnyE-vRjyv7yBdIYNlTu6Og3XrY9Vxmxke2LaaRU5dJu2Ve2D9m9CySCBWvLt0KxjXeBFigF7fZWjundN8k3txBrzZMwl3Av5SME14quuDnSdnjICy-cEHongmNx_DBTRJ19pKltNUwBCNkRskDclP5KRNn3aRW43DrcP7tz3-z6pKGb3RFoByWhnxaihPoHGuFojUBlCfeQUI1xpYiS3aBUnpZKXm9vwgHkMBcl5-98o7CN-IYS9KQw--7DLE-177wzoThxPNYHJCwXNS-NvLhZi38_F8Jqg34itSymnM-m23VeYVF9Y5NwNQTDsOzielidgQbzj6yggWaLDrznrv-SL31lXC_rysIm2gihKeNdJuOiP3nlNuZRAwqYbI9I-o9V8OBlntQjIyKlCdir3SEOKkdbqY6NVLryqiTBnvBCO8p627-V7E1QCmUprTgameFvjfVW5XP4S1LiY0Jh7eX62zVf94g9WemSOuQR4Zv7_yJD5OBfeVxhSTSnKPZXy9K8JYj0hG6KLroLYl6XTEy0DRMUcxmKZlU2BvRAYeoUxVUPrHMUkfS9ajLUMZdGcvdD5FE9E-TQBt36R7Cyiu3_t0WszMlDoD_fuVmgXhId3q1viNXUYKMh0S3XEc8lRZDzvi19paRVyJHoynu46d8gMS04_0iE6PY0YtWZ4dKGUDDp-c2KZn4dfAxhEzGELjnQDApA0ZuEO_AeExr3F4qq2zsEr2cXjuZsmCHefqHFReYOrVvU1X8qRYWL0ph6sMOgKHauoOn1fVjnaML3y1G0gUwz-1mVRDp774Py1jQAjlIIH8wwWYJpdzBNMD2bwMy-sjjcUIsh_-2sJ3HBU-ImlRbXHFPW8Cp_M8KjGxkZQ6x8SqautJOczECtzx-mqMfypCo_LE4NlWSWCDssA1-o9hXx8_2fnPft8CdI-9Q6l3a0yA1n5dx49KwXWLUtrsGM_C_E4v4t6ZyytVWzfhx-hZYJzfGlqIz_JqxU9EOEVgqlFIKMUxk4-fcw7iFgcpsE_H1xdCWY8Qt7hmKQ_trUJxSS5_fmc_XVJrcnQHFxeIW0mDVSrQgXRxOfZBLGdjOgNJ0T8pw_aouq-SKNL27LSdqPKvP5YRK9_rBpRCxWmu4lqsRs32ZmyFyi6m3M3r0On3pyhGO7nJ-kp6dQbMewvAN2USsdIMgOcToVxqpZ5hJPDTuRb5AXyMEW-LxX2fS0pwVbeFNe6nCujstd3CEvRTjw_Mtx19TWcMc2ctZ80cgCf2Sm_msyh2w6P837J6SBatSNjsX-HPSkQXI3wnhykOzultEcE5nFLUmxBBupeNhAlCa-6mPApOQZKGocjFC9qAmx0a2WicrTZXTAHCm6oGQHkJtR6RQhZ4b0YUjfEpeJHKLSSo9_xjkFNsKeuTmUZUPnVrl5QDMMN9hc94f07lZjpLxTxiEZ4sebJgnOJch-c_nDg2C2J-SZou_oqOSQVJaMx-rd0FrJfc79H5btPFlEv5bOlCnKBaoLllhYCrM2ajPwngXpV9fjum23pB9R8QLeGdD_FwepVw8x75Rv7zr-EEqBujONiJX2kxtrZAFJuXuj4XrFfC4RRPpgZn5K6rfEp6Bo6TEnpSXA-wKUsDNvwAzuAnRe6FNuQu4UeBn7zgFlXQcuiP-EosSNkYoWDk3tLcFDgUbZzUEuZtHm_u7U3qD0S3E5vUnovDc5l8cTjwMGazaEBTjilFSM8N33C2vnd9G2U8BbMw4p_rrf0e2vGYbYC50pBeaLVBNT6VhFx0y",
  "id": "rs_046af727926354c9016ab44b2b9f3887d0b7b0ce846f29aa4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.005,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap now appears on the left wrist camera at the jaw centerline and right at the bottom edge, indicating it is under the fingertips; the pen remains farther ahead to the right. I am descending straight onto the cap while keeping the jaws open and aligned across its narrow width.\"}",
  "call_id": "call_MP56ohWyEeR3AvLtFCmsxMD1",
  "id": "fc_046af727926354c9016ab44b2e5b8487d0b2ee4b55a90e0216",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MP56ohWyEeR3AvLtFCmsxMD1",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3607, 1.8874, 0.7498, 0.4019, 0.2447, 0.1528, 0.9993, -0.0185, 0.7994, 0.6121, -0.3962, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1915 left_z=0.0038 left_yaw=-0.6623 left_pitch=-0.1387 left_roll=-0.0408 left_gripper=0.9993 right_x=0.2939 right_y=0.0022 right_z=0.1789 right_yaw=-0.0033 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -6.9128, 5.135, 1.1697, 0.398, 0.1294, -0.0855, -0.2803, -1.2923, 7.159, 1.8193, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b3a9cb1ca97334ddf570785a7c171ad5ae0be743a245dd3c7d71cfcd55f562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3eb5ed74143ee030f63a54e0d0c3cd8fd9a908378138f5e435ebda08140b010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ded34121622ce8ce6500ffb464f6df977cc4c05b336a9e7e069a08f8b0daab",
      "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 · 4.271 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]: [-0.3569, 1.5253, 0.8749, -0.0338, 0.2337, 0.1337, 0.9993, -0.0181, 0.7979, 0.6125, -0.3912, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.387 left_y=-0.1841 left_z=0.1224 left_yaw=-0.6372 left_pitch=-0.0917 left_roll=-0.0339 left_gripper=0.9993 right_x=0.2946 right_y=0.0024 right_z=0.1805 right_yaw=-0.0025 right_pitch=-0.0145 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -7.2684, 9.6889, 2.0488, 0.1978, 0.2173, -0.0855, -0.0889, -1.7299, 6.7214, 1.8291, -0.0611, -0.0464, -0.0171]",
      "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]: [-0.3607, 1.8874, 0.7498, 0.4019, 0.2447, 0.1528, 0.9993, -0.0185, 0.7994, 0.6121, -0.3962, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1915 left_z=0.0038 left_yaw=-0.6623 left_pitch=-0.1387 left_roll=-0.0408 left_gripper=0.9993 right_x=0.2939 right_y=0.0022 right_z=0.1789 right_yaw=-0.0033 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -6.9128, 5.135, 1.1697, 0.398, 0.1294, -0.0855, -0.2803, -1.2923, 7.159, 1.8193, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b3a9cb1ca97334ddf570785a7c171ad5ae0be743a245dd3c7d71cfcd55f562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3eb5ed74143ee030f63a54e0d0c3cd8fd9a908378138f5e435ebda08140b010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ded34121622ce8ce6500ffb464f6df977cc4c05b336a9e7e069a08f8b0daab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEszu9mwyxbGmc4ssiHvyykgi6d70OJL0XYuFXuzMJCHlER7w-KqUKoHHuHzcl7i6_iYH0KbxL9c0wrdXP99Z0x8lP40gC3dFRM48SV1JK0cDWTLfACQhZfbOI2KvaR1yVf4h39l_wpziMPVkOXZnXaHRoocSKuWxJqdoCDIBK47ZD3avjhYK2iD-6jpX11KkLb2MUw1QBGkecgT78__vLrVtCsR5FTz05bKTb9zSNKaRqzLWZJAVwtLIEqEmTwX3Rw2pPjrpAkH2r4zOt7fz7XGaIQqfnceCnNbzBFwRa2ABSfoq4848xgf8h7RdelX_7Dn7bfrAhsm4l9_CJceDubxhOpO_3C6z2_tQnuVZGpwXe8p9iSRaKqcbGBl2P0P-JMw5kIsuRoxHhmJA-r4pZSWvlyQRE2qEpDDHXhQp4ZBi5yd8_sXc_qW_lyucTCPTjgpdaMMguj7H0w7bOYyE2qMyLG_a1pW4Nxdyzt3SX_OsaPuTh2DpwDChmEJK7D2ENN_wb0-oaHT6tuud_tFOdS5bxz0xx2du2ZniJRwNl8v_qTDW0Sl8NzjL8iNwYFj-5_ZQP20rgQ382_Ds5QioIJ3_hiy68JpJpyYiQVNcDU9KTYoxj67SRXGWnROvCJUyg5ZnCunWdJXR6-0bwRyIY137CNnB1DMEJUWHXbCWIFLXhe941O7kzi7DHFfBZ5R6br9-4GPfJ6UaLZb_J7hVTjCh3jxWII0j-6IC2XuPhduoztuWCZPmUakKsRI7DFrBL0qIdWDtvepzHlAU1DCCYlXWYwJ2A-RMqYCCfnWB3vAEhWXSr3JMJMNlTHQNWky_nSWdWLmyDwzKKLsJapdIIlynxEsSHSmlHY-AezVrlFScNdetw2iHRFqS3SqMOb7hCgA99EU9RRhSZOhZngO3ezohUlvpaQgYJqQoItxCQjp8boHrrsfYMgQHBf2hwqsJOWN5y7XUivnDkLDE7gkwkNHmQ0d4fS8miGFzuqeUTryWoGvsRK2rWv4meojpHuI7kNiX3lERy7EyGYEc38YydLAAre-HplMctd1ovHezT_-GYDLbK8-hL0iul1yqwCZx-8EL3xYT7y-xw-uhX1abXLV3ZPe92hMyjU2K0jgvuqUDm4NzqzqhFujlBFhN4DeuDCDT9HedWQXF3orIJy6GFxxXaDitc7mAB2YjlqCqvI72cNS2LcVzJhJniV7IfhY1Tuadyko4q4g00xvZdeXtVNtLK7hcfI2-d3GQbMZ5g0smGQ=",
  "id": "rs_046af727926354c9016ab44b31d54887d0ac037e86d3484a54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height, the cap is centered between the left fingertips and aligned lengthwise with the tool. I am closing the left gripper fully to secure the cap.\"}",
  "call_id": "call_AUtN4YsFnHRVYFOMc2Zq4SFK",
  "id": "fc_046af727926354c9016ab44b32017487d082805ef4dded076a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AUtN4YsFnHRVYFOMc2Zq4SFK",
  "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]: [-0.3607, 1.9045, 0.7494, 0.429, 0.2398, 0.1528, 0.0083, -0.0185, 0.8001, 0.6121, -0.3969, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3992 left_y=-0.1916 left_z=0.0012 left_yaw=-0.6578 left_pitch=-0.1305 left_roll=-0.0348 left_gripper=0.0083 right_x=0.2939 right_y=0.0023 right_z=0.1785 right_yaw=-0.0029 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.9624, 4.9299, 1.326, 0.1685, 0.022, 0.5348, -0.0752, -1.3333, 6.9949, 1.7411, -0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555164ae9d0a1c6d629b9d13b315c12786a2c37c8b9ebfb64a0afbac17735eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05308184d6dd36c13761b6088b7ffa09cbbcc024b6f57127d038c206e9a03cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fba04571f326876ffdafaf759ce1ffbdc2105f4283ddc42214cabf682428823",
      "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 · 3.223 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]: [-0.0204, 0.7929, 0.6018, -0.3798, -0.0216, -0.0246, 0.9993, -0.0154, 0.7914, 0.6083, -0.379, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2952 right_y=0.0031 right_z=0.1829 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -1.4838, 10.5915, 1.7363, -0.0366, 0.0806, -0.0855, -0.9094, -1.2239, 9.9214, 1.8779, -0.0269, -0.0024, -0.1197]",
      "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]: [-0.3607, 1.8874, 0.7498, 0.4019, 0.2447, 0.1528, 0.9993, -0.0185, 0.7994, 0.6121, -0.3962, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1915 left_z=0.0038 left_yaw=-0.6623 left_pitch=-0.1387 left_roll=-0.0408 left_gripper=0.9993 right_x=0.2939 right_y=0.0022 right_z=0.1789 right_yaw=-0.0033 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -6.9128, 5.135, 1.1697, 0.398, 0.1294, -0.0855, -0.2803, -1.2923, 7.159, 1.8193, -0.0269, -0.0366, -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 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]: [-0.3607, 1.9045, 0.7494, 0.429, 0.2398, 0.1528, 0.0083, -0.0185, 0.8001, 0.6121, -0.3969, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3992 left_y=-0.1916 left_z=0.0012 left_yaw=-0.6578 left_pitch=-0.1305 left_roll=-0.0348 left_gripper=0.0083 right_x=0.2939 right_y=0.0023 right_z=0.1785 right_yaw=-0.0029 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.9624, 4.9299, 1.326, 0.1685, 0.022, 0.5348, -0.0752, -1.3333, 6.9949, 1.7411, -0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555164ae9d0a1c6d629b9d13b315c12786a2c37c8b9ebfb64a0afbac17735eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05308184d6dd36c13761b6088b7ffa09cbbcc024b6f57127d038c206e9a03cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fba04571f326876ffdafaf759ce1ffbdc2105f4283ddc42214cabf682428823",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs4PJl8TeefeO2rXD_pEkcKQuyUmayCTloBXH7VEp-Uc0rb9GjNzxP3fCilGTMtWFHqLM96G9kAVg7zhI-CL0TG5n5GE9ryKlFSdtEb7daKUb4vTCmJBHK3nNsr1POsFq0-1kIUnn5ocp9j0e-z5Jtgt_VO62sYC-l_0s1EYl20-QRYRmJwx2w5IA_4ByraW1zjq9X6zUBJVl1o0B3OYUtSJtKQhXGatHN_PTAlVJPJ1JTnkuw6DADn0gLGhWKjFN8VHaxAdExu8VIZYR8Vun4ZBPlyroFa-D5KfPpO7zIf2tQCiBKpXAujMPXx_URG2hLztiNtryu7BIVHk2ZAshukBFl6FQ5JPN7w2P0D-6tukDcZfdDf55ILl4NuB_LzR8EwV5ehVfHks-60C8wNAMkrbXmjZyXIqZDLKO5Jfjet9HXY_bZHO98ohIklb7JLM5oI2Aefr42wZ2KauAxnipnT96O0CKZS-pIVaMikaq_wJpQdWBFc1UIoPkpD2ulUOvTxH__TDgVMXVH0bJE0wiF0dadu-JQgxbFmfuKPGD41xoSCZX-w3WHO6x8BXCEHRJbo72nWXK93ewSsrTD22f91a8kHdnejV1uX8e2wB93kqfQgdJMOA6Ls3D17ItuglqAKM7gm3phDsFp1JnjmvYINPFky6y-5j28ETzYNnYt0QqSNIuxolAXN4jkkhQ6yZP2VJXycQeG94qK36M53asf7r1y0ub42JJOeyXYUb6DzYJkx4-4PuAgSp4SuBFoVOTASv_xSoQl6PDO-181U6mKqXkc3ql_-I5-VX6parZ9WdJjWq58bPYJPqkSc8YNEO1IQcvZRARnTd2F3tV7nGH7WrSNwe7sr384HFq3BdQZ-z9sDZjeE_1CPQIofV_ddHibmI8ZNyKhq1d-slGXdUq3Wu6soZ6T4xNY9qaAhuXsY6tfavNfmq5p8cmjN-ydxfsuFlB0R6UFttgVRgKcN03F1kbbynAZBYpPsIGErLxcyVm9_kSBy0MNntRdhK42EUg33azrWimP5ew28gwhGLm63oCrFxirFVCoUnXJ171IK0bngdU6__CO_RE40lWkjhHeOA3rb5j1sBCWSHpldyemFyqUt6OXFKu2MYzBSKs0NhlUHvTAVOBkOlTkfRjlT6Fsa6Lw9oFgoEWov0BncKDLekeXB62KsdO5nDI4pURqtnOwIRDh8TJOvJ1ppgR2_uTsXg4NnrVNWaC063EKl49q_U7gjNnX0_XoqpfReuvLFzoR3tTJX4qjRv_0L47vbs177frbaOOqDiZTNpSfyUadykIAeACLgX2CLyHL1Yizng0L3hUqxuvNIppSUTRbMrQlNXD-lMDZAFa3LvWVBI24Ctd1XyypuofPezPvTytJ4ARFWJ6BiMG7FRN5idJhJLcJPSRCK5A8fIIdmFlCqD2FvPsMpn_rGBIFkufwpLzl6EaDRncEjLUNMp-xvfQ5mF_2Vz6YzGWPmbkqLlbcTMmHmY_V9TCqTwiJTcV2KDb5GAXbd1o7B-8eemi2SnNRwvVb62UpOJSSo02jj5FvhvD1aqK3R06YSt5IsyoT-yK4-7JNY1FGFrX7FKPNTfvkuJjOwk3wv4ccWDmspmsPGu50YUsJpO-EkKkb2cdOMHfd22JpMRDBhpSo14xxeKMaLPRQMfhoyJR2AJS_iTKDTlTzMpIfP0es5dt2FqGA-jLAIWSIOzkU4NNF3JZgUMZgP1BoJskPOXhIXLwEKKd82dQdSexdJEvjPCg2QYfa8TYMDnRbbekayzUhn-9d7ybZud9BA8ntenF3Is9SOREWbgQpAVi5c_DoPwQUJCkRgPJK0ND3JNG1PtikvO8Azf6fQt8EErrEbS6V46ORbPALkDNN6v-wD7JuHln6F0HnZW_zMLuyRSQ7OCi-KAEZxQBd6wyojh1-CYZyY5ZN6wyhqoPdgKfSET6JbIOyOgNrkKmBGTOieNK9w6tFrimAILtCK4L9ApeoKrH8cmfRU9oZb6ioee2pMsm6cQlypmEfcAc47xpQfHGMJFFBULXgkxdtF1-1ULF_B0EtQm6tV3yINORT68W5FwJeyQfXAZwnQ4n6W2zYlSxoWub3l6CX25V21d-bA",
  "id": "rs_046af727926354c9016ab44b35f57c87d081d27dff669a71a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The left gripper settled nearly fully closed (0.008), so the first attempt missed and the cap is not held. I am reopening and lifting slightly before the prescribed outward correction, avoiding dragging the cap along the tabletop.\"}",
  "call_id": "call_XpxsHXlvUWrxq8xKEpDE7ZRH",
  "id": "fc_046af727926354c9016ab44b37da8887d09c1d74f75610afdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XpxsHXlvUWrxq8xKEpDE7ZRH",
  "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]: [-0.3607, 1.7542, 0.7933, 0.1825, 0.2371, 0.1398, 0.995, -0.0185, 0.8009, 0.6121, -0.3973, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1872 left_z=0.0355 left_yaw=-0.6509 left_pitch=-0.1813 left_roll=-0.0582 left_gripper=0.995 right_x=0.2939 right_y=0.0022 right_z=0.1782 right_yaw=-0.0033 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.812, 8.5265, 1.6044, 0.0513, 0.0659, -0.1636, -0.2803, -1.2923, 6.9949, 1.7411, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7315c545a666a00fd114a9f4debe5b282a5cb6b89b9cc449abc87d580a02582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec79988a8fd8d00b8795d2393ebe28838fc22bd40153adc3f768b1f053f64ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e3e76a2f5f5824b91f5bc351e189685a2473f5ca5cf6fdd7c74db8d0f0b070",
      "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 · 2.068 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]: [-0.3569, 1.5253, 0.8749, -0.0338, 0.2337, 0.1337, 0.9993, -0.0181, 0.7979, 0.6125, -0.3912, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.387 left_y=-0.1841 left_z=0.1224 left_yaw=-0.6372 left_pitch=-0.0917 left_roll=-0.0339 left_gripper=0.9993 right_x=0.2946 right_y=0.0024 right_z=0.1805 right_yaw=-0.0025 right_pitch=-0.0145 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -7.2684, 9.6889, 2.0488, 0.1978, 0.2173, -0.0855, -0.0889, -1.7299, 6.7214, 1.8291, -0.0611, -0.0464, -0.0171]",
      "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]: [-0.3607, 1.9045, 0.7494, 0.429, 0.2398, 0.1528, 0.0083, -0.0185, 0.8001, 0.6121, -0.3969, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3992 left_y=-0.1916 left_z=0.0012 left_yaw=-0.6578 left_pitch=-0.1305 left_roll=-0.0348 left_gripper=0.0083 right_x=0.2939 right_y=0.0023 right_z=0.1785 right_yaw=-0.0029 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.9624, 4.9299, 1.326, 0.1685, 0.022, 0.5348, -0.0752, -1.3333, 6.9949, 1.7411, -0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3607, 1.7542, 0.7933, 0.1825, 0.2371, 0.1398, 0.995, -0.0185, 0.8009, 0.6121, -0.3973, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1872 left_z=0.0355 left_yaw=-0.6509 left_pitch=-0.1813 left_roll=-0.0582 left_gripper=0.995 right_x=0.2939 right_y=0.0022 right_z=0.1782 right_yaw=-0.0033 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.812, 8.5265, 1.6044, 0.0513, 0.0659, -0.1636, -0.2803, -1.2923, 6.9949, 1.7411, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7315c545a666a00fd114a9f4debe5b282a5cb6b89b9cc449abc87d580a02582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec79988a8fd8d00b8795d2393ebe28838fc22bd40153adc3f768b1f053f64ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e3e76a2f5f5824b91f5bc351e189685a2473f5ca5cf6fdd7c74db8d0f0b070",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs9FNhERMOf3C2Rz5KGtqcmHShXS99w5XNRUKv5Kv1MgbJoLyPlxUXOnelFmvB8AZRAPg49xg4ns1Bcza2ISxIcK7_LflA2semG8ugH9531_qNYaEWJ5gLBPJEb-9Yon4Sg_BgbKUDwXJnFaq2JjnTodvMpvV1UQRgX8DVm3Xipg71pIhaS-p_2rvvkkSQw_Ud9MGogQ-XNprVch8aes40UFcFuW6YwLn0fL8BZFKzRapvhVJfkMzSTR4YtBXFltN18wAE3EGQHVsY7N7BpXKLKLayLEFE9yF854MiFTC8t8m_fmqggWIs94I6Gba2ZZrY8moppRogbYYgoWcybr48RS-b55lueODvzsNqe9o2UyU0xVakACdFs6uPqoQRngA1xZ_rmU1oLbtW9ZVj9JTeVu_gWCNoeKfxKbwdpSqyZUfMJ-OS_OxXKDqN_um3Afi-hLQ5j-PB0YVVBgDGd-8iiL-WG_PK4PIhDEr6YrHLy1i0zCic71bJnw7eRvZGOagYWN0cTWOHkJMCMhv8CN3gsXLdeGi3q39cew3LCo0OT2XaITM0OXPnWTGP7gkNQoYfoKCk-hUH-VikWP56YbljZFjio_-stzEGpZAI8APurapCHBUGbbUW5W3H9nDjiQ_4srfOSw9X7DZAG2_VUm0XbQJTe3jkJzmfkU_3BGGdnsZa0FvCS2d8uA-QLDoweXDt86_L4jmNC3cpTbo-h4eDAaVyylztiK02FXdkiKySyVpKY96fThtyXQw03ZPAsfrpVd2ly5FBR5TvgPqaDxQCtmFVRT_Ekqqxb2HG768Stcm1h9sqdsIAzvGZHasBQWtYX5A5VIbkL-I9Xq1pLUWr25OepFULnbHpkTVS9dzMG8LXkvZ0qfNs-dd_lWm_XPlVy_hMWvuPYxmEwVbPzCFVoHEya4Clk1zSfs46rjKG3es-UbfehJiXGP2jGPcCXOy_qQv2Ja6r2dP3Quv3OQq5g-UPa5Y1Tx4Do63IZ8Mc8UYJ83nppDuLtbY2y00RN8fumbECRO7YbPKcXXyKGWj7lZ9oXKm1Cu2SOiPiJmBLtSnc4Rcn2fwdX-4wkiGEMgL5W3XYD6jBn7Rt9fW6n2K30Jmi5vjsfN0KE0uCB2Nqbdeq8lVySklE6TiyWJuwOZecDS1IPZfn29hxqAr2sdfD_opL1xsxvYHDjekYMkdllz0LAqw31SACTEorzbmu_oZMJH93bN5ic_mrGtCuO_UYB4dsm8YAX2TGxcNFaxSr3l1AST9nu192TwJtKOX79xRYf3-zjiW-uWWuxMqJLAK9TISWWKNgZ4MRx5P4RPbj7mAapyyRCilGu4rWMZeU18oMz1ghqqhvLJ2kxrEfG7IK9gixulggYdMlxObksWiYH6lJYFas111R0TlTMOIt7wZbNMOVm7w8qk3za9_EeLKUzFeO6m1YI1fxUQyusXqTBC4J8zWKGbOUf3--4k3NhlqV8-aQGOnOc6niQrI8r_nk-NkeuR5UBm0wzPK0OZ9Um4G9QdnqY5LTFcMFdE5c0oDh_ARPlPNEKWastdpnkSohQKLXd9yGaPNoCIGySF2NxvYF-U0pVR2Ycujz5ImTfQzqEKhxiVy8bZmdCWGPnGdS1_bA_yvH5Hof1GkVF1gP6ugu7DQ9mQ0q4V2Do3kXSjZR7vP5pOA9x-awUspCPzKBtashSL_P4CG9uvCXUvDu-6tEEdxH_1CGOaJ5BnHuCrAH5xRzBXMoKQA_bfuK6NZ6tY_OsH4c-TbuRwBdrzWW6IGuYGfLcHs1PcZXOoBJrLCAHe0R-HujVCx7XMixAF80-ia4qslLr9GEi09JoIl_Kv6MEplZAZ_qF9G-DM5kyjSH95_PfbQqYJXX31HTT1AYrpasrQjrhs-8TIXs6gbRawBO7HI-yi_D3LcSjS6JSZ7PbdoxTaXlpkgM-p59Iuiy-Zg==",
  "id": "rs_046af727926354c9016ab44b3adb4c87d0ba29c5e675cdb24e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.06,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"With the jaws open and slightly raised, the cap is clearly visible on the jaw centerline but extends upward from the bottom edge, showing that the fingertips were just short of it. I am advancing the grasp point about 2 cm outward while retaining the same lateral alignment and orientation.\"}",
  "call_id": "call_lJQOOjsSwXPIrVeYYqMbXWY4",
  "id": "fc_046af727926354c9016ab44b3bfca487d0be34ddc676fbb40c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lJQOOjsSwXPIrVeYYqMbXWY4",
  "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]: [-0.3523, 1.8084, 0.9306, 0.0517, 0.2501, 0.1524, 0.9989, -0.0185, 0.8036, 0.6121, -0.4122, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.407 left_y=-0.1924 left_z=0.0412 left_yaw=-0.6631 left_pitch=-0.2237 left_roll=-0.0725 left_gripper=0.9989 right_x=0.292 right_y=0.0023 right_z=0.1744 right_yaw=-0.0032 right_pitch=-0.0416 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -8.6769, 8.5128, 1.6142, 0.359, 0.1587, -0.1245, -0.294, -0.9504, 6.9812, 1.8291, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30dd58ae8f3febd2b89a3bcb1ff93c99bdd56170fec78ecfb5f6f699fa1caa24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99eaedc47e6d176a4ed96da4fc6028f1fdd254f6662d3fec6797104534548c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba9659fc00e4de08a464ae766ec884e8a5cf61c6e103879b81b52a302a621b8",
      "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 · 2.569 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]: [-0.3607, 1.8874, 0.7498, 0.4019, 0.2447, 0.1528, 0.9993, -0.0185, 0.7994, 0.6121, -0.3962, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1915 left_z=0.0038 left_yaw=-0.6623 left_pitch=-0.1387 left_roll=-0.0408 left_gripper=0.9993 right_x=0.2939 right_y=0.0022 right_z=0.1789 right_yaw=-0.0033 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -6.9128, 5.135, 1.1697, 0.398, 0.1294, -0.0855, -0.2803, -1.2923, 7.159, 1.8193, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3607, 1.7542, 0.7933, 0.1825, 0.2371, 0.1398, 0.995, -0.0185, 0.8009, 0.6121, -0.3973, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1872 left_z=0.0355 left_yaw=-0.6509 left_pitch=-0.1813 left_roll=-0.0582 left_gripper=0.995 right_x=0.2939 right_y=0.0022 right_z=0.1782 right_yaw=-0.0033 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.812, 8.5265, 1.6044, 0.0513, 0.0659, -0.1636, -0.2803, -1.2923, 6.9949, 1.7411, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3523, 1.8084, 0.9306, 0.0517, 0.2501, 0.1524, 0.9989, -0.0185, 0.8036, 0.6121, -0.4122, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.407 left_y=-0.1924 left_z=0.0412 left_yaw=-0.6631 left_pitch=-0.2237 left_roll=-0.0725 left_gripper=0.9989 right_x=0.292 right_y=0.0023 right_z=0.1744 right_yaw=-0.0032 right_pitch=-0.0416 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -8.6769, 8.5128, 1.6142, 0.359, 0.1587, -0.1245, -0.294, -0.9504, 6.9812, 1.8291, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30dd58ae8f3febd2b89a3bcb1ff93c99bdd56170fec78ecfb5f6f699fa1caa24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99eaedc47e6d176a4ed96da4fc6028f1fdd254f6662d3fec6797104534548c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba9659fc00e4de08a464ae766ec884e8a5cf61c6e103879b81b52a302a621b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs_32SlEc1o4cbF-9aajEmkOwUnqcTRq-loTYZdmdNW649HT-bADt4WBA4KX4ZfnJtdgBA6rPEp8HqJrPf28vuC5tTnG-6RmHKGlgspGgq-OBieJtKAu5rx8w1YeDUaQ_GhXSgj-wrzUf1RcQ2f7bjUAOx5dL0oFGYPUQ7IcjNHs_wnaCxAhnugRyM7g7l8sPcY4pSWZU8GcJlVsajE3Wz_KGZecIejuY_Ns7PpeRJAJwN121MYLVGwMsKVMfbKfbQomLuzM5Y2YGTm2WTjs_GaDM2cNR9yZkTtaTUeOY_NJ2Qk25cdurx_C-JIQ8NvpS39PtnX1w-2Zsrefuj-6qIDKbzkzNfT4vrx6VmgM6DKd8rMWsNBXjs0c2L4wkneQTlmp3DDFjoQYQ5NFdBmIFvc32yH4piRsvOlq47EJs3e1vOONCODlxDWIwWMFSaISqtv5d77gS4mJK3Bv72AHChdUZxQZbR9-1mT4WbawJMX4agcWUSiyOTQ0Qkp12z1WaSJ-zX3XDyWnnGf3XtBWaA-16uensUv1CDWMQvpnusDVPp8pBncIdFId6uxctC6q6hLBsGkNFAkRAeTwDuatSCKfSsBGB1VcM5RbKdi4U7GQbDH6a08Lg7h9SIWad7C0fWpcrombuhvWeHBgu0VZYmBIp6xqP9aizZisJuzYGtOiu5MK18bX2Qz6io9_MuTL3ms2rfNTax6EnmmEKD2cOOMJZoUqDgrxba8E8vycbb_P6TH65XLl-LaDf53gezhOy9sUQ8Y1POORIk27yME-TkQI7Qp4k0WyP4mGFfxkufks-GrXbphRnI_k7tasDtZew7odjCWc3ghXXpUsNhleqODRv0fMF4QKCg2tmDC-8Rbcq0TRMH8jReEvLIj0OQSy0wPxgESMfy50_5YJzAsxgxb0X7e5rPBVh7wkmu4b9088RwRUMui4V2hz8FMGgemBnZOgFjg0VS-xhijcI9TSK6G78se3Qt0f7fnEjj8KAMwophwZrpCwJCqdbdgedZY4H7MyPuWWejmej5zr2qwr1f63M6_5Lz9WfAmHHeIWgNJOgG0VYWYqFPjZ6AHgRtJZu6NHQVqTdvZdu62OJ1SnWEfQeb3t44w1_bXEZN-pTB5ASEU12IeDCyfOrL6Cee5UZjBqwSN9H_Xj5qa9thRbuF6pmCpLgoQaFE9UHNcWMQ6LjicSHM0FK3do2Ej9Ba4N9sAyyc5idAwHbVVDScR_hD5jMbciTKSlqkV4yx0QXk28I_DCa8tSfkTq-_awIfpRTi2yy2uZFegQnXoPkqw3M0JEA==",
  "id": "rs_046af727926354c9016ab44b3e543487d0b111671a16e5a838",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.0,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"After the outward nudge, only the near tip of the cap remains at the bottom center of the wrist view, consistent with it now lying directly beneath the grasp point. I am descending vertically to table height for the corrected grasp.\"}",
  "call_id": "call_9q9JtawOvXaKJuz6S9LQgjx5",
  "id": "fc_046af727926354c9016ab44b3e8c3887d0bc595c53cadbe39a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9q9JtawOvXaKJuz6S9LQgjx5",
  "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]: [-0.3473, 1.9442, 0.9527, 0.1429, 0.2653, 0.1806, 0.9988, -0.0181, 0.8051, 0.6121, -0.4137, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4177 left_y=-0.1967 left_z=0.0053 left_yaw=-0.6883 left_pitch=-0.2405 left_roll=-0.0707 left_gripper=0.9988 right_x=0.2919 right_y=0.0024 right_z=0.1737 right_yaw=-0.0029 right_pitch=-0.0446 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -9.7299, 6.2291, 0.4518, 0.2369, -1.0232, -0.1294, -0.0889, -1.2376, 6.9812, 1.707, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3f21b1da382754ae22c2b1a1453b200c03c48b441384520a3a67685dabf81e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b32b87b704505da0abc4d802058ff48b034209f55e769d204c0cc414257fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc56b9b94d9a4699f48ac5a0d5691afd09498c4e378d5d8287cb05c4b31ff5e",
      "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 · 3.2 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]: [-0.3607, 1.9045, 0.7494, 0.429, 0.2398, 0.1528, 0.0083, -0.0185, 0.8001, 0.6121, -0.3969, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3992 left_y=-0.1916 left_z=0.0012 left_yaw=-0.6578 left_pitch=-0.1305 left_roll=-0.0348 left_gripper=0.0083 right_x=0.2939 right_y=0.0023 right_z=0.1785 right_yaw=-0.0029 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -9.9624, 4.9299, 1.326, 0.1685, 0.022, 0.5348, -0.0752, -1.3333, 6.9949, 1.7411, -0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3523, 1.8084, 0.9306, 0.0517, 0.2501, 0.1524, 0.9989, -0.0185, 0.8036, 0.6121, -0.4122, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.407 left_y=-0.1924 left_z=0.0412 left_yaw=-0.6631 left_pitch=-0.2237 left_roll=-0.0725 left_gripper=0.9989 right_x=0.292 right_y=0.0023 right_z=0.1744 right_yaw=-0.0032 right_pitch=-0.0416 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -8.6769, 8.5128, 1.6142, 0.359, 0.1587, -0.1245, -0.294, -0.9504, 6.9812, 1.8291, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.3473, 1.9442, 0.9527, 0.1429, 0.2653, 0.1806, 0.9988, -0.0181, 0.8051, 0.6121, -0.4137, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4177 left_y=-0.1967 left_z=0.0053 left_yaw=-0.6883 left_pitch=-0.2405 left_roll=-0.0707 left_gripper=0.9988 right_x=0.2919 right_y=0.0024 right_z=0.1737 right_yaw=-0.0029 right_pitch=-0.0446 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -9.7299, 6.2291, 0.4518, 0.2369, -1.0232, -0.1294, -0.0889, -1.2376, 6.9812, 1.707, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3f21b1da382754ae22c2b1a1453b200c03c48b441384520a3a67685dabf81e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b32b87b704505da0abc4d802058ff48b034209f55e769d204c0cc414257fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc56b9b94d9a4699f48ac5a0d5691afd09498c4e378d5d8287cb05c4b31ff5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtCNKBLQFp0iLV7i1MPqz000lpgbVqUIm6VQBJIZ4y4tT-vbNKjnVvOwZFYwCvc385naKLbH_s_cX6HnMhG11ZNpFZ9Cm5N1qr0SG6IocnJHrpkZ_X5a3oA-ODg_wY_RwQWww5FFLnFM9Js0A7flSgY-1iqEPGbQs6Ok1M5hqwo79JA1Vl5Zu5jJ_UK0gr37bGcFbKxvE9nwSRIpkbkp2-xhMhwAfDDnL4oYdRVdu_SEfaMirSCgm_0Kq7INJkOyJysGMN6g4ASGBJOm76wamvffLf6VVBnNCe8oHgFI4vzkgibuVailla0h96bycNHLSTRWp33zakYC3tXYj7Tds8oRM8T19Z2xPbha6wzvDsZdLVEA5dYAuyCfwSNSwQoGAwtVPaZAp3FXthZrbFX-Qh8iZnXJB3NBIIjJIYKUK70wfbG1FuYL_vk5Tf2B98ekCWCI7TkxUxBG5GF3PLMC6g_IpEsBZnJQc8B1pMAU0-hkJ9fo-1baDdDOTgM2dgF51tUZcj4X4QpaS2azQU0HOi1clp3sGWatgdYEMpwfTkkmaacslow0SPPvY1TThyfcBwGqhXnFlSsVFaG98Pf816oUMR6zfHDuTadtMRKhlcW4d2FMs8pTOuAlWFlBzwCE2WxJCAgAApZYuN2ZoG9qajpXqskAdWT3gelNUBU84Tn_XAIzAMGv1Nntx1WY7VPcW6BO5uvNXk-PkwqCPN88NhK6ZfN0h9N-aUbANFzpIKTU4MogPy0f3WnQMp7txw2HheaTxVlui-RGl166BYT89-pCUZzHfM_0TsjW0EsFliNRhImVUXqUVC_OcZEltr7Yiy6NuYioFjEpdi_oipz743TpovR0rxbaLuryC7cE7AyVwpS0hccBN9v_OKIzqYHoZPDl1KAUegZgujSOfU_R99X-lwYvBSeGvdoj0or-D8cm2YQOpeD-6pUWnCV43VVjZVZDvaD8FyZlRs7FxZFICZ6mWoFEitZGy67Dh0ViJXNTuy5-UIC0Qcfl-3qrRIvfPaJlOhOJkjs1lXPHuVrdrSaoQHOOko8M52TY2VF_b8hv6WnjZPhAPok2Gx-r7Fq_n-XmzOglqoFxmcTisuYF8koVXfex9S0WTyh-fS00czdQHz44RTnLJyI4-41eaUTFVEb8unTdqMV6c063qMusWkmqJbTh3X3GqUL9Occ6LQNvfPI_vS1f8CZjSyqlaHHm250OLUZRCh_5ImnDZG8NSd7Juzh-nmO5i_O8ZkwQxyeE28=",
