adhoc - adhoc_87c2d7cd.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: 240.1 s
total steps: 477

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 uncapped pen lies diagonally just right of center, while the small cap is separately to its left. I’ll bring the right gripper above the pen’s midpoint with its jaws rotated to close across the pen.

move_to

right_x0.4200right_y0.2900right_z0.1600right_yaw0.5000right_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, 0.7937, 0.6018, -0.3798, -0.0219, -0.0246, 0.9995, -0.0158, 0.7925, 0.6094, -0.3794, -0.0227, -0.0128, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2954 right_y=0.0029 right_z=0.183 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5795, 10.5231, 1.79, -0.0171, 0.0855, -0.0659, -0.9641, -1.347, 9.8667, 1.8242, -0.0171, -0.0513, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.29,"right_z":0.16,"right_yaw":0.5,"right_gripper":1.0},"note":"The uncapped pen lies diagonally just right of center, while the small cap is separately to its left. I’ll bring the right gripper above the pen’s midpoint with its jaws rotated to close across the pen."})

tool

executing move_to over 24 steps (2.4s)

step 24

assistant

agent noteThe right wrist view now shows the pen centered on the jaw column and extending into the fingertip area at the bottom edge. I’ll descend vertically to table contact while keeping the jaws open and aligned across it.

move_to

right_x0.4050right_y0.2790right_z-0.0100right_yaw0.5000right_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]: [-0.0219, 0.7994, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.6319, 1.7226, 1.121, -0.0502, 0.0994, 0.0563, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1778 left_yaw=-0.0018 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4048 right_y=0.279 right_z=0.1348 right_yaw=0.5076 right_pitch=-0.0863 right_roll=-0.0174 right_gripper=0.9991 state[joint_eff]: [-0.0068, -1.7026, 6.9675, 1.7314, -0.0464, -0.0366, -0.0122, -0.1436, -8.6359, 9.7299, 2.1172, 0.1392, 0.1685, -0.1148] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.279,"right_z":-0.01,"right_yaw":0.5,"right_gripper":1.0},"note":"The right wrist view now shows the pen centered on the jaw column and extending into the fingertip area at the bottom edge. I’ll descend vertically to table contact while keeping the jaws open and aligned across it."})

tool

executing move_to over 10 steps (1.0s)

step 34

assistant

agent noteAt table height the pen is visible between the open fingertips, centered and perpendicular to the closing direction. I’ll close the right gripper to secure it near its middle.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0219, 0.8001, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0354, 0.9062, 0.4763, 0.1051, 0.0513, 0.9991] state[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=-0.0015 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9995 right_x=0.405 right_y=0.2808 right_z=0.003 right_yaw=0.5099 right_pitch=-0.0871 right_roll=-0.0249 right_gripper=0.9991 state[joint_eff]: [-0.0479, -1.347, 7.0222, 1.7314, -0.0659, -0.0513, -0.0122, -0.212, -7.2547, 4.0684, 1.0672, -0.0366, 0.0708, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At table height the pen is visible between the open fingertips, centered and perpendicular to the closing direction. I’ll close the right gripper to secure it near its middle."})

tool

executing move_to over 10 steps (1.0s)

step 44

assistant

agent noteThe gripper settled at 0.014, which confirms an empty close, and the pen was pushed sideways out of the wrist view. I’ll reopen and lift the right arm so the overhead camera can reveal the pen’s new position before a corrected retry.

move_to

right_z0.1600right_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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0487, 0.9039, 0.5159, 0.1001, 0.0452, 0.0139] state[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1775 left_yaw=-0.0015 left_pitch=-0.0072 left_roll=0.0001 left_gripper=0.9995 right_x=0.4074 right_y=0.2836 right_z=0.0037 right_yaw=0.5176 right_pitch=-0.0636 right_roll=-0.0239 right_gripper=0.0139 state[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7949, -0.0708, 0.0024, -0.0122, -0.0615, -11.0154, 5.2034, 1.326, 0.105, 0.0415, 0.9206] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16,"right_gripper":1.0},"note":"The gripper settled at 0.014, which confirms an empty close, and the pen was pushed sideways out of the wrist view. I’ll reopen and lift the right arm so the overhead camera can reveal the pen’s new position before a corrected retry."})

tool

executing move_to over 11 steps (1.1s)

step 55

assistant

agent noteWith the arm lifted, the pen is now clearly visible: it was pushed closer to the bases and leftward, and now lies almost straight in the forward direction. I’ll reposition the right gripper above its middle near the right arm’s cross-over limit, with yaw reduced to match the pen’s new axis.

move_to

right_x0.3000right_y0.3900right_z0.1600right_yaw0.1000right_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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 0.6373, 1.7458, 1.1374, -0.0708, 0.0929, 0.0284, 0.9951] state[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1775 left_yaw=-0.0016 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9995 right_x=0.4037 right_y=0.2829 right_z=0.1268 right_yaw=0.533 right_pitch=-0.1142 right_roll=-0.0386 right_gripper=0.9951 state[joint_eff]: [-0.0752, -1.0735, 7.2274, 1.7411, -0.0415, -0.0806, -0.0122, -0.2667, -11.5897, 9.7162, 1.8926, 0.0513, 0.1294, -0.2564] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.39,"right_z":0.16,"right_yaw":0.1,"right_gripper":1.0},"note":"With the arm lifted, the pen is now clearly visible: it was pushed closer to the bases and leftward, and now lies almost straight in the forward direction. I’ll reposition the right gripper above its middle near the right arm’s cross-over limit, with yaw reduced to match the pen’s new axis."})

tool

executing move_to over 9 steps (0.9s)

step 64

assistant

agent noteThe pen is now centered in the right wrist image but still has clear space below it, indicating the fingertips are a few centimetres farther forward. I’ll advance about 3 cm and reduce yaw slightly so the jaws cross the pen more squarely.

move_to

right_x0.3300right_y0.3900right_z0.1500right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0219, 0.8032, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1358, 1.9553, 1.5768, -0.5869, 0.6586, 0.6621, 0.9987] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1768 left_yaw=-0.0016 left_pitch=-0.0099 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3005 right_y=0.3987 right_z=0.1496 right_yaw=0.2225 right_pitch=-0.1467 right_roll=-0.0501 right_gripper=0.9987 state[joint_eff]: [-0.0889, -1.4427, 7.241, 1.7509, -0.0366, -0.0659, -0.0122, 0.212, -10.441, 8.2393, 1.1746, 0.6667, 0.2955, -0.1538] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.33,"right_y":0.39,"right_z":0.15,"right_yaw":0.0,"right_gripper":1.0},"note":"The pen is now centered in the right wrist image but still has clear space below it, indicating the fingertips are a few centimetres farther forward. I’ll advance about 3 cm and reduce yaw slightly so the jaws cross the pen more squarely."})

tool

executing move_to over 3 steps (0.3s)

step 67

assistant

agent noteThe pen remains centered on the jaw column after the radial correction, with much better lateral alignment than on the first attempt. I’ll descend straight down at this corrected position, keeping the gripper open.

move_to

right_x0.3160right_y0.3960right_z-0.0100right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0219, 0.8066, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1217, 2.0876, 1.7702, -0.7826, 0.7219, 0.8074, 0.9988] state[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0134 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3163 right_y=0.3957 right_z=0.1416 right_yaw=0.0745 right_pitch=-0.1726 right_roll=-0.0835 right_gripper=0.9988 state[joint_eff]: [-0.0479, -1.6205, 7.0222, 1.7363, -0.022, -0.0659, -0.0171, -1.1009, -11.7128, 8.841, 1.1355, 0.6422, 0.3687, -0.1441] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.316,"right_y":0.396,"right_z":-0.01,"right_yaw":0.0,"right_gripper":1.0},"note":"The pen remains centered on the jaw column after the radial correction, with much better lateral alignment than on the first attempt. I’ll descend straight down at this corrected position, keeping the gripper open."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteThe right arm stopped at z=0.131 instead of descending, so this cross-over pose is kinematically blocked and cannot reach the tabletop. I’ll park the right arm and use the left arm, which has comfortable access to this left-of-center location, to retrieve the pen for later handoff.

move_to

right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0219, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 1.1057, 2.1181, 1.7931, -0.833, 0.7261, 0.8501, 0.9988] state[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1757 left_yaw=-0.0013 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.3213 right_y=0.3868 right_z=0.131 right_yaw=0.0238 right_pitch=-0.1956 right_roll=-0.1051 right_gripper=0.9988 state[joint_eff]: [-0.0205, -1.3333, 7.0632, 1.7021, -0.0562, -0.0855, -0.0171, -0.4308, -12.506, 8.9368, 1.0427, 0.5934, 0.1783, -0.1441] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The right arm stopped at z=0.131 instead of descending, so this cross-over pose is kinematically blocked and cannot reach the tabletop. I’ll park the right arm and use the left arm, which has comfortable access to this left-of-center location, to retrieve the pen for later handoff."})

tool

executing move_to over 33 steps (3.3s)

step 110

assistant

agent noteWith the right arm parked, the overhead view clearly separates the long pen near the lower center from the short cap farther forward. I’ll place the left gripper over the pen’s midpoint at an estimated x=0.25, y=-0.25, rotated slightly to match its nearly forward-pointing axis.

move_to

left_x0.2500left_y-0.2500left_z0.1500left_yaw-0.2000left_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]: [-0.0219, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.0547, 0.96, 0.7925, -0.6102, 0.12, -0.0196, 0.9988] state[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1752 left_yaw=-0.0013 left_pitch=-0.0156 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=-0.0014 right_z=0.1745 right_yaw=-0.0484 right_pitch=-0.2117 right_roll=-0.1036 right_gripper=0.9988 state[joint_eff]: [-0.2256, -1.4701, 7.2547, 1.707, -0.0611, -0.0415, -0.0171, -0.2256, -3.4256, 7.0222, 1.7118, -0.0464, -0.1294, -0.1392] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":-0.25,"left_z":0.15,"left_yaw":-0.2,"left_gripper":1.0},"note":"With the right arm parked, the overhead view clearly separates the long pen near the lower center from the short cap farther forward. I’ll place the left gripper over the pen’s midpoint at an estimated x=0.25, y=-0.25, rotated slightly to match its nearly forward-pointing axis."})

tool

executing move_to over 23 steps (2.3s)

step 133

assistant

agent noteThe left wrist view shows the pen running down the jaw column into the fingertip region, while the detached cap remains farther ahead and left in the image. I’ll descend vertically onto the pen at this well-centered pose.

move_to

left_x0.2440left_y-0.2380left_z-0.0100left_yaw-0.2000left_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]: [-1.1294, 1.3136, 0.77, -0.363, -0.7113, -0.654, 0.9995, 0.0528, 0.9611, 0.7925, -0.6201, 0.104, -0.0345, 0.9987] state[eef_state]: left_x=0.2439 left_y=-0.2379 left_z=0.1315 left_yaw=-0.2133 left_pitch=-0.0688 left_roll=0.0413 left_gripper=0.9995 right_x=0.2941 right_y=0.0008 right_z=0.1723 right_yaw=-0.0286 right_pitch=-0.2244 right_roll=-0.1039 right_gripper=0.9987 state[joint_eff]: [-0.4991, -4.7248, 9.5385, 1.4872, -0.6471, 0.0317, -0.0611, -0.212, -2.3453, 6.8308, 1.6288, 0.1392, 0.1099, -0.022] 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_x":0.244,"left_y":-0.238,"left_z":-0.01,"left_yaw":-0.2,"left_gripper":1.0},"note":"The left wrist view shows the pen running down the jaw column into the fingertip region, while the detached cap remains farther ahead and left in the image. I’ll descend vertically onto the pen at this well-centered pose."})

tool

executing move_to over 10 steps (1.0s)

step 143

assistant

agent noteAt table height the pen shaft is visibly centered between the left fingertips, aligned lengthwise with the tool. I’ll close the jaws across the shaft 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]: [-1.1366, 1.7298, 0.4885, 0.3168, -0.7406, -0.6838, 0.9992, 0.0528, 0.9661, 0.7906, -0.6235, 0.1005, -0.0353, 0.9987] state[eef_state]: left_x=0.2454 left_y=-0.2374 left_z=0.0004 left_yaw=-0.1847 left_pitch=-0.0599 left_roll=0.0457 left_gripper=0.9992 right_x=0.2935 right_y=0.0014 right_z=0.1695 right_yaw=-0.0254 right_pitch=-0.2349 right_roll=-0.1028 right_gripper=0.9987 state[joint_eff]: [0.0479, -4.4513, 2.8513, 0.5885, -0.022, 0.2125, -0.0952, -0.2803, -2.4957, 7.1726, 1.4579, 0.0562, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"At table height the pen shaft is visibly centered between the left fingertips, aligned lengthwise with the tool. I’ll close the jaws across the shaft now."})

tool

executing move_to over 10 steps (1.0s)

step 153

assistant

agent noteThe left gripper settled at 0.045, just above the empty threshold and consistent with the pen’s few-millimetre diameter; the shaft is visibly pinched between the jaws. I’ll lift it 12 cm to verify it moves with the gripper and create clearance for a handoff.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1378, 1.7397, 0.4797, 0.3477, -0.7525, -0.6907, 0.0448, 0.0528, 0.9668, 0.7868, -0.6285, 0.0998, -0.0349, 0.9987] state[eef_state]: left_x=0.2464 left_y=-0.2367 left_z=0.0 left_yaw=-0.1752 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.0448 right_x=0.292 right_y=0.0014 right_z=0.1668 right_yaw=-0.0252 right_pitch=-0.2444 right_roll=-0.1027 right_gripper=0.9987 state[joint_eff]: [0.0068, -7.1453, 4.7521, 0.9597, -0.2027, 0.1099, 1.0965, -0.1846, -2.3043, 7.2684, 1.58, 0.0024, -0.0024, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.12},"note":"The left gripper settled at 0.045, just above the empty threshold and consistent with the pen’s few-millimetre diameter; the shaft is visibly pinched between the jaws. I’ll lift it 12 cm to verify it moves with the gripper and create clearance for a handoff."})

tool

executing move_to over 8 steps (0.8s)

step 161

assistant

agent noteThe pen lifted with the left gripper, confirming the grasp. Since the cap is not tabletop-reachable by the right arm at its current left-side location, I’ll carry the pen to a clear staging spot that maps to about y=0.30 in the right arm’s frame, then transfer it via the tabletop.

move_to

left_x0.2800left_y-0.3500left_z0.1600left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1378, 1.375, 0.6849, -0.2138, -0.7517, -0.6994, 0.0486, 0.0528, 0.9676, 0.7868, -0.6312, 0.0998, -0.0349, 0.9986] state[eef_state]: left_x=0.2466 left_y=-0.2374 left_z=0.1049 left_yaw=-0.1713 left_pitch=-0.0406 left_roll=0.0211 left_gripper=0.0486 right_x=0.2916 right_y=0.0014 right_z=0.1661 right_yaw=-0.0252 right_pitch=-0.2479 right_roll=-0.103 right_gripper=0.9986 state[joint_eff]: [-0.0342, -5.9419, 9.1692, 1.1355, -0.315, 0.0708, 1.033, -0.212, -2.1402, 6.9402, 1.5263, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.35,"left_z":0.16,"left_yaw":0.0},"note":"The pen lifted with the left gripper, confirming the grasp. Since the cap is not tabletop-reachable by the right arm at its current left-side location, I’ll carry the pen to a clear staging spot that maps to about y=0.30 in the right arm’s frame, then transfer it via the tabletop."})

tool

executing move_to over 11 steps (1.1s)

step 172

assistant

agent noteThe pen is still securely held at the staging location, oriented nearly straight forward. I’ll lower it to the tabletop at this right-arm-accessible spot before releasing it.

move_to

left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.2079, 1.8591, 1.4178, -0.6693, -0.8509, -0.9878, 0.0534, 0.0528, 0.9684, 0.783, -0.6395, 0.0998, -0.0353, 0.9986] state[eef_state]: left_x=0.2784 left_y=-0.3489 left_z=0.1477 left_yaw=-0.0202 left_pitch=-0.061 left_roll=0.0086 left_gripper=0.0534 right_x=0.2895 right_y=0.0013 right_z=0.1629 right_yaw=-0.0253 right_pitch=-0.2608 right_roll=-0.1043 right_gripper=0.9986 state[joint_eff]: [-0.6632, -9.9761, 8.5402, 0.652, -0.6667, -0.0366, 1.033, -0.0479, -2.3179, 7.0906, 1.5311, 0.022, -0.0757, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.0},"note":"The pen is still securely held at the staging location, oriented nearly straight forward. I’ll lower it to the tabletop at this right-arm-accessible spot before releasing it."})

tool

executing move_to over 10 steps (1.0s)

step 182

assistant

agent noteThe left gripper reached table height with the pen supported on the surface. I’ll open the jaws to leave it at the staging spot for the right arm.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.2114, 2.0964, 1.1389, -0.1986, -0.8486, -1.0008, 0.0534, 0.0528, 0.968, 0.7826, -0.643, 0.0998, -0.0353, 0.9986] state[eef_state]: left_x=0.2744 left_y=-0.3432 left_z=0.0037 left_yaw=-0.0146 left_pitch=-0.0794 left_roll=0.0397 left_gripper=0.0534 right_x=0.2888 right_y=0.0012 right_z=0.1623 right_yaw=-0.0254 right_pitch=-0.2642 right_roll=-0.1046 right_gripper=0.9986 state[joint_eff]: [0.294, -9.6342, 4.9573, 0.9695, -0.0317, 0.105, 1.033, -0.2256, -2.2222, 6.8034, 1.5604, -0.0366, -0.0806, -0.0073] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The left gripper reached table height with the pen supported on the surface. I’ll open the jaws to leave it at the staging spot for the right arm."})

tool

executing move_to over 10 steps (1.0s)

step 192

assistant

agent noteThe pen has been released; I’ll park the left arm to clear the overhead view and give the right arm unobstructed access for pickup.

move_to

left_x0.2950left_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]: [-1.2114, 2.1029, 1.132, -0.1738, -0.8677, -1.0157, 0.9949, 0.0528, 0.968, 0.7822, -0.6434, 0.0998, -0.0349, 0.9986] state[eef_state]: left_x=0.2765 left_y=-0.3426 left_z=0.0035 left_yaw=0.0009 left_pitch=-0.0588 left_roll=0.0233 left_gripper=0.9949 right_x=0.2887 right_y=0.0012 right_z=0.162 right_yaw=-0.0256 right_pitch=-0.265 right_roll=-0.1044 right_gripper=0.9986 state[joint_eff]: [-0.253, -10.9333, 5.5316, 0.735, -0.1832, 0.0855, -0.1197, -0.1026, -2.2769, 6.8034, 1.453, 0.0464, -0.0122, -0.0073] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The pen has been released; I’ll park the left arm to clear the overhead view and give the right arm unobstructed access for pickup."})

tool

executing move_to over 31 steps (3.1s)

step 223

assistant

agent noteThe overhead view now shows the pen staged cleanly near the center line, pointing straight forward, while the cap remains separately at upper left. I’ll bring the right gripper over the pen’s midpoint at x≈0.275, y≈0.31 with yaw zero.

move_to

right_x0.2750right_y0.3100right_z0.1500right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0704, 0.8501, 0.6193, -0.44, -0.1257, -0.0875, 0.9984, 0.0528, 0.9684, 0.7803, -0.6464, 0.0998, -0.0353, 0.9987] state[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1604 left_yaw=0.0717 left_pitch=-0.0937 left_roll=0.0173 left_gripper=0.9984 right_x=0.2878 right_y=0.0012 right_z=0.1606 right_yaw=-0.0255 right_pitch=-0.2703 right_roll=-0.1051 right_gripper=0.9987 state[joint_eff]: [0.1573, -1.9487, 10.5231, 1.4872, 0.022, 0.1832, -0.1832, -0.0479, -2.2632, 7.159, 1.4725, 0.0073, -0.0464, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.275,"right_y":0.31,"right_z":0.15,"right_yaw":0.0,"right_gripper":1.0},"note":"The overhead view now shows the pen staged cleanly near the center line, pointing straight forward, while the cap remains separately at upper left. I’ll bring the right gripper over the pen’s midpoint at x≈0.275, y≈0.31 with yaw zero."})

tool

executing move_to over 26 steps (2.6s)

step 249

assistant

agent noteThe right wrist sees the pen lengthwise into the fingertip area, but its shaft is about 13 pixels to the image-right of the jaw column. I’ll shift the gripper roughly 1.5 cm toward the arm’s right to center the shaft before descending.

move_to

right_x0.2720right_y0.2900right_z0.1400right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.458, -0.1234, -0.0879, 0.9982, 1.0939, 1.784, 1.4292, -0.8864, 0.6395, 0.8654, 0.9987] state[eef_state]: left_x=0.2888 left_y=0.0055 left_z=0.1562 left_yaw=0.0718 left_pitch=-0.1147 left_roll=0.0185 left_gripper=0.9982 right_x=0.2718 right_y=0.3041 right_z=0.1409 right_yaw=0.0262 right_pitch=-0.3054 right_roll=-0.13 right_gripper=0.9987 state[joint_eff]: [-0.3214, -1.8393, 6.9128, 1.7753, -0.1294, -0.0659, -0.0269, 0.3897, -8.841, 8.1709, 0.7009, 0.6325, 0.2418, -0.1441] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.272,"right_y":0.29,"right_z":0.14,"right_yaw":0.0,"right_gripper":1.0},"note":"The right wrist sees the pen lengthwise into the fingertip area, but its shaft is about 13 pixels to the image-right of the jaw column. I’ll shift the gripper roughly 1.5 cm toward the arm’s right to center the shaft before descending."})

tool

executing move_to over 2 steps (0.2s)

step 251

assistant

agent noteThe first lateral correction only moved about 5 mm and left the pen still right of the jaw center. I’ll continue another roughly 1.5 cm in the same direction, keeping height unchanged.

move_to

right_y0.2700right_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4599, -0.1234, -0.0879, 0.9982, 1.0916, 1.7863, 1.4067, -0.8845, 0.646, 0.8825, 0.9988] state[eef_state]: left_x=0.2885 left_y=0.0055 left_z=0.1558 left_yaw=0.0718 left_pitch=-0.1165 left_roll=0.0188 left_gripper=0.9982 right_x=0.271 right_y=0.2986 right_z=0.1337 right_yaw=0.005 right_pitch=-0.3097 right_roll=-0.1426 right_gripper=0.9988 state[joint_eff]: [-0.0752, -1.5521, 7.1316, 1.6679, -0.1197, -0.0269, -0.0171, -1.0188, -11.2889, 6.2427, 0.8132, 0.2418, -0.0855, -0.1441] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.27,"right_z":0.14},"note":"The first lateral correction only moved about 5 mm and left the pen still right of the jaw center. I’ll continue another roughly 1.5 cm in the same direction, keeping height unchanged."})

tool

executing move_to over 3 steps (0.3s)

step 254

assistant

agent noteThe pen shifted toward the jaw column as expected but remains about 10 pixels right of center; the arm is tracking these cross-over corrections only partially. I’ll command a further inward correction and restore hover height before the grasp descent.

move_to

right_y0.2400right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.123, -0.0879, 0.9982, 1.0813, 1.7844, 1.3842, -0.8841, 0.6315, 0.8822, 0.9987] state[eef_state]: left_x=0.2883 left_y=0.0054 left_z=0.1555 left_yaw=0.0715 left_pitch=-0.1181 left_roll=0.0187 left_gripper=0.9982 right_x=0.2699 right_y=0.2924 right_z=0.126 right_yaw=-0.0046 right_pitch=-0.3314 right_roll=-0.1549 right_gripper=0.9987 state[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.6532, -0.0757, -0.0562, -0.0171, -0.4034, -11.3846, 6.3248, 0.7497, 0.398, -0.0855, -0.022] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.24,"right_z":0.15},"note":"The pen shifted toward the jaw column as expected but remains about 10 pixels right of center; the arm is tracking these cross-over corrections only partially. I’ll command a further inward correction and restore hover height before the grasp descent."})

tool

executing move_to over 5 steps (0.5s)

step 259

assistant

agent noteThe arm has stalled laterally, but the pen is still clearly inside the open jaw span and runs straight through the fingertip region. I’ll descend at the achieved pose; if it remains centered enough at table height, the jaws can capture it without another cross-over correction.

move_to

right_x0.2700right_y0.2920right_z-0.0100right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.1234, -0.0879, 0.9982, 1.0813, 1.784, 1.3834, -0.8841, 0.6315, 0.8822, 0.9987] state[eef_state]: left_x=0.2883 left_y=0.0055 left_z=0.1555 left_yaw=0.0718 left_pitch=-0.1181 left_roll=0.019 left_gripper=0.9982 right_x=0.2698 right_y=0.2922 right_z=0.1259 right_yaw=-0.0048 right_pitch=-0.3316 right_roll=-0.1552 right_gripper=0.9987 state[joint_eff]: [-0.2256, -1.2513, 6.9402, 1.6337, -0.0952, -0.022, -0.0122, -0.335, -11.3573, 6.2701, 0.7302, 0.398, -0.0513, -0.0171] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.292,"right_z":-0.01,"right_yaw":0.0,"right_gripper":1.0},"note":"The arm has stalled laterally, but the pen is still clearly inside the open jaw span and runs straight through the fingertip region. I’ll descend at the achieved pose; if it remains centered enough at table height, the jaws can capture it without another cross-over correction."})

tool

executing move_to over 9 steps (0.9s)

step 268

assistant

agent noteAt table height the pen is between the fingertips but noticeably right of the jaw center, so a close could roll it away. The low pose is now tracking well, so I’ll shift the gripper about 3 cm toward image-right’s corresponding arm-right direction before closing.

move_to

right_y0.2600right_z-0.0100right_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]: [-0.0689, 0.8539, 0.6197, -0.4622, -0.123, -0.0879, 0.9982, 1.0821, 1.9556, 1.0908, -0.4232, 0.638, 0.8825, 0.9988] state[eef_state]: left_x=0.2882 left_y=0.0054 left_z=0.1553 left_yaw=0.0715 left_pitch=-0.1192 left_roll=0.0189 left_gripper=0.9982 right_x=0.2694 right_y=0.2902 right_z=0.0058 right_yaw=-0.0081 right_pitch=-0.3277 right_roll=-0.1612 right_gripper=0.9988 state[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6435, -0.0611, -0.022, -0.0122, 0.0205, -6.1333, 3.6308, 0.6813, 0.0122, -0.0855, -0.1392] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.26,"right_z":-0.01,"right_gripper":1.0},"note":"At table height the pen is between the fingertips but noticeably right of the jaw center, so a close could roll it away. The low pose is now tracking well, so I’ll shift the gripper about 3 cm toward image-right’s corresponding arm-right direction before closing."})

tool

executing move_to over 3 steps (0.3s)

step 271

assistant

agent noteThe first low-height shift tracked but the shaft still appears around 25–30 pixels right of center, likely because wrist roll changed the image during the move. I’ll continue the same lateral correction until the pen is nearer the jaw midline.

move_to

right_y0.2400right_z-0.0100right_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]: [-0.0689, 0.8543, 0.6197, -0.4629, -0.1234, -0.0879, 0.9982, 1.0531, 1.9079, 0.9741, -0.2684, 0.6403, 0.8639, 0.9988] state[eef_state]: left_x=0.2881 left_y=0.0055 left_z=0.155 left_yaw=0.0719 left_pitch=-0.1203 left_roll=0.0193 left_gripper=0.9982 right_x=0.2754 right_y=0.2776 right_z=0.0025 right_yaw=-0.0038 right_pitch=-0.2859 right_roll=-0.0959 right_gripper=0.9988 state[joint_eff]: [-0.1436, -1.347, 7.1316, 1.619, -0.1001, -0.0366, -0.0122, -0.9504, -7.9521, 3.7128, 0.486, 0.1929, -0.2857, -0.1441] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.24,"right_z":-0.01,"right_gripper":1.0},"note":"The first low-height shift tracked but the shaft still appears around 25–30 pixels right of center, likely because wrist roll changed the image during the move. I’ll continue the same lateral correction until the pen is nearer the jaw midline."})

tool

executing move_to over 4 steps (0.4s)

step 275

assistant

agent noteThe pen shaft is now centered on the right jaw column at table height. I’ll close the gripper across it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4652, -0.1234, -0.0879, 0.9982, 1.0046, 1.8442, 0.8349, -0.1074, 0.6315, 0.8265, 0.9988] state[eef_state]: left_x=0.2878 left_y=0.0055 left_z=0.1545 left_yaw=0.0719 left_pitch=-0.123 left_roll=0.0197 left_gripper=0.9982 right_x=0.2812 right_y=0.2546 right_z=-0.0002 right_yaw=-0.0068 right_pitch=-0.2501 right_roll=-0.0416 right_gripper=0.9988 state[joint_eff]: [-0.2256, -1.2786, 7.0085, 1.6581, -0.0757, -0.0659, -0.0171, -0.6359, -7.6103, 3.7949, 0.5397, 0.1001, -0.2173, -0.1441] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The pen shaft is now centered on the right jaw column at table height. I’ll close the gripper across it."})

tool

executing move_to over 10 steps (1.0s)

step 285

assistant

agent noteThe right gripper settled at 0.048, consistent with a secure pen grasp, and the shaft remains visibly pinched between the fingertips. I’ll lift it to a working height so the left arm can pick up and present the cap.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.469, -0.1234, -0.0879, 0.9982, 0.9943, 1.8355, 0.8146, -0.0784, 0.6315, 0.7952, 0.0484] state[eef_state]: left_x=0.2871 left_y=0.0056 left_z=0.1538 left_yaw=0.072 left_pitch=-0.1267 left_roll=0.0202 left_gripper=0.9982 right_x=0.2833 right_y=0.251 right_z=-0.0 right_yaw=0.0038 right_pitch=-0.2411 right_roll=-0.0487 right_gripper=0.0484 state[joint_eff]: [-0.3487, -1.5658, 6.9265, 1.6532, -0.0708, -0.0708, -0.0171, -0.6906, -7.8017, 4.0684, 0.6178, 0.149, -0.0611, 1.1844] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The right gripper settled at 0.048, consistent with a secure pen grasp, and the shaft remains visibly pinched between the fingertips. I’ll lift it to a working height so the left arm can pick up and present the cap."})

tool

executing move_to over 11 steps (1.1s)

step 296

assistant

agent noteThe pen lifted with the right gripper and remains secure. The cap is still visible farther forward and left; I’ll approach it with the left gripper at x≈0.44, y≈-0.23 and yaw about -0.7 rad so the jaws close across its diagonal body.

move_to

left_x0.4400left_y-0.2300left_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]: [-0.0689, 0.8547, 0.6197, -0.4835, -0.123, -0.0879, 0.9982, 0.9943, 1.5902, 1.1759, -0.6827, 0.6205, 0.7952, 0.0564] state[eef_state]: left_x=0.2848 left_y=0.0057 left_z=0.1511 left_yaw=0.0719 left_pitch=-0.1411 left_roll=0.022 left_gripper=0.9982 right_x=0.2854 right_y=0.2571 right_z=0.1421 right_yaw=0.0106 right_pitch=-0.2481 right_roll=-0.0411 right_gripper=0.0564 state[joint_eff]: [-0.0752, -1.5385, 6.9128, 1.7656, -0.0806, -0.0415, -0.0171, -0.3761, -9.0051, 8.0615, 0.9402, 0.4225, -0.022, 1.033] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.23,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1.0},"note":"The pen lifted with the right gripper and remains secure. The cap is still visible farther forward and left; I’ll approach it with the left gripper at x≈0.44, y≈-0.23 and yaw about -0.7 rad so the jaws close across its diagonal body."})

tool

executing move_to over 21 steps (2.1s)

step 317

assistant

agent noteThe cap now appears lengthwise on the left jaw column and reaches into the fingertip area at the bottom of the wrist view, with good yaw alignment. I’ll descend vertically to the tabletop at this pose.

move_to

left_x0.4300left_y-0.2140left_z-0.0100left_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]: [-0.4141, 1.7435, 1.2205, -0.2687, 0.1535, 0.1425, 0.9984, 0.9951, 1.5898, 1.174, -0.6964, 0.6083, 0.7959, 0.0616] state[eef_state]: left_x=0.4296 left_y=-0.2144 left_z=0.1277 left_yaw=-0.6365 left_pitch=-0.2088 left_roll=-0.0014 left_gripper=0.9984 right_x=0.2823 right_y=0.2561 right_z=0.1392 right_yaw=0.0147 right_pitch=-0.2656 right_roll=-0.0475 right_gripper=0.0616 state[joint_eff]: [-0.5402, -9.1556, 9.8667, 1.6874, 0.2418, 0.3639, -0.1832, -0.4308, -7.241, 6.5026, 1.1355, 0.3736, -0.0611, 1.033] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.214,"left_z":-0.01,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap now appears lengthwise on the left jaw column and reaches into the fingertip area at the bottom of the wrist view, with good yaw alignment. I’ll descend vertically to the tabletop at this pose."})

tool

executing move_to over 9 steps (0.9s)

step 326

assistant

agent noteAt table height the cap has moved into the space between the left fingertips and is no longer ahead of them in the wrist view. I’ll close the jaws to grasp it across its body.