  "id": "rs_046af727926354c9016ab44b410dd487d0b1a52b62369aec26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap has disappeared beneath the left gripper, while the arm reached the commanded horizontal position, so the corrected grasp point is over it. I am closing the jaws now.\"}",
  "call_id": "call_Y0mcdZjRgu8h7t8Sypw9AnPf",
  "id": "fc_046af727926354c9016ab44b4141c887d0b088b3ba79531800",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y0mcdZjRgu8h7t8Sypw9AnPf",
  "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]: [-0.3473, 1.9602, 0.9489, 0.1745, 0.2668, 0.1783, 0.0083, -0.0185, 0.8055, 0.6121, -0.4129, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.42 left_y=-0.1978 left_z=0.002 left_yaw=-0.6873 left_pitch=-0.229 left_roll=-0.0694 left_gripper=0.0083 right_x=0.292 right_y=0.0023 right_z=0.1738 right_yaw=-0.0032 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -8.2803, 5.3675, 1.5604, 0.232, 0.0415, 0.5299, -0.3487, -1.3333, 6.9949, 1.6679, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161950b26852e4ba79e257f9e82cc5fbcac0698cc235652260008b9b1133a894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbef98eeee80cbb01b617fca807a9f6ea18f096c50db17215b1b3d343cafd8ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5429404f399ac4f09440656749805b1307c87e78ab17b37c523c8c55032c3cad",
      "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 · 6.141 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]: [-0.3607, 1.7542, 0.7933, 0.1825, 0.2371, 0.1398, 0.995, -0.0185, 0.8009, 0.6121, -0.3973, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1872 left_z=0.0355 left_yaw=-0.6509 left_pitch=-0.1813 left_roll=-0.0582 left_gripper=0.995 right_x=0.2939 right_y=0.0022 right_z=0.1782 right_yaw=-0.0033 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.812, 8.5265, 1.6044, 0.0513, 0.0659, -0.1636, -0.2803, -1.2923, 6.9949, 1.7411, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3473, 1.9442, 0.9527, 0.1429, 0.2653, 0.1806, 0.9988, -0.0181, 0.8051, 0.6121, -0.4137, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4177 left_y=-0.1967 left_z=0.0053 left_yaw=-0.6883 left_pitch=-0.2405 left_roll=-0.0707 left_gripper=0.9988 right_x=0.2919 right_y=0.0024 right_z=0.1737 right_yaw=-0.0029 right_pitch=-0.0446 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -9.7299, 6.2291, 0.4518, 0.2369, -1.0232, -0.1294, -0.0889, -1.2376, 6.9812, 1.707, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3473, 1.9602, 0.9489, 0.1745, 0.2668, 0.1783, 0.0083, -0.0185, 0.8055, 0.6121, -0.4129, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.42 left_y=-0.1978 left_z=0.002 left_yaw=-0.6873 left_pitch=-0.229 left_roll=-0.0694 left_gripper=0.0083 right_x=0.292 right_y=0.0023 right_z=0.1738 right_yaw=-0.0032 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -8.2803, 5.3675, 1.5604, 0.232, 0.0415, 0.5299, -0.3487, -1.3333, 6.9949, 1.6679, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161950b26852e4ba79e257f9e82cc5fbcac0698cc235652260008b9b1133a894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbef98eeee80cbb01b617fca807a9f6ea18f096c50db17215b1b3d343cafd8ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5429404f399ac4f09440656749805b1307c87e78ab17b37c523c8c55032c3cad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtGJhSq1diJcrYX7RJE38Ge-kx9r3U_Y2Ng3GRNU4aPr7qE4BiZdAvhL18T-tDjOZZshOtc03DxH8EjGwnt0mqLgxeTBRjF8eX82dqnabQtkC3Qbc4wlHSjF4wVzW1MPXW9VIt5HWk_6BC07J7oH8KN-w5PWWvI1BgZEBOCVVRoEWijsk51jKg8Wmj_f1m7eBkoFPfpdHk9k52hI8oxqZGZWxoujY-d5K7K6kLmquVKpdQCbAHamL6VYEU7KMIx9jcl6EqARJQbRuM9ND-VO9QuNNdpfjZLYYSEHWvUMPXjTUMAtP5NDSNRRLWfxdeEVWlqVWKQEmJuLizcx2HcAvHbUSmWoZL6y2405EYpheYk4GwQ02of3mc5XwFD5CXTg638ABtHITOk1o2Rb2Vse43oqgtF3xuvvxSInOmqDQMDQvu3CJBQyhASk0XLF2u9iCLhzbP52I9JIKmVfFHreeBSwXnTBoUrb2UAg9V7k1kdqZzV1sX6eupmhq4VQUftBoBu82uFAiUepi-MrbDH7Y_aNe-0hfxMG_2uZDeXa56TpaAtDkuoB1v1-bQMv4sNcAJlfWfPD3omB0O3Iu93JVFLf2eUzIFAxBC_9su7p1o3zRjrLXlBcMj0DYqvmnqZ9dnMRTMf5L6gJOvq5WnY8OwkaiBx3uhwIg5N9zApICw-hndc896jFSfcZjPDlg1cBmg2uvn3TpZAbjg1JpiblxgPqE5IrFgnmrc_Sjq965WtK_gI55JgIU0jyJAbsP2sIQ-nypUZ8EjT4bhCWJK8GyEGs8S6UbuttOnD-V3MLg3kIFN1A8oAodpCZGoobN2OBqchqyjz6J_4H1QxYY6scR8cAxdgagkD7lCRy2Z3-vV5EhpGinaTh1Ucv1kCD5R3yLw5MEKbgo0D87ihgCgnWWuUbxrRkOuzT2-tXyacCo8z-pRIYwF0VIGoIryfc-imekN-LxFnICfuonda5T0js_wEsrkAyORvL5OIGOlLGqX-bkuS8dbw0Aedh1CVf16vE5u8MyyPDryzKU9QD4sLENyxBCbbGkkZCDdfAGKBtuOV9Gh5W4VY7M9_TGz2mk-cr9ejg0u88HZynBowRbX7ChMH8fodez06LoVCB4nqveeRec2dz19Xg6wxm5IYOhU8p8fwvkj3PcREN0k4N7dJ6M8WiAvXRgKJ6JONsH6uxn4SVaTLte080M9NACPaUWa6O1sF6ENYADh164gImWIC_ERWB4fIfZZMveFAU0Uqc3mB1SQ-vrSSDA7Td5y0_stOXftr6Tmr3h_D-RJnU4cRB5Dcmj4yyBPM4FOdIO5gbRYF0TXIOpWBarAZBkvj4EXwgbt1uTsYm-6cbwiwM-GKNZmbM3wbepX8MV-kpoPZZCZdvjAQRmyZXRKt9JJFTetSeVxB0458hizXoiFNMi8mX11sbVGwayy-RyILiD1dgItcIGtKfPvT71FERE6r1_5HiP1ZbnWej2xFDV06EniIp4e8HWTgVBQl5Mk8C_fFEGCujasZ8_WeisxpboS12wzqiIbdEGhnOggNelP7CkqKrAJezawmTKucyDu5xPcIMykBmRgFIwB6GcoS3OqDWCYKLmMnjz8d9FMENQ6U3HWH8QaIT3dTL6h0gh2jOTnwjQUEpFsUTl9Gt2_cAJ_9n2G6niEiee7mH4ElozRJXmoNYnPg78XjefxLDjHFvqQAEUkH0l4NE5p676gzJDQAcbzbmMvko02BvA_Xrw87p_WdxxJ-JSEQGYbx0_eWtCEyt2jnLhEDcXihuVmT4QmRneVTEuInOX9ucaFMpgmrFPjKOl_lwL4rBywlAdUbNV3Lx14zIcoZUdzMJc6t38SF3c_X2vVnSR5Zkh9x8rGBRwxyMzUR1Jb-8z4_6OaaR7-xkeqr3t196iBPh3IyFE1-yYNoQpqT",
  "id": "rs_046af727926354c9016ab44b44054887d0b72bf63fd474b598",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The second close also settled at 0.008, confirming another empty grasp; continuing blind would risk pushing the cap farther. I am retracting and parking the left arm so the overhead camera can reveal the cap’s exact new location before re-measuring.\"}",
  "call_id": "call_6KH9HHy4tmb7FFU72rW3aBUk",
  "id": "fc_046af727926354c9016ab44b454cf487d08c1029ec25043d89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6KH9HHy4tmb7FFU72rW3aBUk",
  "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]: [-0.0006, 1.0187, 0.8043, -0.5884, 0.0513, -0.0608, 0.9971, -0.0181, 0.8093, 0.6121, -0.4133, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.0056 left_z=0.1661 left_yaw=-0.0225 left_pitch=-0.2324 left_roll=-0.0749 left_gripper=0.9971 right_x=0.2922 right_y=0.0024 right_z=0.1726 right_yaw=-0.0029 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -3.3573, 9.7573, 1.5507, -0.0904, 0.0122, 0.0073, -0.212, -1.6068, 7.0222, 1.7363, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bce3f2be481ac4e837b6d1f6733278cd75b2bb598fbb208cd105c447c8790de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b154c3a549a46600098a79f03fd1c411f339be17c8721b5cc1a97e95178ae3aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059e486f3dc8135a0d3c4da1323e7f97c9d776a4524455d5b4f48303ba1e97d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.234 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]: [-0.3523, 1.8084, 0.9306, 0.0517, 0.2501, 0.1524, 0.9989, -0.0185, 0.8036, 0.6121, -0.4122, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.407 left_y=-0.1924 left_z=0.0412 left_yaw=-0.6631 left_pitch=-0.2237 left_roll=-0.0725 left_gripper=0.9989 right_x=0.292 right_y=0.0023 right_z=0.1744 right_yaw=-0.0032 right_pitch=-0.0416 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -8.6769, 8.5128, 1.6142, 0.359, 0.1587, -0.1245, -0.294, -0.9504, 6.9812, 1.8291, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.3473, 1.9602, 0.9489, 0.1745, 0.2668, 0.1783, 0.0083, -0.0185, 0.8055, 0.6121, -0.4129, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.42 left_y=-0.1978 left_z=0.002 left_yaw=-0.6873 left_pitch=-0.229 left_roll=-0.0694 left_gripper=0.0083 right_x=0.292 right_y=0.0023 right_z=0.1738 right_yaw=-0.0032 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -8.2803, 5.3675, 1.5604, 0.232, 0.0415, 0.5299, -0.3487, -1.3333, 6.9949, 1.6679, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0006, 1.0187, 0.8043, -0.5884, 0.0513, -0.0608, 0.9971, -0.0181, 0.8093, 0.6121, -0.4133, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.0056 left_z=0.1661 left_yaw=-0.0225 left_pitch=-0.2324 left_roll=-0.0749 left_gripper=0.9971 right_x=0.2922 right_y=0.0024 right_z=0.1726 right_yaw=-0.0029 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -3.3573, 9.7573, 1.5507, -0.0904, 0.0122, 0.0073, -0.212, -1.6068, 7.0222, 1.7363, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bce3f2be481ac4e837b6d1f6733278cd75b2bb598fbb208cd105c447c8790de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b154c3a549a46600098a79f03fd1c411f339be17c8721b5cc1a97e95178ae3aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059e486f3dc8135a0d3c4da1323e7f97c9d776a4524455d5b4f48303ba1e97d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtOZAC2dH7hf-Svp3U7K0yYCjwwMDFR7xHMYQoxJHcIAcKv6KjMCw92usQTfyu8tDB_c5t-g6Vwni9nuhX_Lz9EQHZK15aG0UYwSws-10sZKmMywqKAp1805gpdp4DHvQybyaX3F7BS-8gWLz_H3nkpV9qiB5S0y62TOseygOa7UwSUrDpODupowT_6o-L4fYNA_KfWOnF0kkDBGd8bzODsbSej7idfCHVw-rxMnbgJHO_3mXlCQ3SwstVg8qNr4Fn2EVgma4oXsCAFf3OvKAqAyAm89NfFpMU5bXe5xxtavSVdd7rRXvonu4w4W3YN4CjvZPmicGU5c7koJXYYOyA4i6Y7ac8fUsROK7C69nyQwuvtQdY-7fqDw9CmG-HGgU50BAA7a1kUY_VE-bZTA6BKtCbZTVnrMeg9pLoVClRTiR7CE32OMn1wSKIwyqnMVkRaqovPEOqoVExgCAiyedKJ4seofpjVpqy1Pro5MfmkwE7JYqKkalU88DBAQ4oC4_zLZLo5XPie5fxRBs1nPSwwGVxccUpgqk7gukZFB9ESu3QWu3kniFvE9AI9E0K1pG0jNGNy76dkZQ6LnW7Y9YUkSj1woPrf5U68NA_ynRmdLGlA0OePRqWSvsMOu21DKF3u99-BHa1ZZCVNURgiqleuzdZx9j2cgAzT_YqWrAWX28hOfGFcxzMTbF_z5567u_blGUAEqdAgNJ6Z7IWzH1rUkGoNdL_w_CX4jM9IjMJ0NkGzhQUZp_xvyCRjaFilIHMtBysCTf1FgPpa3l3772L4E35xSKCLwS06AUrU_Do2uBFsyOoF_HWGSWSPIkgazEz5XUKTYsehCSpsT23xhXIDlf-DE1ktwF2id7ecn2JsoEPXQjDDnJe7JcPMmOuGP83jHk-vPjRL6gBhD8cnSaEoHcXJbm7G9oOM18vld91ygo1mr7wr0GfzADCg9nSVHtn9w94JVYdOK3SgkKP7DgKV381TP7ZnLgDy-Bz95maIQVakTR99-10kKYxHy9mDJbfyPLmBu-xMOjTb75SyrmxqbiB9pszfKZU76TNjiDdtyHvZcBxLRSGkaDlFz9cZgZYE1kaThHsrl_GTxUMyHcD0vHBWjgxE-JuhM-ZZlgJcvzeehA0ThTwr31yW3fqOzDfefSAg7oZCOCmXZXtwnkREH-S0CZIbs_eslAoi4FrDNzFVCdDtQGmUx6nfluYfuonhowvx7NbEZ5AF6KnlpCYbVx6dK1lmcLxDAfE1nb-FesjBAH_0dfA5YaQO-WXVu9ahAnoVFPKivBr7daAaHzsWsymxRnDszR3k3OXCFdr4wM_LxNFSzdeuEi-1iOR3CjUxR93kz-bgUl2s-LY6X6LhijuEIwjgTp-LfYaxD7zWQvBv1_77MYT4lhgEfVmzBOc-suO6rFG-Eh-aQ5orrlcSYMQlrxQep8mTrigqQz74wkFBdmv5kNUN1fP141dU-1Bk7Mhxz7z73YsRWRBGXLkJfulZgtXdhN3MJfrUGdXWdVgU0TTZYK7UOXQ7IVnjbKRdpjqWO7XulszLrJTXHFcMfecworkDlGutSPvasvrL_ci_8CMicDdvGH99YksoOeo9I-Ulvc9veT_10H60o2OitM9x7Wp-y64q8Dpc7rmH-b-ugdKoxsjvbZMjzu-NZjs4j-tS6MesMSjH1lrEG0kB8yYw8zJDro1SJ9LBkDd0GRqcOQJQ0YhtkGVxOaKy1CPlpk0bRzbIQcJF-DBZJwhqBrZNtjy_TQGTLpNiaxWvEFrV3KuEiFoBi3-GpmOBtBC6IhaKb7JJJzzeylX_5w5PRokmIUSKcqDHHlXuWrJ-anFow5gVPBDcDICc9IUdSKYQkJhvXgTzoS16K3AdJPKcJ8GB-YuXOuAflu19qddUdGIMsQRevtFFLojhdiDv8YGJILW-Zdr594j2a63h7eXaJVKHyG_vi9WpwIh9SybIztnSOtqmQ38rE3GLNADY_ifVBfLIeYkqN8CC4fEHA-iU0WowiJTu7daBYCQ9dN5ABK8Z3p6vPMD4lr1bMcO9rW_fEyzh_SUmZcIb5sJTL-UMxclfhPPvBW95oGObCv3HqJWfEMJQneZMd7I947HFCUy9clAgmCk3FHJuMzwGc7bv2NuYMzZ_QQFrSUZDitL0xY9NvQ3_D96yCxvoZpkyj0bSOiMZaqbPyQhYQ7wa8gKjBSWLj7k_OwPvcwbtZo5rQbjqokZMtPrE0DVVGlcWFE3EI8-P3yb-EM9ZEeKdUyxmrAYv4hrWkR6-pzzoCXG1vSdRdCDtdaZoxrwVRpvYBZfCMiDiZLAm8KT1fMZmEoXsIcH9m2XgDY5WmHjtO_yP3NEkacMe7CbfQsOsa2ZZNeCd_563wVdII4rzAPx3rjsEOYmdi7V2DEcFX1XvsCafCdCQH8cmwaCws8iW8WkNctbVgP2-AsJq7hpfxdhdLnuB6e8MqY5_4UZ87-N90-U6zAA3JskXyqRtL4JpRGFGWbRx0V0aVknzOue4J5i7ptDT5xxaUfN0wVKfYOvvp5lphF8yMzY2sW4yHZpEpuuHQNOVBovErkjBHFxrrwBWz2HlBZ1FxtwAP9wBYUAQdN7Geyt8n0bs_wueHyDfdvPENYooXwEjWFvBhPFxa2cugYa4kTU1BRCOMRc5EGj1HpB6c43FKbydRklNRe5uyA-oXPeMwCUumCmWS91myI9kN9C10KbjxivRP8nClwLytdDUtHLBTs9V067GD-_nioAGiQFqQsad7-7aPrl_60A-DyGpEaM9cldaaqzIFSwcY_xyfXWT1-cXQ0_youcJ8Faw6hYBZaJyoNmfGc8tDgaXRkBwVn5yiEoBg2FLX60s6IbTVE8aiQaTqa-YPayj7k4q9Dbz7TrcMojxZlUFnAP3DCetPoWSvW947d8ofvOpcEjgxRZIzSHsWXxNQc3-x1ol-BJJ",
  "id": "rs_046af727926354c9016ab44b49e0c887d0bcb64b4aba1a4de8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.08,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"With the arm clear, the cap is visible around image (80,116), well left of the pen; the earlier lateral estimate was too far toward the table center. In the left wrist view it is down-right of the jaw column, so I am making a corrected high approach mainly outward and only about 8 cm toward the arm’s right.\"}",
  "call_id": "call_xFzOOwuQtzkUHN5RgWqsvRXQ",
  "id": "fc_046af727926354c9016ab44b4cfc7487d0b14c75f918c8e154",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xFzOOwuQtzkUHN5RgWqsvRXQ",
  "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]: [0.0059, 1.4712, 1.0386, -0.5606, 0.4103, 0.3614, 0.9983, -0.0185, 0.8143, 0.6121, -0.4152, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.0647 left_z=0.1322 left_yaw=-0.5721 left_pitch=-0.3104 left_roll=-0.1203 left_gripper=0.9983 right_x=0.2922 right_y=0.0023 right_z=0.1709 right_yaw=-0.0032 right_pitch=-0.0553 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.7077, 8.8684, 1.2918, 0.3883, 0.2418, -0.188, -0.335, -1.5385, 7.2547, 1.7216, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee55b0a62a004cc1d698f848881191de7482923dce5c7f09d39086d48505d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377e57b7e181a2038c0ac25021c3d4273b69f3312472f605db8a0d0128a685f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e49a172941d384feabfecc1668c8f2258f5fff4cea5b3f5c8d7b4f4bfc23404",
      "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 · 4.14 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]: [-0.3473, 1.9442, 0.9527, 0.1429, 0.2653, 0.1806, 0.9988, -0.0181, 0.8051, 0.6121, -0.4137, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4177 left_y=-0.1967 left_z=0.0053 left_yaw=-0.6883 left_pitch=-0.2405 left_roll=-0.0707 left_gripper=0.9988 right_x=0.2919 right_y=0.0024 right_z=0.1737 right_yaw=-0.0029 right_pitch=-0.0446 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -9.7299, 6.2291, 0.4518, 0.2369, -1.0232, -0.1294, -0.0889, -1.2376, 6.9812, 1.707, -0.0317, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0006, 1.0187, 0.8043, -0.5884, 0.0513, -0.0608, 0.9971, -0.0181, 0.8093, 0.6121, -0.4133, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.0056 left_z=0.1661 left_yaw=-0.0225 left_pitch=-0.2324 left_roll=-0.0749 left_gripper=0.9971 right_x=0.2922 right_y=0.0024 right_z=0.1726 right_yaw=-0.0029 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -3.3573, 9.7573, 1.5507, -0.0904, 0.0122, 0.0073, -0.212, -1.6068, 7.0222, 1.7363, -0.0171, -0.0513, -0.0122]",
      "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]: [0.0059, 1.4712, 1.0386, -0.5606, 0.4103, 0.3614, 0.9983, -0.0185, 0.8143, 0.6121, -0.4152, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.0647 left_z=0.1322 left_yaw=-0.5721 left_pitch=-0.3104 left_roll=-0.1203 left_gripper=0.9983 right_x=0.2922 right_y=0.0023 right_z=0.1709 right_yaw=-0.0032 right_pitch=-0.0553 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.7077, 8.8684, 1.2918, 0.3883, 0.2418, -0.188, -0.335, -1.5385, 7.2547, 1.7216, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee55b0a62a004cc1d698f848881191de7482923dce5c7f09d39086d48505d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377e57b7e181a2038c0ac25021c3d4273b69f3312472f605db8a0d0128a685f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e49a172941d384feabfecc1668c8f2258f5fff4cea5b3f5c8d7b4f4bfc23404",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtRlN4wgvDY4cLND1qorllCRuyTa7oNqQypXhlbv6A-mMaPiRuvGfZTMf8AHIapG_SEB38JYxCBBo3EMVH1c2sw-AkbOz8tZo0Ul3C-5pZ4lf6TVV32cxAgcY-kCUK6JUNlfIsfCTz9OTkNIptKsWNeMHnA0TbOImRv_OTaBMaSyb7ZUpYf4DTiDn7FshTxGsQA833bdVQ1Ge9kyLcIkIIh413E8KUOSWa5vLm1KZkND3EVKh81xvmr41m1kMSgJir7hA-DWHyw-jEqAx2dXgi_ru3SBpZUwVzCk5oAc9Arxk-X9XFGJUsgsviNsku85RTXPYgqX9w3u8kTSTFjvpzz3y6I2UM1rlWQ1dg1stgSuDFgFAhQ19FllPbp7880r3QPK10199ZCX2bLuzckI0PXVIDAqiKpvAzdfXdGG4AFiZJRQj5vJMkrDe7rBGMSlloDS9VsEHub0cpHKjH2wz2XUAUOGbyqo3l8rxN7-LUJ3as2L5hHLRW5WHrJ259pbEHCVNOIySTUUOuOCAjQU79T1sXpWPtTgP7rZ6Wk3IWFMPhYf6e7fqkRoz4yfxAkB1gOvBBo9N3aJawuVNi1xLJl0eDYyJgAs9MN0ZqOJ5qKYSXIZ_ettQXfUDZPyl6RHYIP4YhZ1aAFr_LqVUPvoXu5eBNVG69lfo-73rCoa2JArOjX0wPD3ac6HghP-GGA1ovypA10QFU1LQpHM2MH1RDEfJ_gLF4ImxmFlLzMhKwOdjEMfGYjvibgrQtxdoucfgY52Hc0U2nY678R1rNlEu5hGxLY4j1Zv7x98CeZsXs2FKbtX6TVLfPvmIAhM7dek9i6bxDo-nXmidwOPm5ZGfa5Ob5zeV1YeFXS3ica2J64sq5kIIsgSqM3psh2duTIhY-xh8v9xQHeXtU1sAaiKDRvjGtyikBZfRtVeKwJc_JK8XPpdbNdARdf7-JM_Bu9NOtsoCci5OWX22ZYth6CylHz-64HOCgA3EMmFOYYMyvf4zKg_xluSuvnjODuV55-PkmPdsG-AXy6mzTxP_Dlkjk9zT2NZQhQTq50lbSY_EGq7BCRFfOz0JYHZz8vSImvLrd5n6ZvVn0-iHhz-r63aJ8-fLGwvm7BvxxzrfIm7m6i2KKWXgSm7-Pvt-qCnbGg1pB6zbs0jHyPk92FVey4kjLunx24aepPBZEbY-kq1kCWc_qc9mpSjZUxLMWktUOksi3AmUhLPaOu50xjkdrw2RAPhM_n7FdYc67X-AirAMIkfQyGzETaRxEptHMrfu_e-ufg4EKREUC18FTiYP8K4_UD_WTXB3zUpOPo29bxM7Vn3BWkVHw6DCwsMmlbKFOeUmQ26YRiD5vizieYvuck9TFEnBVRDoqM48-GIQQ0LYoUPOkVCnOGzB5teL1eacnp_4ufRyIWXRz8OADggNlUtzn5S2ugqIahSZfrZ-plw68q6I0WIQQ0skER_wyTuTDeoDD5aeq4kghBQXY8MiErM_aajVMTq2jP2TbVhgn-sUGeATru72sdU1EhKb4b7Jzw6Ll9QJJboceBIGBbEHj934MZ5w==",
  "id": "rs_046af727926354c9016ab44b50599487d08ffaee6682be9de6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.13,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap is now fully visible near row 142 but remains about 44 pixels to the right of the jaw centerline; its depth is already near the fingertip convergence row. I am shifting the left arm laterally to its right by roughly 5–6 cm without changing reach or height.\"}",
  "call_id": "call_4kPtqCP1lkQUs2Cfg287UWQN",
  "id": "fc_046af727926354c9016ab44b510aec87d09a093659ee96f05a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4kPtqCP1lkQUs2Cfg287UWQN",
  "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]: [-0.16, 1.5471, 1.137, -0.6163, 0.3882, 0.3187, 0.9982, -0.0185, 0.8158, 0.6121, -0.4141, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3683 left_y=-0.1235 left_z=0.1336 left_yaw=-0.7027 left_pitch=-0.3514 left_roll=-0.1503 left_gripper=0.9982 right_x=0.2925 right_y=0.0023 right_z=0.1707 right_yaw=-0.0032 right_pitch=-0.0557 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.612, 9.8256, 1.2772, 0.0611, 0.0171, -0.1929, -0.1436, -1.4291, 6.9949, 1.6679, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1690288a8288ba284839ce0f565c4ed10c9a3a3b994d5a5dc016f2147eceff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf91f45113f8ca9591a3aae17eb737174c20947e00506c950be983f482544c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d8e8318dafd78cc6074715b578af8f600799edabd0a0775311091e130f499f",
      "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 · 2.464 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]: [-0.3473, 1.9602, 0.9489, 0.1745, 0.2668, 0.1783, 0.0083, -0.0185, 0.8055, 0.6121, -0.4129, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.42 left_y=-0.1978 left_z=0.002 left_yaw=-0.6873 left_pitch=-0.229 left_roll=-0.0694 left_gripper=0.0083 right_x=0.292 right_y=0.0023 right_z=0.1738 right_yaw=-0.0032 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -8.2803, 5.3675, 1.5604, 0.232, 0.0415, 0.5299, -0.3487, -1.3333, 6.9949, 1.6679, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [0.0059, 1.4712, 1.0386, -0.5606, 0.4103, 0.3614, 0.9983, -0.0185, 0.8143, 0.6121, -0.4152, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.0647 left_z=0.1322 left_yaw=-0.5721 left_pitch=-0.3104 left_roll=-0.1203 left_gripper=0.9983 right_x=0.2922 right_y=0.0023 right_z=0.1709 right_yaw=-0.0032 right_pitch=-0.0553 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.7077, 8.8684, 1.2918, 0.3883, 0.2418, -0.188, -0.335, -1.5385, 7.2547, 1.7216, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.16, 1.5471, 1.137, -0.6163, 0.3882, 0.3187, 0.9982, -0.0185, 0.8158, 0.6121, -0.4141, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3683 left_y=-0.1235 left_z=0.1336 left_yaw=-0.7027 left_pitch=-0.3514 left_roll=-0.1503 left_gripper=0.9982 right_x=0.2925 right_y=0.0023 right_z=0.1707 right_yaw=-0.0032 right_pitch=-0.0557 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.612, 9.8256, 1.2772, 0.0611, 0.0171, -0.1929, -0.1436, -1.4291, 6.9949, 1.6679, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1690288a8288ba284839ce0f565c4ed10c9a3a3b994d5a5dc016f2147eceff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf91f45113f8ca9591a3aae17eb737174c20947e00506c950be983f482544c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d8e8318dafd78cc6074715b578af8f600799edabd0a0775311091e130f499f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtWLj1AFnLlqUmZPziErb2xAyO3X8TScqsRkIKEEfJ4MGgFWNy94CwMr_DkQoHLJqgaM8nU3DEcJdCLDYT2ewVLCqhKoHmyEmJN4EACNrG-zzIvYYCYOqOXMa4L8FhyshvTcFrBjqCEbCKJ_sjIDjlTxy18DJGEDs0FDjQC392M78wLB_LYtINSyVHOnuegetfrDdBAt06ykkbzeK43sYRsNX-NO7dB_NoDRlqlkCLJgK1amy8Gpeez-bIc9xkXowdfn3n1o4TnTIJMlGrnxXQ1E9PsizqTD026vczRiAWo4ViP9FG8zTP-wTYP3bzh2HE7BDEJQQxlE1t7MVXytx6IT9dioCnmKrBB9e-zfbnli8-a9x2lsvOR2CUGBkK11j3g2LSPTGbbWuUlrpoO6C9c4e-5Im46k1zncugBx1tyjFM9yt2fFaPuu7zjuyhpjdeCAJuo4F80XjD3rhcgdZNmOZDhdxTSZWrvZk0Dm83ydVvSF7epa60wtfdHS-n28f9f4uVO2L3Cs-t03jvSGYXOWtxJVvRQZxSU4oU7tSp6chE9s2P23AEj1mb6Ji04K4q2832xd6j2wqTG3UaYz66vJ1LuEWbDClhWOJfzDVfPV6quD_gm7AF_Pi8ZVUKOane-w7ki-MFL9cxMYZXez62X5ln8xyO5OeSMussxrz373W3THKes7-qi7czgjtlc270ofIBBw0LPsyy2ivik-o1jsRA9e0dgDt-Me0CNtk6w3fIkSX_oJQhvzwygrj3tMP5TaG_43p2FrzAfmKMNHPrgl54KZOQxuPHAoERwlC5XlQ9Pk96hU4rLSrResDIA_q2TFSpgW9oS5gDc3Ov_fckT6MR7rAjze0AUD7XZtFtrtXLVUQFjE4upQ-Oe7GJdziCmVzw8oVqT-yMj1ZxxO3C5NBwP1YUV94PKmsKrepwCoUl97Adb9zFISN6VECc-7xzU9c9azG-Tz0FDu_v3IyRJgpoz8VEEmuNF07h29jE2nLmhXKI8S_5MvgH1hqM2cfhNOqKMk10FpJkOjbQobjrB7jiKfRKqKW2FJ4v5jXiS4TkrrjjJP9y38BYa0ZsdkxNSVopUoHtjQPd-e8GHiVgpqMXNsXOhQ64Im0LYmQcjPnfse-XUTneTUg7UmeC1qNiI-SsU2J4q3VzT38RGnsIYB1RUokabxFxlRqasgCtfkxbKTKWry-ktTHlzUNNrLnO58nrRnencwgWAtCB484jdeVSoI3GGAqaiAb0X1dW8S5XPLi-TxZdq2io2I9lTVMp-W9NT9Ul-5lV7zgpv_KE-3r5OGoLjrxyM77wNaaXAfBEKoypcFbgqiacLaufdLXLFNud9iHkxw0fi8VJk_F0aZY6x22z56IAzLXtqDpcMj4XhKRCzMJQpTONUix8xB07LjQKmIT2wT-bigfDYy6deAxRNq-h8gUZr0K9oXvNVxfCPlWVafb1fpuuzWFkmW0NlKJ7aR-3AEK1TF4-Zr_sSjGCcHKJDEayHu2zXRoyWc-tTqa4ng0G6lXJ-5bNL2buuLYCeUHi8UcJ1Oenq4T2kwxNhvGYGB-7QPbe9bCZHMpiGXYgEO_-Dy5r0F-FL95RF5hDUYZ1ArTi8tiIqWE6sC8fPAGUPGP_2u6RLLEigGvtLaDthPpSB35cTUIjS047XlSP5zMoHuapmHPUp3HY4sX3qhjygRoA1YlLGGE3S1FQu42olCQMtvN7Asv6c0sxFvigGtD9q8z8Q5Cg-LilfwjyN_1s6K6gUJT-b0LNmu0UvEZI212f0JzslIjBpaVXA-bBVRej5qqv1Sz_cxX1Tp9WLiWApcgMVvRHKA7ADGqeF6sDJkrAdljLlt5GgcX0jpkdajowagFcG3LFBOV_PX1Po_MoObCNs7AtAdNpMpUJGHyJUSwinjOZs6AI_q-eZRhHx-WWSo7WfCb3mNCntGF_82o8l0qtfViPPbnehVUTEuqdBSN130jYct6J0R_2j0Y8Hfhb7O-T7OhGQDLUqssbAtfItNJ6qCAzQyb_s7We29GbJPdi6hQFhZfPhS2sWm0udsdKhcOTaLG5yPn9yF6ZiE27tJqMU53SXjsn7Ud6c3NFiAM0PIu4gdAbIFpeFczj46UY1qPKysM4vl38__YE_EDsiMkKh6W_shoRafeU=",
  "id": "rs_046af727926354c9016ab44b53aa3087d09330026a886ec38a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.145,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap is now nearly aligned with the jaws—about 13 pixels right of center—and its long axis matches the gripper. Because it is still fully visible with clear space below, I am correcting the last lateral offset and advancing about 2.5 cm outward so the fingertips, not just the camera, reach it.\"}",
  "call_id": "call_E5W0Txq8oZUZX6256szKAx4W",
  "id": "fc_046af727926354c9016ab44b5579b887d0b9606c7602142849",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E5W0Txq8oZUZX6256szKAx4W",
  "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]: [-0.1967, 1.6749, 1.2846, -0.6697, 0.366, 0.2848, 0.9982, -0.0185, 0.8185, 0.6121, -0.4152, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3921 left_y=-0.1389 left_z=0.132 left_yaw=-0.7088 left_pitch=-0.3928 left_roll=-0.1722 left_gripper=0.9982 right_x=0.2925 right_y=0.0022 right_z=0.1698 right_yaw=-0.0036 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -9.1556, 9.265, 1.1697, 0.0904, -0.1099, -0.1929, -0.212, -1.5658, 7.159, 1.7021, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd77a097b170b0439df46bede96c1ead3604926804b69c713d0cc445143edba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a700352876e6663518bd826ea956f603d9e512d96d0161e747be81c81acf830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be2ef77f498d956e9ec5d96fbdf0a4e2552635e568fdeebb5801af678bc3ba6",
      "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 · 6.199 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]: [-0.0006, 1.0187, 0.8043, -0.5884, 0.0513, -0.0608, 0.9971, -0.0181, 0.8093, 0.6121, -0.4133, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.305 left_y=-0.0056 left_z=0.1661 left_yaw=-0.0225 left_pitch=-0.2324 left_roll=-0.0749 left_gripper=0.9971 right_x=0.2922 right_y=0.0024 right_z=0.1726 right_yaw=-0.0029 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -3.3573, 9.7573, 1.5507, -0.0904, 0.0122, 0.0073, -0.212, -1.6068, 7.0222, 1.7363, -0.0171, -0.0513, -0.0122]",
      "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]: [-0.16, 1.5471, 1.137, -0.6163, 0.3882, 0.3187, 0.9982, -0.0185, 0.8158, 0.6121, -0.4141, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3683 left_y=-0.1235 left_z=0.1336 left_yaw=-0.7027 left_pitch=-0.3514 left_roll=-0.1503 left_gripper=0.9982 right_x=0.2925 right_y=0.0023 right_z=0.1707 right_yaw=-0.0032 right_pitch=-0.0557 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.612, 9.8256, 1.2772, 0.0611, 0.0171, -0.1929, -0.1436, -1.4291, 6.9949, 1.6679, -0.0171, -0.0415, -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 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]: [-0.1967, 1.6749, 1.2846, -0.6697, 0.366, 0.2848, 0.9982, -0.0185, 0.8185, 0.6121, -0.4152, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3921 left_y=-0.1389 left_z=0.132 left_yaw=-0.7088 left_pitch=-0.3928 left_roll=-0.1722 left_gripper=0.9982 right_x=0.2925 right_y=0.0022 right_z=0.1698 right_yaw=-0.0036 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -9.1556, 9.265, 1.1697, 0.0904, -0.1099, -0.1929, -0.212, -1.5658, 7.159, 1.7021, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd77a097b170b0439df46bede96c1ead3604926804b69c713d0cc445143edba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a700352876e6663518bd826ea956f603d9e512d96d0161e747be81c81acf830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be2ef77f498d956e9ec5d96fbdf0a4e2552635e568fdeebb5801af678bc3ba6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtZygW9JlsFqaE6NemdvKbiIpwdmPWE993MzdMQ8IlsIDKlGiatJkyQPc9r6cVVc2FkCA2H1jtuusurrm6i6_WgCLRMFRwF8Mw0M-LmiJlPD5DMt1W7F0NOBAeFl8pUFYTWeWiA7epATIkVnA_-hd0KH4UEBYqtMjU4ocVBBqDzYqlX05j1lLNlZjO8Ernd_9z7VIJ-rIq4uW8dJRoAn8_89l5Tn4cu-FehvWEjCBth4qhr5i8NwIHxMPTsp0jeP68s4pwyC55a0T35JOoJ9oK58r7OfmuUsX5O8fZfa8pSi6X7TiTLcSIN0f3WgysRktG7-hLOMHLD7Gl5nf-yNHdAQ2Lrhe1iZ2JO9H36qJhHODjnSoUczK-WVyctPmAxIFIgjb0rKcaaw2QojMwUWSZdwjkAK7qVMKe24c4dBXbGqxO_wJZLx78JQ4cs10BrZl-ymXR3bx1yzzuaHO7HR_7ZbnBDTN-WpB5ixlUA8ZzmOxW9ipHJYS7hxqhVR5CavcGHnX6rtfK7JQ0iiJYUhL510Ly17kbR6oLB_l-THS2RfE7Yxdb9Jww16SpWhZtYA3ynIQEEFLEjt9S6G3UeXtEVYylM9wTzfXLWB-50VyTu6nEn03UTrmbRq3M_Boy5H7uErzXqbMRW0JE8UzrHpUJBZ1L8k7whmpmbQQsxPuRk2iVHVcW9a8hSdbbxwnkXcz6U7KNhOYk1FwdQl3YY9w1dV_vIdOTwG84a1aI9ClieDRyxhswbUPLRwFO69tLSdgtWDWv0srMUlIdUflN81NqqtiPFy280Emw3Lxqc5Jmfh9Scehr-W3-u18VZOrInLNfEbD9XES2CeWEiUp9WTshLCdxZG4Pe6LTK1ZGGpJedwfqJovKhcqIl7FmER3f_6oHUm3VKl_oNxkL8SooA2_c7ISIXOFx-3a81qD4ityZOMCyMik1eeyEeuKz042ap_2h3v8hkeCekNWuyKOhl1SNQfSsRJKTpmF03wXmxBLkTpMsE1tfBxzs6aBECKWlNt7S2LlKLP4nDhuKt4HyED6yMlSSSJ0aScG9ukOc-5pgqZKafFmLMllqERA05InDJ8xIH5oS9dZN2O5hj1aSnIPheEtxagpyTHOkO2QkgtmkjW1ah7VVFiy359tv2X-bwl_pMhuVIUvQz6_jdgboxaA5csNpAzAEyuH9Lj5-xOIdK4j4yiuY9XdDMUP5Xs5x3AOvgKDkzuCAFJyj-CKvmTRV-d203E7YHNSLkpxJAc1YUkFV8XFBDBYxY-raK6SwvrJLoi_jVvQ_hN7b9J8BjE7SxeqP7sMWVxu6gTL1nY2dY1YeFfkRPggMBPTo-z71tnbRvqP-miGp2WDJmBZBPPUS05bs_UmsrH0rnYVOpgDTBGeCysXkJV4MS8YjYm1CcPyjnb74rzsdSEJFHoLKUcLcBbkQof6D6WheemJFwXXMxFOg=",