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]: [-0.3973, 1.9976, 0.9943, 0.1982, 0.1905, 0.1898, 0.9984, 0.9951, 1.5898, 1.174, -0.6991, 0.6003, 0.7959, 0.0616] state[eef_state]: left_x=0.4314 left_y=-0.2134 left_z=0.0026 left_yaw=-0.678 left_pitch=-0.2154 left_roll=0.0032 left_gripper=0.9984 right_x=0.2812 right_y=0.2566 right_z=0.1382 right_yaw=0.0188 right_pitch=-0.2731 right_roll=-0.0456 right_gripper=0.0616 state[joint_eff]: [0.4308, -7.6923, 4.0, 0.9841, 0.2906, 0.0464, -0.1783, -0.335, -7.2684, 6.3521, 1.0818, 0.3541, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap has moved into the space between the left fingertips and is no longer ahead of them in the wrist view. I’ll close the jaws to grasp it across its body."})

tool

executing move_to over 10 steps (1.0s)

step 336

assistant

agent noteThe left gripper settled at 0.009, confirming an empty close; the small cap was missed or pushed aside. I’ll reopen and lift so the overhead view can reveal its new position for one corrected retry.

move_to

left_z0.1500left_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]: [-0.395, 2.0106, 0.9863, 0.2462, 0.1844, 0.1848, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5934, 0.7959, 0.0616] state[eef_state]: left_x=0.4363 left_y=-0.2131 left_z=0.0018 left_yaw=-0.6663 left_pitch=-0.1905 left_roll=0.0114 left_gripper=0.0088 right_x=0.2805 right_y=0.2574 right_z=0.1376 right_yaw=0.0227 right_pitch=-0.2784 right_roll=-0.0423 right_gripper=0.0616 state[joint_eff]: [-0.1983, -10.9333, 6.188, 1.0818, 0.149, 0.0073, 0.652, -0.2803, -7.2274, 6.3795, 0.9988, 0.3004, -0.0415, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.15,"left_gripper":1.0},"note":"The left gripper settled at 0.009, confirming an empty close; the small cap was missed or pushed aside. I’ll reopen and lift so the overhead view can reveal its new position for one corrected retry."})

tool

executing move_to over 10 steps (1.0s)

step 346

assistant

agent noteThe reopened wrist view shows the cap still centered but just ahead of the fingertip convergence, so the first close was radially short despite good lateral alignment. I’ll advance the left gripper about 2 cm outward while preserving yaw and lateral position for the retry.

move_to

left_x0.4550left_y-0.2120left_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]: [-0.395, 1.7836, 1.24, -0.2871, 0.1841, 0.1741, 0.9954, 0.9951, 1.5898, 1.174, -0.6994, 0.5896, 0.7959, 0.0616] state[eef_state]: left_x=0.4328 left_y=-0.2116 left_z=0.1148 left_yaw=-0.6631 left_pitch=-0.2412 left_roll=-0.0104 left_gripper=0.9954 right_x=0.2801 right_y=0.2578 right_z=0.1372 right_yaw=0.0249 right_pitch=-0.2812 right_roll=-0.0403 right_gripper=0.0616 state[joint_eff]: [-0.3624, -12.1504, 9.894, 1.5995, 0.0366, 0.022, -0.1685, -0.2256, -7.159, 6.3795, 0.9841, 0.2759, -0.0562, 1.0281] approver: 9 step(s) modified (delta_clamped ×9). 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

move_to({"targets":{"left_x":0.455,"left_y":-0.212,"left_z":0.12,"left_yaw":-0.7,"left_gripper":1.0},"note":"The reopened wrist view shows the cap still centered but just ahead of the fingertip convergence, so the first close was radially short despite good lateral alignment. I’ll advance the left gripper about 2 cm outward while preserving yaw and lateral position for the retry."})

tool

executing move_to over 2 steps (0.2s)

step 348

assistant

agent noteEven the partial radial advance moved the cap down to the fingertip convergence at the bottom of the wrist view, which is the desired depth. I’ll descend at this corrected position for the second grasp attempt.

move_to

left_x0.4390left_y-0.2100left_z-0.0100left_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]: [-0.3813, 1.8107, 1.3087, -0.3534, 0.1997, 0.1871, 0.9984, 0.9955, 1.5898, 1.174, -0.6994, 0.5877, 0.7959, 0.0616] state[eef_state]: left_x=0.4393 left_y=-0.21 left_z=0.1197 left_yaw=-0.6717 left_pitch=-0.2618 left_roll=-0.02 left_gripper=0.9984 right_x=0.2799 right_y=0.2581 right_z=0.1371 right_yaw=0.0264 right_pitch=-0.2826 right_roll=-0.0393 right_gripper=0.0616 state[joint_eff]: [1.2376, -7.9248, 8.9504, 1.5067, 0.3053, 0.3199, -0.1734, -0.0205, -7.241, 6.3795, 0.9646, 0.2857, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.439,"left_y":-0.21,"left_z":-0.01,"left_yaw":-0.7,"left_gripper":1.0},"note":"Even the partial radial advance moved the cap down to the fingertip convergence at the bottom of the wrist view, which is the desired depth. I’ll descend at this corrected position for the second grasp attempt."})

tool

executing move_to over 9 steps (0.9s)

step 357

assistant

agent noteThe outward pose stalled 10 cm above the table, so it is outside this arm’s low-height reach; the wrist also shows the cap slightly image-right of center. I’ll come 2.5 cm inward and 2 cm arm-right while descending, which should restore table reach and center the cap.

move_to

left_x0.4200left_y-0.2300left_z-0.0100left_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]: [-0.3603, 1.8702, 1.3308, -0.3641, 0.2173, 0.2115, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5819, 0.7959, 0.0662] state[eef_state]: left_x=0.4455 left_y=-0.2047 left_z=0.0995 left_yaw=-0.6836 left_pitch=-0.3033 left_roll=-0.0318 left_gripper=0.9984 right_x=0.2794 right_y=0.2587 right_z=0.1366 right_yaw=0.0294 right_pitch=-0.2869 right_roll=-0.0363 right_gripper=0.0662 state[joint_eff]: [-0.3077, -10.7419, 9.0735, 1.6044, 0.1587, 0.1197, -0.1783, 0.0068, -7.2274, 6.5983, 1.0574, 0.2759, -0.0513, 1.033] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.23,"left_z":-0.01,"left_yaw":-0.7,"left_gripper":1.0},"note":"The outward pose stalled 10 cm above the table, so it is outside this arm’s low-height reach; the wrist also shows the cap slightly image-right of center. I’ll come 2.5 cm inward and 2 cm arm-right while descending, which should restore table reach and center the cap."})

tool

executing move_to over 8 steps (0.8s)

step 365

assistant

agent noteThe corrected inward pose reached the tabletop, and the cap’s dark body is now centered between the left fingertips at the bottom of the wrist view. I’ll close for the corrected grasp.

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]: [-0.4351, 1.9965, 1.0794, 0.02, 0.178, 0.1677, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5743, 0.7959, 0.0697] state[eef_state]: left_x=0.4217 left_y=-0.2265 left_z=0.0039 left_yaw=-0.6992 left_pitch=-0.3065 left_roll=-0.0284 left_gripper=0.9984 right_x=0.2786 right_y=0.2596 right_z=0.1359 right_yaw=0.0339 right_pitch=-0.2925 right_roll=-0.0322 right_gripper=0.0697 state[joint_eff]: [-0.9504, -7.3778, 4.3966, 1.0574, 0.0415, -0.0659, -0.1783, -0.3214, -7.1179, 6.5026, 1.0379, 0.3101, -0.0562, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The corrected inward pose reached the tabletop, and the cap’s dark body is now centered between the left fingertips at the bottom of the wrist view. I’ll close for the corrected grasp."})

tool

executing move_to over 10 steps (1.0s)

step 375

assistant

agent noteThe second close was also empty, and the other wrist still sees the cap lying on the table; in the left view its near end had remained just above the true grasp point. I’ll reopen and slide about 1.5 cm farther forward at table height so the cap body, not its near tip, lies between the jaws.

move_to

left_x0.4400left_y-0.2260left_z0.0000left_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]: [-0.4374, 2.0041, 1.0695, 0.054, 0.1654, 0.1593, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5674, 0.7959, 0.0697] state[eef_state]: left_x=0.4242 left_y=-0.2265 left_z=0.0019 left_yaw=-0.6846 left_pitch=-0.2932 left_roll=-0.0198 left_gripper=0.0088 right_x=0.2779 right_y=0.2604 right_z=0.1353 right_yaw=0.038 right_pitch=-0.2975 right_roll=-0.0285 right_gripper=0.0697 state[joint_eff]: [0.1436, -10.7556, 6.3248, 1.0623, 0.2027, 0.0415, 0.6667, -0.0205, -7.0496, 6.4889, 0.9939, 0.359, -0.0562, 1.0379] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 375): [image omitted: streamed camera frame] camera 'left_cam' (step 375): [image omitted: streamed camera frame] camera 'right_cam' (step 375): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.226,"left_z":0.0,"left_gripper":1.0},"note":"The second close was also empty, and the other wrist still sees the cap lying on the table; in the left view its near end had remained just above the true grasp point. I’ll reopen and slide about 1.5 cm farther forward at table height so the cap body, not its near tip, lies between the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 385

assistant

agent noteAfter the forward slide the cap is no longer visible ahead of the open left fingertips, while the right wrist confirms it has not moved away on the table. This indicates the left jaws are now over its body, so I’ll close once more.

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]: [-0.4255, 2.027, 1.1126, 0.0422, 0.165, 0.1619, 0.9953, 0.9951, 1.5898, 1.174, -0.6994, 0.5636, 0.7959, 0.0697] state[eef_state]: left_x=0.4363 left_y=-0.2257 left_z=0.0046 left_yaw=-0.6733 left_pitch=-0.2851 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2775 right_y=0.2608 right_z=0.135 right_yaw=0.0403 right_pitch=-0.3003 right_roll=-0.0264 right_gripper=0.0697 state[joint_eff]: [0.4444, -8.0205, 7.7744, 1.3748, 0.1099, 0.0464, -0.1636, -0.1983, -7.2274, 6.3932, 0.9988, 0.3101, -0.0611, 1.0379] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"After the forward slide the cap is no longer visible ahead of the open left fingertips, while the right wrist confirms it has not moved away on the table. This indicates the left jaws are now over its body, so I’ll close once more."})

tool

executing move_to over 10 steps (1.0s)

step 395

assistant

agent noteThis close was again empty, and the long object in the right wrist is the held pen protruding forward, not the cap. I’ll fully park the left arm to reveal where the small cap has been displaced before choosing a fresh grasp point.

move_to

left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4259, 2.03, 1.1141, 0.041, 0.1608, 0.1577, 0.008, 0.9951, 1.5898, 1.174, -0.6991, 0.5632, 0.7959, 0.0697] state[eef_state]: left_x=0.4365 left_y=-0.2252 left_z=0.0034 left_yaw=-0.6679 left_pitch=-0.2885 left_roll=-0.0158 left_gripper=0.008 right_x=0.2775 right_y=0.2609 right_z=0.135 right_yaw=0.0406 right_pitch=-0.3004 right_roll=-0.0259 right_gripper=0.0697 state[joint_eff]: [-0.1299, -10.4821, 5.6957, 1.4872, 0.1148, 0.0659, 0.6422, -0.1436, -7.1726, 6.3795, 1.0574, 0.1929, -0.022, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_gripper":1.0},"note":"This close was again empty, and the long object in the right wrist is the held pen protruding forward, not the cap. I’ll fully park the left arm to reveal where the small cap has been displaced before choosing a fresh grasp point."})

tool

executing move_to over 21 steps (2.1s)

step 416

assistant

agent noteWith the arm clear, the cap is plainly still at its original diagonal location; the prior attempts were laterally a little arm-left and likely closed beside its thin body. Using the wrist-camera shift measured from the last approach, I’ll return at y=-0.24 (about 2.5 cm farther arm-right) and x=0.43, keeping the cap axis aligned with the tool.

move_to

left_x0.4300left_y-0.2400left_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]: [0.3016, 1.2675, 1.021, -0.8703, 0.5331, 0.7506, 0.9977, 0.9951, 1.5902, 1.1694, -0.6998, 0.5518, 0.7959, 0.0697] state[eef_state]: left_x=0.3033 left_y=0.0041 left_z=0.1628 left_yaw=-0.6109 left_pitch=-0.3142 left_roll=-0.0313 left_gripper=0.9977 right_x=0.2757 right_y=0.2612 right_z=0.1322 right_yaw=0.0461 right_pitch=-0.3121 right_roll=-0.0245 right_gripper=0.0697 state[joint_eff]: [0.0615, -5.8051, 9.0325, 0.9646, 0.4469, 0.2125, -0.0757, -0.2256, -7.2684, 6.8581, 0.9939, 0.3053, -0.0659, 1.033] camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.24,"left_z":0.12,"left_yaw":-0.7,"left_gripper":1.0},"note":"With the arm clear, the cap is plainly still at its original diagonal location; the prior attempts were laterally a little arm-left and likely closed beside its thin body. Using the wrist-camera shift measured from the last approach, I’ll return at y=-0.24 (about 2.5 cm farther arm-right) and x=0.43, keeping the cap axis aligned with the tool."})

tool

executing move_to over 22 steps (2.2s)

step 438

assistant

agent noteThe cap is now clearly visible between the open left jaws, with its thick end extending to the fingertip line; it is only about 10 pixels left of center. I’ll make a small 7 mm arm-left correction and descend vertically at the achieved radial position.

move_to

left_x0.4130left_y-0.2220left_z-0.0100left_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]: [-0.4484, 1.8427, 1.3468, -0.4828, 0.1768, 0.1547, 0.9984, 0.9951, 1.5906, 1.1687, -0.701, 0.5446, 0.7959, 0.0697] state[eef_state]: left_x=0.4126 left_y=-0.229 left_z=0.1002 left_yaw=-0.7118 left_pitch=-0.3858 left_roll=-0.0584 left_gripper=0.9984 right_x=0.2747 right_y=0.2617 right_z=0.1311 right_yaw=0.0498 right_pitch=-0.3187 right_roll=-0.0224 right_gripper=0.0697 state[joint_eff]: [-0.4171, -9.935, 9.6889, 1.5116, -0.0317, 0.0073, -0.1783, -0.1026, -7.2684, 6.4342, 0.9646, 0.2711, -0.0513, 1.033] camera 'top_cam' (step 438): [image omitted: streamed camera frame] camera 'left_cam' (step 438): [image omitted: streamed camera frame] camera 'right_cam' (step 438): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.413,"left_y":-0.222,"left_z":-0.01,"left_yaw":-0.7,"left_gripper":1.0},"note":"The cap is now clearly visible between the open left jaws, with its thick end extending to the fingertip line; it is only about 10 pixels left of center. I’ll make a small 7 mm arm-left correction and descend vertically at the achieved radial position."})

tool

executing move_to over 8 steps (0.8s)

step 446

assistant

agent noteAt table height only the cap’s thin forward projection remains visible on the jaw column; its thicker body is now under and between the fingertips rather than ahead of them. I’ll close at this corrected, more inward radial position.

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]: [-0.44, 1.9854, 1.1275, -0.123, 0.1635, 0.1467, 0.9984, 0.9951, 1.5906, 1.1687, -0.6998, 0.5407, 0.7959, 0.0703] state[eef_state]: left_x=0.4126 left_y=-0.2221 left_z=0.0046 left_yaw=-0.6871 left_pitch=-0.391 left_roll=-0.0524 left_gripper=0.9984 right_x=0.2744 right_y=0.2623 right_z=0.1309 right_yaw=0.0525 right_pitch=-0.3208 right_roll=-0.0193 right_gripper=0.0703 state[joint_eff]: [0.4308, -6.9128, 4.4513, 0.989, 0.149, -0.0171, -0.1783, -0.0615, -7.1726, 6.3658, 1.0281, 0.315, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 446): [image omitted: streamed camera frame] camera 'left_cam' (step 446): [image omitted: streamed camera frame] camera 'right_cam' (step 446): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height only the cap’s thin forward projection remains visible on the jaw column; its thicker body is now under and between the fingertips rather than ahead of them. I’ll close at this corrected, more inward radial position."})

tool

executing move_to over 10 steps (1.0s)

step 456

assistant

agent noteThis grasp still closed empty, so the visible thin projection was not the cap body at the grasp point. I’ll clear the left arm once more; with the exact cap location exposed, I’ll use a direct overhead-based pickup rather than interpreting the distorted bottom-edge wrist view.

move_to

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

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4393, 1.9953, 1.1191, -0.0895, 0.1566, 0.1394, 0.0088, 0.9951, 1.5906, 1.1687, -0.6998, 0.5377, 0.7959, 0.0703] state[eef_state]: left_x=0.4159 left_y=-0.2219 left_z=0.0017 left_yaw=-0.6746 left_pitch=-0.3777 left_roll=-0.0471 left_gripper=0.0088 right_x=0.2741 right_y=0.2627 right_z=0.1307 right_yaw=0.0543 right_pitch=-0.3231 right_roll=-0.0176 right_gripper=0.0703 state[joint_eff]: [-0.1436, -10.8923, 6.4205, 0.9304, 0.1587, 0.0562, 0.652, -0.1709, -7.241, 6.3932, 1.0183, 0.2759, -0.0611, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 456): [image omitted: streamed camera frame] camera 'left_cam' (step 456): [image omitted: streamed camera frame] camera 'right_cam' (step 456): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_gripper":1.0},"note":"This grasp still closed empty, so the visible thin projection was not the cap body at the grasp point. I’ll clear the left arm once more; with the exact cap location exposed, I’ll use a direct overhead-based pickup rather than interpreting the distorted bottom-edge wrist view."})

tool

executing move_to over 20 steps (2.0s)

step 476

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2577, 1.3445, 1.1179, -0.9619, 0.4656, 0.7296, 0.9975, 0.9951, 1.5906, 1.1683, -0.6998, 0.5369, 0.7959, 0.0703] state[eef_state]: left_x=0.3074 left_y=0.0027 left_z=0.1614 left_yaw=-0.6218 left_pitch=-0.4076 left_roll=-0.0633 left_gripper=0.9975 right_x=0.2739 right_y=0.2627 right_z=0.1305 right_yaw=0.0547 right_pitch=-0.3238 right_roll=-0.0175 right_gripper=0.0703 state[joint_eff]: [0.212, -6.5983, 9.1556, 0.9499, 0.4908, 0.2271, 0.0415, -0.0615, -7.0222, 6.3795, 0.9841, 0.2027, -0.0317, 1.0281] camera 'top_cam' (step 476): [image omitted: streamed camera frame] camera 'left_cam' (step 476): [image omitted: streamed camera frame] camera 'right_cam' (step 476): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 12.49 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, 0.7937, 0.6018, -0.3798, -0.0219, -0.0246, 0.9995, -0.0158, 0.7925, 0.6094, -0.3794, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2954 right_y=0.0029 right_z=0.183 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5795, 10.5231, 1.79, -0.0171, 0.0855, -0.0659, -0.9641, -1.347, 9.8667, 1.8242, -0.0171, -0.0513, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93907f212d22bc7e821f744e5a574a4ed979d7b74606a3e343ddc22332a6dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f0daddb2b1b31302f5245b29137c3526b9f5ae4bc52db8dc5db7a260fc54c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ce6d222bcff00ec975c45f2f7617ec85dae35ca9459b362962aeffe6dba340",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.619 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtEj6U4w27hyMhVm3IK1RUdVDsEIGVYM7TazAocgj9TRx0r2O5vuAyNtNdyQVzZZjvrBkeKFaXQCH8B4mOG4n_g-svaPODdAOGbk8ts7bC5BGO9X09X8IISXU6BD2_B0D-fKg4D4V3oPgL_kXqFy958ddy06W6OfA-9G9WTZA4PJMkXbCk4kUNL9sYhC5nbxmX9q4VQIC4UDllDXjZODezxtYWhDsMSJhQFKygY0koHf99Q4CqIi16PSIwX_xrAXs4fABZRZVUilRWhCA59RCEwA6HyoAUDYrjjllvDN6HZUkk5yNosnJHA0nJC56lzDRYyGWiGsqEwkyE9OXE50ZlO8S-SFqpeHzQ7KLQ3di-Iuk0gJwDJuxLOzgNIF5dY-Eco1eEXbviMXOeMcuwziwPIP1lqH_uDektwILp74a36P4-XrYKe5bbsZg4asBxcW9GWEguE-I-Tm08lcJ0HXpF8gWlfgs4xfmmYdSKGdCiABmEgBpjdj_e93UQBdhT1ROyLNLg4OOPLhleAy28kWQab0vYWpDOK2F9e127dOWpr9tD1d7C56MtRCzBoGr8Vupt-CjGNZLIIXK62FrFdzhLXeJ637Qudt577F30ysQABn7wdsogHSkfEyskkSE7rPTMB6RDsQCxi9j7z9HmyC4GjMLmVpyyUzHKm0SG1wyGhh_nMuWKgNy0pBk5A1xnXEIe5V1HYA88CMUdeSIzMnBVcNIdlPlwYwr3iCdzXm7Da7gY04F15O2Dv-RKJgqNgiBLx70tcJSXx1B1TwRtDK7nI8i2iHqTkL_Uxiecj81KUMncw_IpLweyWCuLtD6zkNJIcePBDC2UoVmEraRB39iBuCzWMlXbHKRYZaTRZAtu_T07XYIOVtWu53vce379QN5_0SPqfyaXRaWz0WvfqKrIlb-6BPB4SOWeKTA1AObBDeZmol_x8oiNwc6Zp_JlIUX0-nyzbzBbg0HiZ14Nyk_HAYTuUIwNC5d_RfUz0N9Ode9HUWiX2J0mLWO2qQQo0e6huqXCsb_BX_QDTMnVfSdkWFnJ2oOc4EotDllOSQmsYLHalCy4_H7xL0ppqglTua3U7LdamP3on1uSHgn23miwW1pWTBZ6HwVppTW29BVzMNVvvKQ4OcXUp5jswNoOY77-IlreH_KaBm1eBgtm4CiUIwvbxSewCP94AqL1NWsBXgEttv8UaWyFpdN3KY_PZ2KK-5FqRoiMnAtORXe1psRM6xTreu3QTaBUqM5q-Nc1fFSO-8uTMHRBhpmKJgDEJ4CAZiki_aBolPfagurRXVcJVu9ws-kOOSlR03qZlavcU7T5EEVeGTWiyINVw3EHBF8Ce6zhYRv8v4NnQEfFlqhNGF27ulC2qqkq8fPVMqg4xTJSRq_TdPP9qkeFRwAKeYgpUfNtKklVPVYxk0UsB4ik559opi7tkDHg9REhBbkXRPJNMhBKQuIrHJogomR5kWBjBikyh8pNf0R34eDkLjeNA3lsYaw7dT5PGugNkNoPi3ZJ8POMC1krO5lPQ-zEJsW9avLenJxXGV26Itmh0ji7DsGO4T-5ZZJCoj1L1BFjg5d18j1g74Y3d4YhWxwchR98YGprldsVTJ_4dEdXhPcGNdIIuc8z5yoFRptUaWE6VwhivKKJzih7BnrC-rU7hsfggy7v4VrhvOY_N3vjbPraBF6i117tpFU5mZQtK9BuARt0JUbVpqhyiJ8Qg7e8yjsWvM_Z3uWN2VrJa1EO9AbOlioV96gnlnMFh8DnZEKFgAovABmN9naZZ8EhziNMJ1UUUWNk1vT0O2m-KWx9PXg72PlwKbxIQGeXJwqb0Mk7ng8tAPRwOuyPm3nONjb-miPrhqOXfjfkrqFWg3KEN3I6vMJXpEAVBstgkoTJ5K5xGWho4Wp1-H99vCiMn9V2Z2kG5sH7ZZ7tLfesod1kyAY-BbdWOPWqwCahq0E6eeVS0HWG6J6PNRTN7MwWUh4DLaP1cAAGUa5B5Gzh-hjyAeiyNJQ_3Drs5cGOrv5lC1ONOV5e5v1vwSt5pkZCXKmke6SvNWYFPgdR9WVy4FTNLNu0nrERAWnXoIcZGdNcZTYo-elgRWK1AvOyd0np77jgZmT9UVAENz_lfzhSIPOH_y7rq1SfYEUne145KtZKacwJCkTY1Kxef_5gwSWkCUpXagx07bVvzqr80qe977eDwvdUqx2ydSYshR5IEhKJCbHIFWe8wQ_xyOgg_O8w_-uX2zDaud1FzkoBF2TdtMKL2LmjIQ2-stG_4_UXOKDWzm_uH8AXrU5dCdOQoFINGKJvkRFvRhUKvc2hJBmHWfREa_yeexdVwgdxr_a-fZCPMwwaGjN9xTpo_SQm2dxYIWvq81LYVhQJI8nltJtRi-H7ZOvWYex339LmDKj1JT6YqNAjXWjCRyLxsJaOzNAiQShuQA166aYoM9IyZM4xV8DvVlLqXiRILkkbi6jPjNJEPm6rUKtCcoSz8HMpPR0mCUATwTBeGZtxpuRRy5UDCRVNeL6dAUdxRZ7ps1v6SuL61_8HvRQPyeSNrgJC4J1LthWSIAkbeC7HRaJmZBDJC56W7wr5OBVCvGjc1fcM3IAntR-P5fKWAe0DWBXHrsTw6r0CcorJhE3YFM63FaF4GTKd2fHEIEGwh30G6teINfI9QJNe6jLD4GOsOvnk5IF2U8mqJHFYllqrFtIlwGgiWqbSaudGG_pze180iA03sabNIdaYO76GopmQhMZlyqPKQP7cdJHJdqSSO7WWK-azbUX0MxjdK65u1OqMVE2uJmBqz8YMo2usbTEaAov8nwTjmaenfvSN0e6UuLk2uyLVTV67qba3AD3BaHJRBfQugk2jVIl-BdIbqoTPUQwPnAnHbqdUvCHDNr29GmAiTOqTZ84vNcItnSXaz-ymRBANN5-Yc7jTUSCVPOSol--Y8zCmepY-yJY8kDJfYjI9KMnmYKoUCRf-JlGEb9Af-z4MxjyQsvzb1Sd5NnnuOETSHs0P4C_8cgmugYS6gDWtVV-iOywS0YOKScM4mmb79uVvPg2Ch1iuvsrMWlLx6tbKUmNtDNmAy8RMs8g0wwrWCq_OuYCaJWIxfFd8d5q-T7VXZBzzdHzP1xIxdLxu-XQnFC_m43fs34LfU6GPd82CTfd2C0TzraLEp3Mj9CdWm71yvdfv4ZUCdD8xHKlcsOIiharJ0aueU1u1viK1_mrgs4I3kKCzjj-I6gOk97Setek2lsKS-mLLVK7P85shHrwWkBaAGPsmcmaSYQH76sGZPShTibIiWu5ob2tjbygS5nAusgsVmrYbQ3ZrL_e7o36aIOHUEd2T8xrTEKqZKHQ92So9CrAjpJXuXlM62axRsF7GpUWdYr0l_7n3OqzGuCt6f2_ObhoKt2FlvDwo7cPH5C8ASbwrHTWF1p5N-UVfejaI3Nu0WKjfxcxpXA58fQMT3F0a6ojWT9M6qhbPXNCOfNiQ81lTEEirB8bXN65VN0kZr5_j85remkIV3dH5FK4Obq44EUbdTJmizEUEQbIew3JHxZBjsAp8zZtEqsUyzob4mv_-3kNTeV36W3QGCCpnwC0u6TF4CkmEHOwcVJEFFMnof_7kdKKqRDbX1cmTauCrSNqDqbDL8hhSOCJnHLj9uuqGsUzZYHoM0Fg1tFYenTns81wcIKwnlVZAUICsM9gIsHd4K8IKD2TGxVXvlgTSuX570Gjh_aQkLWoz-SGML1mDo5fTKc5AN7pCyubOutKAA5xbBVPpjo2VV3NuNvsu-fdF8eScnXzIbY1JD8fkwqdMqUaYHQ9B6dARdTpkyhtN7n8QLyX_UJj-LLqAiZtKe8uLa8kVzwZedXRyccC9bx_D665w4_HCqDBeMwpgHSgarV1GBVFT4Gg2OWDdxnW-wE2nIukTWR03VPZ7nlIasiwbLiKBfa2DWy-cgwrG5fvDyEUi9PCpdbCwgZRYf0Zp7g01dRedpUXN77RkOAsscKU7g8_L1JTy9VJ6Q==",
  "id": "rs_04088de4166c88f6016ab448ef1d4487d08c51e926b5c2cff9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEj6J_r0F_C6-lhPFsEB0XezJ67d3w2G3Y2Ykm-Fc81AxCJHk31qh5ZK9vtHbk_HfZK1lALuaNrU9k8MWPKt_d3TwYqnuMZ2JtvFiA0jifN-Kq9UwD0pFfxqov6ErHcz3Y7GPBfehkNExqYsol6gE6GMHmBVm1Gx_LVwnG5GjvD1B1SJONASjNd0JMihSY-3K_OuKTXF15WpuE4Gk3N-ykSLtNwzdLlGbkU1DQOJlIANBN0KPiCsFE0WvqmBvj4VuHsICm_9REP0SljRQenlVTYkV9yz15sOGDXJ9ko8x6Q4DTbn-yCQBiM-gLjQfP0CpL2q-X7qQUeszKJAzwbrZXvcTsTmT2DUgWd8H2fr2ZhWie6j32mPY8ELDrsnRdjcxwsKiARX34_s9mBb5mdmyKHpKcCdscvzeYUQaO0OcWiBpu5CyeZAfRdBd1ikZtVdo3o1loH_nK_tRntrXF0zEKYdyM3HThbNp_6M0-Dq1_6H5wfMg_0bJpb2ui7NGt8u_nGpWvpiOMtgLnuk3lQWMXN2SGi76mHtGLnaQaUPqBbBwUnA3kCizoyWyP9GpeHIz_oy6_sbxabn3q5yZwZjvAtdLC7MSpol9lRHhSsk0loFcw1Nm8mBfR_TBJv0FhTDXpgucJo6XQyMxAN5PuQnyS8RGVhhAZgkZ2jye5iG_Rv72QxyWfGxJV-FsFMJ-BUWwTjVumgA34pWEcz8RHs2EklTuOgsnjMKSSFRUYi-o74VsG3hbX70dhPcMFBifQ6MGGIPRA8tPVpg5fS1rqq95uePVgaHwQjvYnWJCv3qVXxNLv2WSRYw8eHVvDoua_rNNiv3QW72GcXBlujB0eZQ3zpwbCm6g7FFsa1ggu22VlgCEvaIwEQk0GCp8daEKEt-ALuglh7LtFC7YON_iL5b5nRf2ZDMfhtqEQGf-A8UMrTf0tCaQx14Qwxd2IsCHonEo-p4UDQwolJZWAHSXjiRAn5JdWZaY2ZPU_E8OGpXmyMJtfkCxJg56joiSKX1s5Arqd9l-nK2azI2h3dvj-dZiVs5cxqEx_6WkvK5pQyU2GNI2zX789bJk52BPdSs-Q0QigkOrQicwdHnW2diWKVAmiheVHzaym8YZclHtdBw0XXBjKRXO9DtIP1CRDXeDV5VDHUz8DACke1bTPf5Lbj3snP8Dh4cysMtK2dlME9jII99z-YB3Zp0WKLQZscbiSeSNXj471h_VQxU-HGQKTJIUTBedK3zeqzxHLL9Byo5lLTt4Vq64l8nAVkP3D0-_epwSuaOVYibIVXrx5K5gXMleQWK9zEGQLsyF2wM28MEkvVJUTs-OELD6gxS74D4XA5swTMnqVce8Ll-vrc-D6geLOoxdvDKetGFp_YGh9e0CHD6A9zVl2bMud-rb3AEyXS7OmBra3Ig7-Z1kQaAdvsfBlgxjRbqeQ5uqG9AwkSa0UpvcAt4DHqz-9i5gAXZmefg4sEiZdF2W7FA1dKhfjT2EiGkuR6nO5DhnX5MnbCqDy1Rp8RvpggyiCdganueEumPvZIK1yuwU0Y2_1LDLPdihkWQp7N8DU6iyVXcgkc0e7LSTltBUzolYgiQY8u31zg5OU8l1tvJR1KDC6OKi71IwT0g_GrUY-Vjm-9lE2qlWmf928wOcBrUGtrMa5u7qw7LUrZxNjrwLCG0GeOPVAFDhQ67SSkIjiZFwv1Czp7hS0oHiCrN_8EiPc4UpEHusHjrlg3LULHDH2XGZaapb9BUKHmopdqLtU7T1eyljVzRRLLu5aBc7PX9Lso_PwZ29aZdj299B33cQ7hF1VJP0Tax_pIzKjk7JbcJW66MmRagruLcowUsIg5csa7vaR9fd8nytDmGJ2V-z5A7XVM7fwXP3W1kfZitnwRjQCUqzU4yf7MYJ_wazhcxNYCrhEj7Rz0awM_3AcYgQUrvEIliFV6fEun2u3wVgVHRhgIBuNpn4CKP1VzX6MvfdV0KEm6Y6LjleRDA1ux4-xMX-pXEZ_tueGs4hN17TgWNjypzKP1X_sBqFiQ-fr2NDFVgRn2hB3axrBTsXp2Fca3Cdo7bXefyalMG4Oz2UgAJ2J_nT6H3cAG1n7KSSN-o3ZCW9XYH-A_lFNwoPp7_VybTzHDOMsIsphB2pzmiBXBeSiG01Wpq6Im70Dwh5QS-SlOvIQClVkx3whcm9rHZoyxmKfu6Ge23OfkqgBPxrLmlF1vMc6EKLFXd8rVQbMKBePbJkNRhQIMVOcjWGVICNzmn1SjI2WaLM7j68N1HFPKHLB8RxsMRZ9LyQBp2BsbTo5l5mSj9_i75URKgMfn3vjPE-qYtIzC-uUrGyS7ffdSTh7e7mOl-PjGByv0qQOb0BtqJrQTnPSjhA06_dGSGDMIqVRp-YRYMYkimEZzlbuFFTHiJhMpHX2-zSnzlBi-7hY3KKEdXZx3_0Ha6tMSC1TfgNgmd6sL_mS3yRF9pNKj02f4KHybnMknEp8itpGYgcsoRbA_JCdlBEcohvwdpFnkgZhXvpQGFqn2kRl4yClSxdfgzFunLqU_uI45YO-LPLkCBFpPU9-Ez-y_gIA92ySbUq5MxAR0Kxd0mbTA5WKbi6g93UlrOkSpWVPDBB8cUovFAwxu43E74sQtCHUMyN9eRY6NIwLAC6GwfODPaegLTE-LaqoFi3NSrTlfF4CWrkorKTuI_iojGKrz-ZhWgHi9mUrKUbJeYMX1MbxVXj4LTC6bU-Ejujd8z-fiU9_-Yj-_A8BI6a6ocGSWVzFcvQ0Apbyg13M9x6WlU3jtnJNZpmlEQS1ADv3tVrvsK9iKxM4NFSzwt-Msz3d14BnRpr0simgjLXt1n3hcEjUqrth0H1p0wiAhFUqnAt9OaOT7UQLGzYAfwT3QjPRE3akwI6ThQ0LnMZLR8C9Qr2QV6nN26WrJFuvgiDbWOU-ZORtOb6feTe0NMj9fguRd3T6NuuM41HFHjA0N1huaWGWPM-wxPSwk4L1uy_f_3VtgGofH-Ju4o-_ovls5GQSECmLuWhNzeltI0ZOUH48-cQRZvdDXXR1cvsSqi3fCI_GnTrwXLaNbqveMNyLW3q_UNMJfOz64MlFtlLFX72d8gsvRMD9BXhzkiaSmyWIG-1nwLVB2o0OstHZG4_0e-TJIl6aMSWSZ6JnJ_7H01UESK12tkn9qj4xArl0jqERLi_p76ueKi0cvpYOamco3FeF2_37cEg2V7mZX5xoQEcYf4-JiKPVMKGe0fx9DofaOa0G8VG9dSiW5PRcI-YJLctBBWPn9vE9aKXxaJALSOHdQABpd2UCMlMfSAh-i9qJB3QYnQKA2Zc6irnMzGhFzvM1DTIIS0NJ33psg01Xioc-gqPGLJ5QzfvInuzCCuI_g1fcRKyp5Hcu6dDn0UhXrxaMfGr3qEFb7MJ4oeTcM_y6REhpdKPU8cfINCZ6FoSmc7_5x5QK5FSzD2Hm7vkiF6YtaWt0Pp8-aLKdDPl3Bx5ecEhnL_v38KcTZczJhHFrEjowE=",
  "id": "rs_04088de4166c88f6016ab448f4dfd887d0a2fcaa9eb2a4368b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.29,\"right_z\":0.16,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"The uncapped pen lies diagonally just right of center, while the small cap is separately to its left. I’ll bring the right gripper above the pen’s midpoint with its jaws rotated to close across the pen.\"}",
  "call_id": "call_tO0xzi90BP2MeB6GZZdHlbxK",
  "id": "fc_04088de4166c88f6016ab448f9a4a487d0bd9bfbd5d338b141",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tO0xzi90BP2MeB6GZZdHlbxK",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.7994, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.6319, 1.7226, 1.121, -0.0502, 0.0994, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1778 left_yaw=-0.0018 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4048 right_y=0.279 right_z=0.1348 right_yaw=0.5076 right_pitch=-0.0863 right_roll=-0.0174 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.7026, 6.9675, 1.7314, -0.0464, -0.0366, -0.0122, -0.1436, -8.6359, 9.7299, 2.1172, 0.1392, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12bfe4e3105528ad63d85f618ba0031a6ca78c28c19d5dcf0914dbde24de9658",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e3116237ad9f47910448bfd23e7b058b46da77f82dc98a5bd7dfee63a9bb5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2468b1ec42de2891e5e885e427b6c1a2b7b0e513ced9acbe27905007c4f69226",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 2.488 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, 0.7937, 0.6018, -0.3798, -0.0219, -0.0246, 0.9995, -0.0158, 0.7925, 0.6094, -0.3794, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2954 right_y=0.0029 right_z=0.183 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5795, 10.5231, 1.79, -0.0171, 0.0855, -0.0659, -0.9641, -1.347, 9.8667, 1.8242, -0.0171, -0.0513, -0.1148]",
      "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]: [-0.0219, 0.7994, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.6319, 1.7226, 1.121, -0.0502, 0.0994, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1778 left_yaw=-0.0018 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4048 right_y=0.279 right_z=0.1348 right_yaw=0.5076 right_pitch=-0.0863 right_roll=-0.0174 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.7026, 6.9675, 1.7314, -0.0464, -0.0366, -0.0122, -0.1436, -8.6359, 9.7299, 2.1172, 0.1392, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12bfe4e3105528ad63d85f618ba0031a6ca78c28c19d5dcf0914dbde24de9658",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e3116237ad9f47910448bfd23e7b058b46da77f82dc98a5bd7dfee63a9bb5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2468b1ec42de2891e5e885e427b6c1a2b7b0e513ced9acbe27905007c4f69226",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkAqxlRVe2bs2SJNpHAp9dRF_OYC4GBHEMEdZvO4ULf6S5HUZDQJicrIp28Fk2N2xKaxwgp7PkO5mBThLVmJerQ23iIaoWe_HLkqCpVOoR0yfL0USZ4IUy6ceqxF4VqDzjmE8fHT1AZVfy5kkOH-RIbJiSWLt3o-KJAUhocMoW-Jbw8d1Zn17luEYj8Xek-YmF6uS1eyqCmlNTXoozUfyZmLEPPqS91StKfcNpf6Cew0tuVql3ST_RP2IXwix_alB5TXzpOg78DNIe-WdSlExe9MCURvvp6KimReJ7y5azfMEjXruTnmJZuB_srs0dXBAW6QXZrQ6PSYhDkhK8x6MfFtEgKlVUkWpUK968nJryYtGYxPEqst2pCDBDxZNRRvX32UD5a75viqfHGtyAr9xSoEpMxswG6-rKOpYi_1e3C73pmDeO9CljHGAss-AfT4Wzg0nlg4bvt8qsRpSbjcSRkHcy5kjzFP4Bfm8OdbCF6fF2NpDJGAxa6aJ1FrLj1BBiuF42xqO9TGk6xPWlY4adI7nLg8alrWUIK619NuNxM154ciqe8sj0cJD_Rq_kIcPwG03fSFc-FsU4kJi4ogc44zeRFF7r9SLIwJnNxA1U5EokZyRZrkmQrYGy7pz07D5VlFrDvNTOMta9-ObmpIQLtFpolGWoWSCgoFAnW1596gK2yJKLK8uTMiyK_Fu9coCeHcs-g6lDoIolDpe9N3tGGu_tIGxs5jnhlUZNZbUVL1vu0My7urWwk7U1qVlkv6coUKbNy7gXKX9sVNZPSsPyxzujHP_i7e8BhOniBEmumwVnZQX2I1CuZUCyg7sTw6ZYtDC9ABJHuo7saAzw14g4R3oPoBLAQ971pSypVoTYiO3KO0CLUN71cFUwIuqfG_7MmKz4YW2qSP4KZl8rnXAAclYMaLa9-EZ2aMRwYuiWwMZB7Zr9O2nMfKfBuYgHtqmwA1Wb3mWO9vkci17kDcyYv-LC0E6JnjvjVscX_Ps8uAnq4D82PIOaHL-eAbHgCDPmB6kjZ9zo0a8UmZHaXlNuGxMZ670koRBRb5zkzPECMH3LE2FQlHd8yjvUD0Je93Hi7sza5PmOewZZz1lnqNHhGilFoQs_6pUDT0bf_Y1SYwzsYEHX3KqoChO1v_z4t9q3Y4fFHeSaOqnFmYgtIG_cqM_MA_mz1eHj8PI1jo6FxMODnFMbCYrywi9YbN7XeRzOWqLFUM5XId7vD0eDrQrgURULXzUxSEenk8zYODHLw-BjpyoWoliKm6e8IU8NAzY3qgOpqjLY4GuM0U8xP6POSUo7Qje7nwrCBnGJDQ-AlU48ZZ1T3UTKD5DnA7xVC9CyX6IPBDMA1MS76EOVnt6DNp8R_E82gkFbrSn70TdV-AUVG9v9mQPcBkf3Sqn7JzEMrybmiFEhJPquE3OjgB7uf8oUdX9mrlGYsGnVkO-91GT80qyoV9ml8bDgOLppmJG3jUpSaw5N56qYiqbx-oiLnaPBvcbEdDUU36hnmiyRGP8yGFCy8BVKGgVw0yfoR-sdlcHADRgme-PoeJZLPBnNW7kG4MasiXmsxSaAJ14waurrnyyHZ1CZyL4Mcm3oTypuRbOqnVpk9yKQQx5FmzKw532daTppP0rfqcMkrJJRBt2NI3YJP-H_ceWiiGNY-UbwnaXgF_alUc__HlmHqFTUGQ9eVKgfczbftN4ra6uhCx9tn83Zr4G4ACc9GVrVg7qGzYuXb8Aabnk4QeHwGIxlejyfPp6gDRcZesFxZsNWpCvAyR-fCFRhlwup9Umiktj6h",
  "id": "rs_04088de4166c88f6016ab448fe1e3087d0be44302d996198a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.279,\"right_z\":-0.01,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"The right wrist view now shows the pen centered on the jaw column and extending into the fingertip area at the bottom edge. I’ll descend vertically to table contact while keeping the jaws open and aligned across it.\"}",
  "call_id": "call_PSyyijvgT0H0B9mLrocaqsCN",
  "id": "fc_04088de4166c88f6016ab448ff78ec87d0ab8322d75a3d6c3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PSyyijvgT0H0B9mLrocaqsCN",
  "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]: [-0.0219, 0.8001, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0354, 0.9062, 0.4763, 0.1051, 0.0513, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=-0.0015 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9995 right_x=0.405 right_y=0.2808 right_z=0.003 right_yaw=0.5099 right_pitch=-0.0871 right_roll=-0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.7314, -0.0659, -0.0513, -0.0122, -0.212, -7.2547, 4.0684, 1.0672, -0.0366, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b26aee5f7c34196858f1afd7fa240624ee5d9f23cde6247728b0a58359b8ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a968c66e1286e29b7f88c4600af71a146a25593a316c8808b9d29c5db4c2a4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9ec661ccd7bb348c93f9f7c4a728061823c3747902b3d0743d911958c1e5f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 5.807 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]: [-0.0219, 0.7994, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.6319, 1.7226, 1.121, -0.0502, 0.0994, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1778 left_yaw=-0.0018 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4048 right_y=0.279 right_z=0.1348 right_yaw=0.5076 right_pitch=-0.0863 right_roll=-0.0174 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.7026, 6.9675, 1.7314, -0.0464, -0.0366, -0.0122, -0.1436, -8.6359, 9.7299, 2.1172, 0.1392, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0354, 0.9062, 0.4763, 0.1051, 0.0513, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=-0.0015 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9995 right_x=0.405 right_y=0.2808 right_z=0.003 right_yaw=0.5099 right_pitch=-0.0871 right_roll=-0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.7314, -0.0659, -0.0513, -0.0122, -0.212, -7.2547, 4.0684, 1.0672, -0.0366, 0.0708, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b26aee5f7c34196858f1afd7fa240624ee5d9f23cde6247728b0a58359b8ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a968c66e1286e29b7f88c4600af71a146a25593a316c8808b9d29c5db4c2a4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9ec661ccd7bb348c93f9f7c4a728061823c3747902b3d0743d911958c1e5f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkDbKddZ30W5reiv4ReccaRbrvsYthzZE6SBIy2JnojUyLotAF8us2d2s4wRyo3byaW2mOR8atGdDoygsDS3fQPP89NryLfPNMODZsaWqF6S7yJoFWrTz9Bn7xNaLQYGyk_MbUFbBDS4MrdsGtM7R-MaV3iFC_s80qdStVzNg_RLPkTH0qrVpgqqAKbe18xAMtfzpdP9YzFr2rwwGg5waAjA2DVHoIElTU_eWftn_O0kIYuU6jwawUK7yYzXrWtjtPtVy9C6mhhe5Di3b1UdHAkPkSOsfj1DTTPjcuwvXncmMOrriQzvx10pB3bg3_ushLgwpvyJR3rnEjDK-Eqd8v0EuYJXcRe0SQKWffa2uyvUsinYTqN9WiatHpS5aBiuHOyGLM-0rSQ8i6YISpg5uW64dnUmPENJKQIQ52P2YfLcNNGGGbtPfipf9GCEWMKhgihz-sUTy86GS3kg9Y0OFouCeWmr95zKvu2HhRdWOFTbm9tMggsPENBfhNCoFoFhavtosBDM4jpZTW4jiLnLne3V4AS7DELfiA5a9WDS4OM2VsIIP3IJszIlHe2lamgl1BgKHbvXdwpaBweWxMm4YgMXs_eDpuoCGBD33rKKUJJKUoRjSA8VwD8uPfu_wiSzvinGWjenQw8vI96aeKe7vepBUubOlX7RzC9gC7VpwCD-WnqDDbnA70MeXZmGAWj7XRZwbTd0DCbtjVyPU-ZwD2ZqTAFGSqzJpEIpNVIJCrbh_5fjziCmvFDzizXqNoTdIVQwQSpRfzLfLy_t2UCuUNAKwkQNuOt34LQoFXqkTsh0CJXwAbXlKFpbdGZk6zhxuqHbybzZaIB8OvSHNxefsKFLofQg1IQCZGfKst46pNkwgafVD8DmdBC3oso1hDnrcES4M5RMaJQDLOaOUcfPCL9t7002rGkOIotx3k2iJNYlFoCaTbu7UDVETJFYpqgJk0Lt1h0tIDG4PqVYVih8oAU_-HfBb7n_txTJ6zapHDUqecicmMnKmAkOPrLMC-eOUyu_2GqljBw108vyiK0saux1v4TA4gHIEV6VZH_RjBxfTP42N1_gYEeSc4zZyttJuVsuuxjvafmrfSZwkW8cFAD2kWKOlmhPPmMIFpFoVP-T-43zbvfaahINiRAnAwN1sbRsg8ChVCo-DJ7bfVoehTD-Z90TLd9U3Ud8ppFv4zqL44dXsj11qCKguldH_CbaSop8H68cMyM9_-gG4qzsiUbymPiWipGLtxHLJhU3Esu3QWVOTiWd1ocHKgk_tN7wysU4frR-TRVAgltW4EjMRAWzWGFhoj6DjQtUb9N2rMm5FHXq7-nQqPj72RCDrWsmy6KrgocYaBsR3L9c7BQiHTrlDElimt7RNTWkXWy7gIn9v0Oz2snstGYIRDJsWTiXf8VwPC-ifWckHud5YYVpUrPBTM0ZHcQ5KKKRzksXLEtfOk=",
  "id": "rs_04088de4166c88f6016ab449027b1487d08331f6c006ca303e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the pen is visible between the open fingertips, centered and perpendicular to the closing direction. I’ll close the right gripper to secure it near its middle.\"}",
  "call_id": "call_i7fuFC424g9tjvzpXbxFBYgA",
  "id": "fc_04088de4166c88f6016ab4490331e887d0a8d7432972b25bcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i7fuFC424g9tjvzpXbxFBYgA",
  "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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0487, 0.9039, 0.5159, 0.1001, 0.0452, 0.0139]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1775 left_yaw=-0.0015 left_pitch=-0.0072 left_roll=0.0001 left_gripper=0.9995 right_x=0.4074 right_y=0.2836 right_z=0.0037 right_yaw=0.5176 right_pitch=-0.0636 right_roll=-0.0239 right_gripper=0.0139\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7949, -0.0708, 0.0024, -0.0122, -0.0615, -11.0154, 5.2034, 1.326, 0.105, 0.0415, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3c45860a9e42c259c28423dc6f046b07199308d310385032cd8f311dc3c95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f979c532478bc44597521122551fd505bfc1c8f9bcf16593a70e0738223b3fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e0d81222f6e07ed38f9a9ff7d03e5165c3b8e06e0076002cd7420c64eac76e",
      "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 · 8.211 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, 0.7937, 0.6018, -0.3798, -0.0219, -0.0246, 0.9995, -0.0158, 0.7925, 0.6094, -0.3794, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1791 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.2954 right_y=0.0029 right_z=0.183 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5795, 10.5231, 1.79, -0.0171, 0.0855, -0.0659, -0.9641, -1.347, 9.8667, 1.8242, -0.0171, -0.0513, -0.1148]",
      "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]: [-0.0219, 0.8001, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0354, 0.9062, 0.4763, 0.1051, 0.0513, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=-0.0015 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9995 right_x=0.405 right_y=0.2808 right_z=0.003 right_yaw=0.5099 right_pitch=-0.0871 right_roll=-0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.7314, -0.0659, -0.0513, -0.0122, -0.212, -7.2547, 4.0684, 1.0672, -0.0366, 0.0708, -0.1099]\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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0487, 0.9039, 0.5159, 0.1001, 0.0452, 0.0139]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1775 left_yaw=-0.0015 left_pitch=-0.0072 left_roll=0.0001 left_gripper=0.9995 right_x=0.4074 right_y=0.2836 right_z=0.0037 right_yaw=0.5176 right_pitch=-0.0636 right_roll=-0.0239 right_gripper=0.0139\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7949, -0.0708, 0.0024, -0.0122, -0.0615, -11.0154, 5.2034, 1.326, 0.105, 0.0415, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3c45860a9e42c259c28423dc6f046b07199308d310385032cd8f311dc3c95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f979c532478bc44597521122551fd505bfc1c8f9bcf16593a70e0738223b3fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e0d81222f6e07ed38f9a9ff7d03e5165c3b8e06e0076002cd7420c64eac76e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkK1dtM8Jplv9I3ettHtL2D-dGeA7HnXFJQclRq1JEmumkoVM4Hcg0x_S1oqbJj-tY86Ly5IgdI4hz_u-1qEz_eEPe1JWCsRlHEr1FsIQ8QGL7-Tlz5g8lSoWUK-fCRz-0t7-KSKVrEsYPTz-IQuGtdZ1v9xoi4MS4DvaBX29uwFfhNEfEUu0ZpEpJY5Ojrvvet-a5Ocl0i7wFaFnzVFjZ7AP6w1ENToK4TMOWUVDrZFmD85K7NYRnpM_BAlOzqAAS1heobD30tFvkl3ynwLyeDYGAGWkIdKn6ZtOTAjyJ0d2M3F8T2o_KyqqEU5l8gjaU7vgcp-SskxaEy1h2OjwA952kJyzyOYQXCW_SOM2mBXISODWddx06hMb8N6kcqqGwkQsQudfKiGvYjSmjjhLA1_Gjw4Nb65wYCSPxyrvRLf6RS-jtMMU47ZLdPTC40b-t-e078KXNVQQmmEXbt_kWXFoRQIGkn0lV73uG8p97uH0QmTfxImbX4EvoylJ093ZeHpLRULdp_BbSHYtPDrqR2UiDNHK5YgEUD7WZ_CAyZ3S7AESwXH6dyut04WdzvMhT-4yg3-bKAnwMDPYZqPn6oJZOtQbXGtDjQ3ZiD2N_SlOSgxPOKtWU4voZQvDHwmu5ireEttDdrdHgsu21R53frXFqValRR8Is9PlxSRcqSQ_23JAdTGTMZWkZl24ZbpQX8kFtygu6_p_B810wkOXuaTZ5qjAf9BAWByxne9UdqahOKh2xPKRy9d1tT2Vjk1CUjxx8D7PdgJN93ZwO-esPW9IzYeUK40_BFjrvjf9LasKaGvbRArTD7ZD9k373vvrvVkUqd2CV_oxjyImNtUVrtT7GVODiV4NbBtp_uAenqAI4QXoEas4yghHPPbRwVQmI-zZJpnHZUlcPXhCYIyT6zGT1Or_TQ4f-0C2pqmsO3HBmUUFC2dJ-hVLt-xJJiG4j2s4XwNQTJU22ByRPzXfxJTaz7X3NiUP87qQ84hEf4Z5C_6pLHsmNkBClRWLhUeD7gH83jFrwHzFusw_HcC09Q9-sLdv0lGOcguVX2ZkVfR-1tpTQpfdqLReZJ6vpszv81O6X443r6bIt5qSbpLefp9XgWA4aSH-ctdZXTSEemDE79wRygrXWC6B5X1AVzX_Cp-JZkYZmEuOmHO_nwgMmNRIF0-2vC3QEaKPoYRiqRB3F80y3Yy96EUXafDFK3s3yp-vu8S5IqWC-PLuKap28vyFpSzvnhDu7uncw9fPNAJgEs22jaCEim8mviYaXJ2hCCxzaloTaj6AJrWXkHvOjN63n2EokGlRUqUcCP9mfPgOZpJzXbHDcDvqgCJoJ0rHhN1lZAit6uX8IgWujOWYgSGJcIOXBOgt6uuNkin8OEn0ju5VwMsyQmXnqufJ0vrtchD9preCjvje4aEoxUIhkkQWWkv04FMPF1ez9t79ki4mXMZP-CxgNsyR2vpscJV1q6YNURM-SuZ0Slo7Ds6lPiSku4fjujb7xrxoEcycwOBeQgRMcE4u2n6QzFclOQ6L8Pmvbs7asKqWlDqrj6lqqzm6qrlhLHRgpfrorIyrQiAIIJx2FDoCJj-9UPRH_x-u2_AsMq-frAscgBCbTUD0EINA61XfEPYUJZgmmyWxJKxToy_piPNJv2jxA7iKoQL5LFXMBEpevpoqz2Xb3ysnd3q2hTohYwjRCJ3Mx1WC9Y9seb0rZ4G3dvHUQA7-3wnsmM3vtRDqexCkaF4zlH5l83AufAxbnPKjhjfAvvMy6mtHZzvmiUsqTtjE_tGdFPAmxXc8XLHDf7bpjXcgPTDouTxM-NSnD6xAYoh1TV82vrjNgzDxHqjZVhGV2MGE5Mll-CEDUvd7yyKPESN6Ouua4q1ASY_UUGO0xMBaby30pwaHEMKuCiDSGnqt1Md1CyM9gByKJJg--126W7cEGBZlY2gesDkgsDlkflYtShPPp6ottPk51cYdpbcPLf2wtm1LEQB95JBn9nsnYGh2Jv1bPOGMWNZrZjW_jK0aV-Ow4wkmuzuHryGe80ecFIXYfxZiMP8YRlvqSr62E2J9lM3qz9gBjRSUIL3W7pqT9GcWgcIAy5-M4PHhG1J3w-bG6ruM2hnCqO5d1s00yPJGrszvyWb0oDg0JVj5vIcQ9GWXiBA84mi1Wp9FaflXSXlhOE0acUDV8PIMJ6m0x0HmT7fM47FsOPEMZnibV8lBktphFElepEucb6srq4CWjJXYiNjcdIxz5kdqDzNDr2agUUewOL1_wXW8-VAHxe7bGc8fhbMPvOLkiALtUjZ_yX0KAPMZCXW9SQqeTunZjJ_GueUHONhWoupvJBG7zTTrwrpYyoA54xJIMU4mJtRt__pT7rzBL2gUmfwluT0NuRtrlBtkofcGer6BeP4HhNutIuO6bK6UDfk3MAVBdJnCenEtdIDTN7kWJybrZxTUhMehPrBl3ISgNzb-Wh8hJI_N5QdFyIfG8cpA6oVPBYqJOk_4rJe6W8vPA6g5-TEEvl5KHc-CSTbAezowA3Mrk6-hp5lrfQntWZhLUH0PS8uFXtr9tuYaSUbdpPxrKo9K7Z9oO3b0NUS9dNrtI6VP-7kSjgJ89Coqsj6vQjVM6z9c23d1nfTmafj-k2Xst5rUpvlwgJEhVo5SrxmoDLkRsXUcl1ToApC2Y4OW0DApUa5BUU0Je9l3OQhKmgP8QVi87b6D_jnL8lXzJvt9s7-dj4Qn_qmZzYcFRaRSUqCZqL-vS_E7TBqAwoa0nww21dmdFx9JLRcBFuvNeLWV-kp66r8Nq8CqRH_dHL4BOWcCGDA0YRB2bK39BBcyWp58NuH2wq9HuJhEx_N4Oa5NNXZeTlfLwpcF7ipllIl7_u3dRz5-zKpxIfpIrkE2HlDVFZQELLwPNGbUzyraLdYl7QWLRFnAu2BstrhlZpFsEuCsQZechHYf4B60spVuEGLA9LrDzHRjSCj4gUfEOffLLXF4R74Aor02wLSouc3crus4QMY4mWko6Rp3JXbVSCVjLQdz9E1tmy8RZbUdDz4p9-bqCNmIgwDObDfj5Zy8uQdawaQFTWxMqRkElHlUimlSOp9YMp97_Zz0NS6DpRXKoG-EDom9EzoXNp8QM=",
  "id": "rs_04088de4166c88f6016ab44905da0887d08643e3feedcbecfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The gripper settled at 0.014, which confirms an empty close, and the pen was pushed sideways out of the wrist view. I’ll reopen and lift the right arm so the overhead camera can reveal the pen’s new position before a corrected retry.\"}",
  "call_id": "call_TLjjO5frlNzESqyO6N4O1vtI",
  "id": "fc_04088de4166c88f6016ab44909b73887d0b47b91d2c4211a71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TLjjO5frlNzESqyO6N4O1vtI",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 0.6373, 1.7458, 1.1374, -0.0708, 0.0929, 0.0284, 0.9951]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1775 left_yaw=-0.0016 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9995 right_x=0.4037 right_y=0.2829 right_z=0.1268 right_yaw=0.533 right_pitch=-0.1142 right_roll=-0.0386 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.0735, 7.2274, 1.7411, -0.0415, -0.0806, -0.0122, -0.2667, -11.5897, 9.7162, 1.8926, 0.0513, 0.1294, -0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a876d52b8cc3e70494dfe8dcad7e5b54e33c981e7fb2ff00aca41394d9d7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d9167ce7bed56849ebc325bb28a9a361c4b20a757eb8d08d39abfef96f408a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133d52b00c72a284c5d92fcff4446288180b7da9b2f6e80fd18394975de68b6c",