  "id": "rs_046af727926354c9016ab44b57f23087d0a5fbe173b80691fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.16,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The forward move shifted the cap down to row 177, close to the fingertip area, while it remains slightly right of the jaw centerline. I am applying one small lateral correction of about 2 cm before descending.\"}",
  "call_id": "call_ydhH1CMXAotFWMQnZYW9q2bx",
  "id": "fc_046af727926354c9016ab44b58684487d09a2aebdb2220af8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ydhH1CMXAotFWMQnZYW9q2bx",
  "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]: [-0.2249, 1.7149, 1.3495, -0.7143, 0.345, 0.2474, 0.9983, -0.0181, 0.8185, 0.6121, -0.4149, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1483 left_z=0.1335 left_yaw=-0.7024 left_pitch=-0.4225 left_roll=-0.1876 left_gripper=0.9983 right_x=0.2925 right_y=0.0024 right_z=0.1698 right_yaw=-0.0028 right_pitch=-0.0591 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-1.0051, -8.0342, 9.7573, 1.3553, 0.1783, 0.0171, -0.188, -0.1983, -1.3197, 7.0222, 1.7314, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4a97edc6bf263579483218d487778dee249b482276cdb96427ab4d39512f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932cb8f6637554a4e4939a50a54877e453d8fb4a1b00adf075af33057f0740fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1346868a68a5b6fe98e4894b7abbfda6057b7fffd1634e2360a13acccb68325",
      "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 · 1.955 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]: [0.0059, 1.4712, 1.0386, -0.5606, 0.4103, 0.3614, 0.9983, -0.0185, 0.8143, 0.6121, -0.4152, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.0647 left_z=0.1322 left_yaw=-0.5721 left_pitch=-0.3104 left_roll=-0.1203 left_gripper=0.9983 right_x=0.2922 right_y=0.0023 right_z=0.1709 right_yaw=-0.0032 right_pitch=-0.0553 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.7077, 8.8684, 1.2918, 0.3883, 0.2418, -0.188, -0.335, -1.5385, 7.2547, 1.7216, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.1967, 1.6749, 1.2846, -0.6697, 0.366, 0.2848, 0.9982, -0.0185, 0.8185, 0.6121, -0.4152, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3921 left_y=-0.1389 left_z=0.132 left_yaw=-0.7088 left_pitch=-0.3928 left_roll=-0.1722 left_gripper=0.9982 right_x=0.2925 right_y=0.0022 right_z=0.1698 right_yaw=-0.0036 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -9.1556, 9.265, 1.1697, 0.0904, -0.1099, -0.1929, -0.212, -1.5658, 7.159, 1.7021, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2249, 1.7149, 1.3495, -0.7143, 0.345, 0.2474, 0.9983, -0.0181, 0.8185, 0.6121, -0.4149, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1483 left_z=0.1335 left_yaw=-0.7024 left_pitch=-0.4225 left_roll=-0.1876 left_gripper=0.9983 right_x=0.2925 right_y=0.0024 right_z=0.1698 right_yaw=-0.0028 right_pitch=-0.0591 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-1.0051, -8.0342, 9.7573, 1.3553, 0.1783, 0.0171, -0.188, -0.1983, -1.3197, 7.0222, 1.7314, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4a97edc6bf263579483218d487778dee249b482276cdb96427ab4d39512f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932cb8f6637554a4e4939a50a54877e453d8fb4a1b00adf075af33057f0740fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1346868a68a5b6fe98e4894b7abbfda6057b7fffd1634e2360a13acccb68325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtfgMfeRwO318CTl6fYtxlzTpTuyXXfaZiilavJ43M2YuUcB52Lj4DqklZbEVR9RTNpHcmOrkz3Aim1Uti_lllmRNWGQPFOXiFIqS9qMwR-8BMpQmZ0eIKlFoQfEO0MWaMpQVXWrwZADGfZTwH7lMo_RfDLaSPggmXOV4XjkqxTl8efA4RX3tCFYYOHX1co-84EnBkNcNXfdnqN3vZLCiwrR3K_Bq9aq-W4mSLCWFMuCxFCrsLX1yUzye8EtlLB28TL3Whl8pgG7ykr2lHM97puMZ6t94Ehq9itMuylo4bGRmYceOIdGcdlJlFSjGUA_z8-ismmRpO3qL8SB5Usc0bwc9YJmr3-mvMpCfNuKqjg7LeZbxbdK9J3qqkvc-K0wNmRnd8RE61F0wtnREG64aBeTa9pz_XBtjVYMhMSsfwAhUJuVYZbUBozGHtkLMvMOF3Vsf2_1xbwYtpgdhYGJq4kgU6sHYU_Y9utCV7S9-mhbahaDXtTToJLiRuZfwyPYe43DjWNPl7ClzWGnl56FnK9viXoRts1pBEsJ8irNET5IS0frbn5CZFJIfva8PHosiXTFENHzRDvmGVLymgEqkVvw8RC_HJHJUiyimkAo_zsGhhXvjIyphfK_LSN46qZFMdToLJuy7kIu7BedTz5AvYvY-SaENwdD-qoWv6m1gWOWx6htguLxIvgyVcGf5a__L772vVoT97eTVm2yAJQyx8Mkz2-JCaUCRnmjBPBtNDoH92aV9s_XAf14ekitqVcM9xAEnP0gipjHd9sP0mQrPRo0f_QU_QA5l8PVTxSItOylLERDdCxSUKxltf-i-4vjoA4qNxxhuXk--_OE8JePLQ9FB1s5nxEgfiy-SfXvzw2SYG-aihyckwdanxkmA6HpBkL_twtc2SAA45VYbiYxbSLHPYPOE_1h6wGAjxtIkF8Y51sXfCow5TZDplLIJ8qv2BJ-_pf8Rm9aS3zp6We2YtkB614vgiHlwAXYUF-RSKNcb7SMlAv8s-UXeI0tr2gBeAinMXWs66T4L0s3VmFe43QUK3n3Q7qVrx_HGuk3nnbPwuehoPhpVuCrOJv_GfZOE9rPFKP-c3pw1KW6pMZl3VZgB3PMmqvQxM2CG1JM6Q0Q_klus1tVcHCecZziVn18ukHX21aHJrY_xoPnc2mUJ59VqRDSVFWlsNnn00Z2R-a_67KpcgcO2Nj5bnFH9Wsd6rp-5s-ycOS6cst4z4q1qQEX7oC8ON7WM3czlnL-Iy8HkRV-VNKCsYI7oe9AfX7LGAVY5oZL6Cqg9E5sZXu-aK7wQ==",
  "id": "rs_046af727926354c9016ab44b5e75e087d0b28a170580c5fbe6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.16,\"left_z\":0.0,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap is now centered on the jaw column at about x=115 and aligned lengthwise with the gripper. I am descending vertically to table height while holding that alignment.\"}",
  "call_id": "call_lRhecjpUnSUCNmIoSiAeb6Kh",
  "id": "fc_046af727926354c9016ab44b5eb7f487d0bf2ead8406e014b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lRhecjpUnSUCNmIoSiAeb6Kh",
  "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]: [-0.2493, 1.9125, 1.0798, -0.2657, 0.3359, 0.2256, 0.9989, -0.0185, 0.8196, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3988 left_y=-0.1579 left_z=0.0091 left_yaw=-0.7104 left_pitch=-0.445 left_roll=-0.2019 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1693 right_yaw=-0.0032 right_pitch=-0.0614 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -7.1179, 4.506, 1.0623, 0.0855, -0.0904, -0.1294, -0.335, -0.8821, 7.0359, 1.6581, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b3861327bd2ba57b511966da5f45fe1b0552962ac4af7beba42fa8bd78513e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8a71bf612c9ec17d8865d1dcc4b2c3c4a35d5a878756166ed1cc973f92901e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691e86a2c9318c962090329ea5533fb5d69d0b7784d7f131732f51cbedd720c1",
      "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 · 3.95 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]: [-0.16, 1.5471, 1.137, -0.6163, 0.3882, 0.3187, 0.9982, -0.0185, 0.8158, 0.6121, -0.4141, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3683 left_y=-0.1235 left_z=0.1336 left_yaw=-0.7027 left_pitch=-0.3514 left_roll=-0.1503 left_gripper=0.9982 right_x=0.2925 right_y=0.0023 right_z=0.1707 right_yaw=-0.0032 right_pitch=-0.0557 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -6.612, 9.8256, 1.2772, 0.0611, 0.0171, -0.1929, -0.1436, -1.4291, 6.9949, 1.6679, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2249, 1.7149, 1.3495, -0.7143, 0.345, 0.2474, 0.9983, -0.0181, 0.8185, 0.6121, -0.4149, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1483 left_z=0.1335 left_yaw=-0.7024 left_pitch=-0.4225 left_roll=-0.1876 left_gripper=0.9983 right_x=0.2925 right_y=0.0024 right_z=0.1698 right_yaw=-0.0028 right_pitch=-0.0591 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-1.0051, -8.0342, 9.7573, 1.3553, 0.1783, 0.0171, -0.188, -0.1983, -1.3197, 7.0222, 1.7314, -0.022, -0.0708, -0.0122]",
      "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]: [-0.2493, 1.9125, 1.0798, -0.2657, 0.3359, 0.2256, 0.9989, -0.0185, 0.8196, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3988 left_y=-0.1579 left_z=0.0091 left_yaw=-0.7104 left_pitch=-0.445 left_roll=-0.2019 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1693 right_yaw=-0.0032 right_pitch=-0.0614 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -7.1179, 4.506, 1.0623, 0.0855, -0.0904, -0.1294, -0.335, -0.8821, 7.0359, 1.6581, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b3861327bd2ba57b511966da5f45fe1b0552962ac4af7beba42fa8bd78513e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8a71bf612c9ec17d8865d1dcc4b2c3c4a35d5a878756166ed1cc973f92901e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691e86a2c9318c962090329ea5533fb5d69d0b7784d7f131732f51cbedd720c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtiz4v8SFCZIlo1xCvKDmIKD_dArK0PCW-3TqRF6KerwfyZ6tcHeXP2Er3698IDEeyjkDywZXfgGUmNxK8oueFB2Fs5dT9xAIfz-uiTfDIfePoMtBO2mXr1TFCEExf7t2aycWeZYfAO7z3UDYwwxJwacjVGLiUu0jkAJcYpJDFFP_64Yq2QLXLknBQk5JuZY-vJmcHqLsfAtB_5OZdZmeAnEr6uqTAYgDBy9YQ-rgIfPD9rB9hGsX6ZuzFuEKpeuL6iyKCBBVnKsQnFxQsg0LnKnaNU1hnuIU8YGtRYOpaGhsBwrDIwfJIPjD6xIfLV4YzqI-n-U6OoerjH6zS2wg2RfwpzmOJKakzLSs2cBDETYPy0R5yzZEAFJmCqNa8VG2hQHSmC_fxgucX20znK2zDHepIQhTbqR_oCWn-PEz422jqGqNV_OdwXqUPDn8BJmM1JiEb9NHD-lGeYi5FrAK4h6TTmJzbdyfNveMNE27ot9NZY_U3iBRqv0OTgTrWGrdvUusuV1M3vurLjMKq-q_Xrw63T-Rfm9HVTFwphPl08aUIFshld_51l8ViX_MD486mw1BS_BfmDa01OGWNWI8y33S4MVSjEcJ42JC7hPZH1qsuQ8wWM6lAc0fdEt8yl4yX55dpnhKJbjE_0LHXOgnk7vuSaDltjNvpfwYeef48hZTCSQaNR2t7BUDDrPjMmTKKDiIAckVl6GurJnmiBFbVwQZxW2uYlEt9FiIKHAZpPTr4vigYcyKXOKF0q8uBYdS5m_3uh5nFsMlz1vhozHg40nKF6zo5p7-H6bZkEmWPF-B_g_Ezi0PHSVVKddNfp1LkskqBhA6wT-jdRWiOErDTS-NrVtkkXE__NNSB98KER96rKhmUrXnRPhN7FAL01vQpqtW00VxMm2g1c3ZsbaOeng8FAcZf3PJfe5lzyRMtAV5glZO-yYDv7N6eKCrsQwYUZPF1iwvDOdlRJJHG1SRswlgcTRr9aQShOyWxJpsEjtvuB5IWbH04_Pdm4S2V-sbMJfGB1xPx0e-c3PDdYzLnMCrdPDW_783p4IzaqKqqlPSgoC-eI20fgAbRy6cIOJqyQeU-bQvMLn17L0SllRnVEKBWfoq6JDMZE7mKhzuaAONPWJQZSbyz1wHpDtCVhMRzAVVGl3KtSxJOJHrIY3A_SQdVGLXXg3LA3vfr_NWHV5bmWrGizemB_wwfmJA6lur71bUNjIyiw0put5uK3NewKGZEaE3Ou-ywYI31oBjNUH2Q=",
  "id": "rs_046af727926354c9016ab44b619bcc87d090ecff121391936d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap is directly between the open fingertips at the bottom-center of the left camera. I am closing the left gripper to capture it.\"}",
  "call_id": "call_EPlkENmoftWjjeqiUHIZ9Id2",
  "id": "fc_046af727926354c9016ab44b61cd4487d0b8bb52c08c08cbd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EPlkENmoftWjjeqiUHIZ9Id2",
  "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]: [-0.2493, 1.9198, 1.0702, -0.2634, 0.3359, 0.2184, 0.0086, -0.0181, 0.8204, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=-0.157 left_z=0.0034 left_yaw=-0.7093 left_pitch=-0.4588 left_roll=-0.2133 left_gripper=0.0086 right_x=0.2924 right_y=0.0024 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0622 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.6889, 6.2701, 1.0818, 0.188, 0.0611, 0.5495, -0.2393, -1.4427, 7.1316, 1.663, -0.0562, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c27581e767ff77d560ce27794eab3aaf768fbe3c9d9a20b14207cb775dd0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145794b2f4ac04f37c0c26bf9a1eeaef0da5dac94cdde1f2d921919c1ab24c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6284d0bfb2bc5521845a68c968e402ba077ffb105963a48ed521bac6348a65d6",
      "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 · 2.228 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]: [-0.1967, 1.6749, 1.2846, -0.6697, 0.366, 0.2848, 0.9982, -0.0185, 0.8185, 0.6121, -0.4152, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3921 left_y=-0.1389 left_z=0.132 left_yaw=-0.7088 left_pitch=-0.3928 left_roll=-0.1722 left_gripper=0.9982 right_x=0.2925 right_y=0.0022 right_z=0.1698 right_yaw=-0.0036 right_pitch=-0.0595 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -9.1556, 9.265, 1.1697, 0.0904, -0.1099, -0.1929, -0.212, -1.5658, 7.159, 1.7021, -0.0317, -0.0708, -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]: [-0.2493, 1.9125, 1.0798, -0.2657, 0.3359, 0.2256, 0.9989, -0.0185, 0.8196, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3988 left_y=-0.1579 left_z=0.0091 left_yaw=-0.7104 left_pitch=-0.445 left_roll=-0.2019 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1693 right_yaw=-0.0032 right_pitch=-0.0614 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -7.1179, 4.506, 1.0623, 0.0855, -0.0904, -0.1294, -0.335, -0.8821, 7.0359, 1.6581, -0.0415, -0.0757, -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 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]: [-0.2493, 1.9198, 1.0702, -0.2634, 0.3359, 0.2184, 0.0086, -0.0181, 0.8204, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=-0.157 left_z=0.0034 left_yaw=-0.7093 left_pitch=-0.4588 left_roll=-0.2133 left_gripper=0.0086 right_x=0.2924 right_y=0.0024 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0622 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.6889, 6.2701, 1.0818, 0.188, 0.0611, 0.5495, -0.2393, -1.4427, 7.1316, 1.663, -0.0562, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c27581e767ff77d560ce27794eab3aaf768fbe3c9d9a20b14207cb775dd0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145794b2f4ac04f37c0c26bf9a1eeaef0da5dac94cdde1f2d921919c1ab24c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6284d0bfb2bc5521845a68c968e402ba077ffb105963a48ed521bac6348a65d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtnVVXNqkYYTTNMDWYRmSw2gSP5IC3gkOcAId8fr9u73PHjyoW4tlp_O9eTrqh5_FTZ6CAVjNzQvtfTp9IswRZrSroEZTLXUrWvP60pf3vZlRC_Nys1X0kZNZnPe4I4ajRwhiVe5VpTm-7q8EoWBNXegosUMqj-hkgFUfz3-P6_0I4A68SEVwk6BK28k8M4uFY_5tFn3_vcG438k01H8K1XxlkZEdAstB48zN98RSHDNhmbY-7tUUgwYQHG8-QBB0S6LpCdMZILR5RodIU3XZwpfas3SHJbmWUSVsE5rbodKdsmAzdD-SO1V5_zYcxt7JsPnsqnEY6WTM7Z8XYk2af-jDl-V-jS-WpgYEdfvsegSkiqKocP-SLuOqpNW5f3QnE01HNKZCuhixUa6LmiWturNrFESblXdDolZQvL_0NBxFYKMli5vYdsQT5kNzo0of1T8tME3ExQsBoYoITVMwwE5g_GhFuxFTvWw7BGVRin532zxtmn9blP8IQIoOfzcPBhv-cKFZC21AzLQnhp1EsNSTMTbRsGz5YPUeQ_jATVj3-pBZyRbg9Ld9LiHKVZvQLl-b-kWkdBk-FT0kx3soxNVXa6WFUev2QUfhlY-kr7S0NqLM1Z0X6SZN190M3qoXp-Vxrwcl1TJRRk7NpaX3NVFOVMZL894mgzI8kx5frvlFGC_StYRKiNnGFRsRtuVPakRSDhdO_Jhuktp6yL52FPmhbUoXOvXDR6R7xRbfalRgMUql3hmXr0GVX_Ap5rw4AcVj6CYDGJZiXicutxU89rAn_kPihl03TisAb1oa9D1u0j3LOYGBdlWS6ueeZ9Xe28OpV76dRsvTGIs8MGv6Fs3J7lc15oU5CFmRCm68L30qnsEWvv6RrLV0RBR6QfCU8dVV2iUEZ470QPHcPUkrp3xJJV5E3ZU_KpzC3KiaTZX1LnAxuGOdMJ9K0rToz9YyXmBDRgWujZWL-LB8S1S5iRPCnr2RQSNzPnGTbnAChlXZXaDuQmQAWtRMzZqfKRJ9qBmK7FIcXmq5uCAHCShIgxZqD89IMUsic9YJfF66KTZqiG0jqnuxHYtU79dPri_5fGQgySLpu_1tni7UwTYU9CTKZ1GsNRMCN2ptpFaz2i2x7L9VfvbZS_XrFjGyBP-LfOvebvFWNGlU46Wyt4aa6AXFDLt9djzBuWR_u0MXXKpcQ7hSoolzrbeiSQtIcDogqk-DTyWMnSxoKxSdKbPNf0YL4kuSvqqvE1HUWcYYW6SOkynuUxmIt9xWp_LU1qmh6iIBZd4mq5umlAKmEf7g7gauVu5uxzDfhGNBa1xtNpM70BuR8ZLXW07SiKu3k7xIuTM4gDSsKbJgZF__8j9QpewJxoXnnqPS-_p5hAYjjX8ha9ZwMLfNykYTB8-vHGayUw3LUtoqJQx0QAbk1XTVuYFMWMSGotaVOtzRSLxgJECMJAKp6zqLM0No6swQBIBV2nN2qUBrp6BbswtUutY4izyt_e1NvI7hNLpFs1JGNP3bNcfDxSfbng62TvbOKNP-QNmlmG--SBXyOWlWY-9NIUVplJaG-jWzJ4UoXPqSS26XpKrbrYJtcqCqb-GG3eEFlHUXnJO6OdEIMrl7e8HcmMaB6GCsEkZsAiMdmNllZg-gh6dxvguH3P028f7eP-dKZP0qPo7izrKLcgntbOUE8UsD1shWSmBXz0eyk8vfhoAe-5bG4im8rCLMiFDABL2g26yMz6ZAVVCW_ds8CWUHFAcvVWKUlNatHaKYVCi-jKOfZhbNUCAO8ZIUZe_FrlYa4m1NY2c4PDuGTPzk4K6J1BjQzzNUlYFBomiEbSTxihVNRo4FhusnvS6_yPYXLqs1B1lskKJUgFcr8kIGbM0HWf8svIlgh38GOyEa0gEDOien0E_lWNooZ9IICh7pdjZ98IVOJu-5-Zij4gqTkkbNUAwvzmrBFx7PQQ7tT2GlY7gFGEYJKpsNtocOM1p5dXKC2sw9G0ibtgtXS1JD7N5CbL4usHf4FvvYjov945KF1dAznDeWQEcg4veDDnlssmF2uooNNVfbQKlygRY9JSQf2MPbKTxUG7AtTyXbwHJdUZSSTdhvnRGtmP4LBUenybPAmz0x4qFxNG8x9yXfsLkUyG1HfDZuDkVSLtc3ES_joWVqejydFN2cTiBm0JcHMJfBwF8bZfCG2H7jFDlrNT5uaBKTAHQiuqnpC7eXLC0NRenTc=",
  "id": "rs_046af727926354c9016ab44b6465f487d0b930071eb3cd50dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The cap was squeezed to the right of the closed jaws and the reading is still only 0.009, so the rounded piece was ejected rather than grasped. I am reopening and lifting; I will re-center slightly right and use a partial close matched to the cap diameter instead of crushing through it.\"}",
  "call_id": "call_MFLraBcQ0454Cmty398GStj4",
  "id": "fc_046af727926354c9016ab44b661e8487d09dde3fe20a7e47c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MFLraBcQ0454Cmty398GStj4",
  "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]: [-0.2493, 1.8557, 1.1469, -0.4664, 0.3275, 0.2085, 0.9948, -0.0185, 0.8204, 0.6121, -0.416, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3848 left_y=-0.1529 left_z=0.0326 left_yaw=-0.7109 left_pitch=-0.519 left_roll=-0.2425 left_gripper=0.9948 right_x=0.2925 right_y=0.0022 right_z=0.1691 right_yaw=-0.0035 right_pitch=-0.0622 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -12.0274, 8.7453, 1.072, 0.1832, 0.0269, -0.149, -0.1846, -1.3607, 7.2137, 1.7118, -0.0464, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae987885de27cea755f4829e15158ea8eb483419e0ad2c3bb79d1885913679c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d13b7d98e0a18d084a546c0893abf22186100071d32c4d6e2c30f51c147aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee259313c98cffdd9c8d68ec622631d5d14378dbee0331a1aeabeef8e060d464",
      "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 · 2.106 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]: [-0.2249, 1.7149, 1.3495, -0.7143, 0.345, 0.2474, 0.9983, -0.0181, 0.8185, 0.6121, -0.4149, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3965 left_y=-0.1483 left_z=0.1335 left_yaw=-0.7024 left_pitch=-0.4225 left_roll=-0.1876 left_gripper=0.9983 right_x=0.2925 right_y=0.0024 right_z=0.1698 right_yaw=-0.0028 right_pitch=-0.0591 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-1.0051, -8.0342, 9.7573, 1.3553, 0.1783, 0.0171, -0.188, -0.1983, -1.3197, 7.0222, 1.7314, -0.022, -0.0708, -0.0122]",
      "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]: [-0.2493, 1.9198, 1.0702, -0.2634, 0.3359, 0.2184, 0.0086, -0.0181, 0.8204, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=-0.157 left_z=0.0034 left_yaw=-0.7093 left_pitch=-0.4588 left_roll=-0.2133 left_gripper=0.0086 right_x=0.2924 right_y=0.0024 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0622 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.6889, 6.2701, 1.0818, 0.188, 0.0611, 0.5495, -0.2393, -1.4427, 7.1316, 1.663, -0.0562, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2493, 1.8557, 1.1469, -0.4664, 0.3275, 0.2085, 0.9948, -0.0185, 0.8204, 0.6121, -0.416, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3848 left_y=-0.1529 left_z=0.0326 left_yaw=-0.7109 left_pitch=-0.519 left_roll=-0.2425 left_gripper=0.9948 right_x=0.2925 right_y=0.0022 right_z=0.1691 right_yaw=-0.0035 right_pitch=-0.0622 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -12.0274, 8.7453, 1.072, 0.1832, 0.0269, -0.149, -0.1846, -1.3607, 7.2137, 1.7118, -0.0464, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae987885de27cea755f4829e15158ea8eb483419e0ad2c3bb79d1885913679c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d13b7d98e0a18d084a546c0893abf22186100071d32c4d6e2c30f51c147aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee259313c98cffdd9c8d68ec622631d5d14378dbee0331a1aeabeef8e060d464",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtqzU-TWYWu2P6UK288bbw7TZxoeQMngY0RtScLZ6ct3B9-ThiXVOC6T9G1WPiKtG5mKbgj3b3c2d1IifjOXGZ578RXq3ytWEMUw2wDLczRx8Q_BjYnEQdJP3FarKgtlhXwtTOmoQRTt8P19g2ww-dlqK3yQq1OxKdyEYn7ZyTDDRZewBqOvoSDAp_DOhw-4wnPraxhwiNn_cD68k5dRzoZXCWG_sUzMPdBoj2YVl5brp4yIbBVFM9MKBNO7tMIf3JWIyIhiF1_4r_XDiXvDFkhqf9jKEvC_ugg3IUyo3SBfbBbDtNrEYWFa5LzIjz4I4ITF0G-17z74aTorqz2xqNOKpr0c7poqsPAC6IBBRq4NixuIzdUg1YaQ8YjPVikhICk60SaDsUlZY8zbK5h2TaDbg4qSd-HBL-LN9bOn-WM3H5ieQYVVOPosbMPGRCl3Idod91rM8Knyly1hM1JSuBwiH1pTldLO4n-hUXbnUnB2KxMLb5EPCF0vOvQsw7q6oFXU1MQxB8UQ_YkGu7cP11JrI6b6TP-rXvzZ8grmDVV6fjvvx9KLPP3j2foQEGPbzvr6cAixHLEy5UftP9cR3wWJB1Ap_71h40ASDBbRaRGRUSE4wePz2xiRLKbTURAG9fn3vlzt4NfemYeUIFHGVEkMffN3J3BZjJvf-IiTKsEwVe-qtn0ugAU28c_Rzl-ko_nG1udgl75g4MdfEMkbm9wF28WBPdgUg2UqJeg7beXbzMjFlJz0rIlYFUVHltcvnBynsvi6Hv_693up_2PBoOFkVvL0xfMaGNNKkYQqIBJZIDTJgYNy2Dr8oU1aRsj4ypu3UVxC_ZRw_gcZ14nBfrMcRpfJt7TMgMPFbmi57CJu6vOGNGUqtygwOrsmR8mdAvs55ogcWOo8LEKOypKWqgvjaBNqg6tTsQkWK6KQvv7xIr4oNgLzc9hM87rHmKqu_ckEnZEGn6viTwRWzuapy_S2l4tg2vePUGqt_3z6RQRK9itqIwaSgR6jf3SeV4RcJpxl2B0CnevhV3qXmQvKZp1fsm4HyjDStw_atHmVN2nEdArzxqo4iJzpbXRy0ejiDZZ_KRbngVO8unrGgM0JGqLuO7ZlNge2mDnMhmAHuLRUldQeEKCUcuCnTl-Zcq_adnQK44-mbuzFNM7CTVNNmkbjwBf8Jp5Lc3Mg4g5oXs5hO5AWTywadPWjGwmGQumuQDfgIKcOoscHt3rxYLG7LRq58e_gtRzUVaWA-eamV5l-oBemO1VqMpGHK5xidWTMixqJGqdVHr3vhjSSd-aY7bYwSIojtbC16f3R-_AMzXV5sa8iF0i9NVB0Lap7Qa5Qu24XdE1FAKsaelO0oWbQGlZaPlRnbY3xs3M4yN0Ai0Lqa8OHgqOjhnFmGTCHxn9-Qt4r9zB8n9J2EZOcXQLlBi5LGZxzNB9xEDAzsORjLiR3xk1Xi6-SPPk6o0WUyYC8MOZ",
  "id": "rs_046af727926354c9016ab44b6936dc87d09119d0aee4863ec9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.06,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"With the gripper open, the cap stands about 20 pixels to the right of the jaw center and near the fingertip depth. I am shifting the tool roughly 2 cm to its right and restoring the forward reach before the next descent.\"}",
  "call_id": "call_N6SYdyQt4XKfNR2G60Iz4eff",
  "id": "fc_046af727926354c9016ab44b69bec087d0abfdd6d4bdbf6166",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N6SYdyQt4XKfNR2G60Iz4eff",
  "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]: [-0.2962, 1.8965, 1.2682, -0.5629, 0.3061, 0.1593, 0.9989, -0.0185, 0.8223, 0.6121, -0.4168, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3932 left_y=-0.1719 left_z=0.0453 left_yaw=-0.7132 left_pitch=-0.5483 left_roll=-0.2557 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -9.388, 8.8274, 0.9451, 0.1636, 0.0122, -0.1245, -0.1162, -1.4838, 7.0632, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87c7e9be45544ee1d3af74b0f20a97204566bb301446a91928f58d0b6228b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5089a0285dcfa9ae81ca0e576c144c02253eb219825c89c050cdeecc403122e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422741cd3b0a0bd9ae9bfc6ee0c3922f613ffebe05ab6c516b0e9644c912e64a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.607 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]: [-0.2493, 1.9125, 1.0798, -0.2657, 0.3359, 0.2256, 0.9989, -0.0185, 0.8196, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3988 left_y=-0.1579 left_z=0.0091 left_yaw=-0.7104 left_pitch=-0.445 left_roll=-0.2019 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1693 right_yaw=-0.0032 right_pitch=-0.0614 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -7.1179, 4.506, 1.0623, 0.0855, -0.0904, -0.1294, -0.335, -0.8821, 7.0359, 1.6581, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2493, 1.8557, 1.1469, -0.4664, 0.3275, 0.2085, 0.9948, -0.0185, 0.8204, 0.6121, -0.416, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3848 left_y=-0.1529 left_z=0.0326 left_yaw=-0.7109 left_pitch=-0.519 left_roll=-0.2425 left_gripper=0.9948 right_x=0.2925 right_y=0.0022 right_z=0.1691 right_yaw=-0.0035 right_pitch=-0.0622 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -12.0274, 8.7453, 1.072, 0.1832, 0.0269, -0.149, -0.1846, -1.3607, 7.2137, 1.7118, -0.0464, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2962, 1.8965, 1.2682, -0.5629, 0.3061, 0.1593, 0.9989, -0.0185, 0.8223, 0.6121, -0.4168, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3932 left_y=-0.1719 left_z=0.0453 left_yaw=-0.7132 left_pitch=-0.5483 left_roll=-0.2557 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -9.388, 8.8274, 0.9451, 0.1636, 0.0122, -0.1245, -0.1162, -1.4838, 7.0632, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87c7e9be45544ee1d3af74b0f20a97204566bb301446a91928f58d0b6228b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5089a0285dcfa9ae81ca0e576c144c02253eb219825c89c050cdeecc403122e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422741cd3b0a0bd9ae9bfc6ee0c3922f613ffebe05ab6c516b0e9644c912e64a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtsE5PoKzQeTbJ1lg0lHutwCehFJ23Mh-Vdj4p-2dp7oFI2sAzNuk9qFTucgxcd5FtRDlymOYGtEi1pEqx6WuwQcnkEuMk0hK02mlx04nOXuh1KdpnG-Rn9Y-RImGmnQcchrmuHWRZ3aFBhh5Nwky9PWAtsriNNrAq7wQxhksR_z5tTi5C_H68MF7-40e_9gVnxgJeOf_hEJPkZ1NTYvdaUyXdBooIgHNyssAQehQUd2j2muMg8Km_RG8Jn9Io_L11FpxLovG-ymMXJNwnmOn9-qV_pqmhoPUQY3XPy6s70k0sMKgpdI5E0IgrYGPL-IZdBGC1qDO_9lkbkFAilOF0rE7AoMwCJXWF-Evfj_muM0KXCIZBsR7JBDW33_GfH7A6MnyKsjPmpl2Pl8WZPuHIkdt01NN0wu4k_7kvZnOMBNakIuAAQkGSpEcWPz17In7GrGxf1SbvqGKUSysVb8lpxAKBrwBuo4vls6bx_Owv0XsmtUTSco8qZKHRjSXmw3sMuX0kboTx0dfcMZSg9KVN_7G0gQAwiEPbGiAKvX4aUaAc7xgdyGMn79f1BKJwflYUoCSM1Mko57rc9KTHNe8F5uMl-0GIoaTcCJT7dYhjFlcP5F4iRo7AGSYmbJLSTN94JheIpO9z6vUKKQNoIXkbReapI2Vn63-j6Dt7tIhTx8apli0A-GTSiuT4Url8mCVCV5ZTARCkcErru5jZd9caQLknfolxkhChI7aWp7AMvH8VgzZNCzyn9H8FX5W8-oXeSw7n23fkEJKkUwLZ8pJNO0NkPcKgFwNy5stkh4m3BiFEp2IfGkqRjKeZ4BnJCx7_H6XaG7mRmJ4QgWN9iNpJ8VtcBJ3vdmUa0dDSWvTERJOioBR7pzWHMhJipFtlrlNBy3frBRN570KKVNa6dXBNKd8HjY3k44TAR-IR9W5d-UT8O2R44xzPm2dBn0eRkZHOEcfFAu_CSXNWY7d6NNtBgXd_G1y3YhlSIoNRresySK6pQV1cfENrVwovVrTwXxn7YZx8iHyQaKitLs6UZGOOhEkFYhxFV1vtidmqHRtz4jb8GeRzAG8d_DKU8RIYwIC3WJIOQoFjfrB1jUS1Q4umO-RoaH8rFn9s1kaD7SCmmZc1T-ZaDAw_MAYgDoQWpUx6OHsZg_L9ieCuNxiSclgoeysd6L4Dv0q4cAXexSYJPLeMkaKhoOCLXFuXvlAQ1DqjV72VEn0FKSH1HtG8k8hVcuD5vxJw22s0Jfenp6s72ZiA=",
  "id": "rs_046af727926354c9016ab44b6bea9087d094cbaa28291419ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.0,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap is now centered on the jaw column at the bottom of the wrist image. I am descending straight to table height without further lateral motion.\"}",
  "call_id": "call_nAvHWqJLQYuoCohAa9fTXqEN",
  "id": "fc_046af727926354c9016ab44b6c24f487d090524a8335c26175",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nAvHWqJLQYuoCohAa9fTXqEN",