      "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 · 6.874 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]: [-0.0219, 0.7994, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.6319, 1.7226, 1.121, -0.0502, 0.0994, 0.0563, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1778 left_yaw=-0.0018 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4048 right_y=0.279 right_z=0.1348 right_yaw=0.5076 right_pitch=-0.0863 right_roll=-0.0174 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.7026, 6.9675, 1.7314, -0.0464, -0.0366, -0.0122, -0.1436, -8.6359, 9.7299, 2.1172, 0.1392, 0.1685, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0487, 0.9039, 0.5159, 0.1001, 0.0452, 0.0139]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1775 left_yaw=-0.0015 left_pitch=-0.0072 left_roll=0.0001 left_gripper=0.9995 right_x=0.4074 right_y=0.2836 right_z=0.0037 right_yaw=0.5176 right_pitch=-0.0636 right_roll=-0.0239 right_gripper=0.0139\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7949, -0.0708, 0.0024, -0.0122, -0.0615, -11.0154, 5.2034, 1.326, 0.105, 0.0415, 0.9206]\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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 0.6373, 1.7458, 1.1374, -0.0708, 0.0929, 0.0284, 0.9951]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1775 left_yaw=-0.0016 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9995 right_x=0.4037 right_y=0.2829 right_z=0.1268 right_yaw=0.533 right_pitch=-0.1142 right_roll=-0.0386 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.0735, 7.2274, 1.7411, -0.0415, -0.0806, -0.0122, -0.2667, -11.5897, 9.7162, 1.8926, 0.0513, 0.1294, -0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a876d52b8cc3e70494dfe8dcad7e5b54e33c981e7fb2ff00aca41394d9d7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d9167ce7bed56849ebc325bb28a9a361c4b20a757eb8d08d39abfef96f408a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133d52b00c72a284c5d92fcff4446288180b7da9b2f6e80fd18394975de68b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkTHvVfKk2Za-C_KOvHDBPosgH_YO86mKQrt_F4X_XTVsGpxvLwhLarvBJDu5bwBUrXQuQb5kgDh97llsqPztKa6aznw6Aylm5guT2eR59VzMcyWQZ52i5KyhnPjxNKMZwIeJO26Kee2EXXxc59PH0-3_z2r_UGn4-xJE4QY2F5uISqsJiUEbZ22l2f-9uyAyFr3xobKMfEmQq3rpJcbZGBuxVForlDbf7Q47J19B5Y03X26sJJB25O3aUHh_2iqoai-JRQq51x10nfmK2lqcp-USkIzsElDLo75AdqMg7m8TRnSY9soQcT-NxInMxNoFYnqVkRTMEK6R422cPepJ-hM6e6o6wTeLLr21imzl6FtBSVfeHkAiSxqanXWC4ZWWcyAA70OmknjazzwoSljqdpd3A1le-sd6Y7OVNPXfZFZFlIjJPsOCLV636f4INOkXJ1R7GAWcHkwLZMuz5tdX53Ev4lhW5iQOYB2hcCRLovWLAqrP8zkCl1auGBw3I4jS3V6761elj11q3_LWenJ2yiRxoCcYF681uPOnZV-_rNuk39_mcVyBSUBHf_U32iTnY5Hpx9Oms-P0kA2UbMj7VwIdwKkd46mvhERx8WEDNHI0mGLwDPVu0IFA0j8PnKsK_LPx5NsGQ_5WSfJiAU92NjPF-rqSj6Xi6PrR1zsksbp8RPLHJ5ukdcEtUAkn-LmU7cCsda-Znq4CTe5vxoZryucgQ_Y7Wn6t8lrhmiZzf4e4MpITC2bodmG-TSNLxsi0eBCBsV2iJkaGEVOFomk2wjXmkP1JtdYunVuvOo1SXmBmThndx21aKtyrg8DpkQrKT3HwqGppXLmROh3O2MVBRK0tV5e8PlLfKWvMabQDHEFpQmXv1_c3qSmevG7DLtRxxXsCmoHC9Oscr7c4GTlQjrZAT4MP4IhywjCE2Bmi70IbQRZVTiYmGcy5C1BeLXqCOn2H7K6MTzbaJS_LLNiGidRC4ZhhtHEKcCB3GKyVGmEZS-DA6jmAyq978SQOux0QBOfb_j0hGtk4BY9KbxxuvIbgju5cQN-mqL1GXrBZ4kabPeKbn86-xpkshR4CV_FU7tV2XCewoN01o_70zI_Fe0nZaCRRzzFG0uVZ5gV_WrBbSHVx9y6TfjoBRipIf6xYT435F_Klw6QOU8WUaj64hoMWiAz_mW-PSFU0shL7Kz3BJhXmT_WWEPw24Pr1ZNzc23xRzYxS6SXz21dRXDn3yfTS9VXo1hDCe_DwhGFN_ecFNtNQdgZ0XkoGuPooTYn-JNhJXCoW-a8Attptm8Ox_mt5jvFKHsG8X7OIgYb0EBJq2rN4_rWaEoxeWnS3hq2PzwCuwky7U57YJh7CdgpAu1A-X1uAlGa-753PxbsDpeM7tCE733Lkgzic44Psr_R68T1B2dZsMCLPfeKa0iWlHTfVRM_MNSEnEETQpnRewzkAIav9lIVtKyj3oSN7akEDKkO3zQvV2MoPMPKpOAQwju5lyGITQ4wqVWr6HPk0dXb4t_y0mpL_klzciIufmF_s9bjujyGg2LdhRc5TNt5c617nboq9SBzbPsb1JDGi99Tfkm4Lm78LenKJErqn4EmPMA1RjWlkxQPZKaTDz8vgvpy3RsgdQRbyl88HxZLxiGLLqYTg2hVKBuUArwyJgL3CGAkSTD6sy7h4zQ-ZBKXScES0VVdzw5rgEu_87wl3PtW-If6gj6JsjX05C6QKO7hctWLTCXtUnAxKMFLGWo5_8eu8zi8KT9ynSiyxEm2PcjrTqNsr2LZ8X7PIcgDIsFuljcjURyFKkZeyoyXj0-olsKAC3-CkrUb4M6wYAq4fFt_HI0N9Zbx2TQXd7puHODYqF70_7jB88mFVrs1GTX_xjr3MbBv1D7UHYM5KUnzkQU8yz9QLBxxpa6mFuHLdldOyYuWo42Fkv-wW8mhkVnDgymltNet1q3i3TWBGZXyA5irft707nm8ggvTpkKw333IvcPlTVz-IbZijRMyfl0589217woMr95EDxTeTxG1HTOUjiOfbHm7W6Dd4PP6l01EqGmxevW7oqBB8iai38KwtjxdnwiVku-hHodwD55SZUA2-67YeVVj1jv6oLEsCEXSRb-9uP82aYc6qjhUy99mCZIFyXHfV2bgtIVFdwBPvJs_FkemAx2QEjaB0DW0d9wWpIdqfaZAHC7reTqziGtWvqf59S6N5lIFTcMJXhW6I9eKgvT_8U_bDRNrx_nF4IehNbxC7XkMoZT0y_MgDJvXq7neMd0gUGRS0Q6O-t05XvI7pT62t_l3xlMR0NH-xjzAipzEFb5dTHNCjbgHm4eyF6NpG8pCbfL-7JZwenxRcbqrxoMkSG20pbSeVojU0GgXFqc-ksE6ND5usAArVTmZtsMi508TvQAfaYNh-mf2KhRkAtKQFCGjXdfYl0-A5InhSgviMhFz2aorK19haPl1qjsvrxc56VzOjDDH6-sybH8Ms_me0TijA-6zlkNXrVd5-_OUFwIuREDBliLmZA7ALKLiqMcIN_ogSe-Ujl_wtUoqCy7RytW1KwP8WeG3VwC0AFXLPTR-XZJbHEKEh4yOQh8PxfZQLk7iV0KfwT_bS0xODLacFWXZdoB3PHYZD1e7XZO_xyIwoCIfe3GK8udXrWx0zX3AwirYkON-c8w9ss6pfNvdivtoVfmw0VaKkjIMn-hZl3Wv5RirFk7QYQ5_Ylnuidg3g3J2ePwbEQl1l8YG0awLnnIqHqBGDsnJUqDwV-d0kZmXR400F6qsyRBIbtsojUzUJT9Pt__7z3fqpFbocldIbhuTbfnmXx7E02_JrN5AVGMdat_-H9TB6FLdj8YYI0wvhHyuvSfKmizuzYRhrK3FHStnLO9UZc5QTN0NY2HALsai_eROScobz9FkEjmqMWRgfqJA7WWQU9emjlf4JUF8Tm_06igH5UG13xwBjrte9BcuPr10FxexBUMaHXVu-FPRsRLoPCLFzEamUNQm5QshzbeXIfVg7p6SS3eH9gAL32XBpRTYjjowqIzej0JCkdbFTKbbvdZ03LVydW_T6UoIj0WxtRRd0f8KkZ8g7B517l6rQHd4ql99dhTb5yqONYAFYk7FIjmduonHfc7sh0TKI5JFVWP6i7s_3FUlkIVkQkzBzvVP3P_npFNLk6mhSz9OX4A3rT9lasO7pv3VtOH8thlwgX3uN4MevHQLQb1",
  "id": "rs_04088de4166c88f6016ab4490d226087d0baae2f55978b39f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.39,\"right_z\":0.16,\"right_yaw\":0.1,\"right_gripper\":1.0},\"note\":\"With the arm lifted, the pen is now clearly visible: it was pushed closer to the bases and leftward, and now lies almost straight in the forward direction. I’ll reposition the right gripper above its middle near the right arm’s cross-over limit, with yaw reduced to match the pen’s new axis.\"}",
  "call_id": "call_kqaMkMyynti220y1q4sPhWJy",
  "id": "fc_04088de4166c88f6016ab44911eff487d097bcb0175ec9be21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kqaMkMyynti220y1q4sPhWJy",
  "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]: [-0.0219, 0.8032, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1358, 1.9553, 1.5768, -0.5869, 0.6586, 0.6621, 0.9987]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1768 left_yaw=-0.0016 left_pitch=-0.0099 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3005 right_y=0.3987 right_z=0.1496 right_yaw=0.2225 right_pitch=-0.1467 right_roll=-0.0501 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4427, 7.241, 1.7509, -0.0366, -0.0659, -0.0122, 0.212, -10.441, 8.2393, 1.1746, 0.6667, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1586bd0e026755469ef6aafaf753d71a0a8d907e6949d5b589d887ebbe1fa0b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463818f28ef95c2adb1f41ff5023c99edb3db5a86bd4ebc897624e11a7d0e589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5207e4d328acd57bc715ab8a6bc5631b890e1422d6374e73396a026645c419a2",
      "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 · 9.197 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]: [-0.0219, 0.8001, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0354, 0.9062, 0.4763, 0.1051, 0.0513, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1776 left_yaw=-0.0015 left_pitch=-0.0069 left_roll=0.0001 left_gripper=0.9995 right_x=0.405 right_y=0.2808 right_z=0.003 right_yaw=0.5099 right_pitch=-0.0871 right_roll=-0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.7314, -0.0659, -0.0513, -0.0122, -0.212, -7.2547, 4.0684, 1.0672, -0.0366, 0.0708, -0.1099]\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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 0.6373, 1.7458, 1.1374, -0.0708, 0.0929, 0.0284, 0.9951]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1775 left_yaw=-0.0016 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9995 right_x=0.4037 right_y=0.2829 right_z=0.1268 right_yaw=0.533 right_pitch=-0.1142 right_roll=-0.0386 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.0735, 7.2274, 1.7411, -0.0415, -0.0806, -0.0122, -0.2667, -11.5897, 9.7162, 1.8926, 0.0513, 0.1294, -0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8032, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1358, 1.9553, 1.5768, -0.5869, 0.6586, 0.6621, 0.9987]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1768 left_yaw=-0.0016 left_pitch=-0.0099 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3005 right_y=0.3987 right_z=0.1496 right_yaw=0.2225 right_pitch=-0.1467 right_roll=-0.0501 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4427, 7.241, 1.7509, -0.0366, -0.0659, -0.0122, 0.212, -10.441, 8.2393, 1.1746, 0.6667, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1586bd0e026755469ef6aafaf753d71a0a8d907e6949d5b589d887ebbe1fa0b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463818f28ef95c2adb1f41ff5023c99edb3db5a86bd4ebc897624e11a7d0e589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5207e4d328acd57bc715ab8a6bc5631b890e1422d6374e73396a026645c419a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_04088de4166c88f6016ab44915b51487d08852219c1a45bb87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.39,\"right_z\":0.15,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The pen is now centered in the right wrist image but still has clear space below it, indicating the fingertips are a few centimetres farther forward. I’ll advance about 3 cm and reduce yaw slightly so the jaws cross the pen more squarely.\"}",
  "call_id": "call_cxhLL3XrG07BsDQfgNkB0zrx",
  "id": "fc_04088de4166c88f6016ab4491a035c87d0bb0170a8b15c87ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cxhLL3XrG07BsDQfgNkB0zrx",
  "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]: [-0.0219, 0.8066, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1217, 2.0876, 1.7702, -0.7826, 0.7219, 0.8074, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0134 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3163 right_y=0.3957 right_z=0.1416 right_yaw=0.0745 right_pitch=-0.1726 right_roll=-0.0835 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.6205, 7.0222, 1.7363, -0.022, -0.0659, -0.0171, -1.1009, -11.7128, 8.841, 1.1355, 0.6422, 0.3687, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143c28fd2a1cfb8c8a1b17ebfea620a8c35639ed9b9b9bc4eba82761f604d9f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406cd815893988b093c4d8da3dcf503172343580c36f869640f46da31f6e7fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f924b3f1e9f86ccda8388c3ef8ba9ab51b4d1c5614e6fcebb195caa8a55ed34e",
      "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 · 5.15 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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.6365, 2.0487, 0.9039, 0.5159, 0.1001, 0.0452, 0.0139]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1775 left_yaw=-0.0015 left_pitch=-0.0072 left_roll=0.0001 left_gripper=0.9995 right_x=0.4074 right_y=0.2836 right_z=0.0037 right_yaw=0.5176 right_pitch=-0.0636 right_roll=-0.0239 right_gripper=0.0139\nstate[joint_eff]: [-0.3214, -1.2923, 7.0496, 1.7949, -0.0708, 0.0024, -0.0122, -0.0615, -11.0154, 5.2034, 1.326, 0.105, 0.0415, 0.9206]\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]: [-0.0219, 0.8032, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1358, 1.9553, 1.5768, -0.5869, 0.6586, 0.6621, 0.9987]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1768 left_yaw=-0.0016 left_pitch=-0.0099 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3005 right_y=0.3987 right_z=0.1496 right_yaw=0.2225 right_pitch=-0.1467 right_roll=-0.0501 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4427, 7.241, 1.7509, -0.0366, -0.0659, -0.0122, 0.212, -10.441, 8.2393, 1.1746, 0.6667, 0.2955, -0.1538]",
      "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]: [-0.0219, 0.8066, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1217, 2.0876, 1.7702, -0.7826, 0.7219, 0.8074, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0134 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3163 right_y=0.3957 right_z=0.1416 right_yaw=0.0745 right_pitch=-0.1726 right_roll=-0.0835 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.6205, 7.0222, 1.7363, -0.022, -0.0659, -0.0171, -1.1009, -11.7128, 8.841, 1.1355, 0.6422, 0.3687, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143c28fd2a1cfb8c8a1b17ebfea620a8c35639ed9b9b9bc4eba82761f604d9f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406cd815893988b093c4d8da3dcf503172343580c36f869640f46da31f6e7fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f924b3f1e9f86ccda8388c3ef8ba9ab51b4d1c5614e6fcebb195caa8a55ed34e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkkl2TF8mQN1H4ZerRsSVRrwUWEIT24UAMgUnkIeLTxFLKgZCFu_bG45YvQXh4H7XhiPSKhpZjGsHLXob6Qf69BvOGt3eOOfymxqAI1e_KVm3BVgpLFO3Z_yjcYyPLgNNgwN68F_Q3Z31AcD12O_Y1rUzzvi8ahfHVzU3Tpa0I5gZscxHYwFCuOuqlJOr1kDCPFi7yO6DB8BT6vdQWlUdKDIB5j_5Bxjxm33GfiLNGcECdSUpurP4puPLjxrfrgfOpFtYbfMEl0vPmD7IClibhYVNTxg6Q0e8JSWN743lCHgz9n573ZicPXNWssLqMTbeNSMafqHdIGJOBjnf1sTdOfnx4lslyHM9nBSBIFhRJI3H38GFpSkzUMwQilc3EVLH-Gww7dy6zRHEh9ZjonSSOAwv8PBzdUC-Z3S_5CvXXcY9c9ECEn4kJJSfT38XlUKsXtGKTYZqiEbjZeLzx-TuOT63GxFavLFUzedjIstPSMcxqbQTyRKVm38n32YrVDNEkXBaJzTE_YqO7IKOvLfaK66DdJxBrYfUKTYOu6mWmccXZvYMejmHfMS3cEuOv09xDaWCEg_6_vwP4mad-f9P8guuj3l4-smeIvquQ71nQffcYGslWQUQlwwN1PHBb1i7fIZAMkwac1XRcthI7_5TyF03gBtHS76hlo92IhoC_1J61L3lxWikVq2sZ5VmYB7NZ7fhM-kIgZe7CEJKHFmzW-iEKrWBVbKdRmwGtPOo3ugCaSb8codEK2QiZgkm55yODOVAw_2OcpS0Lc32HTUU7E6jVOUWjRXyjmCEQIHWEqoDM5PH4Wuz2TMiZraah_c6d8cmpDFXn4rcdCN-BOpn6y4eDTKlKse07Rt7GmaZnqi3jq09ylIASkRHsUFxKbdehcdWyPDz-nfvApgGY7I6KycC1kKWSfniiSsvb0oqCKsCiq3XxkpMQSqvS_Xwlm5e3Mu87Ka6vGzOTxN_U24GfXRl7smU__GP8fnoVlbPLRNuBzyuLcr2HAXWATCLK-zAbLSIuYYzKCD_A9zL5MgUQZAhYApHSHkeByz8rKVJfaGkm5b1UKF6qJa8DX_A4OOHQxBrePU1sRSQsd3wKXzHrAWAw5m3RjH7ehK56w-ZDxgpfsYNKKjPxzotBiuvaHez6tKRsZG5R4UTAYcPWkTwungECbRi5FWKer6I6gpAFCiOcbFILnwo-PqNUeNX2Nm3HTyW51VUm1JswDMwYocTGRJyh6Ycp2p2PSUAvxXupOlOj3pD6DZHM-ObI5a88GUI8Evn6Jt-A1i7IU_-R6_Mrn0Kle3zW6H8lQWx77Y1uKc3dI7lN5AWTDgvW9lG8CCdC9ppknhcZ4b4oPHkcm__H8pyYYeK_mPN9y7ojNAqzHplxOFHLtptDImLbfESvWF2ejpdzmHZrkwDofNFISVVqAkBf4fQJzIOfctZ-7GYq70KiIIyLLlCWcYrE9VYznXt0pOIS0KCZp3lyKDojE0dYwfKUuX0h_nz7l2PoAfbTQv6RPnG6taRYjD7VKWmisTwCpfsiTdaSfZnc6rGfGUY9I2j_JwsNdee656YBsj_kMeT9TOk_dZz_UqoMjCYMovT4qAAcODQZHz9DwUhVtkIBKxXkluiDo49Wx0jkVDIQBvrtTBtsVgHQFpAhMyDRru4L76YkGzO0VwjWkR_B1DbaYd-TxisaGbT0o6NcbI0-jgSwLW_luhUGbzZ658jxFOnSzS0DcosW3xON2gQTzGXdw0GOdDB0NOXzPxWdKE-ibDxZIEE1VuLqz1hlylsIENbBA4dY9e8-RK7g9_uKmadyTrNnIyWmFei46FAherAWUNDz4dfnMnLq8eHPcnWmoAx_xXwiD1mkLFkcjPJ0dG3R7zdcQqRBRUwhUSZdOJAYqYHMPUDfnb0B6KXFcSk43gSi1lah-JHftRmKRmXF6y0vNqa1djRFPHMjdQPYzVBQLQPfCk-27i9O1LBRsLz1mbn674gUKpiLJQQnEJcdcy2xVRkrR2w7qp_m-hV27_K7IiTgrWQGwT8rfy9hyTak0X8pydGsqlnuKWcHYGX18zdQDQYF-SXsJrgP6wpHVBuxEbVB47J70yu3zlUyGIffrV8Cho-VDVqgGSzA4N1uaBRr1Y7nBSY9B6hfE_hH1R3Iztn1KZRFjD0HcXBAgXNNJFyipg-Ip1fRMwAkAUV0acwAmLFm0SrJ6K8gaHjyqKfAATP7yclzJdO8s5Ekwrgkgzp3pERAbWHoCkivMD2Vp9soeEsfu8v3bHkVEtWcY8XEbkpi_sIE0AhOs-27l2XRnKe1Bu2M-vj1vEt336tp_IRMnZaJJ9mosc2p1dR0ctbqWC0zoNIRPXN3yl6t9gzInJ3dgpYyDX70jomif3IwSFoSwPyP8QV99Rk2nZEnO6UVIUh1QeMLm9XpFPfli6-vluyFgc0GyvZ4Jp119lNlA0ocb3X_nyHl4mKLot9ss0iSiu9Uur2EpU8bM9Pl_kifMmQ0wvum18XskmbkqkCEp2nlF_x43EXh5BBOazfxxSeEUbcQOviw-lVLp0oXCDDkeHtd3DiwJZMCRVeX3sgDp-06VuUbRkQRZRPYYAQP6xaZXD-1oBHz2mA-0jv7P2zKm2THK2N7pJ2FXcxIwAomTXpEC2O38HU1H42z6a06mAq_53wkhWypPjqQSzB3aOwCnacOZjSmVYs_8gDzvMwMdbMWie87-T5ocy4S3nc34g60LKy2jLN1NiDe92qoUaEkU6ROYFn68E4js-vsJdPYGSZcuHQYc6luL00xTKTwIHPLwJT-nNh1Nv3C3Ri44I7Blx9ITzjRn7kkMgF5l32X162d9CaSbdKyv5hOkgWlJoKDjZeyHZBTZq4x_ETX0iNxcC927wJkg3eob6iSfyUeHQhjqGRcHbN61zzX8_W56AHCK6vgNyVk49vW8YuFEj9vpUR1AfQTr0aX1x860TAuBFHaTeiPKGc0-Pru22R_tNfOJ0tShz1r-_SyuuM-WT0BM19Apnb3uZKsOzEpe9iyP7ySmNKnrmCxcNrnvGXMZ1pC88iluAIvXGPm3U9F1QHrBKDbg0jHkoFfN8k8k02FQMa-TUPlRL7NPIiS6ViKwkv7XqfoD6y_SvZLS8uaPFBN7dV7b-jVb5H2OFjBIRvv83lvnrMry_ruCIWFt42qk9gtFXsZwzS_grpeJl0Ee9uFHfS34hlRvjndDSlMOW_EipAAL80ODEGbK1QvivTpjqwChLGB47ylbYZ2iV_mbilCdfnC5zBM0A0HGtF30Attpyg4Tt0xipFCuTDGEdcJx0mP0MGDyojEJzDcHUPWR4wvEpwZy-jDYQaWjsrUwItu18YHNiN7HPnC3F8ex-cekmGwU9o8iGmQHcQU-Xi6VXZ4bB3hG8st7MbIUT5aFdLNYAeL1zMsx5YkVvkdJmESSFupCk16j1kyE1z7FV-SKaj0VhllnA_oIjmyz5D0_BgW8vOjvTB1I39R7-E1dGNK6vw2UwPYEvvHgE9GtvDV6EtoFt1y250jTF3zKpYDI4Mn5_It_potBfVNJ_WD2Oo-5XUVDy0iXF0knUpWg7iGKx6YYApgtNhesEeVRWgum8WM96_l6_Q6J-wRlhfHoASh2Ky-sJo0rAXzR8vioxaDerIqq-zZdNmmQyFhkygMkfjmybxK5EJHSi_GYv3z8YWmAGG2NGwGPFD_Z6fSf2mNsc8k4pr4jrLNdosO99IYYdLahWvOY0UUPLi61SXN0v5x-fgvRMMEk29qFzQZyhL9sn0IQINORt8Tqfz5QdRzPw_UB0hlk_eRpYU71H_JMV8woKyMteVxJsir7mTcfxWDDNot-FsJhBaGAl6vzME31jc83iwRRWsIXcGrWgAPHFW3jKVANmLCdO_AfqF_Wr23oUJMRAG9oWF98qN0EOc-95ODCU1LdJM6rIH14pV0Fl14NuBosKWa-2GYNXuyrspUZdrJJUWfbagordh2BPbRDtyjFCmNfIGvMqMm2U05lekctzuNKb_5AhTJZ002K5M7tsyqUa7qKFrUsQ6wAps9lNc7DPOThI-Du4IAzFayrtLI4RyaBul6rE-wlz-1ZDf7O9xVFZa8T7SUogIAvFrqwWfuDRzM1mDVNyZup0CNn_6HON9ZpSfQjtPWELWdaAtf0TVMOQLYLY6CaITDdoIjE5YEwmFrscC8rySv-IuAlTYQJwXQL_81rhwNEOQukYGiD1XIa2-65YeFO-RWk87bGYqfeFb-VE_6q9UXPDL2_qlZiGdGZrSBb4gpBGf9e82Qt8Mt1WAQkJDooZGFR1ox7FOj839VN5xqmQlufo7fan6fF6ZIfLeZMAoSqmccGVes12anvN-cApnL-2DI_1ZMNrwWT4XW3VA==",
  "id": "rs_04088de4166c88f6016ab4491cce9487d0aaa992829472983a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkk8XIoUY1j_Vjr9euVEBJMOREWvbv62PA2oeZ1U_C1Bz8o7poe_HgDwujO1-awjjHVi3bKS3cIGtnNlYvV2-SozyTfOIXcd8Ivom-lgEh8Kgiiypav2R6KuvyUWJe0_hjOfecYzU2cDUCLp_XRLDQf0u5z5ZRsm8fCF-q0HZF47g35a_1vOfk716oOIyZIVn2Eru3lPhDwLpgBYYpp-K0l7f7gkN4zJXY383_elpLH5gwRiHCmIiHLpHKrdTsfD2HYpz7Pkb9702VXct4HxWYGsngcww7FHQCjpflMC9APz8xQzW_9tJL4RTzsYNXMdSR6S5B2prLCsuaxe2Gu6AWmnOXhP_7-mPZrBIm1yvCLQYwnizGY0PeIco00_DVtYtRur-_5Tfbi3iriuWoOQjIaCtuR09mnW5tIJvpweaj15fAyBkVLkIfJvlh736N80a9UwlK6D0i7CQft4ZF84HR47xZPPre0VhNJYenVAdIBbRMaiRNzKDpnVCOyoPOhJo30vh9u6Frk58MxLl5QCKkZLIEenPIKSo3d_j077pRW1xDTE0AASK2Pz242tXmfQTVOF6DAiK3re_nEQsf2I06xiiv0gW9jhIjhViTos_QWG4dcZKWjKcfyxU_pdhn0kf9uWagaN0pm-K0kfJA0AijHoNtYyPflsZ0uZPoJB4LaeUXOWlnduOwZ5E1aHX--nKM8oPgwwyFYYAHs7rxPqfmMiTdL3cQlSPIBZb6hZjzYG1yELPGvndZz3J749eD_zJLjRUkuE0ZoBm5A6o86mNErC8348QoiXLaE7Z_U-ShLcy1KMugtm9P4pTWpr7g64hmpfqh4JyFvAV1xpNIpEIwF2jkg-PrMgvIptjl0gqLUnz5Q1QRSVAgfoRcHSCK3woeTU8PdWkE0_x4AUdSU5jmGjEqfnSFPnLQOpX2Wm5nxwEalXrYhJ7lGvONJj5qUT7TRVmYXTSwYY42DTOHZAfme1RGSIUN9bJxnGjd54aaO8CVU33DpkfAyKeZL5sH2T7jIns_gXJPGb_GttKwfWCZy6PGHNKpkKA_tt1sH9ttwpX7w-NhZlMOvzI5Cr6JdU4pkyW9ZzD-1wZ-FJNIcHlnxa_FYYfW38ZdeeZNZYgGLrvHJcbxKKUX62-Mp6LSqrPr8qBPIQ7zQ_ZliVXOYKQ3YxVA8VHXTNJ3btJIO3e1L5jPsAR22U-pROeREIc4ZqKEaVPuc0LyhsH_3I0Pztzhkqpg_Km51LhYQ4ZtwS5EE1HYyrqqIXS4cW2JB04R2-4IYTXkdsElUbW4KkPKPi2uWy-MdXwOUksVbTVVoXmCpd5wEr1u1vExhKhosJV-t5tglqqyXDUrsivZ7G-Mg6vTOkRKXRYUoOmsq5vHgrCzdXoJ2HF8YBze7eIWLxGNpiOIDlFGwAlNhoqujHtfL1a8qG7qExc8nuXA_iJX5SoK4U02K0wtSpS_ZGRp3tbxZVJlz2Sq0f0YNr7p_pn4DyI4TYd9xEipQ-o6LYX1es_yL_03DcvpViF9YapN24fyCLAu4nZ7DmDCrbAWr-XUfWAlYKuGF5XILggvsLekdi1gayNsxArQbKjbtPLQE1fizi2C8Z7Mc71ILFGi_e1OKciykmcMahs3o0s9UQycigEwdFBViVSRkBFeuib4o7so8pfYiJmLz--fDtr_X0XeiUtzn42xXsEcjdTJv-wrsQ17JiSagljryOF_K9deemdjpf2BVymVqX1_nkhjOZNdp0qNGKqPhv4u5HBS3J-ImfCsXvBsWUhiy6EiycjAvcma7dYZKAfL8GbfzfARkvnZ39IDlzYr3YlLwn4Tq93G-jBctAzmfML02UdLRHi4PxLQyBQtbMU2bCoX5qiu2hKnu6RqkG6ZQC3qUMytkgPaAGhx9W23V2FR33zVN6dVh89u6p4I_id3leKBeyztk8ESlACiLxCJOUVPtaK00wf2n6krLN988TJGMu66iGexQcEHK41wpCRU1pGI7BVej0XVD6kMZg_l8_4SwKQae9zi2eRTCTknbKpQ37HSStk6Zick7yjEWE45QOj2UKt5sosY9fbE9tn_7EonRKSgBC4QGdXN8Z3Dez3xHPN9tukY5flRPCEHSPMDrHtBmvJC8RSXCh0bSwyoElYXLyM84VPZzGdB440KrsWuoZByL8fmVuS9pi5AMInRW26lIvXyE4nFanKlRvXxr4goILSJkXv8sqn2Pu2HP4yzk1LAFmx15aiugj_265QzrT4CXipRINy63PAhxUg_N-9pjwOkkxK1Ep3KGeEfmB5zWwCIrG86cMqRj6C79gf8cy9Pf_6YDQBxc6Ki8OelMGweq5ydevtkUsWTx2n3m5zFRuIiN4Hc59G3LWVTnk-2Z5wlV7IwoUjJftZE2hW99PuVYYMNyG4DXquckENDjkAyv3owcdpGOWwMYo6aw",
  "id": "rs_04088de4166c88f6016ab44921d50487d0ad40943ba5b5e5e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.316,\"right_y\":0.396,\"right_z\":-0.01,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The pen remains centered on the jaw column after the radial correction, with much better lateral alignment than on the first attempt. I’ll descend straight down at this corrected position, keeping the gripper open.\"}",
  "call_id": "call_F67CSRjO7xQJXlJ2FsetSSyg",
  "id": "fc_04088de4166c88f6016ab449243a3487d0af63a1e5353eb761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F67CSRjO7xQJXlJ2FsetSSyg",
  "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]: [-0.0219, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 1.1057, 2.1181, 1.7931, -0.833, 0.7261, 0.8501, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1757 left_yaw=-0.0013 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.3213 right_y=0.3868 right_z=0.131 right_yaw=0.0238 right_pitch=-0.1956 right_roll=-0.1051 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.3333, 7.0632, 1.7021, -0.0562, -0.0855, -0.0171, -0.4308, -12.506, 8.9368, 1.0427, 0.5934, 0.1783, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804843465135ccda5038b7a0299f3fb4d6b18e8c5146dab1ed3de3a67b4e23c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f51906ddaeaaf43f08ad434371e59f573e28a13492f597160a166801f517c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30070e742a70c42205af9b3699139f01e0c444c828bf77f5f6b4e92d8dee761",
      "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 · 5.273 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 32 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]: [-0.0219, 0.8005, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 0.6373, 1.7458, 1.1374, -0.0708, 0.0929, 0.0284, 0.9951]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1775 left_yaw=-0.0016 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9995 right_x=0.4037 right_y=0.2829 right_z=0.1268 right_yaw=0.533 right_pitch=-0.1142 right_roll=-0.0386 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.0735, 7.2274, 1.7411, -0.0415, -0.0806, -0.0122, -0.2667, -11.5897, 9.7162, 1.8926, 0.0513, 0.1294, -0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8066, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1217, 2.0876, 1.7702, -0.7826, 0.7219, 0.8074, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0134 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3163 right_y=0.3957 right_z=0.1416 right_yaw=0.0745 right_pitch=-0.1726 right_roll=-0.0835 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.6205, 7.0222, 1.7363, -0.022, -0.0659, -0.0171, -1.1009, -11.7128, 8.841, 1.1355, 0.6422, 0.3687, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 1.1057, 2.1181, 1.7931, -0.833, 0.7261, 0.8501, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1757 left_yaw=-0.0013 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.3213 right_y=0.3868 right_z=0.131 right_yaw=0.0238 right_pitch=-0.1956 right_roll=-0.1051 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.3333, 7.0632, 1.7021, -0.0562, -0.0855, -0.0171, -0.4308, -12.506, 8.9368, 1.0427, 0.5934, 0.1783, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804843465135ccda5038b7a0299f3fb4d6b18e8c5146dab1ed3de3a67b4e23c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f51906ddaeaaf43f08ad434371e59f573e28a13492f597160a166801f517c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30070e742a70c42205af9b3699139f01e0c444c828bf77f5f6b4e92d8dee761",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkrXb9FOBNCcc7c4dAjDjmTsRowAO6Gc4oJMEEpAcukj2Td2EOO9UOTuvbIgyyZcaRupCZjRsL9_1OVeaot0tABx7lAfpcy1YgKNwELsb2n8XvktbDy5U7DTYY6LUioHrKqMFNnLAqDdOR4JkU76q7Q9ZvpBy1orPOH9z6ajz0gnyHz_Bgzv2TPRDH96pR0ueG6VmOC9mBAc4LnBHj6BQzkQ1QN98kSvl2RHwTAhRs7ahaEBDcvf4dPozRqeH7Hqj5MJp0U4y20A4r8LRMJCM1IoL5xZLlmiL_SHVgOglp0HvxJdcIZFziRJOvx6hX9o7gJbqEsCIE0VdbPm_ioF3U4te0QwLp4qNljYPvk0-fDDTeXQgKLwyorVcBnGBnM84dCrvRQyzTdJBcdVKeoHmWdvy5hSlcExcT24Awp_OKk_MsIHOvMQXUat8hgkAt2siIZVoXpWvEpmSP6BZyRR5iNfuA2QBzil8W4U4Z9l7xsOKuoGNKUgikHcVHceXXppb5MlF__P66S40pBfcqt34pcgCvHz3x-kyahto_xYtejnYYJt4mJm2lFAukA3NreidN5ZOp8m-GLVr-rqUzPfN9ZWxsLNfV8YkCKCtf3P6L8Q6wg-y4Nb4-njWXeF8ZTmMna14CZ9P-vdj00veL6aekDi-t86N0gtniG27hOPN1l_y_PsJd9nCxYDucJydVxPZ2YNU_8N8YODbbVnogOLmATOMgDe5y6R5dnno_1jTmmDTlEcj9UbkKpZ1uSMdCO--X0cZ6zyEGyP2B_smWanriC2KR2wAESMe_-Xct77vzN7TIRLgwLeIR_a-8ZzRyDlBeVS6L4FfBQgMJ_X0tVdYot6zcwSLnjygbU7yzNl5IFNESYNs3nt_x2Iy0o81gsj3_RLkY1YPPGSMgkpRrLZFSuRDNshjYiaIKHkzn2jmaZf-b9BDnKKgJWAzOXbGgUKe9mrfSIxO-JPXM7KPbv8Jt06tY5zlCUteO4ACnuUsfcZSjZI-mB7EDSX2D0iPrV0IFFTXJbvnug1F71AXMYA8PMuT8pXYeL-nesdtgNsZVrdyeIQh9py9gBKf6xyGg1PG6r9UufAOptgTKfZcI_H6mJPVRFV9G1K_g_LxbuqPsMoabD-x4oAabVBUI6iI2IEKYlFEWM3QYpDeVI1iVoJV7dLz_LOGZJV2ePWDyHj_6HoRdnTG9OpTfME71qFJc80rctATXeltV50igL9erKEWar-s3-9xb5ACTv3VpHrRiGoPV0GrFfQ2_OGJrt26qvp6FI-dB0lOaTSJ0q3tJ_Zu7AERoYJl4AY0Q_SYnTWYgD-WIRZ4M5j-pmPkafi7G0WNEUkNEIa4mRUtEBbGp2XT6K99gfcGu4aGwp_AIRlAnxRnAa6G_NoPipw_-iXCLlTUqOzFD1Zl5avNLvMBqVxtuE1r_kbg5pnhT4O9h7nOouRwhUsOBL1hEo5YJggOJZ5nHq6UWC2Lz1D1TVIUmphdaoyMt7gQu7MN_d5sqUHrjFf3-xHPwYeKjOLKS3mLZ3KKfViiOuv_Ta4G7cnVUk7TnCrhXjHDR4zvICQ-wPN2vORPnmlbOYR5OOXHu3Xrr9-rwIl5FBoiknfEP3B85dJPhewwMXYMQPtkLVVRjQQgjK6XTgW_YaRQ_xMBt5xD2_Z8siJxwkr1GsU__SqBF1GiTozHlnKAy3hldzvTq2fkFZsSeVCCxYKMELV-C6sqR-8-ejIgWBSuKXW6BzTi58DWM5Dkx80H-ewnH6PEYZ0wnH-JiZUk1q8nKQK_4NvFfaDAAHJZGnyZvYYYl5xsY5MmuNASWXlU-HM3KGUNBw1QPCJin5HhuFkTMPLJhQ_5sRddFSpkgiqYyCP7btwdAkNJRNFvgAkh9TqmRnX5QVXtT73oAWmnEeaSIiSUSll2W8XAwDp4HrHij1XmrbYyQX963F-B1g7JBfAio57wbELJxmo4QR-qx4BLIFcL8rJhBI1k_rNwLCQTj6IrxFu8YdtTyLSYDK3NC90UWYFOguJHnDr8EKXwxosQhmYm6ptuDerr089M-UHTsJN3efRrhld2q6k-neVs8glvQ6Gc5kNx1Fx5Fcv71CaEgMFeTOv7E5ckfaqctl3JOYJjhJAlRWsIoPJfU1sTIArpFy7AQZgZWBtp1YU4U46iesw62uAPPhGQ9JilVxB5Cnd-4MyBpddOweQgQ8c5H098ePdz1HEl_VzUtGOHXLLhQ4yWbw5vkk3RhB5xl25oyPT9-418_SQqPlPKb9l4Yo3KLofhG_cKlV4P9TkADXPjS90zwukkqSq6IuqtCtM7VqVABgZPVoLbIy1tavQ5TUWHDmorJdCkHf58gp0_fcudCP5UcFci7S27OSsGN0E8pCzKsZP5UE3B2tfu5YW123rstqW1Zp43J64zMbqXKJFKU9oJYEapsUWbhj3A8e2XV-iuvueAlifDRqK7o04WDHpwnpou72Q4BdqCnHaJAd0if6dKWy5_52iXJbGTdRJm0qebwc9pf0vTLOCw3W7GJh5fJyeupbEtozmdv6eMX4cv8cByaB5xaRIuUXDh3iSIWTy90t5CWWjhC_raHraP-xIqnZj5aPV-SXYDm-ujnRfzvKzkuYRtec9ou5qJd4AVe1GaLQC31HTNCPF2ARhhQjAcX6B7k0LCcZvk7FWfg9MWfkdZ_WtbiKzfltbtY2B_p4tFK1Lu8BEYs9eA==",
  "id": "rs_04088de4166c88f6016ab44926d68887d0a790da41d51bfa17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The right arm stopped at z=0.131 instead of descending, so this cross-over pose is kinematically blocked and cannot reach the tabletop. I’ll park the right arm and use the left arm, which has comfortable access to this left-of-center location, to retrieve the pen for later handoff.\"}",
  "call_id": "call_TlRB7clrfSVONAG698BAQ2Dn",
  "id": "fc_04088de4166c88f6016ab4492a04f887d094273639d2431d65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TlRB7clrfSVONAG698BAQ2Dn",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-0.0219, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.0547, 0.96, 0.7925, -0.6102, 0.12, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1752 left_yaw=-0.0013 left_pitch=-0.0156 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=-0.0014 right_z=0.1745 right_yaw=-0.0484 right_pitch=-0.2117 right_roll=-0.1036 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.4701, 7.2547, 1.707, -0.0611, -0.0415, -0.0171, -0.2256, -3.4256, 7.0222, 1.7118, -0.0464, -0.1294, -0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418beabbbb3585e828daa6b556be84840839365db05b016fba2381f2cb59a6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e3ac359be8c9151e7eeb2537dbe61d49e740e98b4f2b5ee498f45e1d58a1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec83dff5cea0b2ab9a79314ac694f979dab9a4ab3ac3352f40e077ed2b9f288",
      "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 · 5.681 s