  "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]: [-0.3084, 1.9896, 1.2526, -0.4713, 0.2924, 0.1417, 0.9985, -0.0181, 0.823, 0.6121, -0.4175, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.399 left_y=-0.1768 left_z=0.0094 left_yaw=-0.7065 left_pitch=-0.5715 left_roll=-0.2589 left_gripper=0.9985 right_x=0.2924 right_y=0.0023 right_z=0.1681 right_yaw=-0.0032 right_pitch=-0.0664 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -9.6342, 5.1761, 0.8571, 0.2857, -0.6081, -0.2125, -0.1709, -1.347, 6.9812, 1.6972, -0.0171, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c20863608162fbd3a92d2017ab15408356bd3e661fd3b8104bc67954f3e9074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83fde83eba5a2d26d73b3b7c08f326baf3a55c509e1c3e4240499d8fbbd79ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f827bd7465d661b98da8510a1c4c9f6e0d3b119a4fc728f04f24b9d847522b4a",
      "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 · 2.542 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]: [-0.2493, 1.9198, 1.0702, -0.2634, 0.3359, 0.2184, 0.0086, -0.0181, 0.8204, 0.6121, -0.416, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=-0.157 left_z=0.0034 left_yaw=-0.7093 left_pitch=-0.4588 left_roll=-0.2133 left_gripper=0.0086 right_x=0.2924 right_y=0.0024 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0622 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -9.6889, 6.2701, 1.0818, 0.188, 0.0611, 0.5495, -0.2393, -1.4427, 7.1316, 1.663, -0.0562, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2962, 1.8965, 1.2682, -0.5629, 0.3061, 0.1593, 0.9989, -0.0185, 0.8223, 0.6121, -0.4168, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3932 left_y=-0.1719 left_z=0.0453 left_yaw=-0.7132 left_pitch=-0.5483 left_roll=-0.2557 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -9.388, 8.8274, 0.9451, 0.1636, 0.0122, -0.1245, -0.1162, -1.4838, 7.0632, 1.7216, -0.0122, -0.0366, -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 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]: [-0.3084, 1.9896, 1.2526, -0.4713, 0.2924, 0.1417, 0.9985, -0.0181, 0.823, 0.6121, -0.4175, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.399 left_y=-0.1768 left_z=0.0094 left_yaw=-0.7065 left_pitch=-0.5715 left_roll=-0.2589 left_gripper=0.9985 right_x=0.2924 right_y=0.0023 right_z=0.1681 right_yaw=-0.0032 right_pitch=-0.0664 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -9.6342, 5.1761, 0.8571, 0.2857, -0.6081, -0.2125, -0.1709, -1.347, 6.9812, 1.6972, -0.0171, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c20863608162fbd3a92d2017ab15408356bd3e661fd3b8104bc67954f3e9074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83fde83eba5a2d26d73b3b7c08f326baf3a55c509e1c3e4240499d8fbbd79ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f827bd7465d661b98da8510a1c4c9f6e0d3b119a4fc728f04f24b9d847522b4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_046af727926354c9016ab44b6e3c4487d084cb1f0edbb363f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.07},\"note\":\"At table height the cap is directly beneath the jaw center after the rightward correction. I am closing only to 0.07 (about a 7 mm gap), which should grip the cap’s cylindrical body without driving it sideways as the full-close attempts did.\"}",
  "call_id": "call_VgiwXfZsb1HEUiBrM2DhqRkq",
  "id": "fc_046af727926354c9016ab44b6fa80087d0b87c988cb4433264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VgiwXfZsb1HEUiBrM2DhqRkq",
  "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]: [-0.3084, 2.0022, 1.2404, -0.4126, 0.2913, 0.131, 0.075, -0.0181, 0.8261, 0.6121, -0.4198, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4063 left_y=-0.1789 left_z=0.0055 left_yaw=-0.6908 left_pitch=-0.5419 left_roll=-0.248 left_gripper=0.075 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0025 right_pitch=-0.0717 right_roll=0.0016 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -9.1556, 5.6137, 1.0623, 0.1832, 0.022, 0.2613, -0.0889, -1.6615, 6.9949, 1.6728, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47aee20654c28a267fbc09c31a5f261506ef20605010b227eb7aa752a01ca90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1faa536222f594aaaac45260f7d63a4757461ee44f5a73e16b750b2ebbd5a50b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98e589cb8aec92eb31b32133e84aef1fae9527ad06a4518ade4cee779b1aaaf",
      "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 · 6.795 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]: [-0.2493, 1.8557, 1.1469, -0.4664, 0.3275, 0.2085, 0.9948, -0.0185, 0.8204, 0.6121, -0.416, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3848 left_y=-0.1529 left_z=0.0326 left_yaw=-0.7109 left_pitch=-0.519 left_roll=-0.2425 left_gripper=0.9948 right_x=0.2925 right_y=0.0022 right_z=0.1691 right_yaw=-0.0035 right_pitch=-0.0622 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -12.0274, 8.7453, 1.072, 0.1832, 0.0269, -0.149, -0.1846, -1.3607, 7.2137, 1.7118, -0.0464, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3084, 1.9896, 1.2526, -0.4713, 0.2924, 0.1417, 0.9985, -0.0181, 0.823, 0.6121, -0.4175, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.399 left_y=-0.1768 left_z=0.0094 left_yaw=-0.7065 left_pitch=-0.5715 left_roll=-0.2589 left_gripper=0.9985 right_x=0.2924 right_y=0.0023 right_z=0.1681 right_yaw=-0.0032 right_pitch=-0.0664 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -9.6342, 5.1761, 0.8571, 0.2857, -0.6081, -0.2125, -0.1709, -1.347, 6.9812, 1.6972, -0.0171, 0.0024, -0.0122]",
      "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]: [-0.3084, 2.0022, 1.2404, -0.4126, 0.2913, 0.131, 0.075, -0.0181, 0.8261, 0.6121, -0.4198, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4063 left_y=-0.1789 left_z=0.0055 left_yaw=-0.6908 left_pitch=-0.5419 left_roll=-0.248 left_gripper=0.075 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0025 right_pitch=-0.0717 right_roll=0.0016 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -9.1556, 5.6137, 1.0623, 0.1832, 0.022, 0.2613, -0.0889, -1.6615, 6.9949, 1.6728, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47aee20654c28a267fbc09c31a5f261506ef20605010b227eb7aa752a01ca90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1faa536222f594aaaac45260f7d63a4757461ee44f5a73e16b750b2ebbd5a50b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98e589cb8aec92eb31b32133e84aef1fae9527ad06a4518ade4cee779b1aaaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt0ZbafzfJ4SyFqtC8lc-Xtyja1t3_vUXhucfVwo_2AKTalo4RiR5JYGACWk7PIhCNh6snqQIe_8jDoDGCQ9onRHSuO1fyYRHIeHykhXRjbMl154qWyKMKS_rpjHfXxXx31sJXrwmsUp0jxkgsRbTchgqsOJkDMqhd7P22mcq_fg2B7sLmte3rCQHb5Rw2hjMo3Xx3N_hOJ7j3gikJNCVEd0gTYEyWzJUtysIZfCuHH30urU0JJ_h2YHdansgnBHH9uRZMQLUfg3ySGx1GI3QUtxZgJmUKprzt5jQqmMiFgebotjN0yKFum_quuY0yKj6LwH47TBnkIhIgx5Pn3Fj_BX2g53JwO36odd6-boRj_k1Dq8UWAsuMqMKII0YWPAPNcD_b8d2QKtQoTcTQrLa9QTygW2-5EeS3jAVD3S6yVRlZM1ve9UJnvkkmdokaXWKcv56XdEzktL7LQVWdEWNwSCR7UtQ5qr_NdTJ0TrWeM3WmJ6HW5-62fmYAVJ1jRqxKdmcGK9jjzQ0BetcEwlJ1iVzdBdY44R2M7uWhvXCuzRrJIOlIBsxumSZ80CLI7DfUnse80mRz3fPwf_CgYCUByYiMKG_3fMfLCEiljr4H5aw9AAenmykbJzM0lv7IGeA9bxspyhcbre2jUpuMG6dVVqhbJxuWNmdDbO8qwCm1sWVGNo6klxh3BrCl68pRd7mcUhvHVISxZJswFiWJnF6Vke3sAlmYRdKxvL34cBkZrp41apnQytoGM4KthfUdRXg2kC5TQxAxKdrQHgIbnKQqWqah7E2HHH8yrJ3HruELfpVq5RSNo0DuWXMYrxPTcc7yxOtv0MPmYafQRRN5kFD7muqZDA6GDRCeaky5QoF1RxZ7mTQqckspugF6E7GRxPXQA3EBvlGYn57ZPFQZh3lhUvJzdgmCfIvZryT-uB8imbKespxj4UvY6JNj4DoWVZzuLv7YzNouGJRengYugrTEeF5Cu2KarIaKxq-W-iN59sYMHTVDZbmliuT8I5IG7naPwaQvzLcexJsRZ04QRnOtJgP-awCQEoJaQWMALKafonhhQhCmWuW4UlpOhuuFe22TqoPSHtLmge4i7blrsDZhW4csIcb3rYwhQETj0dcjrkOqms7kpA_RWE2TjlULfg40OuKgpwkpATT9d_xRYMDJb6d7YkSnn7xL-umecgDwIqDKH2TRWzx0xVTn1RscJXeLHCSRCFica-k1--is1A80-bJ8YPxqlaSYBVjWtdGXfz5Biz2QBh56o0Sk6ZzvwaMQqPSrkNDOcamT5JPe8GXwwVdyxXts9Ear6FKOBhQ_hE41V34WYtpJJglGn9OE6Q3NJ_oTQZS6sFTKZQAA_l3Re7srP81FlXcnch4XFcWAinw8=",
  "id": "rs_046af727926354c9016ab44b72b87c87d0a8cf5824bc7d21ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_gripper\":0.07},\"note\":\"The partial close reached a 7.5 mm jaw gap and the cap is no longer visible beside the fingertips, unlike the ejected full-close attempts. I am lifting about 9 cm to verify in the overhead view that the cap rises with the left gripper.\"}",
  "call_id": "call_ThjUTjwjdkCChdHEaSAdVc0Q",
  "id": "fc_046af727926354c9016ab44b73233887d0bb2f3cdc2def2ff1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ThjUTjwjdkCChdHEaSAdVc0Q",
  "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]: [-0.3084, 1.9263, 1.422, -0.7284, 0.2871, 0.128, 0.0719, -0.0181, 0.8261, 0.6121, -0.4198, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4001 left_y=-0.1762 left_z=0.0678 left_yaw=-0.6992 left_pitch=-0.5978 left_roll=-0.2714 left_gripper=0.0719 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0028 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -13.053, 9.265, 1.033, 0.1294, -0.0415, 0.1783, -0.1162, -1.4291, 6.9949, 1.6874, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59076fe0f14f60f3100db741ecb8b492d3f26c06d99745b7ae9bb473b6cf92dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa07d8cea8532a53c34ccb3485bb32b4d68a497eb2946ce540577dcea4d0eccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ba091c08319623dde3427ca8069c2d250b6830868ae1dae9f27f794e84179f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.055 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]: [-0.2962, 1.8965, 1.2682, -0.5629, 0.3061, 0.1593, 0.9989, -0.0185, 0.8223, 0.6121, -0.4168, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.3932 left_y=-0.1719 left_z=0.0453 left_yaw=-0.7132 left_pitch=-0.5483 left_roll=-0.2557 left_gripper=0.9989 right_x=0.2924 right_y=0.0023 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0648 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -9.388, 8.8274, 0.9451, 0.1636, 0.0122, -0.1245, -0.1162, -1.4838, 7.0632, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3084, 2.0022, 1.2404, -0.4126, 0.2913, 0.131, 0.075, -0.0181, 0.8261, 0.6121, -0.4198, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4063 left_y=-0.1789 left_z=0.0055 left_yaw=-0.6908 left_pitch=-0.5419 left_roll=-0.248 left_gripper=0.075 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0025 right_pitch=-0.0717 right_roll=0.0016 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -9.1556, 5.6137, 1.0623, 0.1832, 0.022, 0.2613, -0.0889, -1.6615, 6.9949, 1.6728, -0.0366, -0.0806, -0.0122]",
      "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]: [-0.3084, 1.9263, 1.422, -0.7284, 0.2871, 0.128, 0.0719, -0.0181, 0.8261, 0.6121, -0.4198, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4001 left_y=-0.1762 left_z=0.0678 left_yaw=-0.6992 left_pitch=-0.5978 left_roll=-0.2714 left_gripper=0.0719 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0028 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -13.053, 9.265, 1.033, 0.1294, -0.0415, 0.1783, -0.1162, -1.4291, 6.9949, 1.6874, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59076fe0f14f60f3100db741ecb8b492d3f26c06d99745b7ae9bb473b6cf92dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa07d8cea8532a53c34ccb3485bb32b4d68a497eb2946ce540577dcea4d0eccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ba091c08319623dde3427ca8069c2d250b6830868ae1dae9f27f794e84179f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_046af727926354c9016ab44b75e2b887d09d273dcd32fd43b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.3,\"right_z\":0.15,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"The cap did not lift—it is visible ahead-right in the left wrist view—so I am not treating it as secured. To make progress while keeping the left arm raised, I am moving the right arm to a high approach over the long pen, aligned with the pen’s diagonal axis.\"}",
  "call_id": "call_PWD6Vdm08CFWXBLAqeMdkj0i",
  "id": "fc_046af727926354c9016ab44b7a75e087d091153745dea562bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PWD6Vdm08CFWXBLAqeMdkj0i",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.3084, 1.9217, 1.4212, -0.746, 0.2867, 0.128, 0.072, 0.6334, 1.6535, 1.0653, -0.1184, -0.0475, -0.0364, 0.999]\nstate[eef_state]: left_x=0.3963 left_y=-0.1749 left_z=0.0681 left_yaw=-0.7025 left_pitch=-0.6106 left_roll=-0.2774 left_gripper=0.072 right_x=0.3689 right_y=0.2858 right_z=0.1291 right_yaw=0.6814 right_pitch=-0.1438 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -9.6342, 6.2017, 1.0134, 0.1099, -0.0757, 0.0073, 0.3761, -7.9795, 9.3744, 2.0488, 0.0317, -0.022, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a6aa895933b9e80638023770d9222bc76cbe5d07e416b269da788c6b42d2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee194ddba3ebdac2730d90aa2bd4909e412359996df30d023b4143a72e34ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9290da17b586a25f69ae5ec31dd0c317de91f98d674b1666efa6dada707090",
      "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 · 3.822 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]: [-0.3084, 1.9896, 1.2526, -0.4713, 0.2924, 0.1417, 0.9985, -0.0181, 0.823, 0.6121, -0.4175, -0.0227, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.399 left_y=-0.1768 left_z=0.0094 left_yaw=-0.7065 left_pitch=-0.5715 left_roll=-0.2589 left_gripper=0.9985 right_x=0.2924 right_y=0.0023 right_z=0.1681 right_yaw=-0.0032 right_pitch=-0.0664 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -9.6342, 5.1761, 0.8571, 0.2857, -0.6081, -0.2125, -0.1709, -1.347, 6.9812, 1.6972, -0.0171, 0.0024, -0.0122]",
      "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]: [-0.3084, 1.9263, 1.422, -0.7284, 0.2871, 0.128, 0.0719, -0.0181, 0.8261, 0.6121, -0.4198, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4001 left_y=-0.1762 left_z=0.0678 left_yaw=-0.6992 left_pitch=-0.5978 left_roll=-0.2714 left_gripper=0.0719 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0028 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -13.053, 9.265, 1.033, 0.1294, -0.0415, 0.1783, -0.1162, -1.4291, 6.9949, 1.6874, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.3084, 1.9217, 1.4212, -0.746, 0.2867, 0.128, 0.072, 0.6334, 1.6535, 1.0653, -0.1184, -0.0475, -0.0364, 0.999]\nstate[eef_state]: left_x=0.3963 left_y=-0.1749 left_z=0.0681 left_yaw=-0.7025 left_pitch=-0.6106 left_roll=-0.2774 left_gripper=0.072 right_x=0.3689 right_y=0.2858 right_z=0.1291 right_yaw=0.6814 right_pitch=-0.1438 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -9.6342, 6.2017, 1.0134, 0.1099, -0.0757, 0.0073, 0.3761, -7.9795, 9.3744, 2.0488, 0.0317, -0.022, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a6aa895933b9e80638023770d9222bc76cbe5d07e416b269da788c6b42d2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee194ddba3ebdac2730d90aa2bd4909e412359996df30d023b4143a72e34ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9290da17b586a25f69ae5ec31dd0c317de91f98d674b1666efa6dada707090",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuB_CXT4KNRsZUgceXa0c8pAAC2BcwESKkhH1cF2ul5b0ZUJSrn9b_ttVntd7-SU3jkdJTwYu6Kr0Mf1vClaoZAYLljgr9vbgBSm8Ot0U2i81VOHYhdKqw2s4eI8SfqOhLzKbvbpsSOJRFvcF6n8C7vLln_4XIYOEdoTWs2UPVEaVlTM3PI6RfUVozFvpS9UH5cnU1fPo-1kw6VEnMAW9au64-g8Q1iAlldVep-src8BAulOSs3CLrdhfhK2UB5bdbdSP3quHOnfDsCe1VhWKpywntNCE0tVGL7mx48RsMT5Tk2mmS2ukZy4o2TA-gI2ITVWv-EsAqbJKdYjSywhfGITr0lRAfglYazIhss_ufC8FPAsucoutAoGIGqCjN-Wko52FgMW95AWEX_zICpJVof70g5MNAoVI7Y0wfdYovaoio6CdChXqfTppIkS7uscJD6qV3n786v-igfeAnu6L31Mpyb1ByuMtZI1BOqv85xGpQ8jMTIbbkWSsgXvcsFcg7dSAsWQe8tn3-oQhlrHsIcL_5MJXMvd2Y4hc-UJHLShkbcfFaZqZ-RgDalFTnmllOFuBpJ-tXv8KPo6E236ghvZpCA9ZbD8pWbCeOXS2xAU1gXinq8hpUr6BPxPeeDBwCQu0JsGrvpFShC3lTMZITdYA9-qoTaDFVb7qyde91y9cPTYBi1oUev7ts5ugkEeW87zryAK2M0-9He9wHiTfDgrc3ZIaJSpQ4RhEhT_6pjtTZQfHEuwdh5wlte7lAb8wdthXeZ6ZAvhI3e6uzh2Y7RdNG7oBiHUDXLo1-Cv6BfMMqG8VH8I1gDpgoL6GPrKl-xH-Yx1sEK85KjtjLWTFrbzkbYfBiEK43a-vV4RT4vNGd1qJ_uyT4WuVz1AynOhPQuWNajZh-7rxvks07_VMStgKRkly7rxrcH1beMeVwyu_BZ20cvF4D41kP9fu855Li7rDiatUO9k3NRFXMg00AtbRNPE9PPqvbtCR25tKRyO7v-E-aXUmxGZK3EfaWihwIU20g7BNgLCxn38Hz2c29uqa7WWGemlb_cWuVecrvRZ4Ld1tew0DwdFLiAGfSfI35bLe8QyKVZWpNcs7Vtb4YYil6Jw9Di-MuHUSWqHQTANjN9mbDZQcwbPQIsNM6tr-OS05z_9RP7gb_6MjPYxRbaPEpXm7Zxrm1XBlkvrl2O0137zNm1ojHoBqYyLI9GnTqbFZYXSQHhnzEOrPpl8i4CdXtNMsdKKBDqesdmlaliEBVcG3qNEcHFt1KdaNy6BINx95BU7gS-jKkvG33SIkGkjzp4MllSc54UzM_CoQJ1MrrFjy7IxC6q66HgFLJv1E8Zchy52QpfI9S9IT2H7RXg_enmI_IUj4aGfE8_0P6ksH789vzpMoqsMg7xzKaiFO96xp7yYPMhcnJZzxM95Xx89Ny6fZCa68gdbRDqVMvLPmaQStR1iujeVOwpH3Si4r_nVifqErn9Ov8jsX6SVMr4NK6ED6_p-n9y1yUuHwOrceNOhpBwqO3KjNy2oEEkFq_CJ-lG277IfnLxidvGKF7QaplIf3XhNgSqUlAcUVgeTDo=",
  "id": "rs_046af727926354c9016ab44b7f55f887d0a31c0ad5d26bbde2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.3,\"right_z\":0.0,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"The right wrist view shows the pen centered between the jaws and extending lengthwise straight down the jaw column, indicating good lateral and angular alignment. I am descending vertically to table height to grasp the pen across its shaft.\"}",
  "call_id": "call_qgHxw95T1pvf3xf0d9Hj2J9R",
  "id": "fc_046af727926354c9016ab44b802ea087d0b8be604335d5ffe6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qgHxw95T1pvf3xf0d9Hj2J9R",
  "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]: [-0.308, 1.9217, 1.4067, -0.7444, 0.2867, 0.1284, 0.0721, 0.6376, 1.9808, 0.9161, 0.3328, -0.0513, -0.0494, 0.999]\nstate[eef_state]: left_x=0.3927 left_y=-0.1736 left_z=0.0636 left_yaw=-0.7059 left_pitch=-0.6226 left_roll=-0.2833 left_gripper=0.0721 right_x=0.3781 right_y=0.2959 right_z=0.0043 right_yaw=0.6961 right_pitch=-0.1687 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -10.5504, 6.2974, 0.9841, 0.1587, -0.0757, -0.0073, 0.3761, -7.8154, 4.6291, 1.2918, -0.1148, 0.0611, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72932076a0a764d1ab32d5b50f7af91715d8150fe28882a55dbaf4250b1cf68f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7efe114139ec7a23a8af454a65745bd7fea13438a6c988891660c48aa8298c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a33c59189806430ad68e8f1586f5fc500873817c25d4a6c23512a7e2dcbcc7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.506 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]: [-0.3084, 2.0022, 1.2404, -0.4126, 0.2913, 0.131, 0.075, -0.0181, 0.8261, 0.6121, -0.4198, -0.0235, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4063 left_y=-0.1789 left_z=0.0055 left_yaw=-0.6908 left_pitch=-0.5419 left_roll=-0.248 left_gripper=0.075 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0025 right_pitch=-0.0717 right_roll=0.0016 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -9.1556, 5.6137, 1.0623, 0.1832, 0.022, 0.2613, -0.0889, -1.6615, 6.9949, 1.6728, -0.0366, -0.0806, -0.0122]",
      "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]: [-0.3084, 1.9217, 1.4212, -0.746, 0.2867, 0.128, 0.072, 0.6334, 1.6535, 1.0653, -0.1184, -0.0475, -0.0364, 0.999]\nstate[eef_state]: left_x=0.3963 left_y=-0.1749 left_z=0.0681 left_yaw=-0.7025 left_pitch=-0.6106 left_roll=-0.2774 left_gripper=0.072 right_x=0.3689 right_y=0.2858 right_z=0.1291 right_yaw=0.6814 right_pitch=-0.1438 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -9.6342, 6.2017, 1.0134, 0.1099, -0.0757, 0.0073, 0.3761, -7.9795, 9.3744, 2.0488, 0.0317, -0.022, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.308, 1.9217, 1.4067, -0.7444, 0.2867, 0.1284, 0.0721, 0.6376, 1.9808, 0.9161, 0.3328, -0.0513, -0.0494, 0.999]\nstate[eef_state]: left_x=0.3927 left_y=-0.1736 left_z=0.0636 left_yaw=-0.7059 left_pitch=-0.6226 left_roll=-0.2833 left_gripper=0.0721 right_x=0.3781 right_y=0.2959 right_z=0.0043 right_yaw=0.6961 right_pitch=-0.1687 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -10.5504, 6.2974, 0.9841, 0.1587, -0.0757, -0.0073, 0.3761, -7.8154, 4.6291, 1.2918, -0.1148, 0.0611, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72932076a0a764d1ab32d5b50f7af91715d8150fe28882a55dbaf4250b1cf68f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7efe114139ec7a23a8af454a65745bd7fea13438a6c988891660c48aa8298c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a33c59189806430ad68e8f1586f5fc500873817c25d4a6c23512a7e2dcbcc7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuF04ptMfkCz68zCUa0CMe5TW9TPJXHlhY7reQiQKBuR2jUmUi_9XNh02iPM5fES7Fi7aF5o5dMad0ihk_ptVlcBZCxSUxn_ZK4v2A0-XmfcVeDOtg_ESbAE0jCo-We6oNO6ALJ_QgTEx1cSJMDd3h8W2PFY1Het5jy8mNcOpi-8785BAaAfNsytvSEvx0Red8jXXEA2nLPVOARANvyA9QDlzq_YDZLPizWtoPrcBAjikX9l2Pkzt5ik6AcOhHDb9O3Uj0FyZB1DE-Nk9SCgjv-io_Iwq22FZLuUbEAXQG8joSICp9mEmN5C1L2qQlo9b5WtkbNqYjBSOM1GV2lzHGCKi_EBh3azlps3D6DcE9osfqoU-roGbq5baNiurbg2RbeXnfq2q3WyQXUPllA5dXmdxkyzuufdn3R4E2cIdEiUkqlLcICinXAE1rWMrXln7o1zUGt1k2dq4WTQTdJLu6yfvGwp7rnVqs_DQUX4P_6-5hwBJPMUjsvFtO-S8DAN4juEi2cuz1an7KH1rjiRtHNlAbWUG8TMMtP7P81eeP7odKAC9SAONR7t_5anCMavNaOFU6rmQxDAo25CUwwhjEmv2vDVjeT3UJ77UdXuQxBH4Niq-cQAkQuXav2_oYXvqdOOLny9FexsfKGZ2xz9fB2AWjCC-Dc5-PpVzy-6GIGOQpTcp792h7KKzXlqd2DFYKT6qWR_9mAXxd7wrCWl4AL8jLnLdvGQ2Sg-0wSILiQ-zyBEANI4AIYcj_xm28ldrTAuCP9Yzas-UaKn6WXR1E19YVgp13if3a82nQ19SL8C4-mhcefCipnPkjPkh7j6otTF0t3J5iHOz50n5K-E931JEVT8HJ1KTCbqnMs5-NtthW7j1ZpoIkqOlu_zoF6Z0pih9kkjsaKY0hKUWl792jBDDtJWMuDNeEzM7KOHkpv71IflG9KsT9KAW3cy0G67sNCl1-bxzcUcp51RXaosJ52IWn1OSBznMX-nky5gaFyFvobA9WtOpQ8q_xZlKLbM52m8Vzp9D9PU0IMrz2HgIGMuucySnBDjSFcmf7ltzHBKiVXcAo87xWiEJdPFNUb2ktXLmVbaNAiCgPvWEBrAYRAj4RzLxOLs2wNt1F2oEX4-9xVZ3qGqg1CjsT7_GTUDcc5m1oMAw7p45tJJ1-ZDgvs8axB8lSAzAmIueN6qhzANGfZY58v3HKr2iC7ft2vhd640QpMskNA4HMSgkdMfmKhcf78MfoLln-XwKjtWFFC020jjzh8efG2rnCx4um2FW3dl5qQHWRuRy3m5wi8jFLJPVQVNIT-04P7ZYHgLEEea6TrnR3bZbES-_bX6x7bTSnSr5HNXt22cS-oezhHiVcRApmhD0pvayCyeiTZOr9rA2V_358MnSe_NmHeQp5D8QFoUktVq1-eDh0tDwQBuwBFCTuoQGb_e6Lkm8MIwaZYz-ypndxx6DVsOCNW2QJn19s-mVirXq-0tCSBR5PtmITDJXmNqXAfSUrrcrkIeQjAEWwzIj7i_Da2l60W4vUH4IKaK4zQSlmX21YG88qUG0j_3FNpSzCqDe9Cx9Odn6lO96jJYUyPjC3AbuHS0B_PwG50PBg5CrtgTSRXf10U7Rb3L4LXg-4QtaOCAauzq4cpyhOK8LvEW9BEHDStxqI85dd8dOT0-eutbvfBa6mFZ7EiCSVGjfEXQ0Db2Ey6yeTvKsYjeCuKYIbeuiyAQBGVKmasxTzkswo5PrMYqNNZ7APSHabmPcI-6WmmszWKsSk1eww0Rg6FXvIsfA8W41Zm2Md1x_x2O2LaoTTaJhjKKRbbz41piVw7RYG2YYp7muKB0kG6tBRnQaej_hx36KDETEqaPRxdHjFfObAaa680ffrkohzSJJvs7wMC3A7EoIaZC-qpWskP7asliY2WyuSAgYv42-0CoAKUt2obKCDRJwMRz8T-yPT4YtOpgwvY5axk4Zd0tBakYzfzZpuzRw0FV4dJ7ahfX7Deb1eXMm8ufUrBK6a4kLS2M_pFL2X6JI73RW68lH5LbLcExM_4DK73u215asXmRbJvIaIRsk73-bgNSAIY_qdvZi5ftC_ZtQOuPos=",
  "id": "rs_046af727926354c9016ab44b83000887d095bb7c87abcac968",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"At table height the gold pen tip is clearly about 45 pixels to the right of the jaw center, so the high-view alignment was misleading. I am lifting slightly before a lateral correction to avoid sweeping the pen across the table.\"}",
  "call_id": "call_ejVDHbMnyYwhUgcZLlkam23T",
  "id": "fc_046af727926354c9016ab44b84d4b487d0a53193c4a969931c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ejVDHbMnyYwhUgcZLlkam23T",
  "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]: [-0.308, 1.9213, 1.3762, -0.7242, 0.2871, 0.1284, 0.0721, 0.6373, 1.8778, 0.9588, 0.1699, -0.057, -0.0536, 0.999]\nstate[eef_state]: left_x=0.3883 left_y=-0.1723 left_z=0.0557 left_yaw=-0.7091 left_pitch=-0.6315 left_roll=-0.2885 left_gripper=0.0721 right_x=0.375 right_y=0.2946 right_z=0.0376 right_yaw=0.7031 right_pitch=-0.1856 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.1026, -10.906, 6.1744, 0.9695, 0.1636, -0.0024, -0.0122, -0.1983, -11.2889, 7.788, 1.5409, 0.0073, -0.022, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e8f60374e1288d2a95e6c71903f744e5fa5a0ad3ce0293f9461ca43303536b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057fa53433db1bbd130d055b30f73dc1f3e281aa77eefbc4b5811fc8e35d9a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8328963f5d5f9776e3a0d3e57f12ca4bf89342ca4932d3225aed8e9762d90ac3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 4.457 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]: [-0.3084, 1.9263, 1.422, -0.7284, 0.2871, 0.128, 0.0719, -0.0181, 0.8261, 0.6121, -0.4198, -0.0231, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4001 left_y=-0.1762 left_z=0.0678 left_yaw=-0.6992 left_pitch=-0.5978 left_roll=-0.2714 left_gripper=0.0719 right_x=0.2922 right_y=0.0024 right_z=0.1668 right_yaw=-0.0028 right_pitch=-0.0717 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.3897, -13.053, 9.265, 1.033, 0.1294, -0.0415, 0.1783, -0.1162, -1.4291, 6.9949, 1.6874, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.308, 1.9217, 1.4067, -0.7444, 0.2867, 0.1284, 0.0721, 0.6376, 1.9808, 0.9161, 0.3328, -0.0513, -0.0494, 0.999]\nstate[eef_state]: left_x=0.3927 left_y=-0.1736 left_z=0.0636 left_yaw=-0.7059 left_pitch=-0.6226 left_roll=-0.2833 left_gripper=0.0721 right_x=0.3781 right_y=0.2959 right_z=0.0043 right_yaw=0.6961 right_pitch=-0.1687 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -10.5504, 6.2974, 0.9841, 0.1587, -0.0757, -0.0073, 0.3761, -7.8154, 4.6291, 1.2918, -0.1148, 0.0611, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.308, 1.9213, 1.3762, -0.7242, 0.2871, 0.1284, 0.0721, 0.6373, 1.8778, 0.9588, 0.1699, -0.057, -0.0536, 0.999]\nstate[eef_state]: left_x=0.3883 left_y=-0.1723 left_z=0.0557 left_yaw=-0.7091 left_pitch=-0.6315 left_roll=-0.2885 left_gripper=0.0721 right_x=0.375 right_y=0.2946 right_z=0.0376 right_yaw=0.7031 right_pitch=-0.1856 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.1026, -10.906, 6.1744, 0.9695, 0.1636, -0.0024, -0.0122, -0.1983, -11.2889, 7.788, 1.5409, 0.0073, -0.022, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e8f60374e1288d2a95e6c71903f744e5fa5a0ad3ce0293f9461ca43303536b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057fa53433db1bbd130d055b30f73dc1f3e281aa77eefbc4b5811fc8e35d9a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8328963f5d5f9776e3a0d3e57f12ca4bf89342ca4932d3225aed8e9762d90ac3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuIr9DsZl_saE4EdJxbuYfJa6J7galgkB79wL_1C38w0IrLuUPl292DBmjosW-sYr-iuu7N4Bdf2neaWqysBRdtcPlPrONBWq0pxD94nkI398KYQcGJNJMDHf9BL5WuZ3YFO2icKpG9Nsgz6XzpVaezLkUEzHDPT1X9DYkCnVAC1lxv5xmB6dBD4sp8bDvWY4CCc4xB2i36-mVQl7aRTuQ4O2D8exvO-9aEkCZQSSSMJ73YYXtceml753N7sXg2cdCg2Kv0xtIXjfPfiSA6rdBqPk8pYNbC3ykEAB6z8VxnZo2lOPlCqWbwN-59pur4oarNLzGoMk3wIgxN98adytkhQ7yUgSVboKEQYdKsV8DHJGNeX_ABBqCKdf814OmCVUYkOdEblECpMnDk8ipBQIrap_ReJj6cEIME54kGGtmI3dXrzKbSKw_DeylvKs26dC0gBOtHcjOJ6gMhL5_dAt6-2vFPCP1GMYPN6h4igr5w841qcAOcrj2-7nwcDK0roluG3lLrhPqZwCYFOC5HGETGZ7Pm36Fi0z4IOzsR1dFY2UV5KoFa7vWN7tsuaW5Rg3IWui65HpuURNQ6I0zM9VlQlMLQUcyI5-L9UwwTvmqwxPoPyuZb6jc9vGo5OivhQrUoeAsBoJr96stWrxCnHRu1rZ7ajvALl1P26RPBwSK5lYxvmlUbrV4IPVkhhQWQf882dTYhuAJ0EZacngZLR2k1UvLmz0UuB2k_Dipsx5UID204JnICsSfJo9_R26lzAIUkgUFFEJKR37_LH5n9b-C5S4SarejaPvcW3oJYpuL62K9HrtdDkvUqG7_dxRvmVZ-p05EfCJF6qN5DjGbWQt0vm23mfL_Z9OTQgDuXxzBydsCK1GDAWiGxhsbHZCTHeo1Z1eb-EQznWm9d4S_2Y3fQbLKh1hvm79xJ0hMiqtkPBtWILcUTTHn6wM4kBSfNVwjp7K4VXFrXeTrZ3Xzs-T9R3B2IXKB7UA2HhNh3bcX1YHpVxzdjn2trEWtu3wDkdOp7tksp534UM0dCmyMjdtGbqxlC4V77dfPum2TNDRhxcLx1QoWZJ83OaqYNYicu0h4Y3RSDJdx4uT3vXYV_tMhrC45UVHkc2T1Bn1kiP1C781S2Z95IaBgKmcM339uuUTAkEwFLP-Lpk9FoQ0DCF4CQwSt1Fe8fhOVA8fbzsddt4nJArrw65kkLWxqo59OW9l6Sc3xi399NxC-KW-Mgrn9ICFsqzOc5rqfA1j3sVhg4tJFNrbEtSGdEWm5dmYGqjvtLK7rGv4rVxdPGrwW-hqUPPahgHcDTi73nyrSJTyZYMFY=",