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

message 23 changed as sent

message 32 changed as sent

message 36 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]: [-0.0219, 0.8032, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1358, 1.9553, 1.5768, -0.5869, 0.6586, 0.6621, 0.9987]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1768 left_yaw=-0.0016 left_pitch=-0.0099 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3005 right_y=0.3987 right_z=0.1496 right_yaw=0.2225 right_pitch=-0.1467 right_roll=-0.0501 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4427, 7.241, 1.7509, -0.0366, -0.0659, -0.0122, 0.212, -10.441, 8.2393, 1.1746, 0.6667, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 1.1057, 2.1181, 1.7931, -0.833, 0.7261, 0.8501, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1757 left_yaw=-0.0013 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.3213 right_y=0.3868 right_z=0.131 right_yaw=0.0238 right_pitch=-0.1956 right_roll=-0.1051 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.3333, 7.0632, 1.7021, -0.0562, -0.0855, -0.0171, -0.4308, -12.506, 8.9368, 1.0427, 0.5934, 0.1783, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.0547, 0.96, 0.7925, -0.6102, 0.12, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1752 left_yaw=-0.0013 left_pitch=-0.0156 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=-0.0014 right_z=0.1745 right_yaw=-0.0484 right_pitch=-0.2117 right_roll=-0.1036 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.4701, 7.2547, 1.707, -0.0611, -0.0415, -0.0171, -0.2256, -3.4256, 7.0222, 1.7118, -0.0464, -0.1294, -0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418beabbbb3585e828daa6b556be84840839365db05b016fba2381f2cb59a6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e3ac359be8c9151e7eeb2537dbe61d49e740e98b4f2b5ee498f45e1d58a1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec83dff5cea0b2ab9a79314ac694f979dab9a4ab3ac3352f40e077ed2b9f288",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkzDX6aDOxE4N1Id1pmgvdELRelD71CLlvpBcRqHVSxVcP4ITtrxjPbpaFW6RmtrBVbWiO2ut4BjWKRp5L4tsUPr0A0V2o3WtfQxhcHPpS-0CW7VthKxg-hbzGUWZks4YA86hg5qEb8HQ2Nz6hszU21V4s_81Mf-PkwZZbl5ebnZitf9_b-foLKI0cFQtn5HfOH2M4J6gt7EVwoDmO7GpZ2k9r4RT78q-ScQ3FhBykc8h0w74mzjUhLxJJ1sNT11lnm3J8G1MytynQHFiJoQvPpQsy_lnZ1vl5mbJZ1nCmkFhzNoVCJ3A8uXzH9mkRXIbSaRPqfSwEnW4hXuuVd2W9p6k7LSp9g_h7f59Y_nk_4r5p2pSqLPpk-UmU1ypNr1SzGwVp-rw-E1Ls5e10JNVb5xrFOFLZJbVRZ8aLgUHlWByG_sQYA3cQIpvd79s6B0eQPZiIXzWVXbtEbPxhpUdNHyJHUzUd9HF09mVvdtBBUR8EwreQc8BDF58MZ-GhTogwO3T3x0nPVooonFU9Nn3Oxv570zxlKIp--InaM0Fckl4Ceypd1FINHN_RT-5eg7hya0-QE6t5A5tePNX7yldIRUP0ahNgPj_8kzbiKiUb31CyZx0NcSTJvMFB6YZVDwqw8oz-z0CP8pCouK0KVB0nvwVwShcJ6pQdCnltT_5i1vPRt5VM6HQvGPYGgpY3jAZ9IaWamgFLUDLOiLS9vWq-PKi549-4N5N6kG2eflpfD1HSLNQr_kzBtzMfbZ6Zq3wSvbQuLtoPjrVIM9-2Kodbf54mTPRqZccse-gBRok-n6rfUROHwx5Nk3w4L9goUTlZy07XIxzcaXrJUBHXXNgCPLXror-uRIbR3PNXXwPfUHQ21z6cM_O0hWaslW3HMHeEnm7it3kGyg3CnJ8otRCXste-2qPCpNm2Qaagns56nZk_OqFyV7xA9z0zGGyFfaa2pwtd52ENxJLS0-ET93LF9OitNkgeIbrJKFgS8HOFj7PXFHYF0hXbszMEhNsf-ZenTMmvLId8BMyWpff_JiqHDBr3xKLPNfDJ4pSBbHzpdoeIFTMXiC1ObQn4UF1xqdzj5aH35TgekvR80_VqzALeHSUt0a6UjJJw6IX5hf0df4AWzYiAjY2GPGv0USAh9KT_7yvRcX13OQByaEM4KjFkCZAcvVfetJ3u2ItPfa-K32OS-xoitvswCMM9UYLeWIL38M0FM39NNUsYQue_BJXdBwGMI5AyRm93W7eetnzAjgBzZOh0TVBNzeNTNhqQUV1sgv3fPk4CZ-V9-mZi42nG3_xeV419k0ubVH2_FhPTijp1m87Vg86TP2crz7mZx23pu0rOLr-zq4vVOJo5wFRl8UwhZrdQY2swZ9fVwrzFikfLactUGWjq25R_AV8LfwkvqzxMcj-jzzO03qjeO7vssfgaWOr7KRYtzVGu2Zb95cvliDEhnk6DBsTvYQjgZJAmmIeQbECDfYELa45IaM2XlDvvxbFlX7YMQj6ucpM3vkolovu_rIRYgHLUQSLym6V74LqtpjEk5iYai98FGoKsrbmrbgS_k62okR9RnzL6ovm-Qz-iy7dh6ugG6AU17wRKtB3WfgbikTG90RlsxQIO9l78Voq_P1o_rkCMsXo1hMnQ_TkESWv8jHcekZRFCVlg1EPRLSkdYbFRhRXHOO1bsJRUkQudyDXppm5-sjnF5ZrbAYE_jv5fmpnKnouCb4PIG3jDhy3_mVXbePM-N_tPLUq0Hadtl5_a7LBegB27-LDrmOBbsdlM2HqQjisLxZD0Aje0xxToaQDoao3ymSyJZKvwItKXrwtTkgft1toIecb7Q-OrwlV0TqOWy83TmOz-efC08Ix6FZSU-IrjEOqAwRBsZA-mPjia2KZgPfrge-u7_mVl9SM4jrYq3030USTqSPNIS3DeE5vJ1bm6jizIBMdmVvp4HQpMV4Plj3LDoU54E-ia5gqU6ehF4ExzO8h02woXvdksmFi-ZtVn7ezh5IPIr9SBCzR5tyHVQ6h0kEIyc_LBPvsmCgQtLk88CoDr0drJcag7qyUxENSGaxN9Ee7Vc7KaKQL6bfx5VclbzO3g56Z3f2WDkRWO9pDqOhKZnQuIAEfnwpidjxukEdChsLpY_XNTV-37CvQeNssUOM7w_9Y3WF05akdzTs5ezK_4q-__aOi3A5TXn-fv0UicI_WckQT6CPK6u2u9MlgpUmyGhrwzvLQ2y4k7fsLkJDGX9jFXLjft6UirKik5aig82iSawQIrEj9NWzNgFry1SAEgAKio9HFhrMjfHQv8PZOx0AzmnChxup64PQU9UjauEg9KMDZO0o4HXc9X1G8TGdPW5_K4cjBi9fh2vOau7dj1I7XgL5AK463eN6V6IOn1jcZ-mVy7tBtp9828Vd3-0IjYpB_hsum3SjqAxJqVY3xQVa5AQ8cRPOb9ws36Qg8q5wA==",
  "id": "rs_04088de4166c88f6016ab4492f8e0c87d09ecde2f535b4e8f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.25,\"left_z\":0.15,\"left_yaw\":-0.2,\"left_gripper\":1.0},\"note\":\"With the right arm parked, the overhead view clearly separates the long pen near the lower center from the short cap farther forward. I’ll place the left gripper over the pen’s midpoint at an estimated x=0.25, y=-0.25, rotated slightly to match its nearly forward-pointing axis.\"}",
  "call_id": "call_ThPIDA2h94Ywj73rApkit3Tt",
  "id": "fc_04088de4166c88f6016ab449327f9087d0ab72407611427eb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ThPIDA2h94Ywj73rApkit3Tt",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-1.1294, 1.3136, 0.77, -0.363, -0.7113, -0.654, 0.9995, 0.0528, 0.9611, 0.7925, -0.6201, 0.104, -0.0345, 0.9987]\nstate[eef_state]: left_x=0.2439 left_y=-0.2379 left_z=0.1315 left_yaw=-0.2133 left_pitch=-0.0688 left_roll=0.0413 left_gripper=0.9995 right_x=0.2941 right_y=0.0008 right_z=0.1723 right_yaw=-0.0286 right_pitch=-0.2244 right_roll=-0.1039 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -4.7248, 9.5385, 1.4872, -0.6471, 0.0317, -0.0611, -0.212, -2.3453, 6.8308, 1.6288, 0.1392, 0.1099, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4014e0591eafbc04a25c5b1cb8c8b5ad3dc71c274e6d94b709ac67405946dda0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be451230ce7503717df64924e5941864d8b04e9a1c05f58c34cf27025fe3145d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061cdbf8cdd382199f7fd865f80bfd9253c5ec0a1eefbaf8154084ab9c64a93f",
      "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 · 5.65 s

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

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8066, 0.6029, -0.3809, -0.0216, -0.0254, 0.9995, 1.1217, 2.0876, 1.7702, -0.7826, 0.7219, 0.8074, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0134 left_roll=-0.0003 left_gripper=0.9995 right_x=0.3163 right_y=0.3957 right_z=0.1416 right_yaw=0.0745 right_pitch=-0.1726 right_roll=-0.0835 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.6205, 7.0222, 1.7363, -0.022, -0.0659, -0.0171, -1.1009, -11.7128, 8.841, 1.1355, 0.6422, 0.3687, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.0547, 0.96, 0.7925, -0.6102, 0.12, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1752 left_yaw=-0.0013 left_pitch=-0.0156 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=-0.0014 right_z=0.1745 right_yaw=-0.0484 right_pitch=-0.2117 right_roll=-0.1036 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.4701, 7.2547, 1.707, -0.0611, -0.0415, -0.0171, -0.2256, -3.4256, 7.0222, 1.7118, -0.0464, -0.1294, -0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1294, 1.3136, 0.77, -0.363, -0.7113, -0.654, 0.9995, 0.0528, 0.9611, 0.7925, -0.6201, 0.104, -0.0345, 0.9987]\nstate[eef_state]: left_x=0.2439 left_y=-0.2379 left_z=0.1315 left_yaw=-0.2133 left_pitch=-0.0688 left_roll=0.0413 left_gripper=0.9995 right_x=0.2941 right_y=0.0008 right_z=0.1723 right_yaw=-0.0286 right_pitch=-0.2244 right_roll=-0.1039 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -4.7248, 9.5385, 1.4872, -0.6471, 0.0317, -0.0611, -0.212, -2.3453, 6.8308, 1.6288, 0.1392, 0.1099, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4014e0591eafbc04a25c5b1cb8c8b5ad3dc71c274e6d94b709ac67405946dda0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be451230ce7503717df64924e5941864d8b04e9a1c05f58c34cf27025fe3145d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061cdbf8cdd382199f7fd865f80bfd9253c5ec0a1eefbaf8154084ab9c64a93f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEk7lb4Qg6t0B8KWYs8cJeqBHMVNSdGU_E-FAJfBYhko8EN9o1iH-HHJ7TJTvUR2bRZEzotfWuZGKxsh7IPN7psv-5WYqU1_6YSrMe0-s6kYUNVr1llVvAZ90u5RPFVpnOvMLDqFAvZ_xlJKtx2kAAC896N6tHPfKL-qCzTz9YxgmyR8PMpdcy4i17bq7Xr0f5tkm1T6Xa7Tat-5KfMEsO8TsRyK1X6gfeQdKpxcAQKzHvlS_BbS2uDiuDiIhTsvpFStox0PaQVU--7NkYoezDYZP1KaiARPe436ZKLmcIlDQwr2WjRvvllQ_7Jtd8g5kGKxcKsxCfkOdxsk8AYfnjFhBImX9ofr6VcnwSZS3m2-yiFG2nUdENPEoNsJS5Ts30PZsBxGM7B2TeWoGdMJdmIJ0zZAW-psaU9X4lK-J2FjwR9BCFR-TD3DBDHb3tnl-lRlPmcrUoWaWWIgjuOspBWHVoVgJUp9nS2_UMFP4qMK4Zi45NwXt7lPbnu9S2NE-QNboZTaTMBBRKguWK92GqyOZb97yScd656kwGua79pDIorfxHBMVJdTRV1sJHZvYXh658x-59GlcbmZ6RwNr2ii5NBdTi8m2k8D8CFMLzy-aGn7uyt0kWy0eHKVNroqKPrwZuP7iwTxLJYePqxoST9hrJw4wMV3Vp88yXC2X46xvILi2sLd0D4PxnQlrcWrqHk-vS672xu3I9QwWISv2HYplNHLi_YJrXf9-tMWMrbLNh5ZJmRgCrAwB7Hg9e-Fkjdv3VSDGmllDUuK1QiHMRQ5DOOoeqagcr9vbvrtF4C6vKOLXnB-IK9hSSc6IVhRs6xFF_NE5dTDfQZ_HfzAcYeGyxKFtos2o5pDhrdgm1rVnQxShEfy_xu-5S3MwAx2zbXy5mIL0OYm_2wL8VY4HDgM6rBJj8X4fSPaxJu49ylR7tjF75Y95sv53UWUY5XzbADO6LG3dwgEB6nTt31Uzp01hj5-74NxCe7UWWd2T4IBWPzDnQOy3AJgN-gvXsWpMVWuxwRHfwVPm_kE3bTKv8sQ6PE9k1yveA-Gv8uUPZquCNG3KGhh3sCfyDi0T20cy1mDoBPI0wtMq9BzXO7mTfIAhrMb-cfQs3QSqakel5DqFHxIsrEa8YBYER3xRPpOAGVpV9RGadXo3QC6RJivUYF8s-bqmYRhVQeDgmM3Cpo6PKIVIP4bX_3L-f1Eh8R9GjGc8-h8r4-2m2XYSmTx1ZE6noXMtI2aByoHuBEEom-1dSgqDY7XG8b2wvIAGu-RUUdFEfX0YtvutYIBC5If9_t7WfgAd-Z6aN6jwbTPNUiN7jcRiOdX-ipgiLEo76DUkYeNliJJo6ZMUKXA9-hI8XqfLNxFedDCjqS0brEhmQqtw-oQfTDL6LHCIhT1j36wheA-DTFamQN4sH4YltXme62JxRjkWQajJWL6NDm2tri3sDfAwlJPiUki57VntKbR2J4_OrsPsNsPpBbXJ2GxwGXQU2-l4df83ePzQDC3n-9ls2H35ECiWXIqqHPJR5mdyufIlOCkFoPdOoNTtKEDyJJmt8jtNvWcstZYX9TD7_fKqNtWPR28erLhhM0RTV28VrTAj95jx6qNYNqrByJuqpkRBqld_aXFqlpWTtXxxLPkihlKFfLm3s3wHnPMjzg2MwyzIhBZJe_e3OtZe-PYZEAeTCrrLvvL9YhSelS4aCMSWpbgoYcm0K5g3ZU7qRCmN2RL5UPj5sOto5SGULMKSL_A7wWKnD2FhKUbfJJyNe6NKLoRk1YYRrJ0fl3ARz3qrFKqbx3GWDkl5ymklhcVFs_ZNUwFTY7G43KXCfCFQ6nD_2n-XSpIgxkcsccLC6RM8PjuBYNAs2bLhpkO_mJv3zp5IsSh0mDfzbdyMnoBvzNOXt5Tjy4S-ZvylSl0QlXFi4UvY_tBcgu9jFEbzd110nhsYl-qSmGk1VoZzXUMjHfkv4koADlbM3hxL6CN3j6xydHLdUr7xu9ri0-kli-rLTje83FobtL9_2rmHU7QrFN6at8DjDYFHUuW9IY8ZZGTuOue0SOkZsRlQR7VOOnjb-4I9PPCVnYWR2K-Hvp9U_THI1E_m5WA-LszGflY2CuMdn2Z4DDr7ZTnV1t0C8VvhGb0sOhTsn_mkP1jeExNMvKJlbOArtpltiMnTfvnpXAs8RCZ1YDn4CV4ZZOq2zu7x7iZr6Qjee130pIkJV67v_vavizXjYnqJQxoR6aBNOhDFx621_d6C8D1DR4KH0iot6ad8NsA_VfjmxehVa3DRIDcY4z8UxpMC2QQyxj7bJVT5AAOCu9vb6iZKTIJyzlZ0Dyl0N3Wp10yS5z1P4vwYWL0LvndpM2CxYOsrc51Bz0r-rXEuxPWpQ_jQre3tBdohZ1IyU3li4IwRYaMzR7gRZ_zDr0kmWkV3LZuru7RiYyxhSOEBHGGPQxglraxqvXZvScNVxRljy0fWtyA0uqG1a65zmJKvtS4hG4AbzfzMq1wc4_I3q-nNTKJ-dUwiItmLE0lDSo_YfqXkpXsTzv0-1XpcKv5jjslp9VHaS-TuzOFEWIagbCfIQdHWV0IY0Sde2WYDO8uTK8uUJwyh9bTd9kgOT0r9tF0Qz7-ZQlLxoj2KWog",
  "id": "rs_04088de4166c88f6016ab44937125c87d0968be47999f32a2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.244,\"left_y\":-0.238,\"left_z\":-0.01,\"left_yaw\":-0.2,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the pen running down the jaw column into the fingertip region, while the detached cap remains farther ahead and left in the image. I’ll descend vertically onto the pen at this well-centered pose.\"}",
  "call_id": "call_sOAYDZFxDZ9kVdGuSpVA9brI",
  "id": "fc_04088de4166c88f6016ab4493a8c2087d0adde0aa0f0006f86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sOAYDZFxDZ9kVdGuSpVA9brI",
  "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]: [-1.1366, 1.7298, 0.4885, 0.3168, -0.7406, -0.6838, 0.9992, 0.0528, 0.9661, 0.7906, -0.6235, 0.1005, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2374 left_z=0.0004 left_yaw=-0.1847 left_pitch=-0.0599 left_roll=0.0457 left_gripper=0.9992 right_x=0.2935 right_y=0.0014 right_z=0.1695 right_yaw=-0.0254 right_pitch=-0.2349 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -4.4513, 2.8513, 0.5885, -0.022, 0.2125, -0.0952, -0.2803, -2.4957, 7.1726, 1.4579, 0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef68cdefbf19e28e50d0d5c1c7ac6c729cdbddee8962a9533f0e39c0ad8b390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3319bd026721c84567f0a5f33847a7597121a2b291eb1fad82e8519641c99081",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f808505583bdcffb09dcdfbd72185cc466524f716e223757502c4d5257cd231",
      "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 · 2.52 s