  "id": "rs_046af727926354c9016ab44b871c3c87d0b9837abe972910ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.25,\"right_z\":0.06,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"With the right gripper raised, the pen remains about 44 pixels to the right of center and is at the correct radial depth. I am shifting the tool roughly 4.5 cm to its right while preserving reach and yaw.\"}",
  "call_id": "call_h1atRBeZtCcW2ghWLXEVCMFj",
  "id": "fc_046af727926354c9016ab44b877c9087d081db7f0571d6f497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h1atRBeZtCcW2ghWLXEVCMFj",
  "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]: [-0.308, 1.9194, 1.3373, -0.6933, 0.2874, 0.128, 0.0721, 0.6102, 1.8542, 0.9432, 0.1303, -0.0658, -0.065, 0.999]\nstate[eef_state]: left_x=0.3837 left_y=-0.1709 left_z=0.0466 left_yaw=-0.7109 left_pitch=-0.6371 left_roll=-0.2921 left_gripper=0.0721 right_x=0.3736 right_y=0.2798 right_z=0.0355 right_yaw=0.6903 right_pitch=-0.2166 right_roll=-0.0022 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.3162, 5.9282, 1.0037, 0.2418, -0.0562, -0.0171, -0.2667, -9.7573, 5.7504, 1.8046, -0.2125, -0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a2e56c0763cb80a59377942e891d006a26344b39b8ad8641e2d9b8bd185af3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9c609800d4165fed24b341d074bbe39c7f4f54bdb717430a6eb97cbd96b5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850e1d8aea31f594cc674b47c9ad6604df116f3f65adc920448d3c0e7888c0e5",
      "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 · 2.795 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]: [-0.3084, 1.9217, 1.4212, -0.746, 0.2867, 0.128, 0.072, 0.6334, 1.6535, 1.0653, -0.1184, -0.0475, -0.0364, 0.999]\nstate[eef_state]: left_x=0.3963 left_y=-0.1749 left_z=0.0681 left_yaw=-0.7025 left_pitch=-0.6106 left_roll=-0.2774 left_gripper=0.072 right_x=0.3689 right_y=0.2858 right_z=0.1291 right_yaw=0.6814 right_pitch=-0.1438 right_roll=0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -9.6342, 6.2017, 1.0134, 0.1099, -0.0757, 0.0073, 0.3761, -7.9795, 9.3744, 2.0488, 0.0317, -0.022, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.308, 1.9213, 1.3762, -0.7242, 0.2871, 0.1284, 0.0721, 0.6373, 1.8778, 0.9588, 0.1699, -0.057, -0.0536, 0.999]\nstate[eef_state]: left_x=0.3883 left_y=-0.1723 left_z=0.0557 left_yaw=-0.7091 left_pitch=-0.6315 left_roll=-0.2885 left_gripper=0.0721 right_x=0.375 right_y=0.2946 right_z=0.0376 right_yaw=0.7031 right_pitch=-0.1856 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.1026, -10.906, 6.1744, 0.9695, 0.1636, -0.0024, -0.0122, -0.1983, -11.2889, 7.788, 1.5409, 0.0073, -0.022, -0.1197]",
      "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]: [-0.308, 1.9194, 1.3373, -0.6933, 0.2874, 0.128, 0.0721, 0.6102, 1.8542, 0.9432, 0.1303, -0.0658, -0.065, 0.999]\nstate[eef_state]: left_x=0.3837 left_y=-0.1709 left_z=0.0466 left_yaw=-0.7109 left_pitch=-0.6371 left_roll=-0.2921 left_gripper=0.0721 right_x=0.3736 right_y=0.2798 right_z=0.0355 right_yaw=0.6903 right_pitch=-0.2166 right_roll=-0.0022 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.3162, 5.9282, 1.0037, 0.2418, -0.0562, -0.0171, -0.2667, -9.7573, 5.7504, 1.8046, -0.2125, -0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a2e56c0763cb80a59377942e891d006a26344b39b8ad8641e2d9b8bd185af3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9c609800d4165fed24b341d074bbe39c7f4f54bdb717430a6eb97cbd96b5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850e1d8aea31f594cc674b47c9ad6604df116f3f65adc920448d3c0e7888c0e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuNRRZF7YbCAKxgWwCYZV_t-xmkpcGsjZT11hIplIO4ooZKK0rDMDPYZIWaf_xazPZBHfV3fV3wEeSOtxvO8H0bHaIl6RDZQLezCre4weZDXID8T0d2fIp4Dljq_3Klhfw1_kvHprrQwSBTLyumFFjBkvpuAO48j77QZiM-L_AXuCZ9b7p0qkD5VH4-awqgA96Ln6nYVQPIo5T4Zrk89PAEpNEAPXTd93xaumsk0CG7rh-QLKNe84WcEmAAD4h70e7nOGCuNBleKYqiBTmmssv_B5hOE2Io3C7RklsHFrViOVs5MOMj_clh2DUUOW7GGFMRZpUPuWt5i9RfsVpJ6wDakWnonRkowDi0zAvZ4IhIr3bQfVI30NSGVIBZXzuA9ZGIhdgvd0wEa5cf03HzxT0y-YWCw0azoGik20LX68QlcoL8BnhU9gGd3DqA8gFwuncqUqKmD5CDOrWDFFGlidP7Vo_KCjljCE_Z9jYz9qyHtbUTsX8Wrc2yJ8F7a0BQHIiar8F8B4RUv2zXAf5KbhTE6wV99_RGWshNZBuWlVdzBzAfMhSkJ71yNqEuu8mVn58ovzjxrlgUG75QkB8rXh_a1jBXd0naUEEBm4XqqSpvrvqfbVQGqlrobXmm4lUFMiolIGITMR-WMh4J83C3R9Zto6pmCnlSvQv-Wu8Vw1Xi_Pqj8npaWgfP-a1gLT84sQuT8ux5UCJX-foiUjVZdMxpbfkE5LymNK1d6K0efN8bdrGO2QuIhs496kntzDGkFExod53qcAhZq5nWxLlIvRRgu6P1x9PVUcIvF_0-nOwPS2BEaps_atK7jRECBetOhCNOYnEJO4wALwqCM7DMUglgIHoGavc9Gf5D0qFTBhNl9PoBaM9oaQTDI_yuiUffHCV-g606gFpP29Bwav9Hhlkz341Q-OFWdiu0qBIuV8QWdVrQ1AvkWAzKpAMUdpUYIHppQmjw8oO295ZAvH6ZrIhVo3-mK00-OL63U7FhdxA7ReuF9aAGBlFKjGY-dYudwuc78o7lQmERAGsOEuIZto1mFj2mctaXvOUJd6zObEKwiOuWGPhEKpuVaDOKxK3_Va3v9U7cJMsOFoU6_T4UwBPBNUsugvge9kJbU3xpKuSI1hhfTZdif_IP1WvwoSah6SsYZOOLFAL54vuapjQaLYfoOjxtc-XjQtddAYUe0gH_SA3N_lkma2mlnf_EkTpz0n1-fBTc-WEUI4OxRPR-0yZ60_Wvm-ebJWI3p2QmogXswUxNvt4UFQyIoScMYXcQybAuu6qGR_Bwge5QuJhjmm9OlnvPSDnyWy531aqYiRvhvYOIFuXkUS0pU1vNEY8RKWpIpAMz5_mz3uUaJmU0f3ZF4FwTV8oQiRF7ZVTivh_9RfC7x0XRQzex6i0pfqmv1Epw",
  "id": "rs_046af727926354c9016ab44b8b1f0c87d0913b39cce250e4cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.22,\"right_z\":0.06,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"The first correction moved the pen from x≈154 to x≈137, but the arm tracked only part of the requested lateral shift. I am continuing the same direction with a modest additional target so the shaft reaches the x≈110 jaw centerline.\"}",
  "call_id": "call_Zk0nITEh0WMiM6Bj8P8RpaHp",
  "id": "fc_046af727926354c9016ab44b8bcd7087d0b58bbef308c3040f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zk0nITEh0WMiM6Bj8P8RpaHp",
  "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]: [-0.308, 1.9163, 1.2907, -0.6617, 0.2878, 0.1284, 0.0721, 0.6102, 1.8542, 0.9432, 0.1379, -0.0727, -0.065, 0.999]\nstate[eef_state]: left_x=0.3766 left_y=-0.1687 left_z=0.0358 left_yaw=-0.715 left_pitch=-0.6477 left_roll=-0.2981 left_gripper=0.0721 right_x=0.3739 right_y=0.2815 right_z=0.0369 right_yaw=0.6961 right_pitch=-0.2086 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.2342, 5.9419, 1.0037, 0.2369, -0.0366, -0.0171, -0.4171, -9.7573, 5.7504, 1.6874, -0.1197, -0.1245, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22cb6613a58f767d82f1ef295f8e8e679c56d63ff6bbb9de49c5808b85593b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff9e5267d98fcead6ec25c6bc431929d5297203bdbf9e3fcdea8e95e5903eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46c92f4b3aa16a7e57adcf03f91c317ae008f7ccf4e34bd53a86e51077131d13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.808 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]: [-0.308, 1.9217, 1.4067, -0.7444, 0.2867, 0.1284, 0.0721, 0.6376, 1.9808, 0.9161, 0.3328, -0.0513, -0.0494, 0.999]\nstate[eef_state]: left_x=0.3927 left_y=-0.1736 left_z=0.0636 left_yaw=-0.7059 left_pitch=-0.6226 left_roll=-0.2833 left_gripper=0.0721 right_x=0.3781 right_y=0.2959 right_z=0.0043 right_yaw=0.6961 right_pitch=-0.1687 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -10.5504, 6.2974, 0.9841, 0.1587, -0.0757, -0.0073, 0.3761, -7.8154, 4.6291, 1.2918, -0.1148, 0.0611, -0.1148]\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]: [-0.308, 1.9194, 1.3373, -0.6933, 0.2874, 0.128, 0.0721, 0.6102, 1.8542, 0.9432, 0.1303, -0.0658, -0.065, 0.999]\nstate[eef_state]: left_x=0.3837 left_y=-0.1709 left_z=0.0466 left_yaw=-0.7109 left_pitch=-0.6371 left_roll=-0.2921 left_gripper=0.0721 right_x=0.3736 right_y=0.2798 right_z=0.0355 right_yaw=0.6903 right_pitch=-0.2166 right_roll=-0.0022 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.3162, 5.9282, 1.0037, 0.2418, -0.0562, -0.0171, -0.2667, -9.7573, 5.7504, 1.8046, -0.2125, -0.1392, -0.1197]",
      "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]: [-0.308, 1.9163, 1.2907, -0.6617, 0.2878, 0.1284, 0.0721, 0.6102, 1.8542, 0.9432, 0.1379, -0.0727, -0.065, 0.999]\nstate[eef_state]: left_x=0.3766 left_y=-0.1687 left_z=0.0358 left_yaw=-0.715 left_pitch=-0.6477 left_roll=-0.2981 left_gripper=0.0721 right_x=0.3739 right_y=0.2815 right_z=0.0369 right_yaw=0.6961 right_pitch=-0.2086 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.2342, 5.9419, 1.0037, 0.2369, -0.0366, -0.0171, -0.4171, -9.7573, 5.7504, 1.6874, -0.1197, -0.1245, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22cb6613a58f767d82f1ef295f8e8e679c56d63ff6bbb9de49c5808b85593b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff9e5267d98fcead6ec25c6bc431929d5297203bdbf9e3fcdea8e95e5903eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46c92f4b3aa16a7e57adcf03f91c317ae008f7ccf4e34bd53a86e51077131d13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuQq_bnd2TiiaPkfaHvEjRvcihVKPdi07Ed9REMBcd9NQu79kVF6LGMVhp6JBmSfeADEy5gEFKjrrxcAlXFnjCEmag5pSTUalFdY_EroaE6AzNPkVUjPNeAjhNHuogGxhbqB6E8b2QB--QO5ub5YnpAEVV6--i5q9Bx3g9GoSnp06dLpv286gS39V3Ry3JrnOVbfvt14XqSuMLLDzqyIgyzBRzCQxqCT5FqjrVWqYQWnGTj0wmvpskcqVgUOKEHsuYW0Be0sKJHInQQmCzOYqc81RprwPqgySBe4rh4tX0H9GRdud8sBUcdq_JRAp8_EtL9v-mCK62sDgfs6QCrG3z2zGATYNV9sJ8a-Nsb5bJjJNZfODVbYmUfBNt6c3G3yeTNJ6QdeyE_0dNY81cpZ4zCwHSTecZRtiSp_U4l8Cl_gNenamZXj_PXSsJXH9kt_qGs72x2QE59yTwQAIQMLIxQyzBcSNzHYLaNzlsHcIXp4nNbnWPZSfjbALeymWjqngZWHKq2gFRNLTH0cP6ji5xWJpkYG7Wv_D_9Y9TUqY-vWARaxkSj-SQt2-YC_vQjmb2CQvKTRJ7QzhRtza2GS1662tt8Eh-8ptOpz0gEQR53AhwRwvgSU-zVLzdndy875gut8A36u3bsWf03f7zm-lseEd0Zf9ZxRSll0Y0mIIAsSSlObyRzSEowBusV30xPXgZlOccZvc3OdcUMmFSfaTeR5L8gwBUhktgq8IRiGuOYg14m7SSFb4LFXKHfuSpY_IMZl6Tm6GvCBeZuCurxK4_9F2tYDfn84XxI60Ig8LpS7VqA31afeoFXVn7_g97MfBFVunuru3tMvFhMnTcSLUQd_XzGKMdussPbHUMDkWFnc6db5F-5JffNl30S0hvXS0dTgWVS_Yxlg7XB6hrlfgXcS8pbdi8uiU5uK2BgrTJ4V5aBxFs7vJ4ZcRmeUV0FzPfzh7DbJc8DZsV7l-QFpvtftyW4rvogRsSf0D1K-AJgj20v2PRieugn0Zmac6xO7XiCYDzhQKD5xKOsTy_DLC1tZ5YOCm5rDFqEmUICu4i1b2BBTp8Weo_VahpfS9U_Exiz0I4HrLV8FbfcSWiZ-zRxV6AmUHuTWDo12JD2wshths-BBcmoMGIo3FJ9VPf-Syu-71GYSj-HgUC9g0V9T2vHVhO1q_rlvDBV9jyEoJUd9qP0pYg87u8CGroJ86pQJxwDxpnh4SlM5IWurnIcv5xHXNxS2afXyKbGDgf6W_vShcOtteFjrgSgUSdnhBUeaeaPeYfBWQdUzG2M6twCaktXtr-KjZhxWbyyaTq4pNOIE7HfQr2A9URXFDLCdyPdEIgDyju22kE3-yzZTIEGW4YK1KmCdO9YUSErOmJQ-uRszX6cLPkvS35oYzVweO53kDTVsONNALcVlV7PWPCxZPmIvatBFNa2Pb1ZSlMdSyRLnfCiS9pLJjcVwxPTU44IJVGQZSvPzdJs0aWeHtLb6jhzJ5dM_w1vNqQa-3oN6l9JZkIVN3TY7oWzUrS71kD1VlHVCmHFvQso4Ms7vqquzvaeaZ7jBkk05CnPT1yqpeJ6rNQ=",
  "id": "rs_046af727926354c9016ab44b8eb05887d0a4ad0e6f5a995b11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.22,\"right_z\":0.15,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"The right arm did not track the second lateral target at its low, awkward pose; the pen therefore remains at x≈137. I am raising to a true clearance pose while keeping the desired lateral target, which should let the IK unfold and complete the shift.\"}",
  "call_id": "call_FiHf1WwoPRZrRG0fjdCsrNyB",
  "id": "fc_046af727926354c9016ab44b8f668887d08d913902b369fcff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FiHf1WwoPRZrRG0fjdCsrNyB",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3023, 1.9099, 1.2301, -0.6083, 0.2947, 0.1284, 0.0721, 0.4557, 1.6016, 1.0767, -0.2607, -0.1764, -0.173, 0.999]\nstate[eef_state]: left_x=0.3702 left_y=-0.1654 left_z=0.0242 left_yaw=-0.716 left_pitch=-0.6458 left_roll=-0.3061 left_gripper=0.0721 right_x=0.3824 right_y=0.2259 right_z=0.1326 right_yaw=0.6899 right_pitch=-0.2083 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1709, -11.2889, 6.0513, 1.0476, 0.2515, -0.0171, -0.0122, -1.1282, -9.8803, 9.306, 1.5458, -0.1294, -0.0659, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876893cf226416850374b79e5651ee7823a32f83a36ab94032cd539868807590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b01f00f93ac47a6400f368e6db6993c3a63042119d9b38318bc93a88257e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a8c5424633d138579a3d7cd7501715c4ecb403fa21ad20fef7d702c4afbff2",
      "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 · 2.54 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]: [-0.308, 1.9213, 1.3762, -0.7242, 0.2871, 0.1284, 0.0721, 0.6373, 1.8778, 0.9588, 0.1699, -0.057, -0.0536, 0.999]\nstate[eef_state]: left_x=0.3883 left_y=-0.1723 left_z=0.0557 left_yaw=-0.7091 left_pitch=-0.6315 left_roll=-0.2885 left_gripper=0.0721 right_x=0.375 right_y=0.2946 right_z=0.0376 right_yaw=0.7031 right_pitch=-0.1856 right_roll=-0.0023 right_gripper=0.999\nstate[joint_eff]: [0.1026, -10.906, 6.1744, 0.9695, 0.1636, -0.0024, -0.0122, -0.1983, -11.2889, 7.788, 1.5409, 0.0073, -0.022, -0.1197]",
      "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]: [-0.308, 1.9163, 1.2907, -0.6617, 0.2878, 0.1284, 0.0721, 0.6102, 1.8542, 0.9432, 0.1379, -0.0727, -0.065, 0.999]\nstate[eef_state]: left_x=0.3766 left_y=-0.1687 left_z=0.0358 left_yaw=-0.715 left_pitch=-0.6477 left_roll=-0.2981 left_gripper=0.0721 right_x=0.3739 right_y=0.2815 right_z=0.0369 right_yaw=0.6961 right_pitch=-0.2086 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.2342, 5.9419, 1.0037, 0.2369, -0.0366, -0.0171, -0.4171, -9.7573, 5.7504, 1.6874, -0.1197, -0.1245, -0.1197]",
      "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]: [-0.3023, 1.9099, 1.2301, -0.6083, 0.2947, 0.1284, 0.0721, 0.4557, 1.6016, 1.0767, -0.2607, -0.1764, -0.173, 0.999]\nstate[eef_state]: left_x=0.3702 left_y=-0.1654 left_z=0.0242 left_yaw=-0.716 left_pitch=-0.6458 left_roll=-0.3061 left_gripper=0.0721 right_x=0.3824 right_y=0.2259 right_z=0.1326 right_yaw=0.6899 right_pitch=-0.2083 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1709, -11.2889, 6.0513, 1.0476, 0.2515, -0.0171, -0.0122, -1.1282, -9.8803, 9.306, 1.5458, -0.1294, -0.0659, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876893cf226416850374b79e5651ee7823a32f83a36ab94032cd539868807590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b01f00f93ac47a6400f368e6db6993c3a63042119d9b38318bc93a88257e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a8c5424633d138579a3d7cd7501715c4ecb403fa21ad20fef7d702c4afbff2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuVtLm9SR0ugLeF53nfVV7k0XunhDcUEn2n_M6gKI6sR0cqFuz_pZEkYA3iX-aIaLf5uU7ZcwEZ9PSSYMVp0r4lRYYagEswYCV22iBzH9QbvjATMbUMBHtQBvn6as4-mQIHxTaDJJV-IXT6CAthuAaBBTk8bAwy6aZ4gvob8yIxbULFSXQsVDk5OPFyscmZwXgRNl4COJFaJlt5TIyxF2y2pvHiTrOj8l8EQy7kLOcbC0G5TZTDFrWVx7Hd4J_4QAx_k-xs4n9GovgT544PaXUx7wycjkcEvtpDfnhp7Cc-3G721umGDHvTePiINY9jV_I5AP5V5bjbhOF5tSvIHmLV0LWCjerB4wueidW1brRE072WJzJO9YfpnP1YjiB2MYWPr1lP8iqNe--TIcb5OZlkwOG922iZA8_Oc1IVhX071p5zFJ_Jxl6J9LYFQAgYxwMgZ05a9VaSCVsxhU-B3XKVo777rVVAxBWBR_lSmFKrfIn0rDXVbkmp5a5y1GTiGQZvy-XkCU7mc9aNlB-1oOg84gAhcVMKQx_KRNSsPV9kPgXJI4bKEE-QCxDDiC5o7kYqrzyqzju3VWGpCunuZ_UIEUjfjxz9fhlhqRHxojURGDfwhmdXSWuzzp1CEXWObIRMP6C3xupKPXhSxvQG9B5AJGGJZwE_0wa5Ig1oHX8dNO7cE5j1wNM2bWFIDAXD-zdhUexdXLghzHdhZAlkYA8wCt4hgkIBcP2sg0XARxH-IQHQcMeEtHkQ2PXQlzFcDoyTxCs0U33_yc4ED3Y_A9jNMsHvviOilfIZPCknKayJqsETh4yN6y0r3s1p_IcMrxSbx8trzHSBCX8IcmdMt321I5jmbjhfi6Z3wm61uBlUOjQ9dcNaVHVfH7gYv-UmaiOkp_vypEMuSxLaKfXY7xGR7sOQM1symbC-1MRuKm6hR4ljokF3NmKe66iKD9PqD4Eah6KueNLjY86lHbbFp3_zAZtxblXllZU3sZqiOM1iI6j4N_2CEF6w-dqSndDeNdGYX6rZsXIdMCE15huEqwHJWWzLIj6VZHD2JCfrcCXD4ae8_RCnDahUqIl0dDgJ-sZFfhQsSfxvoVApt0UW0mWAUTsK71unqlYCOHKhLPDVMytJcZLOK9TTqEe3wVARuyAXbEk9GSITf2B6RG5vOGHnjwEwsYP5cV5gPqETfvV0um-kMEYMdfiPAmJ0p8X42SaK02KJYiPi0h6jm1fDBOkQSXy1b4wgYcv3CRUFuIN-LfjNhoU21qpdkAPAhPM9bZOIV6W1eWu2qE_x88GvhTTWhKOgBvPEPevtw0PjswLUzADJmrlxktaoJXCgA52qohCbS-pUnOh8eqqSzwsDijfZGCN4N3N5XEKwD6HvEdIaUnC-GUI3b3vLjTC2OBZ6iZg-5j7lT566RPQ_8xwL2Pciln93RXJZOW8ok57SRpUTwxjEL8yuFmZjsoyndVVw0FS8S471C_Z9tIKkFnwKOoxMWdO9e56pmRlXcIiFhyNDC1MaideiyEK2mcl-eH4fuP8DPYmrqbzLr0b8Hn2uLvT9uMcfXTjQqK7Ey9SpYo2jVvgKAixFi7GSeIqkeGwyR_0YO0PItWXeoKQYs0bypQOcZ0PbF8HeBQdm-Dh5nwbySaBBOYo8qDzW_CcUvhyn3bmLlcJTGlYZN1kL-msE1yQGtcZu7Z00uO4cm3cqnWuaUeunA43tBJ-DmHdWP7GDOwzMYus4AieoHs_gxZoCvZNe16f9H2VgIk1q9-T_nE37SXoj5Ze6xQ0xWSfuWbvEqPUVzL9CbciVDLH0nYNX73KzmiuX3DLpdfxWsbkfmKoc3y2HjxvgeDY6F8E-xTEnoGMK87Qa2xYobiLDtYf6AMpxYeOqgWl2U87b2MTlreD9cujh6MBVcFaro3wnWzn14KFahGUgcRSGtCgVEDaMq2iZN7uEmuvoJoBX9wy3DOOEeco=",
  "id": "rs_046af727926354c9016ab44b92900487d08f0f6e6230c355ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.22,\"right_z\":0.0,\"right_yaw\":0.7,\"right_gripper\":1.0},\"note\":\"After raising, the arm reached the corrected lateral coordinate and the pen shaft is now on the jaw centerline (about x=101), extending into the fingertip region. I am descending vertically to grasp it at this corrected pose.\"}",
  "call_id": "call_FLyaUVyYbNDcD97Zpm3HznjJ",
  "id": "fc_046af727926354c9016ab44b94042c87d08d2949098822a226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FLyaUVyYbNDcD97Zpm3HznjJ",
  "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]: [-0.2985, 1.9068, 1.1751, -0.5598, 0.2955, 0.1284, 0.0721, 0.4446, 1.8534, 0.7975, 0.2321, -0.1848, -0.1982, 0.999]\nstate[eef_state]: left_x=0.3637 left_y=-0.162 left_z=0.0125 left_yaw=-0.714 left_pitch=-0.6487 left_roll=-0.3087 left_gripper=0.0721 right_x=0.3746 right_y=0.2184 right_z=0.0032 right_yaw=0.7019 right_pitch=-0.2436 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [0.3077, -11.2068, 5.7915, 0.9353, 0.3639, -0.0269, -0.0122, -0.6222, -6.4205, 4.3145, 1.2967, -0.2027, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb4d42e4e09b5b0c6e34cbb95de132bf1682562f6e836f787d26f3e3157ec1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db56ac7b4de966b678f16500367601889aa143a934ce961dcd96fea858fd5a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b78a51130a54053f0725c59b5485403225ffd6631db2c8b8c712b8d8611e4d",
      "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 · 2.849 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]: [-0.308, 1.9194, 1.3373, -0.6933, 0.2874, 0.128, 0.0721, 0.6102, 1.8542, 0.9432, 0.1303, -0.0658, -0.065, 0.999]\nstate[eef_state]: left_x=0.3837 left_y=-0.1709 left_z=0.0466 left_yaw=-0.7109 left_pitch=-0.6371 left_roll=-0.2921 left_gripper=0.0721 right_x=0.3736 right_y=0.2798 right_z=0.0355 right_yaw=0.6903 right_pitch=-0.2166 right_roll=-0.0022 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.3162, 5.9282, 1.0037, 0.2418, -0.0562, -0.0171, -0.2667, -9.7573, 5.7504, 1.8046, -0.2125, -0.1392, -0.1197]",
      "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]: [-0.3023, 1.9099, 1.2301, -0.6083, 0.2947, 0.1284, 0.0721, 0.4557, 1.6016, 1.0767, -0.2607, -0.1764, -0.173, 0.999]\nstate[eef_state]: left_x=0.3702 left_y=-0.1654 left_z=0.0242 left_yaw=-0.716 left_pitch=-0.6458 left_roll=-0.3061 left_gripper=0.0721 right_x=0.3824 right_y=0.2259 right_z=0.1326 right_yaw=0.6899 right_pitch=-0.2083 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1709, -11.2889, 6.0513, 1.0476, 0.2515, -0.0171, -0.0122, -1.1282, -9.8803, 9.306, 1.5458, -0.1294, -0.0659, -0.1197]\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 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]: [-0.2985, 1.9068, 1.1751, -0.5598, 0.2955, 0.1284, 0.0721, 0.4446, 1.8534, 0.7975, 0.2321, -0.1848, -0.1982, 0.999]\nstate[eef_state]: left_x=0.3637 left_y=-0.162 left_z=0.0125 left_yaw=-0.714 left_pitch=-0.6487 left_roll=-0.3087 left_gripper=0.0721 right_x=0.3746 right_y=0.2184 right_z=0.0032 right_yaw=0.7019 right_pitch=-0.2436 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [0.3077, -11.2068, 5.7915, 0.9353, 0.3639, -0.0269, -0.0122, -0.6222, -6.4205, 4.3145, 1.2967, -0.2027, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb4d42e4e09b5b0c6e34cbb95de132bf1682562f6e836f787d26f3e3157ec1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db56ac7b4de966b678f16500367601889aa143a934ce961dcd96fea858fd5a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b78a51130a54053f0725c59b5485403225ffd6631db2c8b8c712b8d8611e4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_046af727926354c9016ab44b97067087d09143eccfed3d1b56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.04},\"note\":\"At table height the pen shaft runs centrally between the right fingertips. I am closing to a narrow 4 mm target—enough to clamp the pen’s roughly 5–7 mm barrel while minimizing sideways ejection.\"}",
  "call_id": "call_SMhwSwEF2KcgIqaie7AelDLe",
  "id": "fc_046af727926354c9016ab44b978b4887d081a524d806201015",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SMhwSwEF2KcgIqaie7AelDLe",
  "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]: [-0.2947, 1.903, 1.1187, -0.5076, 0.2951, 0.1284, 0.0721, 0.4446, 1.869, 0.7944, 0.2707, -0.1848, -0.1982, 0.058]\nstate[eef_state]: left_x=0.357 left_y=-0.1583 left_z=0.0013 left_yaw=-0.7099 left_pitch=-0.6492 left_roll=-0.3084 left_gripper=0.0721 right_x=0.3782 right_y=0.2201 right_z=0.0021 right_yaw=0.7007 right_pitch=-0.2244 right_roll=-0.0093 right_gripper=0.058\nstate[joint_eff]: [0.335, -10.988, 5.7231, 0.9841, 0.3004, -0.022, -0.0122, -0.0342, -9.7846, 5.8462, 1.1209, -0.0562, -0.022, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c09ba033cd8bf497f4b3346aa249d1ff7206b638790705b6c8bf2d7d34e646b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6b16fd03e19c9bb64c74584bda26ee8a0f83ea0a921189de6e9c59f99c743f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b227b63acabd857a1c04d9aaa1a027f22d1b5257a39545d9de3eb390c462c7c",
      "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 · 5.807 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 111 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]: [-0.308, 1.9163, 1.2907, -0.6617, 0.2878, 0.1284, 0.0721, 0.6102, 1.8542, 0.9432, 0.1379, -0.0727, -0.065, 0.999]\nstate[eef_state]: left_x=0.3766 left_y=-0.1687 left_z=0.0358 left_yaw=-0.715 left_pitch=-0.6477 left_roll=-0.2981 left_gripper=0.0721 right_x=0.3739 right_y=0.2815 right_z=0.0369 right_yaw=0.6961 right_pitch=-0.2086 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [0.4308, -11.2342, 5.9419, 1.0037, 0.2369, -0.0366, -0.0171, -0.4171, -9.7573, 5.7504, 1.6874, -0.1197, -0.1245, -0.1197]",
      "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]: [-0.2985, 1.9068, 1.1751, -0.5598, 0.2955, 0.1284, 0.0721, 0.4446, 1.8534, 0.7975, 0.2321, -0.1848, -0.1982, 0.999]\nstate[eef_state]: left_x=0.3637 left_y=-0.162 left_z=0.0125 left_yaw=-0.714 left_pitch=-0.6487 left_roll=-0.3087 left_gripper=0.0721 right_x=0.3746 right_y=0.2184 right_z=0.0032 right_yaw=0.7019 right_pitch=-0.2436 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [0.3077, -11.2068, 5.7915, 0.9353, 0.3639, -0.0269, -0.0122, -0.6222, -6.4205, 4.3145, 1.2967, -0.2027, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.903, 1.1187, -0.5076, 0.2951, 0.1284, 0.0721, 0.4446, 1.869, 0.7944, 0.2707, -0.1848, -0.1982, 0.058]\nstate[eef_state]: left_x=0.357 left_y=-0.1583 left_z=0.0013 left_yaw=-0.7099 left_pitch=-0.6492 left_roll=-0.3084 left_gripper=0.0721 right_x=0.3782 right_y=0.2201 right_z=0.0021 right_yaw=0.7007 right_pitch=-0.2244 right_roll=-0.0093 right_gripper=0.058\nstate[joint_eff]: [0.335, -10.988, 5.7231, 0.9841, 0.3004, -0.022, -0.0122, -0.0342, -9.7846, 5.8462, 1.1209, -0.0562, -0.022, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c09ba033cd8bf497f4b3346aa249d1ff7206b638790705b6c8bf2d7d34e646b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6b16fd03e19c9bb64c74584bda26ee8a0f83ea0a921189de6e9c59f99c743f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b227b63acabd857a1c04d9aaa1a027f22d1b5257a39545d9de3eb390c462c7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEucwBo-JN0CaO0BILdXG8gjWd1-ZZ6oeMUtuhk_g2dskq8qgaUv_KbUNOHI7ZK2eTM0S9SCo27FruSZepvJDUZJSXL7HCnerlIjPPrhKqlWF1A2q-zfy_cRuoXyr6FsNCvBuQ4MYFYnZyWt6JxMCe4xJdtXCbyBiXQzL51ncXrZS_z9ym5P8ky7h44mQvX2v2i6iXvBvjjK09NBMpp_Z0Me1Tz2YoCTEdPkNSz3QdthJU-Q3gRuj6bBkJ30ThEaCHBbpXs6HAg627KxU0Pej9WURjRFjR9Ti9NwpmilX3dynTWJKnqeAfzwL2P6hDTvCpSLq6rgBk-s66NTH2jMj-Tr4qImpi_CoSxCaNofLYh-yi-trenhriV9R1jgiMNJg5lZzKGe8qaFwqp1Rb3Hhfow64iL3dhbFDX8NtKYcRCFsu70Fiy2P9Owt7Xo2-JFheqe0lGsOEhvTS8L83qO-TgHWcToTyysiz78il14e0ppzZwVPGnFJkS_XwSJZaLM0qMIv79-EW3VBcnDC1GUGshtvFI9ulymoTi-EMKoSFzYVVBAYd0PdiA4BcjoBEta_1qlr9EnSMAPN04SIywIE7IL4OyMdVFLg5daKnRdsZVxqHvTYdCsYC4OjV94YXH2PZcyR4rRw6EFkIyfNe9SmrTBf6jW1GXaiR3yfwaRVebtbiMUDBx3lUpADr_lWCx6ByJZVL5jLeNzW9bYiQuBRXnH43Qzp3H9ytvgbTyY16MTxYA_8oqOZtcnXjQxXX7qRdfQQWeTqu2mykiFx3RuDLyFhe7ZBFYo82BXEwAo5OaCmgz9XFlK_1rQQP-bRKsAFVKpvL2hl6Edvo5ZH2aQUAygKDR9B3ESSFmoRCtoHemwXZex9jldq4a2DXFx23bnRNTSlL-5l5-UVmp1Oy4nzcAV3luZhg_0TtWfJfCKHUDc47dDS6Cph74JAKT2tha9f9lVMgMYKBh-LNbEG3cZNtgAt11O2uJ81HAFypyJJMuO6kZVA4MnRaOrWFxNbWcCI57j3ox04mutoiNHvPtJnqKesbcQi3RlgMzunIvevCMq8J9rkPIgYlUQHCvBvliZwsfA8O2fqKva7X6eg6ZiiOIQKtW64ftpyOpsfxuCWg0WSsjWQBkDQqG1b3djSjv2h4TjioiILGZTRe1GlAGIHddQvJAYIl4-XlEtxdGHRyYJhEnUSUJvVr7gxH5msOXj3rmrUS-hQdM7Iwu2rRVpPt_l78PxEW9G-NLRCs-9NmcBL2E=",
  "id": "rs_046af727926354c9016ab44b9ab17087d091ecc4f94a070cf8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_gripper\":0.04},\"note\":\"The right gripper stopped at 0.058 instead of the 0.04 target, a non-empty thickness consistent with the pen barrel, and the shaft remains centered. I am lifting it to confirm the pen moves with the gripper.\"}",
  "call_id": "call_JZaO625QrJhp0n5sNwKFH5xw",
  "id": "fc_046af727926354c9016ab44b9b8a3887d0a4248b7dc3084f91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JZaO625QrJhp0n5sNwKFH5xw",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 1.8915, 1.0756, -0.44, 0.3141, 0.1284, 0.0721, 0.4446, 1.639, 0.9951, -0.1749, -0.1848, -0.1993, 0.0606]\nstate[eef_state]: left_x=0.3581 left_y=-0.1588 left_z=-0.001 left_yaw=-0.709 left_pitch=-0.609 left_roll=-0.311 left_gripper=0.0721 right_x=0.3786 right_y=0.2203 right_z=0.0984 right_yaw=0.7022 right_pitch=-0.2388 right_roll=-0.0063 right_gripper=0.0606\nstate[joint_eff]: [0.1709, -10.1265, 4.5744, 0.9255, 0.1587, -0.0024, -0.0171, -0.3761, -10.2222, 8.9231, 1.4628, -0.1343, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f71f5163854dc181cc7d9295e66b15835aa92a5fe16039421ab9ea99517cf20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68103ebafd349b1986a88f6208be435d276067914ded985c43299f3db675698c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1c2cee72f8f054acb676773e7973138184624cba826d66b7f990d7d6a1e04a",
      "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 · 3.885 s