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

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 1.1057, 2.1181, 1.7931, -0.833, 0.7261, 0.8501, 0.9988]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1757 left_yaw=-0.0013 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.3213 right_y=0.3868 right_z=0.131 right_yaw=0.0238 right_pitch=-0.1956 right_roll=-0.1051 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.3333, 7.0632, 1.7021, -0.0562, -0.0855, -0.0171, -0.4308, -12.506, 8.9368, 1.0427, 0.5934, 0.1783, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1294, 1.3136, 0.77, -0.363, -0.7113, -0.654, 0.9995, 0.0528, 0.9611, 0.7925, -0.6201, 0.104, -0.0345, 0.9987]\nstate[eef_state]: left_x=0.2439 left_y=-0.2379 left_z=0.1315 left_yaw=-0.2133 left_pitch=-0.0688 left_roll=0.0413 left_gripper=0.9995 right_x=0.2941 right_y=0.0008 right_z=0.1723 right_yaw=-0.0286 right_pitch=-0.2244 right_roll=-0.1039 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -4.7248, 9.5385, 1.4872, -0.6471, 0.0317, -0.0611, -0.212, -2.3453, 6.8308, 1.6288, 0.1392, 0.1099, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1366, 1.7298, 0.4885, 0.3168, -0.7406, -0.6838, 0.9992, 0.0528, 0.9661, 0.7906, -0.6235, 0.1005, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2374 left_z=0.0004 left_yaw=-0.1847 left_pitch=-0.0599 left_roll=0.0457 left_gripper=0.9992 right_x=0.2935 right_y=0.0014 right_z=0.1695 right_yaw=-0.0254 right_pitch=-0.2349 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -4.4513, 2.8513, 0.5885, -0.022, 0.2125, -0.0952, -0.2803, -2.4957, 7.1726, 1.4579, 0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef68cdefbf19e28e50d0d5c1c7ac6c729cdbddee8962a9533f0e39c0ad8b390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3319bd026721c84567f0a5f33847a7597121a2b291eb1fad82e8519641c99081",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f808505583bdcffb09dcdfbd72185cc466524f716e223757502c4d5257cd231",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElCNhZw-DuV7YBiD0EbPaDgXd890MNmO4JSRTrs68q_gt-EKptGoSH8CR16rRf_ofjF7BVEYE1vhQvl4nVYLCZ4J2i1U6bQrDD1geAc3o2i3HURy6pObeu6BUok7ZKGlIJbE9gpXnUR0lX2ulfiKRrGi9RYVpO5Kqk0u7p4Pc4D5PQWLOBz2hM9GTURzNF8ITip4NjTvJ4QMDoR0567pdAJrmxKxYGIZV_CEAVtCzZAkjTo-p9w8XdL0AW7VrKPWNlf-K4SNq98ylAlsa0Ewq9jm3ez4IDAhu7FPfFss1Drc2lfL18IRdTxGa2J0oETPyJ2Qxrsqao07gRZd4ugN1wQX-_wIbbp_l4NmXbZzOVOR5Iofu0Ybd4itMDo92TxSn5w0_OLdDrxB-V7FRN3GVYaDZNuxR4tV3L8_BIJfMPLWODgPs2zIVg7xx5xYjSXVHgeA2a84NTBEY1nehX-_KWjk77Qz1SZ71eBhdq0QSbCtWyX8_gsQHcpuEw1fNsTwwZpLOJhuNK5ue9HjjSkR10WwMWFsxBv5yEJAEFR4c6cxvrX8gIlVP0ljHD3UrvFEVs4HPmHIMT7L5QS0qRuhbrBB65WdNtT3A4adU6R9DJQNwo5daQxcUgiBE4GdLVJgFi7SVT-KDnGSek7qvqKLZivnm4VJH2WVh6SMV_FNT9n61UcAvIJfD9PSaVe2qX4x8lkpUILAJcQd1bbgfhldZxy6eNLYb-6velQzZEnI3TjjfnzqTjjXBRrw2MB_gxCoMU3vyuvnnqncx9G7KjPPdlplxuI0QfSdZ89Z2XxTYI1JmxVCxUnEDs1v8HPOGHjvU-uCWQ1QdJTsuwuWBb9mPx43IuZqe4foTFfCls4tzA1Vqm4pndwf_J5S350Oyto51KlxQDF2zFoHS07z_eh3llZQH7wrUjCxzjj1SbkSysEmLdmyPkfRWWYDJi-28J6bG7miLwaUhVqOspekUrK-nY1sN0DkJY9jrflG7QvVWnDsPffwHGIR_w8Yce7hn4PN6TVP8zI0lmrs8lPuzA7X9jJ8z_V6RuISlMNIj1wvm8y8M1USoUCBvFwY1ADm8orhqm7Xid7d7wxOLniGUfJlieh0Fu-nHWb-2M40QRNfyFsErp0rBi1beQn0aO2fdo-J-4eW7qwtufez3rord56no0dAefyk-G-Z_mp3AHeWNAHNnrhpBBL8x0oZl7WQOlqWHBiR-7JseHgvCve4EcxO2WmBPt2Ucua4CCHcPCkoUOkxwYJzM0cctgLKGAh0OL_DaIEO24103NoibPT6tPowsqDx5rw5BxCDLtkTH8Eqtib9x3oOYTDCFcL_Wq_UIcaH18Tfs37QVfKWq17Yly895ekMXm7wSVrZH0CXE66yqkR6r8wUWPkBjkFhJzp2nyC7AUw",
  "id": "rs_04088de4166c88f6016ab449409d1887d0ad2a5d736e8741f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the pen shaft is visibly centered between the left fingertips, aligned lengthwise with the tool. I’ll close the jaws across the shaft now.\"}",
  "call_id": "call_UOthWqJlb4ROeoI5TfpYpq42",
  "id": "fc_04088de4166c88f6016ab44941150087d0b3cacc474b9fecba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UOthWqJlb4ROeoI5TfpYpq42",
  "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]: [-1.1378, 1.7397, 0.4797, 0.3477, -0.7525, -0.6907, 0.0448, 0.0528, 0.9668, 0.7868, -0.6285, 0.0998, -0.0349, 0.9987]\nstate[eef_state]: left_x=0.2464 left_y=-0.2367 left_z=0.0 left_yaw=-0.1752 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.0448 right_x=0.292 right_y=0.0014 right_z=0.1668 right_yaw=-0.0252 right_pitch=-0.2444 right_roll=-0.1027 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -7.1453, 4.7521, 0.9597, -0.2027, 0.1099, 1.0965, -0.1846, -2.3043, 7.2684, 1.58, 0.0024, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862ecf915ca31345877e365957f45df4c2aaf86acfc349f42dcfb0322df68d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22db42d39bfe6c2b86779571cea26c0ef230a39e7d5d583967d867e3bd4ad360",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6776dd28e2d52ef602640e3295b857de95f71f0ffdfc116c3b7ba83923018121",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 8.409 s

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

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6029, -0.3809, -0.0219, -0.0254, 0.9995, 0.0547, 0.96, 0.7925, -0.6102, 0.12, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1752 left_yaw=-0.0013 left_pitch=-0.0156 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=-0.0014 right_z=0.1745 right_yaw=-0.0484 right_pitch=-0.2117 right_roll=-0.1036 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.4701, 7.2547, 1.707, -0.0611, -0.0415, -0.0171, -0.2256, -3.4256, 7.0222, 1.7118, -0.0464, -0.1294, -0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1366, 1.7298, 0.4885, 0.3168, -0.7406, -0.6838, 0.9992, 0.0528, 0.9661, 0.7906, -0.6235, 0.1005, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2374 left_z=0.0004 left_yaw=-0.1847 left_pitch=-0.0599 left_roll=0.0457 left_gripper=0.9992 right_x=0.2935 right_y=0.0014 right_z=0.1695 right_yaw=-0.0254 right_pitch=-0.2349 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -4.4513, 2.8513, 0.5885, -0.022, 0.2125, -0.0952, -0.2803, -2.4957, 7.1726, 1.4579, 0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1378, 1.7397, 0.4797, 0.3477, -0.7525, -0.6907, 0.0448, 0.0528, 0.9668, 0.7868, -0.6285, 0.0998, -0.0349, 0.9987]\nstate[eef_state]: left_x=0.2464 left_y=-0.2367 left_z=0.0 left_yaw=-0.1752 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.0448 right_x=0.292 right_y=0.0014 right_z=0.1668 right_yaw=-0.0252 right_pitch=-0.2444 right_roll=-0.1027 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -7.1453, 4.7521, 0.9597, -0.2027, 0.1099, 1.0965, -0.1846, -2.3043, 7.2684, 1.58, 0.0024, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862ecf915ca31345877e365957f45df4c2aaf86acfc349f42dcfb0322df68d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22db42d39bfe6c2b86779571cea26c0ef230a39e7d5d583967d867e3bd4ad360",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6776dd28e2d52ef602640e3295b857de95f71f0ffdfc116c3b7ba83923018121",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElFQTFJCQ7BBjAqsU0QVDrmfOJipNPHBBIw78z4VO-GO426qZbceXz3nmKpmYy626O1pDBeA494ZUGI0tm_gOC3KUdUGb0fT8nZi8o_AtWc8O7R1AxH-lOMXjFlKy-fEcltZyTtWQozg4Er9tdtUEhjAPnH2UH7yoYn_6gQlHEPYENuDNPDrbHCcH6VuJvmZUwaVkI_cr1Y5yzqZD7TQT92yeUrFwLSEE3-GD-Agq5VlbcxateCiHbuc0VuOySIoPhk75J0FPGLaqKIYVOK48FDHsB_362conZ9gCmkLqiT5Jjblcm0jYdYlYH6eiKWFIGLbcKpdDQ3jq8F5iFbOZcohfFLahlQfSYivqp-VDBkpTuA2ONfeSvPXIKfQ4Gc0YJ_-oCnffVdFoxQu6huNF7YFH07wPBC45P9tqLwYUDFhU9USn9YAMmf6IgGD2J1daohQMCYMEBhL2Dl19ZqmG1rv_8WGdQ9gzUtTI-JSpxFVhNAMRfCZPM55byzj9K2t1GVii3RkBjkSNKBMIsRfcTkls7y5bR0JgwMr0lWNwHy05WC0hbYwpUkHTOLDxrsRYUOKdX_NhFo1vrnzWmwur77-589qZV2FcA8HseSreTOzMiu9ON_eTfbWmDTpkHfcQX9wW1NXDrAoAFbXIINIvWWipGJVd-xVHSFBbAwWsxAFpJU3DRnq1xupQRT-4kfONKb523y0JLlp2-8VsqAjbVYczXjaa2_ILwRjvfx5WubxHqte2N1wYNHo90_3IsVv7xRL13fviGB0Z61r1zHsndmPk8ojwbIrGoW0lAZce6j0jT39UWjf154kr25EbRPGs1XV_NN9bWBYEHzNTCeK8DTmIhlIL8I3Pn-lLkEZNWOG3M-KV88ou-4BAWroO_9vt5oNN8ldCdE1bsSjAPKxetDuFrOq8aTDaStaQxl6ri9QAe0DHETY9XqI1jpXxWEDgGJT8_QwfMbsY8aN-3XhAkFaVQWPfg0SC2O3phE1aXFqeDBhKVcj9dSlGH1KocCBjjx3oqQVTlvOZA4-ms8DvWrkspxubvvR424iiwTVxF_EjoJK_IdkSLnU8uPuMf_-tw2mBUYfAl5P7vk1FRjPGHFk1ZjOXSn64amWandcUZoGB6gJ5iYcetIEI2UK7O32l5RATQ4GeZVdhyTZp4ze2E1gPLSyRpNsUovOrjF98oFArLbEM-wxw-fUXXtURpzO-eP0AsgH_xMzGbyMT6cJGVRn36xPpdcPWTQgk_GWgSM2cmKR0xR2TnKcBoqWh4f3sWuia18nb0NsT9agQYHYFuZOQFDXQ5FvqUtu7dEgdQcPwBv1tPVzXJtlUEHjDOgk-gGb9EUo717p0FHx93r16BDkdhQp7t0hMbi_Pk_IFqQFJ8=",
  "id": "rs_04088de4166c88f6016ab449441ce887d08f88fd0adc33309d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The left gripper settled at 0.045, just above the empty threshold and consistent with the pen’s few-millimetre diameter; the shaft is visibly pinched between the jaws. I’ll lift it 12 cm to verify it moves with the gripper and create clearance for a handoff.\"}",
  "call_id": "call_maBoowxeEoEcT27b0gWaLv8A",
  "id": "fc_04088de4166c88f6016ab44944948c87d09e632f5274b09462",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_maBoowxeEoEcT27b0gWaLv8A",
  "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]: [-1.1378, 1.375, 0.6849, -0.2138, -0.7517, -0.6994, 0.0486, 0.0528, 0.9676, 0.7868, -0.6312, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2466 left_y=-0.2374 left_z=0.1049 left_yaw=-0.1713 left_pitch=-0.0406 left_roll=0.0211 left_gripper=0.0486 right_x=0.2916 right_y=0.0014 right_z=0.1661 right_yaw=-0.0252 right_pitch=-0.2479 right_roll=-0.103 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -5.9419, 9.1692, 1.1355, -0.315, 0.0708, 1.033, -0.212, -2.1402, 6.9402, 1.5263, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd26511269ce6322532d7f177d934f6428cf355bdbe2e895f40dde3476828f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e5027adcb79f00aca044a132d617e7b2b14ccca1f3e0b28cf1e63185ea27c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e4b38b1187992524b37413f80f792bfe046281108fecc01b18b3c6fef1d0b8",
      "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 · 1.886 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1294, 1.3136, 0.77, -0.363, -0.7113, -0.654, 0.9995, 0.0528, 0.9611, 0.7925, -0.6201, 0.104, -0.0345, 0.9987]\nstate[eef_state]: left_x=0.2439 left_y=-0.2379 left_z=0.1315 left_yaw=-0.2133 left_pitch=-0.0688 left_roll=0.0413 left_gripper=0.9995 right_x=0.2941 right_y=0.0008 right_z=0.1723 right_yaw=-0.0286 right_pitch=-0.2244 right_roll=-0.1039 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -4.7248, 9.5385, 1.4872, -0.6471, 0.0317, -0.0611, -0.212, -2.3453, 6.8308, 1.6288, 0.1392, 0.1099, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1378, 1.7397, 0.4797, 0.3477, -0.7525, -0.6907, 0.0448, 0.0528, 0.9668, 0.7868, -0.6285, 0.0998, -0.0349, 0.9987]\nstate[eef_state]: left_x=0.2464 left_y=-0.2367 left_z=0.0 left_yaw=-0.1752 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.0448 right_x=0.292 right_y=0.0014 right_z=0.1668 right_yaw=-0.0252 right_pitch=-0.2444 right_roll=-0.1027 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -7.1453, 4.7521, 0.9597, -0.2027, 0.1099, 1.0965, -0.1846, -2.3043, 7.2684, 1.58, 0.0024, -0.0024, -0.0171]\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 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1378, 1.375, 0.6849, -0.2138, -0.7517, -0.6994, 0.0486, 0.0528, 0.9676, 0.7868, -0.6312, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2466 left_y=-0.2374 left_z=0.1049 left_yaw=-0.1713 left_pitch=-0.0406 left_roll=0.0211 left_gripper=0.0486 right_x=0.2916 right_y=0.0014 right_z=0.1661 right_yaw=-0.0252 right_pitch=-0.2479 right_roll=-0.103 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -5.9419, 9.1692, 1.1355, -0.315, 0.0708, 1.033, -0.212, -2.1402, 6.9402, 1.5263, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd26511269ce6322532d7f177d934f6428cf355bdbe2e895f40dde3476828f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e5027adcb79f00aca044a132d617e7b2b14ccca1f3e0b28cf1e63185ea27c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e4b38b1187992524b37413f80f792bfe046281108fecc01b18b3c6fef1d0b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElOPJDusyJ-1DJsQz8eImSPSweqBCXtoO5t_vG6znivklqO-w59SAJF0hy-ENnzPo0KxlqqgKUkudwGI3fqEjJ3jBu16M62_M6wO3otdW5cVfILoNaNzBYkMX2WQRK9kc23FGaZcdQsxraKDEpQdYlOfkvQY3g8yaOqooJ73r2CudZyS_ELO1uHxCJ6uwWsmX4vXqeo4SiEDe-Sfvg1Udy2bI6uk30A3IZKlZBAiUWsAFh0MOR-s3_tX9RxuyZeCTtljJh6mdXcLvTcwu0qmgMwXreJh9Laj9AbMKDgPZYsQc0mFgxjjhESgb_UqRm_F9I9BeA8RjC-HmcV6ugJo1R5_JsT18S-orGXiUm55QcuE_CzIoXQXBAXSK38i2n2zQMPECAqKCjrnr8VBYKYjbQJyroO00IuOCC7xYaWGOBKr_KEVSVfqE_aFKG283xjnrcYWXi2fRj15z_MTafkdzDvjJgQZSfW6Yvk5CCz27l-6Inq77JJxVblyR4wTuSe1MN2agt0T9ZCWJZn32egOsSFBwbquQWKBLgdLPCkBDZd94vFSVzvqU9dHJe6BOaSkJZcafRphbK3-M_g4AHAdRMa8f4j2RvD4451HAtOCTEfswPj6kJws_y4eeigRuWK3b5gafm8VqFQB-ZQn8qFCHzkOJmg0-AYdnkJn5DYDwIxIwBqcVoDu6RcNfx0wsYtIIp0LxC0QnhLmDYOuo2OSBM0I0io2umAHRWKO1Y673pf7yHJLexPldhJXAkFrgssbZOqS7cnqweQtMWoDB7ud-ySaLaZ7UFCdiNd8lBZTuLF7YT4gIfO3KhR4eufmftMsab7FnO7QWamDP9pAQbKMO1TEn52PWDTr0X2N0ydKsIQCXf9AMFt-zh-pl-bdddgRT5ZYk8GLi5QQS9CQJPectcX-eobKWou9LI-hRNOBHvuUj0s3bF9KYmn_MmdX1ltioNnvEIW3uDxcpxNclbXbMWeLOc7bL-5bbJ53PMRmb4MZyunrDnKOi7R_Un8abD_Z0AU1Zc6upE13KpyHaHvF33tC3XUBgXhUjUPfszXAtKVek7cM_EjtUIQ7ZgRESMJzUH-SmZqIt9lt4N8D8asGM2951-4e6SH4b9rbtp8JJz4YjUXQBBNIH8eZUz01BjXp0ulfTFCIodGuSE5lTIToy1DX_-SWvbn7KDpcwchB6cvvbTOhaf7NYF8NnHz2RUMeynituFIWH69mJw8gvdTQpYVsfvXRA6CZ_rEMS-BTbVWkTCjaqRbB_PCQHr_-fb-NgzCh9Lm3vjMQoA5O4rUcYOJ2pxauTMk9icTclXHPDf0_5I75Oio9-lvwop9KdqoYjznUSP83VqMkEaSXdtqqtf8eJAX2b7f1F-MZGkvtw2SxQRAiD38Ngtl1NCPTIutyg0N1rQqZYFUFC1UxM3OOBpI4PzyALwSGVVjfpiuIgvP_qyiIEhaGaZvxjZawcI9sC07FN4f0XM9o-lIDTqRvqBOY8oTen_OFbTix6cCPoc5pjvdBpSPwJp7tQ7Dmjco0Ordh3mOj_tOo5yUc_EopvjtffWBwKxdXxbkYlaYWE95nrH9wl-_UPOeU9bsFC-rrJSyrV18wqfmoHc5VAXFdZmBOFvKtSVNqBxmIsuT8ooRmhwxDqKvuqgIOTG-cHHpIw0LrLtoabhN8jp19HjlnojfFNoZyQl7ZjfVDIFtLPgtFoWbWtaVveGaYMDbzl_XZkfFmiqBL8n2MXyJEgPTEs-JNofP0CwP1k2TEscmNbaCmGOc2Va5eFGIBWmPoyYhqmQrHpkit3q9V_VdQYrCRay_a8_EUP7j9Wlz1dFFPzZjxW2_9Z7asCU5fjdtDYHifNW5xLPnbrKrLO1P7jsBGJPZSXScxgBcWL0TdAwGQRhu8W7fQpH0tDiGgHMn7oRe0LoMOCnssEjfuonVq6tKAkk2JnBpzvqRPVdEvvSYv8pYk9huL-nLkKCY4ushcaD_EHWfvP_4M7xGhRtE4peZEkDFFrjkdibAb2RTsJCuBRu-4V9RNoGGJ4P1kGfYJgV7GJLiocRiFK1CuUNDM3uO5jamhsmWQqZcYLiRGtPNieaSPZIa3UOu5wnhkPjOeg6wOHqpcDY_RF0OBT8dzbBretlAZlmbDrH5uOg7dXIDSsPtu5NIu6C_RkFGufbaMlflmmsI0XkIhLGmyb9QURnDI2rlsCe-aeruuJsR31zOUXE-UA8bcnuNNjWJyXvxiNEhfv9EC0-ZjGrudbvE6hPQc2oaGpMMBZyfngVx9l8FGNfBC7Y5IkdabP-lPf6MTRI3fQqvD8o0qrInx_qewGTH1H28x9fyB3D9Qe78RARqmIGcxt2L9h4zslaubHfrL83XdMXg3Fu7U6Nsi5fmPa50M-pu7Nw0G81gYFFl07gCFLJkdxiOkGpof3Pxzi5UMahH38fDxDjg5D5bRQueRs2FJBdepE1RLb0oxeJnBK-qSYVQqvbj_b28Y4lvtb5b3V-tfmtp9B5r3NQyfic1mRU3YmJKAD95W07MxkZCwUf4CJjjqXgWIEzQI9eOi-Q9QV0G75nBeOYlh2Xr6XQswjdzAEqwfvH84w8anA_JA2GN5U8uGG1pB48GTMYT9UJ1bqu9oR9XoeUDXnlbkMq69PxYh73hi5qMMjVWZU1z_8UmEFHi9fSJdUeysF6ASTiJs24TRuEsu_NFIzx5hehDVTI0RwrMuXx77QkE6txMYq4xREL5vX7hH_t7LaQn88z3BTmDSN3FMhfpiw7k8jvQRgLWJBez6_lvXzbjdxmtIQ9DpiA0qJAyMTUpGl8g2FsF5cei-sXViVD-VAF5kEw8Yh-QYyFiDD9K0VU8kiY8jzThd4-cPu2Q-3LFsug3ZPNi5JubI8Jg5PWNBT00wT5ZbxOwvHRkl27sCl-7QXx4c0oXGFkFYr2oBbtLfHW5pv6w6RhoIAOa-w5zTfsHQYpGj4D6K49-geYlVaHgb5is53J_8p8jzrJN7V5ZkXfa9tO3OvZX90T-h7hOtQXip_xsHjHFqt3oIDHq2Niq-E1AROazMdXgitMKoTivMUN1uOSalZ-2HnwvA7HKUzm7hwgZl3G_W80BS_9VuYFT0AJSuxKPPef5iggK2PteIEPtXtxCt3UZh4_IFCmO-UBYpqtFGMF7k8Swp6Bo2GIorqGuLEg2in6XR8649LiVYoh05PyQ_poAw8h_dqFCPTYSUTmTFvP1EpW5uy3w6nMff0Qiph3KZ_lXCFMyT_tKR9dVHMPhD4f8JLeROzcx1rieSA9r-23lgBPfdTo7NezcJNBs0_0_Ar9AXcifZQbgOyYjDCGomi7V4V218lLksKzKyGrxl1aas4_BHn-Q5-_5GBnQVRW4x8BmaBYQ71DRvxvJ9ab8Jlu9LaABRI_iJ5avjfxCM_MgzN8VbDZxghiFu8ImUwucAO3IRNoC0-_RUb6C3JryVpvMA9elglq4PVDjImMu8mS_nwjlUfstusDWa8Ku70DOgrWO7uK8YUjpd31gF5L7HQOtV5t5P2oN-5ghe7-mtf05ipwNm9auas6m2nC59qzGijZfBaq8ONH-KEy45NeU08DYRXUXTIOVpt_S8qGqPWfMmFM1sHVUS76Jew8M4qNw6JUflv89DMKNB4XAWAqzgE5EqFVHlMFGMrwBW4x5GIMB5sK0-XcyGJ3joJ7Ig49z-wWGAA_U6-AWQxlClSXVb3d6mm09eef62KA9bfRYS_26RBi6qbkEtg1--jUMhSRVdjWajUtij46lg4eTRaMVROsjYtxHSl92v9tLd-RtWsuR2fH-f8ZB3ipWU89ZKUSmi3pJPax3LIiJ4OOt2NrrMjoqALeU2P_dthf6kMCe9w3OTUVct7shihG96Jo7dcUgvovjNFruNaKWvxrCOh0VJjVqfDZkx_guHMJYkXpabmpAgR8v3Btwsf1bUAlHA4hRP7CX_LisOEzR7Xk4u8HFkiQwM5xhBRU6NSSPVx772A_bMB1ijA==",
  "id": "rs_04088de4166c88f6016ab4494738f087d09f1d2bedec3e08db",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtElOvFPucBnVNaaOQbTDxvRYzTRa0KkQUfj1Xmf9slyvK0QQ24tegohss4LQqILm1CQwrrNp754yvERW22xWSN07e_JAQ_bZrv4sbnbWSXFuF7QxpFUh-lGoogu6e9DWzaTBAh7od3k4eGoej7FtTWt5E5rBzm3p9ZBlJNxWOb8eKMYay17I9E-gikr3tZXjqTW3nrk9IOUt1rPUm0f7z2kqHH1pl1AN4G3ZdwEsUt1T-ZrRqPk5L_hC1dSjqTfHA-qKTQDNrBcHt6s1vRcR-adSfSi9v4DFUztiKkXjLE7xexjE8uMJHJdwobvaLvQWbbMDlcc69e8TDAJnvtrkwGI091Hwbxz40pTorwa7jPoENCzUQDD2tjKjGA6YhNSHrzlRtxC4Jn4JUlNDopn5y2aJSWeQBIjUc25Dkl6NArsuT_aNcEFwgC0btond5LxB9wHalNRencOW427m519ZrJ1EJpD7yvnLfPH1SnS1lBKxSAHU7W8SyzGHEXjyjTVd6UVtRePFDAH2adBhkosmzOU9Z5Ri6qR76DNsF-za0mT9Zf_-qBXBueeDyiZDQMBc35iTgrba1dJrEaY8Y8XPNwqhuqurqBHBruG9gXM42_APgIFOttru8VvOSFhtnhsBGmM4-SqQUiYDCFM8CaR7catNmgRwfkjRKDrMNYZDvUUg3-KkijP0dvR8iRWjV2BIlg1_kNPS3b9lYOoOrhm6P-x-c4JLq7h1Fal9Baq60Og9fhTDMFZxAb3WrJkvF8yBUXSFcDufK3Y4dmEa9_aDieKpZ9s3KbtgTMzVcbjyBscWuPiuXa1fDlfBf-zYpGjpM2gBhpm7vjlAsZ7mjxcdF6N1W5kLgn6ozDkSAgKVvB8SyYE-NP_adbU53M3TMVzGvbOxMJhhkTfwO5cAkeTsffUbezaRC7wTa3fAbW9fCZAZ0UKbLmYCOL1QjMRT5C7lgqVbCQL3ZCY2JfgD9VfdTqebrsaE80hqwdKw7Z56QYedEAkLz6gk3q5UP19TC0qQK2zcwdy_c4lRFpfuDn5e7vqD8HiEsgF6s3tIvSn6JGtnBt5w2T2krt35UKWBR9Zp3aIbLH2_BEMIXn9-vrGCZlNH0sneU-fYptHixCiPG0UD0YATp7PTstjp-51PgULTIjueQJC2vO2Eu6k1w1HoSu9osPADRn30Sg53iDlJfFhvLAOvDsx2o7LNuA4Gs7BY6ZKBMB2vB61TYob7RULuqhs8en6Qj6Di_1fjqbVuX_1pLBvnIng-v2RQYb67s1vk3S12aczXbG_i2t1CtoXhfvIJBzyQ40T385__JLRTp-NJecB54mc44MBmAMS--7qWBmAJcNHGjHZ58_D4HvAPBm6u5HgYM9UkjAt1-jFaUSqjvCFNvRuM7i2BpTtwKb-ndrcS-SMHNYMKkQqh-gkwaAX4i9tvdkqnhv0jI896f9yN9FKXX1cuYLb69Ab-Y1e8Fy1-IzTlCaeeQDn9MnSECrq6HmcSgP0UVCwMUrUx-VSs1o7QF1Si4LOL0joofBZ0afsKvj6vioyhiWf6NNpcEn1qOzLseztbDdJf3TmlDtJNnihEFLni7yzDq-C-CxMW6lv6",
  "id": "rs_04088de4166c88f6016ab4494c9d5487d09afb3ce6f2b201da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.35,\"left_z\":0.16,\"left_yaw\":0.0},\"note\":\"The pen lifted with the left gripper, confirming the grasp. Since the cap is not tabletop-reachable by the right arm at its current left-side location, I’ll carry the pen to a clear staging spot that maps to about y=0.30 in the right arm’s frame, then transfer it via the tabletop.\"}",
  "call_id": "call_Rgflju1b5EOhJcvWhV7InexH",
  "id": "fc_04088de4166c88f6016ab4494d91a887d0ad430fceaea13767",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rgflju1b5EOhJcvWhV7InexH",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2079, 1.8591, 1.4178, -0.6693, -0.8509, -0.9878, 0.0534, 0.0528, 0.9684, 0.783, -0.6395, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2784 left_y=-0.3489 left_z=0.1477 left_yaw=-0.0202 left_pitch=-0.061 left_roll=0.0086 left_gripper=0.0534 right_x=0.2895 right_y=0.0013 right_z=0.1629 right_yaw=-0.0253 right_pitch=-0.2608 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -9.9761, 8.5402, 0.652, -0.6667, -0.0366, 1.033, -0.0479, -2.3179, 7.0906, 1.5311, 0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4c9d7c3ec4f08c852aef543ef65592533c4d663eed94a06a096da5084995c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06931eeb3f137930d6077499faf29f0e4f33fd76abcbb1109c33372edeed7f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48c6d6cf3dca6bb05ab44aac4506cabd6c3847a32ee9732bf5ee52c3390fd4b",
      "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 · 1.732 s