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

message 103 changed as sent

message 111 changed as sent

message 115 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]: [-0.3023, 1.9099, 1.2301, -0.6083, 0.2947, 0.1284, 0.0721, 0.4557, 1.6016, 1.0767, -0.2607, -0.1764, -0.173, 0.999]\nstate[eef_state]: left_x=0.3702 left_y=-0.1654 left_z=0.0242 left_yaw=-0.716 left_pitch=-0.6458 left_roll=-0.3061 left_gripper=0.0721 right_x=0.3824 right_y=0.2259 right_z=0.1326 right_yaw=0.6899 right_pitch=-0.2083 right_roll=-0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1709, -11.2889, 6.0513, 1.0476, 0.2515, -0.0171, -0.0122, -1.1282, -9.8803, 9.306, 1.5458, -0.1294, -0.0659, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.903, 1.1187, -0.5076, 0.2951, 0.1284, 0.0721, 0.4446, 1.869, 0.7944, 0.2707, -0.1848, -0.1982, 0.058]\nstate[eef_state]: left_x=0.357 left_y=-0.1583 left_z=0.0013 left_yaw=-0.7099 left_pitch=-0.6492 left_roll=-0.3084 left_gripper=0.0721 right_x=0.3782 right_y=0.2201 right_z=0.0021 right_yaw=0.7007 right_pitch=-0.2244 right_roll=-0.0093 right_gripper=0.058\nstate[joint_eff]: [0.335, -10.988, 5.7231, 0.9841, 0.3004, -0.022, -0.0122, -0.0342, -9.7846, 5.8462, 1.1209, -0.0562, -0.022, 0.8132]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 1.8915, 1.0756, -0.44, 0.3141, 0.1284, 0.0721, 0.4446, 1.639, 0.9951, -0.1749, -0.1848, -0.1993, 0.0606]\nstate[eef_state]: left_x=0.3581 left_y=-0.1588 left_z=-0.001 left_yaw=-0.709 left_pitch=-0.609 left_roll=-0.311 left_gripper=0.0721 right_x=0.3786 right_y=0.2203 right_z=0.0984 right_yaw=0.7022 right_pitch=-0.2388 right_roll=-0.0063 right_gripper=0.0606\nstate[joint_eff]: [0.1709, -10.1265, 4.5744, 0.9255, 0.1587, -0.0024, -0.0171, -0.3761, -10.2222, 8.9231, 1.4628, -0.1343, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f71f5163854dc181cc7d9295e66b15835aa92a5fe16039421ab9ea99517cf20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68103ebafd349b1986a88f6208be435d276067914ded985c43299f3db675698c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1c2cee72f8f054acb676773e7973138184624cba826d66b7f990d7d6a1e04a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuix_FGdZOdz_5AqCzNLpVVytsJeDRANpmP3eY9XYByQG1sfZ0au8ry0DMg6WapPga8UNnZTgf9xW-U5kunR0RbRtL7e3H0NEhNX-7z-kk2ytp26NHnrEHwz0dDXVdh6ci-K5yVOoOzUN7pghqB5-rjaxnpxwuNuvuP1PDfu4ZIKKmstxpjsL0IwqFbUNqtFOHUfS_iL1af5uxfkUbGvnX_n47VSijAvqqFQXnuHshqe73LMHtsSqJFVvVvJp1Q90a-2TBc1qWA7ZVLq30l8QEs_JQRGzTYRCR4r7thbkdoYti7LwwZV9w794VfSynamlvHoyRDQqB8DreKOj4G2EKMLkcVfwcOUNIqk6JQsSx_DlOUspw1F154IAKGq8ObnIJgxmzRVkOPQPFzJpQUv2EtHMF2vsSF4dL5wqvcSEY-gpRY1WVr5QqxZhscoYbv3DgfUC1e656YFsKGblUwIOITXjtMFIq3DrddwAH0yIv4PHuK4bmMScfEmm01LjUh52rh1HS4K9sjpuOXSYq1BSLPddi3qf8gebufdO1iE25r8MtlUYYWoTmuv1VbrojS4o3wSG39ow_jrPzCRIJtT5uvZGmICJRJs89LWhrm2vV6OoF4pYSWIzXkJfSp259twyduPIT8tO0MR7FsfwJPT2OSlbEltpvBoGodVxUCyqElJnYS2pLNeDCNcY0WG1vh6pOOS5Q-b8QO8nmfRr4wtIpPCxUJzrembaZZoOntsbfQ0Mpw9YexMFN0BKFpNdjckZbeztnPmMcdSO_YKFyWs0YXafMGBksC_ixBjzA1RReC78JqAzbYmEIYq9MNvG95m9Im6X7dqf7P9ykn5M_NTsIRpxchfyc9H0MqfXjrOQVPDr2ta4tBzgGeFmFPhLki2mR-AvkpnmtXATMAFp8fXJ0L22Dt2fcxc8DJv9WfY8A57nQZv6nZn5gACXD3HsuolHAPUyEsk_X-PnZVF7sFVmssLvaXqOayF1oTU6fuRu2Olv3NiaO1QxqdhJ7Zl7EOiJIblYAP7yaYGzIEJG3ERLQ2DGU1XzN4kaLOmW761sEe1KpGInYxqO1JtCE4Xh1mRnMdAucY7JC4ALBwnbMVhI4PnGPB8pTwEC3vZMK7UIou8gFV41cfHU1v9Pq0EmP0x1HWAX91xPn_s7JTubna_Li1bK2_vB2XLSAg1nRrrw9PIaZjh5QzjJelJSRF_fSufpwRnDMMc7spToUWM8eN-XA7SsfTRxEvakGVmY2P8tcL6x7WSjF6B90ObwP55zAUqNxEuKUQ642OQZiBUOf0gN1A0mJE7ZJfWuyw-eUUq5erb9C-lWSsKdBshFEl3D5PuyyNwV9ipAr7HATuLgAoRrWRaUryQRghpGZtgWqLfbQgoE-6FmYnSiU9GQ5_p5Z9ZDI5SliuAH0h5xkRd6hh_vV7L0HODlHgtAlvPCYaDHih8AJuMqKrr10ERuniTo3BQ8bGwU7COGArjkBoj7FAbofJjL-vAxQMGcQWTQHMA7yjHGQFPl6gW1_0Y7lye1JEaP6cJPSBEkQytRnP1B9PISiGGPrBKGUDMpMDzjZ_PJPzrVKG4HeQSZ-1Bl4_Wdl5V3tMHlgMZWT-0C8Ssco37ayuJu6T3498vzTOZArpvEPEQfcZZOFzyIMNDG7o5uMPlskgW4Yb7lu-2riV9XR-dc9mGk5nY2o9OFJRXG-OJBaGPzobZ0SdI9lEpvXaTrrXvReKXHnG60n5EJSEyXc2pJNFLWGc5nSDjTRFLK_xe9TcXlCCb2uWkhes2IVvhbqS5a2xqIptjdHUPW3V1yNrOs6sdfAjaT6nSntmRPJBcatHs7frgbSs4KNvn8yqtLCpArAxO__-T_6q1IehHjGkXBZ5ShgStu36e2cU3MOZ00fAZhsgEqO997ONbEZlN1l9FdhGmoeP2C-rkgef00cpqEWt1jgFUWDoJ517D_M1RW551w4zp_89UL0f7vpQarz6wryyDpqyNxdSzhZIWs-8-2JLXe0yoyn-lc11E5XrHw3PDqMtc2Xp4ODK0hC7eYYI8bW7Km_iRORpcIgxIY3U5zfU7wyUQbuqv7DlmfE66RjKd3RX7JZQulFow20LiYbd4p6bTwf5fsmR9Ll8ZKDAwE_hYToLPyvfmrAUnU6Ep43ii_IMGTvyLjcFMMLCESM88ReXAywIIhl--g13iG2L1p1ZiUbwKgn8ZULYWomt0-oe6fHAsXQb4JNyImyzbazLD073IuHg6ZfQz15kX9YPfO9D4O8gvm4adiHzyTjVewUwNbDc6IcpLF_1qZKd5m9PevmI58VsHZsf-CDZjAAWTgyOHO1VNUiTGfcEvogdftPvKRorPbRXEnSFPFcaNvvcD6iA3Drh021nOnXy2gO2jn5KSsAmuf2VAqTOD2cpMZMZy9JgFuGIybsJiNevSFiX6MRSfLO8Fc7Cc6xTjksDvhdxPlAkdiRlfh5zTndXemheHSV50R1ISqQASoXcvFf7XMHg2JbaEaJLxhuMtdMuPno-Mfj3kuBCVzPhTqZk0Oglz7LxdNnd4n5mJZ6zudCudqdieLBcMD8ipujig8JD_tlopKFZFerbLpRp1erVU63KCTXaY5gvx8-iLmwUwA1UL_ZXlxJWCxZUYK7qprRKzJzqIbdlAewLyBw0V006lQ3hH7NT3-XkCUFZtlxIO4TiiMsIwhYxTyCsi9cQ1M9ODVbYDctwepCsn_fqveyRgRMSKDXCA2hia92yeCRzj7BEO20D9JE_W3l1s78UertAl7WReDb8sKPlDBew-AJ-cGFi58AO0ub7sJ9jTklz6lv1urtnzXTFBH8ID-MbETun98XqpP2MbCH40reKHjHs305wpiNJgjnGrJy-Q5D0e2BHf1hjcRJ-ww2bDuhplmnXqkhNBX-ImKDDFRn2uJznZ9rAqEpVVd0-mQETLesxNrkwr7Vc",
  "id": "rs_046af727926354c9016ab44b9e888087d0835c4ccabec3f1cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.12,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The pen is confirmed lifted in the right gripper at a stable 0.061 gap. The idle left arm has drifted down to the tabletop with the cap-like piece on its jaw column, so I am reopening and raising it to a controlled approach pose before one final cap grasp.\"}",
  "call_id": "call_QJhhlXC91aSyalS7y4YzspYF",
  "id": "fc_046af727926354c9016ab44ba1875c87d09a562c8b4fc71d97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QJhhlXC91aSyalS7y4YzspYF",
  "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]: [-0.3199, 1.8534, 1.4437, -0.8703, 0.3, 0.0711, 0.995, 0.4446, 1.6318, 0.9985, -0.2016, -0.1844, -0.1989, 0.0614]\nstate[eef_state]: left_x=0.3745 left_y=-0.1753 left_z=0.0943 left_yaw=-0.6995 left_pitch=-0.6459 left_roll=-0.3341 left_gripper=0.995 right_x=0.3752 right_y=0.2186 right_z=0.0984 right_yaw=0.7027 right_pitch=-0.2544 right_roll=-0.0021 right_gripper=0.0614\nstate[joint_eff]: [-0.7863, -11.3436, 9.1556, 0.9158, 0.1929, 0.1587, 0.1343, -0.335, -6.9949, 6.1744, 1.7802, -0.1099, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67705681d098e8988583589048b71cad5ae7135653b117c93e5e61feb2ab7c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9b997a5fffbb9a0d5b274a9de76a42b73ebbff25ce64423ea59c59bf19156f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10461a2174bd6bf1539d2a7766c9354a0deba161a2b692dba572fbb2f864a626",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.234 s