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

message 44 changed as sent

message 52 changed as sent

message 57 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1366, 1.7298, 0.4885, 0.3168, -0.7406, -0.6838, 0.9992, 0.0528, 0.9661, 0.7906, -0.6235, 0.1005, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2374 left_z=0.0004 left_yaw=-0.1847 left_pitch=-0.0599 left_roll=0.0457 left_gripper=0.9992 right_x=0.2935 right_y=0.0014 right_z=0.1695 right_yaw=-0.0254 right_pitch=-0.2349 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -4.4513, 2.8513, 0.5885, -0.022, 0.2125, -0.0952, -0.2803, -2.4957, 7.1726, 1.4579, 0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1378, 1.375, 0.6849, -0.2138, -0.7517, -0.6994, 0.0486, 0.0528, 0.9676, 0.7868, -0.6312, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2466 left_y=-0.2374 left_z=0.1049 left_yaw=-0.1713 left_pitch=-0.0406 left_roll=0.0211 left_gripper=0.0486 right_x=0.2916 right_y=0.0014 right_z=0.1661 right_yaw=-0.0252 right_pitch=-0.2479 right_roll=-0.103 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -5.9419, 9.1692, 1.1355, -0.315, 0.0708, 1.033, -0.212, -2.1402, 6.9402, 1.5263, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2079, 1.8591, 1.4178, -0.6693, -0.8509, -0.9878, 0.0534, 0.0528, 0.9684, 0.783, -0.6395, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2784 left_y=-0.3489 left_z=0.1477 left_yaw=-0.0202 left_pitch=-0.061 left_roll=0.0086 left_gripper=0.0534 right_x=0.2895 right_y=0.0013 right_z=0.1629 right_yaw=-0.0253 right_pitch=-0.2608 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -9.9761, 8.5402, 0.652, -0.6667, -0.0366, 1.033, -0.0479, -2.3179, 7.0906, 1.5311, 0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4c9d7c3ec4f08c852aef543ef65592533c4d663eed94a06a096da5084995c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06931eeb3f137930d6077499faf29f0e4f33fd76abcbb1109c33372edeed7f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48c6d6cf3dca6bb05ab44aac4506cabd6c3847a32ee9732bf5ee52c3390fd4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElRrym6MDN6t4paf4fU3cXaXFiFts50FpWGqgfCMAUHWLCoCX5IwIlEN2GjFNjT4yYHQw7_ovXYYqwLpqaDn_Bg7woCxcFbW3MRH7Zgx67jzJvwxVF19NvhEjzO1ESqVNRLJs_ZNrUUvZjBE-_4l94CkIbx1SpfPyTNQx0p8Eu_FxiDD3_GWDteX7FM1oyqdW5z1duGUCwwhXXkDoEe0LOOHORbWI4CmGsA0ZD4nW6HLXTYWZGvcVpXzBdwUI8_FpxEMz0JZekXczqRp4DooqwdgEcumoaxq3bhEn6Pkueo626_7A6JTjkf2KEC0JdDRamJES1U5EXkhy2GBoh508-017iZRk5vyG52Mg1-WFGuDENyia7fZPFwcEqJ7krbfS_oKpDvRKVf0MvpyV-C2hbAcpgTTH7G3h47oJ6VN3KeK3J9B2x0ynkZMDuB2Jy1U73YmUKzGApTeQBG5z_4jRbf_1w1cPN2yicqa6SVYjCDpFyvoiZ5vM6JpXTTkcuTBemddW1efSppMY4Z24-heQj1DpiSNREz62xOHcNlU_cGP_VDh6Ex--d7XagpmNSBEqd6EOigDWWHIfF7y9OohxOPKTEqiw7Ck7mgYjqk1j9Ubc4rl_GL5ESRj11O0mhksvTPiTzlhmPsIR-ONJkt8cNj0sv3aU-qQhQ47wDpqj-BRNOJM2n0UE9VkNqMWM5qnuYrYSvuuU-hhPgYVDqwJX37dJegDzyzVW9D5rAWT2G-0aU_0i1_G1OEEpnN0GagucS6WItKc4tBv0ZcI15BILV_v_g7nEUn-VLZ2oF2rOEVJTSvE3SS3vArDiz6kyxApk3p5dInTcjk41bVePla5WkG-wd9WcMTuPwD8VLQloal52hDhsZUFL1wfxloNTl9_vhyYZk9v3z2Ux2RteNUmiMwlkH0rKWMszdvlz9ibd_xxfmvOHJjHqxDOUFyTzDEuwc3KPCNZeBz3vydhxHCKTwvKzgTXfLm-X-BcuKxkrn-ayzYMSJF8VvtEUBwpu5NYdm3wN_XA5FH_kNa-CJSibGTnS7evMN69tjAg8udSro35Ny2USH3cbiHMhdluNgSY3OptfmBBCE47vQRbNiJeq22AXKazrMR7v1xbYiqi7-CYG1C7EE_bHos3BxNEMDSugydVt3tlemLjgVaXJbnTUzm3ZiNRv6HXrTz0o2QgGmrzk8gTgTXN-lEyBFuNOzOnz6FKpWnQ9XxEF5nCGgoGK6bvLTfPTp7zu2e2VLPtZBp0BjBwDzeBgtKLtRrxSi2myysEevQahq4DtvbRM48JamVYQwi150uqR-6S7Iu8E7d3lj4VZ_2gNzDnqAd50-OfVRM",
  "id": "rs_04088de4166c88f6016ab449509a4487d0bb43d62c11b63263",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The pen is still securely held at the staging location, oriented nearly straight forward. I’ll lower it to the tabletop at this right-arm-accessible spot before releasing it.\"}",
  "call_id": "call_zWhw6YMLsLpHgm3x18Uj1fmU",
  "id": "fc_04088de4166c88f6016ab44950f59c87d0b3adb1c45e09b23f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zWhw6YMLsLpHgm3x18Uj1fmU",
  "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]: [-1.2114, 2.0964, 1.1389, -0.1986, -0.8486, -1.0008, 0.0534, 0.0528, 0.968, 0.7826, -0.643, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2744 left_y=-0.3432 left_z=0.0037 left_yaw=-0.0146 left_pitch=-0.0794 left_roll=0.0397 left_gripper=0.0534 right_x=0.2888 right_y=0.0012 right_z=0.1623 right_yaw=-0.0254 right_pitch=-0.2642 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [0.294, -9.6342, 4.9573, 0.9695, -0.0317, 0.105, 1.033, -0.2256, -2.2222, 6.8034, 1.5604, -0.0366, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ead17a2b11d0b888731eea76afa415d5618c4e86c6f493f6155f348761116aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bbd4a04f25f531abade62d9c3c817ecc16971ca842859f013070fa4cfe97e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a85b1b9d0b437479324a7328cae2ae516cecb2bb5b49170071bda5dcfe05d0b",
      "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 · 2.826 s

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

message 48 changed as sent

message 57 changed as sent

message 61 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1378, 1.7397, 0.4797, 0.3477, -0.7525, -0.6907, 0.0448, 0.0528, 0.9668, 0.7868, -0.6285, 0.0998, -0.0349, 0.9987]\nstate[eef_state]: left_x=0.2464 left_y=-0.2367 left_z=0.0 left_yaw=-0.1752 left_pitch=-0.045 left_roll=0.0355 left_gripper=0.0448 right_x=0.292 right_y=0.0014 right_z=0.1668 right_yaw=-0.0252 right_pitch=-0.2444 right_roll=-0.1027 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -7.1453, 4.7521, 0.9597, -0.2027, 0.1099, 1.0965, -0.1846, -2.3043, 7.2684, 1.58, 0.0024, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2079, 1.8591, 1.4178, -0.6693, -0.8509, -0.9878, 0.0534, 0.0528, 0.9684, 0.783, -0.6395, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2784 left_y=-0.3489 left_z=0.1477 left_yaw=-0.0202 left_pitch=-0.061 left_roll=0.0086 left_gripper=0.0534 right_x=0.2895 right_y=0.0013 right_z=0.1629 right_yaw=-0.0253 right_pitch=-0.2608 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -9.9761, 8.5402, 0.652, -0.6667, -0.0366, 1.033, -0.0479, -2.3179, 7.0906, 1.5311, 0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.0964, 1.1389, -0.1986, -0.8486, -1.0008, 0.0534, 0.0528, 0.968, 0.7826, -0.643, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2744 left_y=-0.3432 left_z=0.0037 left_yaw=-0.0146 left_pitch=-0.0794 left_roll=0.0397 left_gripper=0.0534 right_x=0.2888 right_y=0.0012 right_z=0.1623 right_yaw=-0.0254 right_pitch=-0.2642 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [0.294, -9.6342, 4.9573, 0.9695, -0.0317, 0.105, 1.033, -0.2256, -2.2222, 6.8034, 1.5604, -0.0366, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ead17a2b11d0b888731eea76afa415d5618c4e86c6f493f6155f348761116aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bbd4a04f25f531abade62d9c3c817ecc16971ca842859f013070fa4cfe97e53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a85b1b9d0b437479324a7328cae2ae516cecb2bb5b49170071bda5dcfe05d0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElUiwetxSjyIpTBsqgNlCh4DO-yliLEAQHubCZD6ggHkdoYkKiGL4wma1jwRqlBd1GNLEyd0f7ACQnU_0AGqaT_YUbcZPIoEe14a1gedHmswkLxTfqyGY9bAbdpkvWDKpgxEI_bb_ocjOkK6qFkSjfqUD359sy3hFY9A_ovGN6mM3s_IQP20HnxFUXllkHzzpFAPps1SpA5TjnGHHbCLLVWcSSYKTdWpMI_cQS15_90OOBdesgF04YK20EZjODMQH5Lq9cxvMzmpu9qC5BmrjLeJwKnYbOBw3LH5TMtDuRRYSk5BQdh4LBpsXJ2qcDouBIkj5PwVMafZXillrLCO2ykEfAxg-pWxs6SJx7pegftEXKi7RnyVRQ41DNQmKS0PabBDcO4xBDQpexCdUBJ4aujkDv3yj553CuHPIgVj2Jw_3Hz0QV-q8vFUrlQCb1Nyrd7ik8pXljM751ZwaR70zzxGMAxMvJfk1c2X7dMwb-s1qX1tAxwmMS9h3YFKKp32tgLn28TcVjILsB5yrVPPceVm65CnwuXQJG1FAuRgxgxVRqlV6YlyYZuduEv50DZFqCwWhy5tbKz82sa6PqgI1D98wBHpbJbbk5otgs2vENW1ux3kELsb562BTxnuLqdGm36qxIosuXldz2sJ3othGaE4KZ4mGh03LrMsgZfrbWs19XJteKtAk7YoBL3HVqwiNLH1Q5vnvYhHBgrM8_kFIwhcvZ9qAF6u6Y48aiw9nLA4UgXeu5dKwA5biykY2QLmrBci0SuGZsEzldhrAjGCeziGMyoRaB2rHBZJa5UVQi8Q3d4yGQnPXizLbsp7PFp0wtXIR0qT1LlkxATwdh_BinZN1BjQfe-FIPBsdcSsOtatz2Xp7mBt7H0BC6fgZqktI4FqbfKEJY7Lth-xzdxmowZ974ZjOGLwttn9NMq-TgusjvVFlQeN2srzyyvR1SElGkXbQEHein6P1r250f25uVDdQjXu9EvT7YF1lIMYpN3s2zvLlJkyKwMkvAko-sQ0R-ymX_AVE3TVPqX_kYXMGqkg7YknxMddbmBp7AK_sa88JImGkAfSufho82aOiwvIZJQypDzZ3B-z8hf5z9wL9CRPZSS8v2cQ4kfWvd_dLOkwaaf3qz6XwntK_wHY-MMOhj_2k7qWT0CC-ZuyanBHyOoO5l0j3nQn5Iu7HPmWNl0Lr0=",
  "id": "rs_04088de4166c88f6016ab4495375f887d099f5a2621a5e2df3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The left gripper reached table height with the pen supported on the surface. I’ll open the jaws to leave it at the staging spot for the right arm.\"}",
  "call_id": "call_aiiphCnerHia6HzPnqPwu17d",
  "id": "fc_04088de4166c88f6016ab44953863887d0b21acd1f0a401a88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aiiphCnerHia6HzPnqPwu17d",
  "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]: [-1.2114, 2.1029, 1.132, -0.1738, -0.8677, -1.0157, 0.9949, 0.0528, 0.968, 0.7822, -0.6434, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2765 left_y=-0.3426 left_z=0.0035 left_yaw=0.0009 left_pitch=-0.0588 left_roll=0.0233 left_gripper=0.9949 right_x=0.2887 right_y=0.0012 right_z=0.162 right_yaw=-0.0256 right_pitch=-0.265 right_roll=-0.1044 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -10.9333, 5.5316, 0.735, -0.1832, 0.0855, -0.1197, -0.1026, -2.2769, 6.8034, 1.453, 0.0464, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07dd34a092cbed58e474b1bfb873b58b062cde4684d3340c0e687e276e9eaa10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed555699a21c8a9f203eb99738b5fba558cadbf4a49a3511897dc0c403b15653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f526604cbbc0ac81e41f05c9bdddce131620e12f030d652a725564c6fc39ba",
      "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 · 3.315 s