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

message 107 changed as sent

message 115 changed as sent

message 119 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]: [-0.2985, 1.9068, 1.1751, -0.5598, 0.2955, 0.1284, 0.0721, 0.4446, 1.8534, 0.7975, 0.2321, -0.1848, -0.1982, 0.999]\nstate[eef_state]: left_x=0.3637 left_y=-0.162 left_z=0.0125 left_yaw=-0.714 left_pitch=-0.6487 left_roll=-0.3087 left_gripper=0.0721 right_x=0.3746 right_y=0.2184 right_z=0.0032 right_yaw=0.7019 right_pitch=-0.2436 right_roll=-0.0042 right_gripper=0.999\nstate[joint_eff]: [0.3077, -11.2068, 5.7915, 0.9353, 0.3639, -0.0269, -0.0122, -0.6222, -6.4205, 4.3145, 1.2967, -0.2027, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 1.8915, 1.0756, -0.44, 0.3141, 0.1284, 0.0721, 0.4446, 1.639, 0.9951, -0.1749, -0.1848, -0.1993, 0.0606]\nstate[eef_state]: left_x=0.3581 left_y=-0.1588 left_z=-0.001 left_yaw=-0.709 left_pitch=-0.609 left_roll=-0.311 left_gripper=0.0721 right_x=0.3786 right_y=0.2203 right_z=0.0984 right_yaw=0.7022 right_pitch=-0.2388 right_roll=-0.0063 right_gripper=0.0606\nstate[joint_eff]: [0.1709, -10.1265, 4.5744, 0.9255, 0.1587, -0.0024, -0.0171, -0.3761, -10.2222, 8.9231, 1.4628, -0.1343, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.8534, 1.4437, -0.8703, 0.3, 0.0711, 0.995, 0.4446, 1.6318, 0.9985, -0.2016, -0.1844, -0.1989, 0.0614]\nstate[eef_state]: left_x=0.3745 left_y=-0.1753 left_z=0.0943 left_yaw=-0.6995 left_pitch=-0.6459 left_roll=-0.3341 left_gripper=0.995 right_x=0.3752 right_y=0.2186 right_z=0.0984 right_yaw=0.7027 right_pitch=-0.2544 right_roll=-0.0021 right_gripper=0.0614\nstate[joint_eff]: [-0.7863, -11.3436, 9.1556, 0.9158, 0.1929, 0.1587, 0.1343, -0.335, -6.9949, 6.1744, 1.7802, -0.1099, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67705681d098e8988583589048b71cad5ae7135653b117c93e5e61feb2ab7c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9b997a5fffbb9a0d5b274a9de76a42b73ebbff25ce64423ea59c59bf19156f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10461a2174bd6bf1539d2a7766c9354a0deba161a2b692dba572fbb2f864a626",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEunu_BwCvEaWAmtfmIzq4TxmnvNHFT6LvsZcSCuArjjnYnvXRHzSue56R2rnt5MyW1Am4ToUis_zx2pog3pCeED80nqprzJ-nxUM92pzVBbTtRKmiUkTVjxBYJcSQM1BdiS4igadTwv-jNF-eHuM_X_Qx8yXjPZK03l2TQyIm5ZzW9oJC3z395w_FKf7wq5CKf3jKrZYFyST16z4jHJj09jwlCTqzsV8Ms2lMKiVzRSqrz8-oGDaEesnbEcqkr5AVW9cGEaUg_WdLSICQ2wToSPxaPWmSHAPPdEmmvUMSSXIzuIf3ghcptiz6WVbKZcWmRbw3ubWhnFF_zQXwae0SKPKc4lHTD6cOBRvMifSsVbIIB-c8GXb_qzBV3ipztzB6vS6Pwp4kyYU4g44EcbPAhcos8d_mZACIXDAl05D0P4Lkxps32byo6qgeKv11Aunu2tkUdu-dP4pHqcjxW3NufnF3zu30DKRlj3ysCM6gZOCes_xSxLYq4cfF0LefVyYzJH6DhkzumcuM6sCtE-rFEFhYzW6slxUedGxh2-1EnaVvxdY7dzkWS5jPxZGLCNopIqGfxdNQfg8kvJDqdpgr0m7pzMXqGToEf0Kz91ZO42OJqcmg2iBuiwZUVcgNzbusBOCR0MarmjkrJFFbulc0nVjHlNr0ndx-I2ZLdLBN8bamdXS771wh4riElTdaFfVNz5WcV2uwN3UKdHVrTwnv9FmWKqwsVKjeY6O7hXk0SasB6HaUSYx6Rk4CLx6abvGm_DnavK3OrMVG0sIkeGdeVlsj5ltopwUsKrh7sbY3HFd7hN0kuVRo8zNU6PqA8WO2AUHdmU8SqBzs7ZDoo9ReJoDCGV1Ef-UwlcCsul8mnAqouMCqZdI8FlcbtDB18VKj_-1X60Bo-sYQ3-4MrijcWYTzIPbP15w8SXrN704VXph9q5RGNwVQTf0dxofjO60zhG9MOLYZVToOOLEiq1vSEXZZDVH-95jvTQf5h8v0NZCaUkHyVWMGAMQbiLppw6KwHSnDXdUcoRoLQdKtfU16Kr6qfKPHBkFVZ5bQ2YWefQtm1xCeSnEN4-a-cP3Zct7WRK-fDoF_OPGznKSu--EtpARqGp53ZfCIcVLcoPtGklvp9nUNHm1jH0MVicv2-uDV7JlK4oEMoj5e4BiT0kL74bJ3UfjcncJBKIjd8fDdv58hfe7vUfh-BHKuqyLZtcJfbyijNkMCAaRaAQOEETlXCX_JaIu6EOq9G4rMdxbGteVTDmbPW7YbcKlKIOhUFYTc1POjF8vV8I6Gfw9Vr0Cy6rX01ECtqJrADDmkUWZXsFYFUf9zZomdzjxwDrnuBVqkhAAVJkll0wFt16Gy5jnkUg2pYxdEoWwuIi6d6asf4ak2rbrv3PJvp-xRKIZdZBztDVwuRJMsMqrTda3fR0PF9HV1M67Y92yH0r1_CyhSLl3iq8jHTPhaHHzNNo9E1WWW-ZaaVWsmMyrVxKiotSD9M5-B0AsJoCxv-Sy1O4p0nIZp1Kq3WE6IZnnj52hoQ_xILcpvfP8qmFtDP2kFXqnebOmn9at2_HsVdAXUF54SSfgo2mJzikrhQAKzEvtLKd6N6bRZCKdJHrztXZsZX1rXoHUDrhvcBnWc3cZfxiyX6ltBF_1nrAtNOY1IfluFLhT1ltjBAtWuUKXwmXlNFPS4qVQ0KCEPGv-8cO6qfFaIXy1nbLBCaRGlbf-N63KibKAyYh057F8m95vmVSPND6JIXlBeVRT2EDnRpmfK38Sc0MyUvqiUshjRVXRBL6__CGJdVnGUMXun5w0CsUBDRIZgMVub8YUPmbErVCp8gNm5bh80k=",
  "id": "rs_046af727926354c9016ab44ba4cbf087d0aa332583add0fd9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.12,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap is now clearly visible in the left wrist view, centered at x≈109 and aligned nearly lengthwise, but with substantial clear space below it. I am advancing the left grasp point about 3 cm outward so the fingertips reach the cap before descending.\"}",
  "call_id": "call_sjP7aQ2DxCntpURfcY5wwI0y",
  "id": "fc_046af727926354c9016ab44ba6a78c87d09c082dfffe0c3aa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sjP7aQ2DxCntpURfcY5wwI0y",
  "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]: [-0.305, 1.9087, 1.562, -0.947, 0.3061, 0.0685, 0.9989, 0.4446, 1.6318, 0.9981, -0.205, -0.1844, -0.1986, 0.0621]\nstate[eef_state]: left_x=0.389 left_y=-0.1745 left_z=0.105 left_yaw=-0.6926 left_pitch=-0.657 left_roll=-0.3486 left_gripper=0.9989 right_x=0.3745 right_y=0.2183 right_z=0.0977 right_yaw=0.7027 right_pitch=-0.2581 right_roll=-0.0008 right_gripper=0.0621\nstate[joint_eff]: [0.5128, -10.0308, 8.9778, 0.8816, 0.2906, 0.1587, -0.1245, -0.2667, -7.7607, 6.4615, 1.4481, -0.1343, -0.0269, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb8bd1a999112214542adcd13907cf492c6f382bfde0d16f59284d02521ea40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3d5376682b6b1e815fa62f28105254a31b8627a443f1de166f20e3f223ddee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a086cce7f6edd6ff531ca4a87efb59fbe88aee1553faea4946ab0ee25eb23e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.514 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.903, 1.1187, -0.5076, 0.2951, 0.1284, 0.0721, 0.4446, 1.869, 0.7944, 0.2707, -0.1848, -0.1982, 0.058]\nstate[eef_state]: left_x=0.357 left_y=-0.1583 left_z=0.0013 left_yaw=-0.7099 left_pitch=-0.6492 left_roll=-0.3084 left_gripper=0.0721 right_x=0.3782 right_y=0.2201 right_z=0.0021 right_yaw=0.7007 right_pitch=-0.2244 right_roll=-0.0093 right_gripper=0.058\nstate[joint_eff]: [0.335, -10.988, 5.7231, 0.9841, 0.3004, -0.022, -0.0122, -0.0342, -9.7846, 5.8462, 1.1209, -0.0562, -0.022, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.8534, 1.4437, -0.8703, 0.3, 0.0711, 0.995, 0.4446, 1.6318, 0.9985, -0.2016, -0.1844, -0.1989, 0.0614]\nstate[eef_state]: left_x=0.3745 left_y=-0.1753 left_z=0.0943 left_yaw=-0.6995 left_pitch=-0.6459 left_roll=-0.3341 left_gripper=0.995 right_x=0.3752 right_y=0.2186 right_z=0.0984 right_yaw=0.7027 right_pitch=-0.2544 right_roll=-0.0021 right_gripper=0.0614\nstate[joint_eff]: [-0.7863, -11.3436, 9.1556, 0.9158, 0.1929, 0.1587, 0.1343, -0.335, -6.9949, 6.1744, 1.7802, -0.1099, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.305, 1.9087, 1.562, -0.947, 0.3061, 0.0685, 0.9989, 0.4446, 1.6318, 0.9981, -0.205, -0.1844, -0.1986, 0.0621]\nstate[eef_state]: left_x=0.389 left_y=-0.1745 left_z=0.105 left_yaw=-0.6926 left_pitch=-0.657 left_roll=-0.3486 left_gripper=0.9989 right_x=0.3745 right_y=0.2183 right_z=0.0977 right_yaw=0.7027 right_pitch=-0.2581 right_roll=-0.0008 right_gripper=0.0621\nstate[joint_eff]: [0.5128, -10.0308, 8.9778, 0.8816, 0.2906, 0.1587, -0.1245, -0.2667, -7.7607, 6.4615, 1.4481, -0.1343, -0.0269, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb8bd1a999112214542adcd13907cf492c6f382bfde0d16f59284d02521ea40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3d5376682b6b1e815fa62f28105254a31b8627a443f1de166f20e3f223ddee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a086cce7f6edd6ff531ca4a87efb59fbe88aee1553faea4946ab0ee25eb23e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuqgxUoZnlidhFF4LsmrbqmYBQ9cZUApWrc74D2r-_tso2x701wlIvRuFsEa7d1ZeEy0r1ECXv_TcNns-TmbhOs51M18PuDOzuLFtK3IEWbvtnzyWQF6vyuKYewJxBK0uOrCH6ErnU3Wca5KoDn_XJil8ANL4ZMNW0vmwwC05rIKVx4JNKTBmxojWZjsINoCTtQLiXFt9eXcNhVPHDozS4d0cOrQ03Uhc3TexlMwkVcyqD4T7NqOS7nKlTP_5DmDYvBQeSSCagschxoKMJTetKRNBjqPT4x9WFmn4cPwHxC5VlhgK1_aXRRs5cfxmZY4hNoOiooVQwu64SqsOzNwxCCjIB-DOUweozo70XQyZWCGrjy_i9qZAGxsSya-sfnkYc_Bg4xN8vVjTbjmQYluvtrxFS1KQXGUXeWGC9Aw00H4xfnAeRxX_EXM6u_uc9QaMTuatHHb5CS6Ec74cGn4sQEA4SqDicUcUpOU_m3NmigFeCCKYi6h0RnhM_IwVfRWg0j3vaTVoLjFyeDGr6eZLntVFnioBPiHaZWmoD4mHce3bgP82RDLLpkk7i8pjiP0LF69uEcwRifBx80K0AUsnm2eU87JsvvkOKACTYtVrPaxJk8cLOKkD0g4SYzhyQ6rbvN3c27oWEyXirb1hB7pWtbomX4epxU0ojMuuPiDzy-9U5hyWsiYuQlFIjpgLSj3NjR2UZ3Vy9hgq5LvUhNbGL_Xz_vlum9Kaj3fMYPsZHFzVB8djAW0BXmv4VQ_-rWBvZxdomiv6cTlXosX2OkxakmpT7bw98OFL8KUrLtfy7Ylp4b310CuBbBLoqtgr4qivWAvccwQ8rQ3vUwi_aj3qfK30xvOsZKgIP9ONN8uWh_4jtd7kSB6tmrmRM8drM4CHrMV3elQJL1PPAwdV-OQTMB72W8Rt4I7Rn2gt84MuwfWmbmAoD33zoWzWsqJEgdVfPyBAHh_9fmYDLb4X01ZMFQwEzKhOGGKW1ubYNZf3Ms7BW4pjhHR5rmS8jzpG9Dgi5vwW6EgcBjDJLk4x72dsRZIEGV4apGj0xIcQQXMRf56plusE1NONsbHUG3-J4Gj8a3Mri-IzDPXBjiM9xIbjMDDRvPghcU7-3BZKEgpXhzOQXVlfn64l5nvpe97rVZ9PSSBF7yTtj359fDvN42l5rr8q04vflazWZ8QJzCgV0isX0AThlmx_rRfm0JzJiTrfpAWH0oxWbDnBkDlw47Nh-rTd4ySlLivMOL9bjWJDkwtNU=",
  "id": "rs_046af727926354c9016ab44ba9f97887d0ba0953856ff8a4d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.0,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The 3 cm advance moved the cap down to row≈174 while keeping it centered, placing it at the fingertip depth. I am descending vertically to table height for the cap grasp.\"}",
  "call_id": "call_6vfkXSfiZTGzO7MGYwYIPw3S",
  "id": "fc_046af727926354c9016ab44baa293c87d098fae65c68795095",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6vfkXSfiZTGzO7MGYwYIPw3S",
  "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]: [-0.2977, 1.9274, 1.5925, -0.9581, 0.3065, 0.0689, 0.9989, 0.4446, 1.6318, 0.9981, -0.2047, -0.1848, -0.1989, 0.0636]\nstate[eef_state]: left_x=0.3951 left_y=-0.1733 left_z=0.1063 left_yaw=-0.6858 left_pitch=-0.656 left_roll=-0.3485 left_gripper=0.9989 right_x=0.3746 right_y=0.2184 right_z=0.0977 right_yaw=0.7033 right_pitch=-0.2576 right_roll=-0.0009 right_gripper=0.0636\nstate[joint_eff]: [-0.2667, -10.2359, 8.9641, 0.9255, 0.2662, 0.1636, -0.1294, -0.212, -7.747, 6.5846, 1.4774, -0.1392, -0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7584f9bcdef9bda48f57f45ad3f3621410d96b83b8a204d053ebf4b36335040d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ea3e713a043bd9c2655ad5785b2b51d543587ece2e7d22ddebc70ffb191864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37548f9866edef4ec01e5484d9bce4b934f04bad6939b29feb9ee785958e7bb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.145 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 1.8915, 1.0756, -0.44, 0.3141, 0.1284, 0.0721, 0.4446, 1.639, 0.9951, -0.1749, -0.1848, -0.1993, 0.0606]\nstate[eef_state]: left_x=0.3581 left_y=-0.1588 left_z=-0.001 left_yaw=-0.709 left_pitch=-0.609 left_roll=-0.311 left_gripper=0.0721 right_x=0.3786 right_y=0.2203 right_z=0.0984 right_yaw=0.7022 right_pitch=-0.2388 right_roll=-0.0063 right_gripper=0.0606\nstate[joint_eff]: [0.1709, -10.1265, 4.5744, 0.9255, 0.1587, -0.0024, -0.0171, -0.3761, -10.2222, 8.9231, 1.4628, -0.1343, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.305, 1.9087, 1.562, -0.947, 0.3061, 0.0685, 0.9989, 0.4446, 1.6318, 0.9981, -0.205, -0.1844, -0.1986, 0.0621]\nstate[eef_state]: left_x=0.389 left_y=-0.1745 left_z=0.105 left_yaw=-0.6926 left_pitch=-0.657 left_roll=-0.3486 left_gripper=0.9989 right_x=0.3745 right_y=0.2183 right_z=0.0977 right_yaw=0.7027 right_pitch=-0.2581 right_roll=-0.0008 right_gripper=0.0621\nstate[joint_eff]: [0.5128, -10.0308, 8.9778, 0.8816, 0.2906, 0.1587, -0.1245, -0.2667, -7.7607, 6.4615, 1.4481, -0.1343, -0.0269, 0.5348]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.9274, 1.5925, -0.9581, 0.3065, 0.0689, 0.9989, 0.4446, 1.6318, 0.9981, -0.2047, -0.1848, -0.1989, 0.0636]\nstate[eef_state]: left_x=0.3951 left_y=-0.1733 left_z=0.1063 left_yaw=-0.6858 left_pitch=-0.656 left_roll=-0.3485 left_gripper=0.9989 right_x=0.3746 right_y=0.2184 right_z=0.0977 right_yaw=0.7033 right_pitch=-0.2576 right_roll=-0.0009 right_gripper=0.0636\nstate[joint_eff]: [-0.2667, -10.2359, 8.9641, 0.9255, 0.2662, 0.1636, -0.1294, -0.212, -7.747, 6.5846, 1.4774, -0.1392, -0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7584f9bcdef9bda48f57f45ad3f3621410d96b83b8a204d053ebf4b36335040d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ea3e713a043bd9c2655ad5785b2b51d543587ece2e7d22ddebc70ffb191864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37548f9866edef4ec01e5484d9bce4b934f04bad6939b29feb9ee785958e7bb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuxl_wiybTAa620xFiJSdvQ2oFLpivVQwtEjBxwyR6dl-SMp4GHjFutcSHTODcX0FqFVXD6_RKVdd_etunjJuwjX81eFiZPTa_uyP9eweWMQjZBSQPzPgSvIHzDSdcofiIOlOKDNQbHBgKgDNG6eDrfbh1sBd_y3Z6PMamlYZDSz1ZdsvMbGGeTLF7vIlsri8N_awlKkjsIMEoAxhHlMDwT1UG9i_dbWtgmWiIyCwvkdFqY-ZOSTO9RP8YClyn3q5PCdmIbhzgoYbBRoGrpRKWA6ywISSZWi_-LNK8iu2gpQKVP8yIUIG1v_UCgPyEzfC1V-vDZvzCeHEVWIN0g4LnFTyrYP8CGnkqTQnyMqNbKNvtYoh2UYY3fEtGtp81Y8buNY-SwKc6jlVF5R9dvj5O59ZwgQfMAPCRCp2ScTrD7ips0Sxapoo68fYxJIHS0w-jH_wu9MAdmZRYm87p90DQ5Vq9xhced_mcJM_jnb62drJMq5mqtWaFRpaxmMqMqeOqhmKcTT403wpXgTvnxCstaIkK9dBGMDNoyLnxODZ7Rx_B-_QMc_4DIX97hZT2tjIdQkdEE2PQc4rpIENvvOphDpEx0-iqh2WyM-Ab3uRkB8Q3M7_nPbSSEwV9xwlEHnREfHNlZYeJHq3bfKsmswiOWZZayLQACdHZSrNtw1aQgXRbKhE0kpBwj1wADOJqOTHlFsebvmEx4rURs9Gn9xEOZXV8Yx0NJUY5m7Wyv99WAhiFRZJYfUqSjKRNWR62dcb_xfH4l5kl-zVz2-UQIsTJCnRv7XiKNo3abWVLD96BFSv5XZiV9LLMie39nDPRWHAlBaWj2VUKyw9_14GZp2Z0lzrRzGthpFpEGvt9yLoYNAIyTSvTvLzC9NB4jkrGJG_rTqF3tjfRI-1xwYw3aZeVX1UVXRUsLQhc-CpF9dlBg10G_LD2n-U3kk3ivRs9EEDhMbWq04CYH6fqsdGUP7oPIFt4lLFm_T5N1R25J0Bsd1LBpQrJ8IAkwb4vIAqfs6mShP8LYJKJD61_Pg5ncONgb5iwhreLg51Q622o1On4EFGvwz28EsHVzA2iYZrWKuVTBTxDvUkd25sjEntONd-iH22cXZJjl_n1sb9uHUxxFthzVpsbUKX5ckTaHeltVc6jP2e4XRlGoLEn7vLTlckVor8IUUQml9exnRTrLSG4QBP0if0PDzexQhTSd5_niarVJdVjJkbeEAHX5BVlo5ZFxKlFzhvHZo6aWEMwvX3NfmW3z_IVYygqX4vx_RI75Exvbi4VGpMKwscAoDdvjV_13em4zoqBhkp_QbCK2nJvEglWxhluzovQJq99M2fuVt4fIC9MZ8iA8xtfbbiTDT3_KSNZHb3YVyRsQilEd1oB7-AZlmoByT6wNp5XCJT7jIBCgFHeIDDfpNAcU5Y0ciTs4vV0VDaFYuBjcSHGu5V7cNVON4xrO0mgCF4CL4JYOVs7ZH8IYVjn2wiuQowwNVgd09Uw1GdX7E4-kUSzHcybTkEHNtDXT-9pa-tzZ6ktMZwQ9uxPbjzEKQjMxuwtAu8lzrp-MUL1lOdMwPvXnB17PAtbuudZrrccg3f7972y6H-xVbcQWJ2WiqpN-CT2o9zQ2wG17x9-Hfv2z8gjEpIzfHedPWNUchmd_8KWtbtEnVxsxjHAZFF7KTQtflLpGI18oL83Vq3a8YOUXptR3C4h2wcyzmNAHNwoT-wMMqKUmAUU8ax2kPJPyFtHkwFywuFv_Yk3d1mb3zwJty4nYCIn9UlFzQb8FLyTmL2YeN9iIOywV_xRJACdfuuCK2mH0sMrKs1Ad_8NM6BwDGYZif2c15LjK6Or7qV1o62aqwwLODG1kVmd6rokpZyUxzCeoY5mGuBhrx3vLEi0CeqK8t19GmUNO_iNjImK2TJFcK4BwNaFzFjO6CiiGb7l55K0dswUCpL-ApR7OA4Q8MHcNypHkaKrXUNEwTz_45KIFfxBAcUrpb5aex5V-g_nudNR50J_AqfeaVrntcAwYh-TuukUe3FwqaDf8TqEWmo_6ZPu3763rSKaQVDU2Notpxvqu8z178SaUsx0OWeC9zc19TS1jGks-7n09kMcSmSq71Bzpq9kWNLXLHxQErFhJcjGNBbAfwLGpNntjFaA0HJkpDFA-VwzqsCL8rUKuCn7c5fQkM38pPI9ZeQzr4zDHOOijcvtGCYvp0-5EjRw80hDK0RrIcwYleRe7OMMQm4BMb8Rr-xUxSQDXGbYgpHHO79U3n-NwfSrvUzpWc5vhtj6ItrwQycl126NDpXX4HzAIGqNuLKyu61AW2CRVhOF8dhwe32QV2VdqelmpXKrB1rZ8ks_fU0jBuSPKfUG6T_N0na9R2ylSHxyWya3GcLthmG3Ay8QBFsIcz6tVltLRPWYYvf2En3Xt8i5CRe-y9ZTq7hByT5J_R3lsNVg6AK4xaSl48HH-1-OM3-Qct2BvdQYzFpZfCLch8Tip2wPLgXntnj2vhmyGGq987VuSqexZVB007KuX-spaVs9enxL9I-Lkjt5RgkcN0KvsSFPEdZB0Af036L7DYQwTbFsfmk3yOcr3s90_N2eeBrC9b6yfao-y0JeSDMUQGWRilqvqR38aKsXlSlkg12S2RE7iCJRFAHKjMJDLBXChDcAYPvk2WurTnI0slYnb0uHXrKx3Nfe6yXXYuCiLBuIxqgRIlzYbMf44LfOSH9EPhDIerJv98xjfYKH2NnpKYCV0_1iZg5I524h3CGIrkTCJf0Raxtg9a9oXO975MLwfijijaoutL_jXDadoAEJtDNd0AQLI9u8hKGAdLX6ijVPuStBRdFsD7RS1cP-t3udGAltjfsny70vDUcsCo8P9EGcThrw4YtgCD6duHA8UvGICKUARHrUYSDyndHR1BGALj3cFTm3iOoP_uTCQEB5BSUagqQSzqtpXaJ8VwR-d",
  "id": "rs_046af727926354c9016ab44bacd1f887d0ac8398f70324f680",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.175,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The descent did not track at all: left z stayed at 0.106 m because the wrist had accumulated an extreme pitched/rolled pose near its limit. I am straightening pitch and roll at clearance height while preserving the cap’s x–y location, which should restore vertical reach for the next descent.\"}",
  "call_id": "call_uEcpZflgIUGkdax5gLzrfYAU",
  "id": "fc_046af727926354c9016ab44bafc49887d0a678f61bbce630fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uEcpZflgIUGkdax5gLzrfYAU",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2939, 1.5188, 0.8982, -0.086, 0.3218, 0.1959, 0.9989, 0.4446, 1.6321, 0.9928, -0.2214, -0.1848, -0.1989, 0.0641]\nstate[eef_state]: left_x=0.3881 left_y=-0.1721 left_z=0.1278 left_yaw=-0.6813 left_pitch=-0.0934 left_roll=-0.0456 left_gripper=0.9989 right_x=0.3704 right_y=0.2164 right_z=0.0928 right_yaw=0.7048 right_pitch=-0.2794 right_roll=0.0051 right_gripper=0.0641\nstate[joint_eff]: [0.2256, -8.8, 6.653, 1.8486, 0.2222, 0.1343, -0.1245, -0.1573, -7.706, 6.8718, 1.6532, -0.1441, -0.0317, 0.9011]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071eeca452b3497b1e2363d1550229c400f9304808b82a104330a498d8484573",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6598f408c53fccf94c2d0f8ce3d94c195addfaed2ede14f303b71fb563be11b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47542c74d9fd4c970eddcf305ebf5e3101a6bc1fd87b24d0ed4a286c2b929551",
      "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 · 2.986 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.8534, 1.4437, -0.8703, 0.3, 0.0711, 0.995, 0.4446, 1.6318, 0.9985, -0.2016, -0.1844, -0.1989, 0.0614]\nstate[eef_state]: left_x=0.3745 left_y=-0.1753 left_z=0.0943 left_yaw=-0.6995 left_pitch=-0.6459 left_roll=-0.3341 left_gripper=0.995 right_x=0.3752 right_y=0.2186 right_z=0.0984 right_yaw=0.7027 right_pitch=-0.2544 right_roll=-0.0021 right_gripper=0.0614\nstate[joint_eff]: [-0.7863, -11.3436, 9.1556, 0.9158, 0.1929, 0.1587, 0.1343, -0.335, -6.9949, 6.1744, 1.7802, -0.1099, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.9274, 1.5925, -0.9581, 0.3065, 0.0689, 0.9989, 0.4446, 1.6318, 0.9981, -0.2047, -0.1848, -0.1989, 0.0636]\nstate[eef_state]: left_x=0.3951 left_y=-0.1733 left_z=0.1063 left_yaw=-0.6858 left_pitch=-0.656 left_roll=-0.3485 left_gripper=0.9989 right_x=0.3746 right_y=0.2184 right_z=0.0977 right_yaw=0.7033 right_pitch=-0.2576 right_roll=-0.0009 right_gripper=0.0636\nstate[joint_eff]: [-0.2667, -10.2359, 8.9641, 0.9255, 0.2662, 0.1636, -0.1294, -0.212, -7.747, 6.5846, 1.4774, -0.1392, -0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2939, 1.5188, 0.8982, -0.086, 0.3218, 0.1959, 0.9989, 0.4446, 1.6321, 0.9928, -0.2214, -0.1848, -0.1989, 0.0641]\nstate[eef_state]: left_x=0.3881 left_y=-0.1721 left_z=0.1278 left_yaw=-0.6813 left_pitch=-0.0934 left_roll=-0.0456 left_gripper=0.9989 right_x=0.3704 right_y=0.2164 right_z=0.0928 right_yaw=0.7048 right_pitch=-0.2794 right_roll=0.0051 right_gripper=0.0641\nstate[joint_eff]: [0.2256, -8.8, 6.653, 1.8486, 0.2222, 0.1343, -0.1245, -0.1573, -7.706, 6.8718, 1.6532, -0.1441, -0.0317, 0.9011]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071eeca452b3497b1e2363d1550229c400f9304808b82a104330a498d8484573",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6598f408c53fccf94c2d0f8ce3d94c195addfaed2ede14f303b71fb563be11b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47542c74d9fd4c970eddcf305ebf5e3101a6bc1fd87b24d0ed4a286c2b929551",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEu27NKXd33_s3NE7e15lxD7svIwkWLGd3C-jF4_lDNQ19xonDkJR8ArfkxoilY5Mmr0GGKg-LYsRGCitwsRC50Cm9xv2bD4HNseZkcE77xAqZCjAo7No-_f1R7bPtqoadWB0GyW5JUJxzSDcn0dazWoOOHg68QJGGLcbr0wj44h1_9SnuxFwquvyp4ma7SsPZf_rdnLUMfOV2dCRMSCIMu-duRh-n15Nl7BGoj7SjOT1XlZP_xm5WZK7BU-McFGKpa5ylaLL5iw7IiWFskoSfgdOhd3aHCbfuKKQBRCCB48tLVaTCTQXTuIKZ0CGrFk_nBxr4s3XVSyf3D7S0ivzMvbbHrRGNqfaw0EHrV0Lhgvw4JXVHo-m3dZCfpkZl-b3XKns-t_XbQukAQScFIboNSBSxFRA2AsLSlx-I8kYfzsbCN4YzKDADiwGv8CyAItxYjSsUcAtgcA-BaDHyJiJ4_MzveoBz26INvSP45TKsSkF2J6aj67KrgJmUrLJA7iivMHRvX79PIS9BzxVEA398I5HbgX9my7DyF7vlDr8_Y_24CXYOjvyQBYHiSCOXi0uyuLzeiJEMe37NgrKYAXHPtGeYcWCBL7-TRrkjAsPyHwj3VYXt9doryqJRNjhGD4WNwvlCYID-JwvZ_Jtamq3LQqteyc2y-HPmbu-omlkkroxNbZg2Qr9bSCXoXXFG9ky43cnSIUxJjuONtVE9oJ2XzcSA-njVCvIw43ChKmOSzTRpRxCNo6r6B1AGkNAXm4Mx0eY4n6qMWVNvA8d2ZHWREZH2TY--dB-y_hOu9F1Tk-MvP9AfUlzCSq5Q5b__aofmUC6TD-HrXR-oRwFofnlgSWfc6En66Ifj-K7t-9dLPko46h5BUciVM6Cy5udrdIuzUNBC6Sv7281iIDMT-kONmoBx3q32eo7seba7SWYqdXGHhKHV9yH8Q3wvoLPlzCFMZnoXOWTQ1tl1_rw2-BRA8kx06_q8T3qxcMrYXVFZZeU2E_7OJzvXmIN_ptZRe_8s-oe7oo9ix0cbCSC_EY4fi3MtDODACKbyOIENQd9ZAmKPJ3z1FZI2lg0lSHDHxf63wNMB9gQO0eecIVweI8JOMAPfsuSuFYx1U9PEn7wgcIqTHQcjvRrBr82JGYRcyn8PNS4xrAFpiKpaHK-PkWdSwOB0_3XfZ_i2dAcDk-1_nGtY5giglFiLBPKSkFjN8dx6qtqP_RoL8fVNM3yBS3r4OEVUj5YneH0ZqYoa1q7Ian_d_uRIXVb_NRaSCQXI2HsWGppinYmqEu5O5N03P8aXqCgBHXlR4Qku1rx_babpflSMHlZTxUfOJrVP3ZCS4Pikj7qNN1t7Usg2OZaaUGpQFghQ==",
  "id": "rs_046af727926354c9016ab44bb4e97887d0ac6cd5e32878c5f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.175,\"left_z\":0.0,\"left_yaw\":-0.7,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"Straightening the wrist succeeded, and the cap now sits centered at the very bottom of the left view directly between the fingertip paths. I am retrying the vertical descent with neutral pitch and roll.\"}",
  "call_id": "call_xWbE7YUENYlAwE22HKXyAQUs",
  "id": "fc_046af727926354c9016ab44bb551a487d08ca52a5c5f6dc03d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xWbE7YUENYlAwE22HKXyAQUs",
  "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]: [-0.2947, 1.9049, 0.6346, 0.622, 0.3218, 0.2138, 0.999, 0.4446, 1.6321, 0.9928, -0.231, -0.1841, -0.1986, 0.065]\nstate[eef_state]: left_x=0.3924 left_y=-0.1737 left_z=0.0018 left_yaw=-0.6903 left_pitch=-0.0392 left_roll=-0.0089 left_gripper=0.999 right_x=0.3689 right_y=0.2155 right_z=0.0913 right_yaw=0.7047 right_pitch=-0.2887 right_roll=0.0073 right_gripper=0.065\nstate[joint_eff]: [0.3077, -6.6393, 3.3436, 0.906, 0.2418, 0.0171, -0.1197, -0.335, -7.6786, 6.7487, 1.4872, -0.0855, -0.022, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317a6395953d311b0dbc66c51f2a16c63f0770d5999481df02fc6c66d7c56e90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4763b21ca5d938a87fae1b468e4e1070dbcb702300ad7fadb2b7485e8f90bbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de85362a06e4b4690ef2a8e4a02b14101ea82842759d863de01df8f1df0b9950",
      "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 · 2.384 s

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

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.305, 1.9087, 1.562, -0.947, 0.3061, 0.0685, 0.9989, 0.4446, 1.6318, 0.9981, -0.205, -0.1844, -0.1986, 0.0621]\nstate[eef_state]: left_x=0.389 left_y=-0.1745 left_z=0.105 left_yaw=-0.6926 left_pitch=-0.657 left_roll=-0.3486 left_gripper=0.9989 right_x=0.3745 right_y=0.2183 right_z=0.0977 right_yaw=0.7027 right_pitch=-0.2581 right_roll=-0.0008 right_gripper=0.0621\nstate[joint_eff]: [0.5128, -10.0308, 8.9778, 0.8816, 0.2906, 0.1587, -0.1245, -0.2667, -7.7607, 6.4615, 1.4481, -0.1343, -0.0269, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2939, 1.5188, 0.8982, -0.086, 0.3218, 0.1959, 0.9989, 0.4446, 1.6321, 0.9928, -0.2214, -0.1848, -0.1989, 0.0641]\nstate[eef_state]: left_x=0.3881 left_y=-0.1721 left_z=0.1278 left_yaw=-0.6813 left_pitch=-0.0934 left_roll=-0.0456 left_gripper=0.9989 right_x=0.3704 right_y=0.2164 right_z=0.0928 right_yaw=0.7048 right_pitch=-0.2794 right_roll=0.0051 right_gripper=0.0641\nstate[joint_eff]: [0.2256, -8.8, 6.653, 1.8486, 0.2222, 0.1343, -0.1245, -0.1573, -7.706, 6.8718, 1.6532, -0.1441, -0.0317, 0.9011]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.9049, 0.6346, 0.622, 0.3218, 0.2138, 0.999, 0.4446, 1.6321, 0.9928, -0.231, -0.1841, -0.1986, 0.065]\nstate[eef_state]: left_x=0.3924 left_y=-0.1737 left_z=0.0018 left_yaw=-0.6903 left_pitch=-0.0392 left_roll=-0.0089 left_gripper=0.999 right_x=0.3689 right_y=0.2155 right_z=0.0913 right_yaw=0.7047 right_pitch=-0.2887 right_roll=0.0073 right_gripper=0.065\nstate[joint_eff]: [0.3077, -6.6393, 3.3436, 0.906, 0.2418, 0.0171, -0.1197, -0.335, -7.6786, 6.7487, 1.4872, -0.0855, -0.022, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317a6395953d311b0dbc66c51f2a16c63f0770d5999481df02fc6c66d7c56e90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4763b21ca5d938a87fae1b468e4e1070dbcb702300ad7fadb2b7485e8f90bbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de85362a06e4b4690ef2a8e4a02b14101ea82842759d863de01df8f1df0b9950",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEu6AI66V9N0S61hUbHtHrbNtSS0GdyvzNyhEodNdnsyweUEbPqhZws3ldBKAHQeEEVcCzzhr_T1yChBxnN-r27izvKAyuVcwsuLdjmlzMgUNUVPSp0xAo3mPkqn1xtSPs-Oq1m-cQp_awKTX1vPzMfDdQJ9FL9QBSLiLQIW4A_y3m65bJx4ObF8P-9iOATTcX6zZClRLJVqG4eJYFn-bsRPzQvRClpZsJSppf-5y2heqnOTclbljjTC_P7o1j6yrq1Fw8LnfTM4htgwiwJgD9zeqRkudq09i2jMvOr9zU74k_bpFBWXTen66IR7gAuQ8wbJbcrMwqYlOI4tU466ABLK5hZnotMmQAyzCyBZtBNpv13ssTI1lsptebSSq8PLKK7K2vmdB5KlNCuVVxXEVWDbT9b7ZbYjqyBzL-Y3b8yopVifmZ32QVyOLq5WXh8DQlwq5QVtvnzFurxVTrAaataF_p9BjsHfxQi_UUBmYnrRbTuOX5PrLYDd9WLBD39ols4pLO6StFJ8m0qj94zmgfEQxYBygRe-50d9gATeZknW3d_8gTFRXfxfXj-FCEfsrhIQfHTUoumEyTVw5BmChmM_fpsF35hbfEwZQovbEuWiTWzvzWVxKTXIt-umx1VXNBW5oDKrZMRKdxrGJOFyOwevFa2AocYx0YQl5kjhnMGNqPfKwobl7O1sk9yZfvJC9es14Ja3b7_anfyIQFfttlWKFQtoe412TEcwS_9Siw4yCwPzfPTOYY9WeQCk6vR-VoxpB86XrGfo-zVobzaqnrde62dGZlkQVhljpM1R8pldS5NDoUtnglQREryAPL_K9-ursBFu-G4-zHb72TaCu1wWO6f_aUI3xInMd2M5D2ER7PNVa5C1E8vyJdtrDLuv6ehJ-bi36_-1XCOb9MwcA-EO8mTzXdpt6VQ701zLxzfLmzxpkT1W8GyzieGnsANGq6Lp6jwXjJdgQoMJnR9orsvl6jwRyd3MX30EnkakKaa4MLQawS5zs48NCKpWPWnMV6GiYTWxtQgvsKRu7bztu086cT0r714BHGyfMjQ_OEuyG0XZDxiOAv5MRodm1pKMLLjU81DOlmYKmlywV_1sYiXfuYph7eD0-NVf598OHQthmpDJH3gp6yWWwRe9Zssusp4gp03yW1uHcLeUH9kH_yURrkSI76i75s80-sb5vNZC1RjwD-nqi1Hj2oVqQnxCorQyueI8GDw55yhA9iI1bmNKbCMeMG7cpm9dHctI5zphyIhw_0hKHCxxJCilK5Z2RNdK44BBBr8rOQacO5NnoDzGp8e3Lr-ghmYj-uxvtLTSOCJYCTVMncgbrLCVKlwe5ojS",
  "id": "rs_046af727926354c9016ab44bb90d2487d09aa145b6caa724ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.07},\"note\":\"The left arm reached table height, and the cap’s body is centered between the fingertips with its long axis along the gripper. I am closing to a 7 mm target to clamp the rounded cap without ejecting it.\"}",
  "call_id": "call_iUIANYK1wYEVgILV7nppIT2W",
  "id": "fc_046af727926354c9016ab44bb96e5c87d09ce18357d816175e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iUIANYK1wYEVgILV7nppIT2W",
  "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]: [-0.2951, 1.9209, 0.6262, 0.6621, 0.318, 0.2111, 0.0753, 0.4446, 1.6321, 0.9928, -0.2329, -0.1844, -0.1989, 0.0662]\nstate[eef_state]: left_x=0.3936 left_y=-0.1736 left_z=0.0001 left_yaw=-0.6859 left_pitch=-0.0257 left_roll=-0.003 left_gripper=0.0753 right_x=0.3686 right_y=0.2154 right_z=0.091 right_yaw=0.7054 right_pitch=-0.2905 right_roll=0.0079 right_gripper=0.0662\nstate[joint_eff]: [-0.1299, -9.4291, 4.9026, 1.2918, 0.1441, 0.0073, 0.1783, -0.0615, -7.5282, 6.3932, 1.409, -0.105, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c99832e2ce8f6a386cae7d001c54948a94211e3d3798f8e385a17ecf667d37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f44ba0f01e303fe86c416b40f528249145f63ca79962a735d29e4d8fc7fea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e5c04947f0e980f9229950008432c7f1fdad9acfb25433e017dc3c0684c475",
      "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 · 11.04 s

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

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2977, 1.9274, 1.5925, -0.9581, 0.3065, 0.0689, 0.9989, 0.4446, 1.6318, 0.9981, -0.2047, -0.1848, -0.1989, 0.0636]\nstate[eef_state]: left_x=0.3951 left_y=-0.1733 left_z=0.1063 left_yaw=-0.6858 left_pitch=-0.656 left_roll=-0.3485 left_gripper=0.9989 right_x=0.3746 right_y=0.2184 right_z=0.0977 right_yaw=0.7033 right_pitch=-0.2576 right_roll=-0.0009 right_gripper=0.0636\nstate[joint_eff]: [-0.2667, -10.2359, 8.9641, 0.9255, 0.2662, 0.1636, -0.1294, -0.212, -7.747, 6.5846, 1.4774, -0.1392, -0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.9049, 0.6346, 0.622, 0.3218, 0.2138, 0.999, 0.4446, 1.6321, 0.9928, -0.231, -0.1841, -0.1986, 0.065]\nstate[eef_state]: left_x=0.3924 left_y=-0.1737 left_z=0.0018 left_yaw=-0.6903 left_pitch=-0.0392 left_roll=-0.0089 left_gripper=0.999 right_x=0.3689 right_y=0.2155 right_z=0.0913 right_yaw=0.7047 right_pitch=-0.2887 right_roll=0.0073 right_gripper=0.065\nstate[joint_eff]: [0.3077, -6.6393, 3.3436, 0.906, 0.2418, 0.0171, -0.1197, -0.335, -7.6786, 6.7487, 1.4872, -0.0855, -0.022, 0.9597]\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 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.9209, 0.6262, 0.6621, 0.318, 0.2111, 0.0753, 0.4446, 1.6321, 0.9928, -0.2329, -0.1844, -0.1989, 0.0662]\nstate[eef_state]: left_x=0.3936 left_y=-0.1736 left_z=0.0001 left_yaw=-0.6859 left_pitch=-0.0257 left_roll=-0.003 left_gripper=0.0753 right_x=0.3686 right_y=0.2154 right_z=0.091 right_yaw=0.7054 right_pitch=-0.2905 right_roll=0.0079 right_gripper=0.0662\nstate[joint_eff]: [-0.1299, -9.4291, 4.9026, 1.2918, 0.1441, 0.0073, 0.1783, -0.0615, -7.5282, 6.3932, 1.409, -0.105, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c99832e2ce8f6a386cae7d001c54948a94211e3d3798f8e385a17ecf667d37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f44ba0f01e303fe86c416b40f528249145f63ca79962a735d29e4d8fc7fea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e5c04947f0e980f9229950008432c7f1fdad9acfb25433e017dc3c0684c475",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_046af727926354c9016ab44bbc54a887d0b31d5567adf1e608",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":0.07},\"note\":\"After the partial close, the cap disappeared cleanly from beside the left jaws and the gripper remains at the intended 7.5 mm gap. I am lifting it to a matching working height for verification and capping.\"}",
  "call_id": "call_43dMKvnM7GztvwOeMliSuTsf",
  "id": "fc_046af727926354c9016ab44bbc90d487d0b012f2e180599136",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_43dMKvnM7GztvwOeMliSuTsf",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.5711, 0.7734, 0.1474, 0.3138, 0.2077, 0.0719, 0.4446, 1.6321, 0.9928, -0.2348, -0.1848, -0.1989, 0.0683]\nstate[eef_state]: left_x=0.3906 left_y=-0.172 left_z=0.0986 left_yaw=-0.6808 left_pitch=-0.0428 left_roll=-0.0101 left_gripper=0.0719 right_x=0.3682 right_y=0.2153 right_z=0.0907 right_yaw=0.7059 right_pitch=-0.2923 right_roll=0.0087 right_gripper=0.0683\nstate[joint_eff]: [-0.2256, -8.4034, 9.1009, 1.7851, 0.0708, -0.0317, 0.1783, -0.335, -7.6786, 6.3932, 1.4188, -0.1441, -0.0562, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cb889f0d34ebeff7b389e47ab72632e15daca0e3a14faef9e13bf3955e162e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56952489a4c5391d5d5a785571ec991832bc005779f470adbf0f71f4f48cce30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf94f4735939b5223366a1f91ce8b974e1184b2a5ab65a2f05f088c82636dc94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.171 s

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

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2939, 1.5188, 0.8982, -0.086, 0.3218, 0.1959, 0.9989, 0.4446, 1.6321, 0.9928, -0.2214, -0.1848, -0.1989, 0.0641]\nstate[eef_state]: left_x=0.3881 left_y=-0.1721 left_z=0.1278 left_yaw=-0.6813 left_pitch=-0.0934 left_roll=-0.0456 left_gripper=0.9989 right_x=0.3704 right_y=0.2164 right_z=0.0928 right_yaw=0.7048 right_pitch=-0.2794 right_roll=0.0051 right_gripper=0.0641\nstate[joint_eff]: [0.2256, -8.8, 6.653, 1.8486, 0.2222, 0.1343, -0.1245, -0.1573, -7.706, 6.8718, 1.6532, -0.1441, -0.0317, 0.9011]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.9209, 0.6262, 0.6621, 0.318, 0.2111, 0.0753, 0.4446, 1.6321, 0.9928, -0.2329, -0.1844, -0.1989, 0.0662]\nstate[eef_state]: left_x=0.3936 left_y=-0.1736 left_z=0.0001 left_yaw=-0.6859 left_pitch=-0.0257 left_roll=-0.003 left_gripper=0.0753 right_x=0.3686 right_y=0.2154 right_z=0.091 right_yaw=0.7054 right_pitch=-0.2905 right_roll=0.0079 right_gripper=0.0662\nstate[joint_eff]: [-0.1299, -9.4291, 4.9026, 1.2918, 0.1441, 0.0073, 0.1783, -0.0615, -7.5282, 6.3932, 1.409, -0.105, -0.0122, 0.9353]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.5711, 0.7734, 0.1474, 0.3138, 0.2077, 0.0719, 0.4446, 1.6321, 0.9928, -0.2348, -0.1848, -0.1989, 0.0683]\nstate[eef_state]: left_x=0.3906 left_y=-0.172 left_z=0.0986 left_yaw=-0.6808 left_pitch=-0.0428 left_roll=-0.0101 left_gripper=0.0719 right_x=0.3682 right_y=0.2153 right_z=0.0907 right_yaw=0.7059 right_pitch=-0.2923 right_roll=0.0087 right_gripper=0.0683\nstate[joint_eff]: [-0.2256, -8.4034, 9.1009, 1.7851, 0.0708, -0.0317, 0.1783, -0.335, -7.6786, 6.3932, 1.4188, -0.1441, -0.0562, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cb889f0d34ebeff7b389e47ab72632e15daca0e3a14faef9e13bf3955e162e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56952489a4c5391d5d5a785571ec991832bc005779f470adbf0f71f4f48cce30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf94f4735939b5223366a1f91ce8b974e1184b2a5ab65a2f05f088c82636dc94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_046af727926354c9016ab44bbfbd2887d0b09932fb6e468f83",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvJAVcbgsjY4eai-IKS3w8CDV9n-W4McF8EMOWv38t3CzVfqLEbZzJAG-5Yd-T0XvLHR0HDg8hymi2MI0hRMWTYRgaVUXcHMqrbfqcMUiR4cE3RGlIhGH0QPecCmsk32LmObIEvOQhAhZMfbT1iirZtL9bXLml-gDAe0xrBf2vicml_Rmalyhc2_Kbg5k-CCzmVHVWYe7AePwblMtZJw5_xYZDwWHRl8DylWz8x95CR5588Ka2g_9sXcxkYPa-MjgIN3oocyxesyYHBikGAt7xkHK0kP9Ft-XDoGu9rhBPyG-copdEgOK4tGnntoLjmlljb9tIox-ptKjNFI9g64bLEI2lb--5tWf7QVvJ1GA3tsg3O-VK_uq7SDlsl70-TrWP-KZdBB2WP7CbuPP0WRbw4VTnXUUUoyW2IwWa9rCBU0ruPjzCDY6NcYWXDij4q7MYeQwc_gaVhkkSolBR52F2q5k6dFGcPCaBns2j8Rwm6SMBXibZXO62j5TS93n3_kMdL-gXm5ud9lsrjN1QVGDQIcPEG89d41NNZa2Me2C7h-2JfvtarOZLLWMNF5ta2Ocynfol6F60dL-RLG1lOkQvfNLOcoVbPpiKDyGIqoUyw8BebB2fPuAGLY6TkFKRmRol97SkBKbN5_5AB32Iw0wyy2BgtoQDa447O-ctl0LiGHO7WG-5Fb6W7V_ElUzuBVlAu-bQO_cexzYRi3OTqR9DKTfv8Y81lW2d_oH57rbgFARATcoCo8L7DD12Hhy9A8VJLjOaAdKTIOma647F-Lt8U7ytBdW_magsFxVcb7PREj4apseERIa6hjPlGO3yL61waY1xNmver412bw5YUn0U-YRatpUsYsKBXz2PPbYVAyuzGVq9wIE-YISY-S9optA56I79ObXDG1qjC9SGduxLSH_s6Cv1BUWThRgvccIK0b6Aq86YnuIgMUoH2Wnu3uxb4icWVy3XGTXury4rhAwRqDFpnROxPDSvzzfU9sXnrCIrf2OwZlX0ytPUczD_sHCSLG3f6_OAfPYwFfzCUy-LEXCOuzLx3pqcc8l0hKKr-5DV0g9YG95oXovm62KDMg0e92WwJrOvXGRfUDY9m53nMeA_VFrBZzxWUKw-5TCoMXPLJ7g8UpO41cQWKRe_taBH6hx2pwh7iMu1uCRmt_WO17ey2vYd50NNgpu2Q__ctfIHVTY3yAe7M5CELTuy2YckJq0VSw39Q0pw1BsFUtI6O9OJYdYv4zr4P0Dx0OAs-6osY2UY6a5y5gWUwjERd4L_55IqXh5np_m3C1I2ZtWg8JE1_SQNI8y8qDDdZ0p24ef1YBP1qaArsqVW5NyXB1KRQrO3F7nRLH6lOZwio75kzm-6k9CE2-D4jv0HoKpVAIoQ1M69n9mR3tTCJ5303-Dw0hvDDHxq6DN0TWUdiClaQRPSFBhykWHlFKzPplKfp6ZjT_S-_aFKKKGu_jd-UhKcrBzQLky4-QDyEbAEJpeCLlZuui1e-6hpPVpGyQCgoGgEQQPQyvc87etFl2gX4U-HPA-092RfM2aYfefrLrFZjDXZ7nkZgk2Sj9UcFbKEFpfyfPtxhvPCFCYQpP6T4I3Ip2GAmd9eqR1tGEIS8PKFFfExtTvkWzN4b5rrDuWTYgzsuXOm0nvgymxwv6syTymhKCt0CECai1xXj7Y9NrSKzmhucEpyctnCDkdUhYa35fwsjikFOZ9Wa0x1f0DQXWwgxVrX9XLJGlgHJfG59TdCScEj71w_-T7zwQ09vGionJz-xa5HiIwd0Pa8u5r-YpdymNbKBsOGYxjkQ1vGK4E_CwTfY01rxCUY4Tbzl6TyDQfpNKMi4JKcVq5MswwSYe85XLio3vquVDivd6YyC7J-79X6HzP4-kJtZp2EDb9F8awmMva0qVU-p8iYAo-HDrH8bUIFiJfLfSLWX2bS252dHBGUAoxfvOHwdfbwsjhPSUfUDm9lG3AV9dWU0zGjUJ7AvuksLtDJ3Sywi9uKLtJPVnCg7j2ptTKQLwCXY6hHSPANpylAA5i-VPSREFhyVf9OOkL9y7OtHatXHYOE57FpyTBUnoIpTCWUxWACcl-bTftLkf5KKDRB9w_xWutravY_c-BUBH-oVPvk4Onw5gWAGGfy59nKnAZPSfxMENOpVTQlhWu8J45G25mwbH8vxBXMGfYGgUMV5ML4xlR-H14PFaJ9AAY3vMYRlCrGMUUc_L4LZWrzdt4AS6Alq4nl-wlkpyLepUICViLIW4zwl-J2DrGxOdvNKPPJJQ0Wg03TUO-bp5fgOp1-u3eODWz-pNJPqtXr8RY7DIlG36_GnprtdSWANqX4uAD2aL72AQQe-Hm-SWOAiw6XpzrWsG7m6Rv5J5EEGN-yAsp9kM-FeAtVMkWAcFy42nPPoD8n1BPdh7ek2u01j6J7bIryeYZ0SOSYmADdngClIHXQB0bslWe4Jt_nQjngvtdFB1645nW2FqUxGnDBfCacXI6tfsSjbxJH8Dfiq8I_OeFtLBSVQCGjf2FGaca7iJJ30MezHPqu-9RTC6d3fcqvXPtO1hP84IjnzJDkEbRFjCRvkLFAm44YGCQOU53vToqQsJnpwPbBLSGAqnNtE-aXdMaIuE_8HN-yVLpcHQG5rAMO8Ac03GrConxOUbIQMwpz3FUoGmDtYSs5ob-6IvyBKpS5xsxwDDfjwJ6uuUqc99iho74liNAke5xNxX1MYUvq5ghNg4ZtQ27m1Scx4cVFuQo10ZYRACyw_bVjJIhHA_Wr7mZCTEtP0NKe_7wnZrB-PCtXaHNMHR6EfgRVUsQPbjzgd2sM--WQPzqyvaJHgmaxzuAwqLfQCqqO9_1HwHno3xn5FIzblS9B0TV6Dp0f7jFvTURtCYr5OQOuDaUL7zJU69itChSzBfXI5XUOnxnPe1DIrCsbjd3b1sQTpkuhrBRrSzSAT85GP",
  "id": "rs_046af727926354c9016ab44bc5118c87d0a0b65b551dfdf253",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.36,\"left_z\":0.12,\"left_yaw\":0.7,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.07},\"note\":\"Both objects are now lifted: the pen is held by the right arm and the cap has left the tabletop with the left arm. I am rotating the cap parallel to the pen and moving it near the pen’s forward gold tip, but slightly high, to establish a safe coaxial approach before insertion.\"}",
  "call_id": "call_7miKu3PVFiyHmTdt5DWhmFhI",
  "id": "fc_046af727926354c9016ab44bc82cc087d0a3a11a995e6d9343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7miKu3PVFiyHmTdt5DWhmFhI",
  "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]: [-0.8776, 2.7167, 2.627, -1.4246, -0.9577, -1.4712, 0.0712, 0.2436, 1.6909, 0.971, -0.2974, -0.0402, -0.1246, 0.0713]\nstate[eef_state]: left_x=0.4458 left_y=-0.3049 left_z=0.0874 left_yaw=0.6259 left_pitch=-0.0418 left_roll=0.0336 left_gripper=0.0712 right_x=0.3905 right_y=0.1081 right_z=0.0481 right_yaw=0.3418 right_pitch=-0.4541 right_roll=-0.0404 right_gripper=0.0713\nstate[joint_eff]: [-2.906, -13.2308, 8.253, 1.3407, -0.8962, -0.2125, 0.0904, 15.6376, -11.9863, 7.8017, 1.8632, -1.4628, -0.8913, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c34e64860a24f4a54db2d1d3825d4badc3738ab481205d3443a181d24547cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b07cd66657d783788b0c75b68a9cb68bafb934cb4fdb0dde0aab20717cad8be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b2db9b52e4e7e77e756c1a724d126e39f6dcac90fa38b3d179d3b372580956",
      "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 · 12.19 s

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

message 135 changed as sent

message 143 changed as sent

message 148 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.9049, 0.6346, 0.622, 0.3218, 0.2138, 0.999, 0.4446, 1.6321, 0.9928, -0.231, -0.1841, -0.1986, 0.065]\nstate[eef_state]: left_x=0.3924 left_y=-0.1737 left_z=0.0018 left_yaw=-0.6903 left_pitch=-0.0392 left_roll=-0.0089 left_gripper=0.999 right_x=0.3689 right_y=0.2155 right_z=0.0913 right_yaw=0.7047 right_pitch=-0.2887 right_roll=0.0073 right_gripper=0.065\nstate[joint_eff]: [0.3077, -6.6393, 3.3436, 0.906, 0.2418, 0.0171, -0.1197, -0.335, -7.6786, 6.7487, 1.4872, -0.0855, -0.022, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.5711, 0.7734, 0.1474, 0.3138, 0.2077, 0.0719, 0.4446, 1.6321, 0.9928, -0.2348, -0.1848, -0.1989, 0.0683]\nstate[eef_state]: left_x=0.3906 left_y=-0.172 left_z=0.0986 left_yaw=-0.6808 left_pitch=-0.0428 left_roll=-0.0101 left_gripper=0.0719 right_x=0.3682 right_y=0.2153 right_z=0.0907 right_yaw=0.7059 right_pitch=-0.2923 right_roll=0.0087 right_gripper=0.0683\nstate[joint_eff]: [-0.2256, -8.4034, 9.1009, 1.7851, 0.0708, -0.0317, 0.1783, -0.335, -7.6786, 6.3932, 1.4188, -0.1441, -0.0562, 0.4957]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8776, 2.7167, 2.627, -1.4246, -0.9577, -1.4712, 0.0712, 0.2436, 1.6909, 0.971, -0.2974, -0.0402, -0.1246, 0.0713]\nstate[eef_state]: left_x=0.4458 left_y=-0.3049 left_z=0.0874 left_yaw=0.6259 left_pitch=-0.0418 left_roll=0.0336 left_gripper=0.0712 right_x=0.3905 right_y=0.1081 right_z=0.0481 right_yaw=0.3418 right_pitch=-0.4541 right_roll=-0.0404 right_gripper=0.0713\nstate[joint_eff]: [-2.906, -13.2308, 8.253, 1.3407, -0.8962, -0.2125, 0.0904, 15.6376, -11.9863, 7.8017, 1.8632, -1.4628, -0.8913, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c34e64860a24f4a54db2d1d3825d4badc3738ab481205d3443a181d24547cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b07cd66657d783788b0c75b68a9cb68bafb934cb4fdb0dde0aab20717cad8be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b2db9b52e4e7e77e756c1a724d126e39f6dcac90fa38b3d179d3b372580956",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_046af727926354c9016ab44bcc5dc087d0a3a7a3897c78bd1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.07},\"note\":\"The cross-table approach caused the arm bodies to overlap and pushed the right pen arm off its pose, with a large effort spike; the objects are not yet aligned. I am immediately retracting the cap arm to its outer home side while keeping the cap clamped, to clear the collision before any further attempt.\"}",
  "call_id": "call_cm4oZaQj0vy3lV19cPPFIAdS",
  "id": "fc_046af727926354c9016ab44bcdf8b487d0a0def2a4c705db5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cm4oZaQj0vy3lV19cPPFIAdS",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0605, 2.2482, 3.1302, -1.5856, -0.1429, -0.1356, 0.0712, 0.2436, 1.7046, 0.973, -0.305, -0.0349, -0.1246, 0.0709]\nstate[eef_state]: left_x=0.4826 left_y=-0.0004 left_z=0.3867 left_yaw=0.1233 left_pitch=-0.1243 left_roll=-0.0042 left_gripper=0.0712 right_x=0.3889 right_y=0.1067 right_z=0.0425 right_yaw=0.3377 right_pitch=-0.4739 right_roll=-0.0434 right_gripper=0.0709\nstate[joint_eff]: [-0.1026, -14.0786, 4.3829, 1.8046, 0.0611, 0.188, 0.1001, -0.0752, -9.0735, 5.9556, 1.2821, -0.0855, -0.0659, 0.8132]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac103827c55f6c871b5e708b767ca379e3fa3ae5e817076844816a617a5c1c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5df5df0f7ad877e9e717484bb50eefe4c6e22d8a0b0263599004b70edd39587",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7a3fe825bdeb31ecf021d9aa5b160f26c72601163b4e8cbdd66b730b71638a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]