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

message 52 changed as sent

message 61 changed as sent

message 65 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1378, 1.375, 0.6849, -0.2138, -0.7517, -0.6994, 0.0486, 0.0528, 0.9676, 0.7868, -0.6312, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2466 left_y=-0.2374 left_z=0.1049 left_yaw=-0.1713 left_pitch=-0.0406 left_roll=0.0211 left_gripper=0.0486 right_x=0.2916 right_y=0.0014 right_z=0.1661 right_yaw=-0.0252 right_pitch=-0.2479 right_roll=-0.103 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -5.9419, 9.1692, 1.1355, -0.315, 0.0708, 1.033, -0.212, -2.1402, 6.9402, 1.5263, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.0964, 1.1389, -0.1986, -0.8486, -1.0008, 0.0534, 0.0528, 0.968, 0.7826, -0.643, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2744 left_y=-0.3432 left_z=0.0037 left_yaw=-0.0146 left_pitch=-0.0794 left_roll=0.0397 left_gripper=0.0534 right_x=0.2888 right_y=0.0012 right_z=0.1623 right_yaw=-0.0254 right_pitch=-0.2642 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [0.294, -9.6342, 4.9573, 0.9695, -0.0317, 0.105, 1.033, -0.2256, -2.2222, 6.8034, 1.5604, -0.0366, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.1029, 1.132, -0.1738, -0.8677, -1.0157, 0.9949, 0.0528, 0.968, 0.7822, -0.6434, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2765 left_y=-0.3426 left_z=0.0035 left_yaw=0.0009 left_pitch=-0.0588 left_roll=0.0233 left_gripper=0.9949 right_x=0.2887 right_y=0.0012 right_z=0.162 right_yaw=-0.0256 right_pitch=-0.265 right_roll=-0.1044 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -10.9333, 5.5316, 0.735, -0.1832, 0.0855, -0.1197, -0.1026, -2.2769, 6.8034, 1.453, 0.0464, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07dd34a092cbed58e474b1bfb873b58b062cde4684d3340c0e687e276e9eaa10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed555699a21c8a9f203eb99738b5fba558cadbf4a49a3511897dc0c403b15653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f526604cbbc0ac81e41f05c9bdddce131620e12f030d652a725564c6fc39ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElXQfdo0k4MJSClXcH8WipAmjnzIwBrPnzQ5GwdaWv9DfhTCB4nzeeyGoxXF6Sbn5H--W4Jit5RC34hKat2iq_w_TD9C6Hlzyfjs2XxOXFcdhFFcSWkSXiTS9btU4dKCckLRSk5kEH_1bqhWA00ATJt6WwHs02bpEozLdtuUCAvxa_BRD1YmaWoLu1ljTOo0mb_hIDNPhzwOto3m6i1qCx80X5IaIK5uwj1cgmJmr4luMOjTmHlVh1pY-IeCE_znCcyT_6M9FZaznQw5HTlIQZqS2Qkn0_oFKa540JMfjcqHlplhS3wSDjRsvhRtY6EFta4-43LKHNSWhYJgNmhTkcQVwCpuZnfdfDW9VU6XGc9m0buFKAj76-cao2NBkuObWRholvN6HsEy6EeXKBbVU5XG-Mk-8CebBv7B7vYQ0FKkcnuEF9nHdJi7sPAegHNz8FrHsKS0gwqwykJ4XNztF-CFCYD0_8XNR45LGWl2WfwNDJj4tQ-6vGiT5r_eYWMYrqyuZBuRgMiwu8kH-CxNHg557zYdZE5pEQ4SCcAA5trd_KOPdNnBqIt1F5yg0ldTZZMLYriKjLVwRiK5U-dxJFxu_8hCIhKcoQL4pWGsScEsp5vdTU4S2TQcVxH0ru-Fbez49qe0ZxKFvo-z0rhKYCseqObLw22AX7zpsvbi-b4Z3YFJyZG-tVzX3S_kz6RC6ZrWtpDJQsCQvsZtm8pcvmGMY88V8i4OUgferOgehB29F56oa5hTW8KfvY7jity0wr-Nt0xnrr7vaSKXamm1RlkZjNzMebaFSMCXxSlT2naDwuB8RpUHe_itTqSzOAttCehQBGqpRQDO83KVk89wDdOqhut0rrIpN0stvuviFh8L06A3K7LqG1Qr-coc1SGV3WBfcK7AZs8N41jsTeK4lbKhwXosNKtltjUYY4dGEvuMWL3zAfadcmSrLO1-BoAsqETXepiTlm9zyrDYpAM1NboSbsLAWYiYhVlecPnbJKs0WBjI1wwEvmftgAGuZdGo-FILNm4VjMUA2nBoRvUfAmgVY3z3_M10NtTrzk6oBHMhoND2nPYU1MlzoEOXOrKInUocSVVo0Cgd5O_-ZqIaZx-XiEiFECeCaTck611iOThyJuxPgd6cgtBvk_Y7GYw0CAogHkV2BaFXIXYr0V9nt4ATf6wTZDFdfEx-5AW5SjsP9wjCOVPJv8U0IUvfMgxa5v_EUNawvo_9HIgG0Ggzu5nBprFzWcBsPcwiBTxTkWVweVHvCmQdg7v8cMGR2vbH5JH",
  "id": "rs_04088de4166c88f6016ab44956a4a487d0a286738bde24ad24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The pen has been released; I’ll park the left arm to clear the overhead view and give the right arm unobstructed access for pickup.\"}",
  "call_id": "call_PdWqDm7gmU8n1Y8DLG6SS4JF",
  "id": "fc_04088de4166c88f6016ab44956f39087d09f00da75677b60f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PdWqDm7gmU8n1Y8DLG6SS4JF",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0704, 0.8501, 0.6193, -0.44, -0.1257, -0.0875, 0.9984, 0.0528, 0.9684, 0.7803, -0.6464, 0.0998, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1604 left_yaw=0.0717 left_pitch=-0.0937 left_roll=0.0173 left_gripper=0.9984 right_x=0.2878 right_y=0.0012 right_z=0.1606 right_yaw=-0.0255 right_pitch=-0.2703 right_roll=-0.1051 right_gripper=0.9987\nstate[joint_eff]: [0.1573, -1.9487, 10.5231, 1.4872, 0.022, 0.1832, -0.1832, -0.0479, -2.2632, 7.159, 1.4725, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4724c32f67a353f778cc2385489f9eac0387bfd46b9b27b40c37728f9b61dfc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6b36eb629326ce456a5f85242d968ff61d29786b234656b78d3e79a8527a70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe6fcd9a3bf8cd8398aaa38ab9248c8443d8c83f7916bd0fc3c6e9dc6c249ea",
      "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 · 3.653 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2079, 1.8591, 1.4178, -0.6693, -0.8509, -0.9878, 0.0534, 0.0528, 0.9684, 0.783, -0.6395, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2784 left_y=-0.3489 left_z=0.1477 left_yaw=-0.0202 left_pitch=-0.061 left_roll=0.0086 left_gripper=0.0534 right_x=0.2895 right_y=0.0013 right_z=0.1629 right_yaw=-0.0253 right_pitch=-0.2608 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -9.9761, 8.5402, 0.652, -0.6667, -0.0366, 1.033, -0.0479, -2.3179, 7.0906, 1.5311, 0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.1029, 1.132, -0.1738, -0.8677, -1.0157, 0.9949, 0.0528, 0.968, 0.7822, -0.6434, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2765 left_y=-0.3426 left_z=0.0035 left_yaw=0.0009 left_pitch=-0.0588 left_roll=0.0233 left_gripper=0.9949 right_x=0.2887 right_y=0.0012 right_z=0.162 right_yaw=-0.0256 right_pitch=-0.265 right_roll=-0.1044 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -10.9333, 5.5316, 0.735, -0.1832, 0.0855, -0.1197, -0.1026, -2.2769, 6.8034, 1.453, 0.0464, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0704, 0.8501, 0.6193, -0.44, -0.1257, -0.0875, 0.9984, 0.0528, 0.9684, 0.7803, -0.6464, 0.0998, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1604 left_yaw=0.0717 left_pitch=-0.0937 left_roll=0.0173 left_gripper=0.9984 right_x=0.2878 right_y=0.0012 right_z=0.1606 right_yaw=-0.0255 right_pitch=-0.2703 right_roll=-0.1051 right_gripper=0.9987\nstate[joint_eff]: [0.1573, -1.9487, 10.5231, 1.4872, 0.022, 0.1832, -0.1832, -0.0479, -2.2632, 7.159, 1.4725, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4724c32f67a353f778cc2385489f9eac0387bfd46b9b27b40c37728f9b61dfc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6b36eb629326ce456a5f85242d968ff61d29786b234656b78d3e79a8527a70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe6fcd9a3bf8cd8398aaa38ab9248c8443d8c83f7916bd0fc3c6e9dc6c249ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEleW4HoCLKdJ8dQlW6tCYcKeBgYRh5jXar46WpBbzQnnC20ttzp_Zyx_KxDghzOfnUmrUmKG4JwYg3-ON6i7oBGCxs37YRDiax-zCvLxNwLvISH5Bx7s0g_hLGk4gPxWtL-zwY5iMYlK4c-rqXh8g3soaZwIr12yOmVIOGHXn0t8u8oaPirEWirhJcytzrBjcSJjkmBss9vgzXauAzNdOOtkxHmLHR_sklEP_Cs4ZRCEHB16ZnNiimrP2Wy3hiFE4fPb4lnXQArn79Wf6LpKnWlDnVAoV4oIZ7jEqRdK9dloSLrUMwQ276825qZMopzkOhZm8mb56IvoUoF2Ni9fHtwFtkzOJ3KQ4LeajbLUAEvJ8LqZrn3L5LhFZzUCpyLeqfxVKr-zFww4lo4luPGApaS8IYFLxHzP2xngFtzSSTnA3Pz4djS5c_g_MTzMf042uhfcRk7_iY1bcaWiELObzdOeeEsSwf96Fm5zv3ZR3i7IoqiCsew0MXz9YyDuBM1tG4jquh8lqM3MdGNx4pVpHyAD7ECGM42O2iLZk060JWr1cgvwTbxGiTu1hcFIlCeK3nSLvdG2IUtP4rs3NwcDZbLHc_zU-FLuM_UpHb8ZkvdQfdrSZpZTcfpLrm4zdAtpKCCuTmleyl0W6EhrevEOPX1tvzUD67lkJkIRni85GnN2uTHvjdky2TfgSv2s0Jyj1KRu4fFfTFelsMU43-GiyvOhZxUV3lP7YcOGhqPnxXaX5eXkm8KzpGmuObKrlM-q3eQikU3DJBMo3RKQXQ3QMmBfAF3vcujV4SrzJfHDx5kiAXusBVZbjeVV1zIRPxoA6ctFASUR5QOak55KE8864NhFIMDh-qKIZqZOMo1IjhF5KZca5FJarHsUwIr-Ih5oMjCkKP2M0GAG7q0vWBE3e6n0yEyvcsyA1KC6SD59msWZM4p5OBMiQ0ef-_9Jjw44jkr_QQa9vXipsFw6BAzX-gkhBmrHe_uEa07G_LdW8pNtv1UjpEXM0gevCUoRSVYdGuFg-3paZbHJl3G6fd2vJsQwfFIztOMtX726cVMNRVho__10Qibd_TKU6X4gmng-EVb08ERbkZh8HEO82ik-NZzSHQmfv_B_O2B9rvGAGK3rs0EImbBBS0HMqEZhAajsAlOIffeKN64IHmKLDEPwM6fGgKYJjvEi8KWXSJC6nrI7TqEpIkwVCq1Kh5oGFH0xGQzqXIPsvkyjaLtSVcwzs9zXr2jnDLtwR2LUbqPAPPNOd24cN0dGePKJYmXb9AphAQsJWfUfu3iK0CqR0qNh4abFDuZhDsNT45kVn9Z60wZP6crQuEmWXvIXRZpCOGNser9Y277QdFaZIvc6xKRnbW75YsZJPy6gYyTejJWUXM6nyWgEhrtVAf_Gh6PFwNST0jdSS8B0NsTpCkGgOc_ZfRHl3n5jVJIS1jL43hu5NfZsErY94azbulPb8M8JqitiWpHDgyPJ24ALJAT-0rely1SGoHUGcUytzNor4eWoWans-yiHeKKCjGdxfsxSJoAB2holwMKp78fPqgx8rO1M8vrpuQ08YK7Pq60GwRcgo_JCop6XoDEp9sn3X7M3prmVGkvcjmjZxcl0X-GOwpNAZfFGQ79I9WKyVZRV6untIizmlgJTrxuf86nsxIu8qBHB5mMnJBCbajKP4mSQ2ZORntnag==",
  "id": "rs_04088de4166c88f6016ab4495c049c87d0b6ad0eb33bc99a49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.31,\"right_z\":0.15,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The overhead view now shows the pen staged cleanly near the center line, pointing straight forward, while the cap remains separately at upper left. I’ll bring the right gripper over the pen’s midpoint at x≈0.275, y≈0.31 with yaw zero.\"}",
  "call_id": "call_5QQLKuKr0wLTV6ZhXiVpBj55",
  "id": "fc_04088de4166c88f6016ab4495d519087d0baea5cb59a8294cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5QQLKuKr0wLTV6ZhXiVpBj55",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.458, -0.1234, -0.0879, 0.9982, 1.0939, 1.784, 1.4292, -0.8864, 0.6395, 0.8654, 0.9987]\nstate[eef_state]: left_x=0.2888 left_y=0.0055 left_z=0.1562 left_yaw=0.0718 left_pitch=-0.1147 left_roll=0.0185 left_gripper=0.9982 right_x=0.2718 right_y=0.3041 right_z=0.1409 right_yaw=0.0262 right_pitch=-0.3054 right_roll=-0.13 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -1.8393, 6.9128, 1.7753, -0.1294, -0.0659, -0.0269, 0.3897, -8.841, 8.1709, 0.7009, 0.6325, 0.2418, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c563e3e267fa67dd2e070d2a589de4401d9cffe520a1e57eabe32a63b0b6b72e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244b2a2dff1ac81b1fb6ef01eacbcd08f2a0014206b658bbfe0e4bd591b97bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4483495de4d57ba8680de7e2e989a73bccb17a77d142e0c325f676b6310d6fc",
      "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 · 2.435 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.0964, 1.1389, -0.1986, -0.8486, -1.0008, 0.0534, 0.0528, 0.968, 0.7826, -0.643, 0.0998, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2744 left_y=-0.3432 left_z=0.0037 left_yaw=-0.0146 left_pitch=-0.0794 left_roll=0.0397 left_gripper=0.0534 right_x=0.2888 right_y=0.0012 right_z=0.1623 right_yaw=-0.0254 right_pitch=-0.2642 right_roll=-0.1046 right_gripper=0.9986\nstate[joint_eff]: [0.294, -9.6342, 4.9573, 0.9695, -0.0317, 0.105, 1.033, -0.2256, -2.2222, 6.8034, 1.5604, -0.0366, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0704, 0.8501, 0.6193, -0.44, -0.1257, -0.0875, 0.9984, 0.0528, 0.9684, 0.7803, -0.6464, 0.0998, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1604 left_yaw=0.0717 left_pitch=-0.0937 left_roll=0.0173 left_gripper=0.9984 right_x=0.2878 right_y=0.0012 right_z=0.1606 right_yaw=-0.0255 right_pitch=-0.2703 right_roll=-0.1051 right_gripper=0.9987\nstate[joint_eff]: [0.1573, -1.9487, 10.5231, 1.4872, 0.022, 0.1832, -0.1832, -0.0479, -2.2632, 7.159, 1.4725, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.458, -0.1234, -0.0879, 0.9982, 1.0939, 1.784, 1.4292, -0.8864, 0.6395, 0.8654, 0.9987]\nstate[eef_state]: left_x=0.2888 left_y=0.0055 left_z=0.1562 left_yaw=0.0718 left_pitch=-0.1147 left_roll=0.0185 left_gripper=0.9982 right_x=0.2718 right_y=0.3041 right_z=0.1409 right_yaw=0.0262 right_pitch=-0.3054 right_roll=-0.13 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -1.8393, 6.9128, 1.7753, -0.1294, -0.0659, -0.0269, 0.3897, -8.841, 8.1709, 0.7009, 0.6325, 0.2418, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c563e3e267fa67dd2e070d2a589de4401d9cffe520a1e57eabe32a63b0b6b72e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244b2a2dff1ac81b1fb6ef01eacbcd08f2a0014206b658bbfe0e4bd591b97bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4483495de4d57ba8680de7e2e989a73bccb17a77d142e0c325f676b6310d6fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElkEWYznhNJ8veS2gIW1rmQYCay_Mql8VTTpbGM60h4wmZ4eMONXoRxIgSLD7N8ggHMTAJi3jYR0fy7jje7KvzpRfufF4O5ke3IyTARDilpO-8srpjp4S0yczHTx-2lD5N6lTSwm44uLj1QMPCxSobDxevdiRPsgYogOM3vd0f1IObEqIB646KwAtoBIBjEQIy7plOXKv-a50dHmtCU0aTIOPuvofOyLnT47uwn3BhzyF5j_fzwtTzDvRwNx4x_9Y41ERFPL3lADocEnUVRx51BUt8-w5MU2uoz9SQkkFT1xxXnv7E4gwvor73J_oDtUH1uzRfF_fTh9lRNgEc_4YQqCZ3ysv_BH_NP1UreUrsHLH6iWQCBDBW5cZQoSt4xqRloC8HDxq1uS0Q7U7H25KMuio4yWVBB7MAaE7jXT5tkjPzN7BPuZCQslVXpg_ZqQLcNalW8OrZftV7Zu17UI1rasWBgTsqaEM1h9T8-oV3Ne7hhjcK5hkigxuqxiIWwJ_NeKkfDzS-FSI76LapmuqVz4L6di3Sktg2eSJT8z04eq9MpvcK2iDa4FReESqRghTcHYzU0cYdAhX39dfr_AbNwrFjCQDyTgZ4cwYl_10I9BzaKpUf1FBRA9wedvE-wM2u26ssx0RY9cS-13hOKkjTYSfBegY5ccwTEr40SFWkwBiUQz36ZY1vIC7tcEcApUUzePS8XD4NqcQke9XB45ZG69Mr7jIyhQzcciL0Qy3cMLNV4aKReMM-0kHBqepiaKDPRq29aydYCx2HWDIgrl09u9yT58AJiAdorOR_0d6kIq1dUpo9Ow77vOoTS5CiHyGWhuEtYFyhis0q78mkW_8qPhJAjEmnWNI_-059d_7YGk81VaKXI1VcRJ1WKVXf5CivEQBYNdRdv7HUoa9AIw5GBqyk9INmdGRg1NqfQzg4gip_3aTWX-jE4GND5ZzBW8J9d2FpGY4Mqsr7YbaE-Qq9yvPQYz5N1rWUY0fefcnh6njkHXAHUFfzzVw0y2nG1-wmIgoNCxox9TJRznLMuQDILHKiQFnHTXjEhT9hdt03ehRReuLVr-G-BV2cSOiEIUOl_KQgW3NU1MmVEAaAautn-CjMqTT9IdteSyj4D3gq5Pt0mk4E5pHcgcTAVg9HcOGxbdGjECAlBWhvnRPbmWOFS7sU-CUYDE_qLJsAnZi_4I-zECx8Mh_aG6pS2YeXmnoGVtEHpC71iz91FD6V198Zgz-IFSbyc0GJ4rZxkmmeyvx8B5RnnSw8rwAaccQv8Qnve0E6wATPlWgm3ttEqoQchXSk-l-A-YzzrGKmhiJIl_AZQC-Rp_YJbKobvivje0DgEmC-6xJtPjBdqByYsv2Bbnfc0jOd4yDQDUFCrHE_Za4XHeYvafqEejMScgt8DxIWoBuGvEvtsRE_FHyOM2gpQ-3yeoYEyw_nILyeAa33OYaRWm-Ctrq4rr9SK1sBbLSp1IIQbAvrp1VuUllQuG7w2CZ2qx032hyG4modQtCSxBA6h9ibe8ckl2Zsq5l_5N8C-ZABZeLA7td4lAOZ_lwzwY5-uwNngB0P_1hNjQkmgqDqXbuQ-11h0MqQIvXbrFQ9Ap5J6fnbmeT9BjZtKxZf_oJ_BkfmkROsfFcTf5JUheagRXp4ofnUi5d2JgTaUw5zgBtYdXIHXl0CxvYwnyxXBdl9o-V3kqtEEE0bjtU-_Cu9997YUPq6y2a8DNGUvXqfeBx9ugXJME0D1YiVKkED_Xjy3DQ4OBvzgAEqY0GI1IfriONG3OQEVQ9DBMPFB6jZiIv2ZXQ_2pGiX8CnhvfLBtQ==",
  "id": "rs_04088de4166c88f6016ab44961e89887d0a8714ede9e36a5ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.272,\"right_y\":0.29,\"right_z\":0.14,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The right wrist sees the pen lengthwise into the fingertip area, but its shaft is about 13 pixels to the image-right of the jaw column. I’ll shift the gripper roughly 1.5 cm toward the arm’s right to center the shaft before descending.\"}",
  "call_id": "call_LQtjGxnwixPlcEqLsbzOAtD5",
  "id": "fc_04088de4166c88f6016ab44963251087d0b46a988551691b64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LQtjGxnwixPlcEqLsbzOAtD5",
  "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]: [-0.0689, 0.8536, 0.6197, -0.4599, -0.1234, -0.0879, 0.9982, 1.0916, 1.7863, 1.4067, -0.8845, 0.646, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2885 left_y=0.0055 left_z=0.1558 left_yaw=0.0718 left_pitch=-0.1165 left_roll=0.0188 left_gripper=0.9982 right_x=0.271 right_y=0.2986 right_z=0.1337 right_yaw=0.005 right_pitch=-0.3097 right_roll=-0.1426 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5521, 7.1316, 1.6679, -0.1197, -0.0269, -0.0171, -1.0188, -11.2889, 6.2427, 0.8132, 0.2418, -0.0855, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c54ac932fe6ad5512ba5ba411a373d6b7beaf41e201062d12f11a3f31423ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405454413f2ef742236a0152f5f93ba07995cf7e4e291d3be5c066b24d526383",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520b117810ba302c153cd49053b05373db1fe93d4edecedfaa12e9c31814bf60",
      "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 · 2.503 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.2114, 2.1029, 1.132, -0.1738, -0.8677, -1.0157, 0.9949, 0.0528, 0.968, 0.7822, -0.6434, 0.0998, -0.0349, 0.9986]\nstate[eef_state]: left_x=0.2765 left_y=-0.3426 left_z=0.0035 left_yaw=0.0009 left_pitch=-0.0588 left_roll=0.0233 left_gripper=0.9949 right_x=0.2887 right_y=0.0012 right_z=0.162 right_yaw=-0.0256 right_pitch=-0.265 right_roll=-0.1044 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -10.9333, 5.5316, 0.735, -0.1832, 0.0855, -0.1197, -0.1026, -2.2769, 6.8034, 1.453, 0.0464, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.458, -0.1234, -0.0879, 0.9982, 1.0939, 1.784, 1.4292, -0.8864, 0.6395, 0.8654, 0.9987]\nstate[eef_state]: left_x=0.2888 left_y=0.0055 left_z=0.1562 left_yaw=0.0718 left_pitch=-0.1147 left_roll=0.0185 left_gripper=0.9982 right_x=0.2718 right_y=0.3041 right_z=0.1409 right_yaw=0.0262 right_pitch=-0.3054 right_roll=-0.13 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -1.8393, 6.9128, 1.7753, -0.1294, -0.0659, -0.0269, 0.3897, -8.841, 8.1709, 0.7009, 0.6325, 0.2418, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4599, -0.1234, -0.0879, 0.9982, 1.0916, 1.7863, 1.4067, -0.8845, 0.646, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2885 left_y=0.0055 left_z=0.1558 left_yaw=0.0718 left_pitch=-0.1165 left_roll=0.0188 left_gripper=0.9982 right_x=0.271 right_y=0.2986 right_z=0.1337 right_yaw=0.005 right_pitch=-0.3097 right_roll=-0.1426 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5521, 7.1316, 1.6679, -0.1197, -0.0269, -0.0171, -1.0188, -11.2889, 6.2427, 0.8132, 0.2418, -0.0855, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c54ac932fe6ad5512ba5ba411a373d6b7beaf41e201062d12f11a3f31423ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405454413f2ef742236a0152f5f93ba07995cf7e4e291d3be5c066b24d526383",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520b117810ba302c153cd49053b05373db1fe93d4edecedfaa12e9c31814bf60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEln1KR2QqmqLTWfjL7gjC8FVi19hCd0Pmj_vxgiQ2lNTgFnaRo0Fv_BclME1s8KdiPcveHFel-Kf5zv5X2b5SDdg0FCULDPsB22SxgLyYFsyXFWfLJ_gJ1J17PXgIC11cHbwxf3QIxxaPAy9hfJykK0Lmf2H4KzC4_LuwROmDa1CJy7yND7b_dHlUuD9-p8sZG2mmPqSZv0xv9UMtg_P4T6BGE0gU7yw5tPSahucmlTd-AOif898HgSD2xw6erJoRtH3j20Hngc4-VdWoYQs8GhjCYjQL3zeCw-qtqgJaoywPHPPnCVfovS2p3nbBvTPwBAX55YMzwwg44kfHOl66sSyv_08fFVhzZ5i0ukGWoVJhMdQjIJyMRyNuhcU_3VsZE2ujuTSI7rdhLx0vKuA4kkKmsRv2oBwxNgOqo9DxUgpN85CJuKjYXrDbwp9mxHm-6WeHMZGoIQiZ1aXVKwm28-DsiO1I3HOSaxZzVJnTD12q-rbGftyzEaBzzqxbAbfZgm95IhVlOcV1AE-UI7ZZKGwi9XIppt2OLbXL0zYlhcjASHqhmwH6h4MXlUmwkkq_BikA9rf97fzAXL0szTtEntIK-w_rSFEEQCDpAEU6YSuU8IXVkXeOt-TxV4rnkpTprK_urqLCjVsjRmnxOEudXOawxvesHRFtbZtsFGer899SPZD8i70rWP3efbS0Bqun1PKlxuNT-JCAQdkbble6KsQ7ui4Q-C7is8tq0QBctrypxm2iUXXaIGspf3fVeYV5QlGjtfZZemXF2NTfcAn3YOkPh4b923fC6lw-RRwMXa6zumcGeptWC4aAL6R02uDIHYxRP0IuSGtlwP8xRRuW-rx10yiHzgaW3gKfutUNiIaQ9Qc4SnBAjB_j286ORGmJ91aRq6BA6pxQlE-6mYbVt3IiPT5dnSTXnLKnyC3_E1uslGioqRKKlRPXDtBxkFjXdusq6FQfpAKY835vvNekbL5RblPOPWv_M97qZgYopzXUcaGZsPHaLv-tOCpBHgm7ClZEzfNUuFn3u-7obq-pjqxBD-B1CRkse0MQ96knuQFGfmr4Q7OshhkIdGegux-T9RkldzUDFKV2Xxjq4b3e5-vXPHuY3WRsn2bgFIqx9AO4v34jT08vBxKX6ynNbPEER5QsUlVIBylmCgbDrjpXfAxv8B7cBAI5zNhxOAU16o7yxm2vxYU_13p8-cvX8hQgMmlx3wg4h2Prd1XeR1v0kJQ-acj8WohzFS4ZyJ7c_7-B5V6ngbyAz5-tD9Z-9xjXtzEGbWY3uKk_elA62zI7k7iX3y65VX346ENSAtvwzW2M9kmsvS0cQD5oYKbmaBxXE_n-BBg4Jdi8SOFRJzlykpJIgx8CunWXaxhhghSxDN3PO9R9f9h9Zbes3nFWR0mH0D",
  "id": "rs_04088de4166c88f6016ab44965b96887d09994c5e8bdf5c34c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.27,\"right_z\":0.14},\"note\":\"The first lateral correction only moved about 5 mm and left the pen still right of the jaw center. I’ll continue another roughly 1.5 cm in the same direction, keeping height unchanged.\"}",
  "call_id": "call_PMuUIRDpu29mE8YeB3PdBKYt",
  "id": "fc_04088de4166c88f6016ab44966508887d0bd835d9078bd4766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PMuUIRDpu29mE8YeB3PdBKYt",
  "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]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.123, -0.0879, 0.9982, 1.0813, 1.7844, 1.3842, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0054 left_z=0.1555 left_yaw=0.0715 left_pitch=-0.1181 left_roll=0.0187 left_gripper=0.9982 right_x=0.2699 right_y=0.2924 right_z=0.126 right_yaw=-0.0046 right_pitch=-0.3314 right_roll=-0.1549 right_gripper=0.9987\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.6532, -0.0757, -0.0562, -0.0171, -0.4034, -11.3846, 6.3248, 0.7497, 0.398, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8610fa4ae9efc445a42f7e8c51e62f39354663b6c59b45888dbdb1479f68f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8c5d2168409678675dbb820816951fd8aad77d03f5ce8a30af41d9d3474bec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:589b5b151f1c627e4dabfa13b1ff2d46eee8187e13601acc5f3225aa8fbd4bc8",
      "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 · 5.104 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0704, 0.8501, 0.6193, -0.44, -0.1257, -0.0875, 0.9984, 0.0528, 0.9684, 0.7803, -0.6464, 0.0998, -0.0353, 0.9987]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1604 left_yaw=0.0717 left_pitch=-0.0937 left_roll=0.0173 left_gripper=0.9984 right_x=0.2878 right_y=0.0012 right_z=0.1606 right_yaw=-0.0255 right_pitch=-0.2703 right_roll=-0.1051 right_gripper=0.9987\nstate[joint_eff]: [0.1573, -1.9487, 10.5231, 1.4872, 0.022, 0.1832, -0.1832, -0.0479, -2.2632, 7.159, 1.4725, 0.0073, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4599, -0.1234, -0.0879, 0.9982, 1.0916, 1.7863, 1.4067, -0.8845, 0.646, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2885 left_y=0.0055 left_z=0.1558 left_yaw=0.0718 left_pitch=-0.1165 left_roll=0.0188 left_gripper=0.9982 right_x=0.271 right_y=0.2986 right_z=0.1337 right_yaw=0.005 right_pitch=-0.3097 right_roll=-0.1426 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5521, 7.1316, 1.6679, -0.1197, -0.0269, -0.0171, -1.0188, -11.2889, 6.2427, 0.8132, 0.2418, -0.0855, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.123, -0.0879, 0.9982, 1.0813, 1.7844, 1.3842, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0054 left_z=0.1555 left_yaw=0.0715 left_pitch=-0.1181 left_roll=0.0187 left_gripper=0.9982 right_x=0.2699 right_y=0.2924 right_z=0.126 right_yaw=-0.0046 right_pitch=-0.3314 right_roll=-0.1549 right_gripper=0.9987\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.6532, -0.0757, -0.0562, -0.0171, -0.4034, -11.3846, 6.3248, 0.7497, 0.398, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8610fa4ae9efc445a42f7e8c51e62f39354663b6c59b45888dbdb1479f68f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8c5d2168409678675dbb820816951fd8aad77d03f5ce8a30af41d9d3474bec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:589b5b151f1c627e4dabfa13b1ff2d46eee8187e13601acc5f3225aa8fbd4bc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElpGcboxpktEJ8b1VTuUu33cA4fbi24UDnz7Uahlj16-g4wWBNMjFOJKRSYprJdRSvGyxHWr8ZE-S6AucFQajvdzbehzTwXAdxUAgA2hb0An1dnYVdYvsYvPF4OGzG809m-Y7s_2yvZbB1i7R180PSywugpdp6yEtvrN0eoTu2eAyIUontqKpFxJOm1pzixFfw1coKeGy9h5-zH3AVxQJnBnaWU8ceoQ-pfhOKr4izJySKGbMQtl9YoefMrUa3nTvwAAuh-qshwsyU-jN2OHqnYGUeDyu1EhhG7kqpdXDsAoJO7Ba5TJ1-Bdd8PGDHZ6rICgV6Og-L4WbLVQFWA1RyHscjA_vLACiv6r7X3vcAJ-lh1FgtJxZBUpWd6etbvI_2mkRv1si0zPVUEXzmwy1_oK4JuGf5RFnMHPGYB9zg4IuNKUInUZBmwIgeMEuKTjsc-uZjN1-5C6Q2p2fut2th_96Q1KS6Y8XRZASTIQlTJdBF3xhyBl4nvMVDIOHkzeoSVGJfeUnDf0ASbaDjqWOFG4t0cBvks0_oUtsTStpDDPsgk3uE4S7S2_xYGSIrSJQpv6uGYj0cOGxq0E2xN2i3r4J6tg4zmEWp9ISs7dGUNlH8EpP13FJU_XyD1b_VcbxKL4To7mN-MB2303DxJXh4jI-0vQviIl8M9YA3WIqDYz5TlIt0e1yc8xnahhDXgx2xul3C9LG-No8Pzpj_mNm5UTBC-xqjw_Up_TlFWVvbFDqK5JzQkVewgQZCU22uhii3SWV6cnqrktfJ_unJd3brIPvEBQYv0dGxch6KhcToEhvFc4vODXqPN8T8GcTffoIDH3Y5XtX5nqnjet2q4CSF6xk7V5445VkEsTqilEb1fWPV6PalRJVw4Zs4ms08YVFlXZgBi0gscjLRbgCgCcPoUrfP0lFQpSeFiT5noytztox_EOxz7GDmnpDoy7iT1GkwjqHJizsm3dFB7j6HRrpQmQcVTbz1NY3-RprnXJYWlys-mD7VCH7XGvU0_huI3R-rLoMciYn3j_VaHfk6mCksCQcLAw79HhDwsX3CTMruZP8Xec_2RoOA8r9oJ0fCr0HeGfrY_nomY51SAa7pLzFOKsYoJylP3p5qUWRK1m1sKls7O02c4QmWsZL3z-CbUGdPuHbVbfoQQ0fSqsRSRWoEYWhLeIcNXefWTNFmNgRh8-slpnCuWcXMinVU8BbM-2AWbGE0QCp5KlN1r_Mbg8lJ7q4oAM1HJGzny5FtFbOGwHumeFp0skBWlUbcnXbWunKlAYd-uiqNxkwbmASYRV4rMo-bK1iedu_qgmW_qTU23u8mQkP0OVexxqTX9hARUFMOtxPjdXyvX9zOEyhHNIQIiFfI7iQgkt7BhRXaXQ0-UYR8_x9mE1p1TNoW21eN2U60S",
  "id": "rs_04088de4166c88f6016ab44968470087d08b173ee833bd13c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.15},\"note\":\"The pen shifted toward the jaw column as expected but remains about 10 pixels right of center; the arm is tracking these cross-over corrections only partially. I’ll command a further inward correction and restore hover height before the grasp descent.\"}",
  "call_id": "call_dYrIfGX85CRz151jTwcFC5Dq",
  "id": "fc_04088de4166c88f6016ab44968de9087d087b370cc6184534d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYrIfGX85CRz151jTwcFC5Dq",
  "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]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.1234, -0.0879, 0.9982, 1.0813, 1.784, 1.3834, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0055 left_z=0.1555 left_yaw=0.0718 left_pitch=-0.1181 left_roll=0.019 left_gripper=0.9982 right_x=0.2698 right_y=0.2922 right_z=0.1259 right_yaw=-0.0048 right_pitch=-0.3316 right_roll=-0.1552 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -1.2513, 6.9402, 1.6337, -0.0952, -0.022, -0.0122, -0.335, -11.3573, 6.2701, 0.7302, 0.398, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67db2e1779bba06a70ce7af5a208545fce5817ba01f21b5a4915c9d70e0435bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9eee25ee20bcdeb5894b0f88651a1e11099c146541cfa0bf5806e71a9864367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f802f74cd382c7f32e4d486ca7da58cc5b5770f882506adf1d363ae31c986f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.803 s

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

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.458, -0.1234, -0.0879, 0.9982, 1.0939, 1.784, 1.4292, -0.8864, 0.6395, 0.8654, 0.9987]\nstate[eef_state]: left_x=0.2888 left_y=0.0055 left_z=0.1562 left_yaw=0.0718 left_pitch=-0.1147 left_roll=0.0185 left_gripper=0.9982 right_x=0.2718 right_y=0.3041 right_z=0.1409 right_yaw=0.0262 right_pitch=-0.3054 right_roll=-0.13 right_gripper=0.9987\nstate[joint_eff]: [-0.3214, -1.8393, 6.9128, 1.7753, -0.1294, -0.0659, -0.0269, 0.3897, -8.841, 8.1709, 0.7009, 0.6325, 0.2418, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.123, -0.0879, 0.9982, 1.0813, 1.7844, 1.3842, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0054 left_z=0.1555 left_yaw=0.0715 left_pitch=-0.1181 left_roll=0.0187 left_gripper=0.9982 right_x=0.2699 right_y=0.2924 right_z=0.126 right_yaw=-0.0046 right_pitch=-0.3314 right_roll=-0.1549 right_gripper=0.9987\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.6532, -0.0757, -0.0562, -0.0171, -0.4034, -11.3846, 6.3248, 0.7497, 0.398, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.1234, -0.0879, 0.9982, 1.0813, 1.784, 1.3834, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0055 left_z=0.1555 left_yaw=0.0718 left_pitch=-0.1181 left_roll=0.019 left_gripper=0.9982 right_x=0.2698 right_y=0.2922 right_z=0.1259 right_yaw=-0.0048 right_pitch=-0.3316 right_roll=-0.1552 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -1.2513, 6.9402, 1.6337, -0.0952, -0.022, -0.0122, -0.335, -11.3573, 6.2701, 0.7302, 0.398, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67db2e1779bba06a70ce7af5a208545fce5817ba01f21b5a4915c9d70e0435bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9eee25ee20bcdeb5894b0f88651a1e11099c146541cfa0bf5806e71a9864367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f802f74cd382c7f32e4d486ca7da58cc5b5770f882506adf1d363ae31c986f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElvrZj8xRiuWSf7aXhFelnbjKpK-oD4zK-YlsZOjk7c25fDpm-kCJx2gLR0ISXRz91O-RKqKKzjSC4XdqSZyGTGDKwunFYFEKCub3mUri_KJQ4AaeiaU3PgIi_7Y8uxHdsad-Cw3rqfl9g0iNWG8-BhGovYfeWOeSZRyJkVrIWNEhpkwFkSGxB_ubmS6xhCgWubwDamWxvPAG-vVXMg3_jp7j2Xs6-sJML20Re21MTHDRsii2cFRLR1WhEcp43XamIZh1OeNIQ7OqzTqZHXW1hvEKHDqz87pSTcViC62L8H50psijqSGlzWbGsbE8vhkEw_aIPQ0IVrKs_tn78rw8lWgJ3jQnh43PT6da5iw4EHNDNkv_bi1j0JKDzm9U31vXCoUtHaLmioaom34JXMXw4FcHKKl3bLMhxTY1QVVBK4SjYMBbVFkwlb2MRKJD8--GWgepwxh2l-RdqUdvXJh_IQLhEBnLG2c6Xx2KenewgixTtc8a8iDX9gJwVk29GHq-u9xFUQQNh26eXWDo64zLUY-Re81dijh6OS4hH5ek_8Nw9UZPX6WV8OJcUwBWXrlo4hFsbQpxRS5pSKsPYW3YcSTNiH3rvohrjlE5b6V1epFfiwRZv7C7IYJ1DAPDJJb_eptBm1MKRPpYLVeNyIHJ2Pp7IXp19B6yQ9MoK-XE9ANV4-tQrRSZq0mbfCF3Xfsee1OGxEjgsQcLgO1npb9tc-gFPNx_vIYshoIf4sRI99NFSL9PT5n2__pSTBUadNSTzB1HHpYqzfs0ME-WdJ8aoUJrqNWJ5JcpJv7aPEzt4tnpEH3lRMKBdlpX5qdBQYq3Vku8CSbfFqshJNW9lzk7DQkDEJjjwpOCUE7QtHXSuJeW0Nv9QLgDdkysL2jduyw0wBqzZArl9O_YWkTlkZIoy850C1OFKFOIEv2a_Wq6w9O1L3-sDvIelzvB5zGnKs6yLcHPE9wOQENqHN-VV6ibswP7GZ7d8_q6CIBIOve9FhgVvLekvWr7jaqokYm4gtHBGsnh0ds3tUNQKlVsAkAhIwd_TMhRSN_CSI73G1ANau9H8KuHNelT9VnAdqV2hbjPuihDKNB4faHgvk-tqnajJL1EBDLYWyBOEhAXoOpZNZYhhvFD-RvECVQZuFcHUHFTUDWUMES_sa2yMYJwfYi0lL8gAE2h1ahMnPy5igX0v6QNNimYhXD_V-udrDZwqppoIeY36ILVAIy4sAEGJEBCg5ikg3A52XK95wPRNg-Qu3cQtz4oNXyJ2ErA4w7VlOP7yBxERelalolVYkje9hiZNw9UscdNTdUFL0d9K1m63b2Rv0KxAXS_jFGaEqhQSFP-4xQxZ-YiLEduh6ndaEpLgbOauAYSwlFUQvzWD135ZPFaKBflYWQ7hGA3HACiAVW0-PZWC1qygszXTIsraf9rcCfhLTCvo7BNMbHp3yNr4RX3U2RE83UKsq-84CjXqMgxXOx2mIi7oNjJF1OFyo5xkxMDMlxXfQWzDdkKf8FI41erg8uhxizpNy8e0CKpDvabRdyP8-0MxINKeJ2QBd8raTcfFqJyQXrevYzXpzR31-NsznaWCqbp3FSLPKrNtKBFCKxMVRDjtasEruDmkRx4owerM7dFcWzDaiRnspJOQ2xbNzv_tH-5E9BjO_QEZcbCUBI3xXMFz6BZXpAVnLH9vX7-VHjFdt8Okum5e_yk7WJhcKZwvSCToR7tGinfyWbiJTd-bd15A-_ZEqhX0dnOoZ_D8km2-CYYRMlY-vfzjUyZpH4ZK932O1FG-RwQT7gljCntmUZA8GozSQZWOFEzELIJ-etKH53QOXLuXMGbSKbW1_u1tZ4EjPItA1apl64FpRGDdEpOaUJyj69ECV4ENTPdaFBM04YVOtgzfddQRbGPbRAE0uZro8oERCc9bNn_680xSFI3Q2eC-OOjpZYYN-wCGM-4rvwJb79Aq74UETKdRODFyGAgFR9SIp-zif8rqHrE1w7JN4CkquIAdVthUYRIACtzmJUpPMqMsi_-Q19zHSF9HRIG03GkXfqtD6iFWIXHkfgmPE68hqhZKdSbO--eexHb8K3ug6TC7w_fgkZBgKTfQcIJj9Bg9fgMRrwuDsvQn_aLbkEU2dDbLpzOAAuaoPS1VHENIGV1wXZx1F7RWlLlBUhahFzbIfSm-E3gUGl7H42f__3r_vTJJQyhj-miCYaq9oOAj-n5kaa_oK0tjUX3CVKva-hffiAJFquYvmX75xLHmPX0yQ1_ZCNu2I-Uw0CSnjQlcVMI0mWS0IHWDOvnwvciUmBQbKXQjwPoKUHDxoHsR8Q-f4M1sYI3tpGJnzW0RK2VWoobdZRnri2YZ7hOONywJzIBcyQXeEnF3U6SsDatMG3n-VtfCTrQZpNOQHLnFQWZptTRuMqXUiJZ941wuyiE0urkd6tA1XTS15czTfHge3zX3R32e7EwzMHnLc6rCrV3UQARvY5-S5hm20kpvDR4fpFnepg0VW3avHfa-jzCWVjzEdE9LIZ1SmvsWItDQ2inAuiY8xxRw0u3Bm6gavAWP-5Qk3rbASFWhkbWOi9PlUJaGAxZ1dT3q_QBiGXWk3yol_n_f1XnyGPwSPsyPqrciDD_q1zMml_Mu2iYOSeSmZXT0F9DroJiV36sbCSSDajNL6lJoiFiZeRt1DUkTFRq2RbmU_rZXcfLSAIseD_UJCmmB4TdkR7x25VFzb2NrZJparjP_0ly0AUQY=",
  "id": "rs_04088de4166c88f6016ab4496b503487d09eb05aafda953ab7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.292,\"right_z\":-0.01,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The arm has stalled laterally, but the pen is still clearly inside the open jaw span and runs straight through the fingertip region. I’ll descend at the achieved pose; if it remains centered enough at table height, the jaws can capture it without another cross-over correction.\"}",
  "call_id": "call_xtK6BwRjNRUzhoeQUorA9hlu",
  "id": "fc_04088de4166c88f6016ab4496e637087d0beac894d07ba8515",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xtK6BwRjNRUzhoeQUorA9hlu",
  "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]: [-0.0689, 0.8539, 0.6197, -0.4622, -0.123, -0.0879, 0.9982, 1.0821, 1.9556, 1.0908, -0.4232, 0.638, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2882 left_y=0.0054 left_z=0.1553 left_yaw=0.0715 left_pitch=-0.1192 left_roll=0.0189 left_gripper=0.9982 right_x=0.2694 right_y=0.2902 right_z=0.0058 right_yaw=-0.0081 right_pitch=-0.3277 right_roll=-0.1612 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6435, -0.0611, -0.022, -0.0122, 0.0205, -6.1333, 3.6308, 0.6813, 0.0122, -0.0855, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f1cc7b2bda02993649eebdf2f77cb4216801a3d2e29792c49bade27682164f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eab12ab75c3c9a7b96e0276b4a67717d5cded4d574260f6b2b1af0b93c0644d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec3157ce27dbbaad979a316795e99c9e3f42cc5698200e003d4ff5b7a24a34b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.221 s

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

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4599, -0.1234, -0.0879, 0.9982, 1.0916, 1.7863, 1.4067, -0.8845, 0.646, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2885 left_y=0.0055 left_z=0.1558 left_yaw=0.0718 left_pitch=-0.1165 left_roll=0.0188 left_gripper=0.9982 right_x=0.271 right_y=0.2986 right_z=0.1337 right_yaw=0.005 right_pitch=-0.3097 right_roll=-0.1426 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5521, 7.1316, 1.6679, -0.1197, -0.0269, -0.0171, -1.0188, -11.2889, 6.2427, 0.8132, 0.2418, -0.0855, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.1234, -0.0879, 0.9982, 1.0813, 1.784, 1.3834, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0055 left_z=0.1555 left_yaw=0.0718 left_pitch=-0.1181 left_roll=0.019 left_gripper=0.9982 right_x=0.2698 right_y=0.2922 right_z=0.1259 right_yaw=-0.0048 right_pitch=-0.3316 right_roll=-0.1552 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -1.2513, 6.9402, 1.6337, -0.0952, -0.022, -0.0122, -0.335, -11.3573, 6.2701, 0.7302, 0.398, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8539, 0.6197, -0.4622, -0.123, -0.0879, 0.9982, 1.0821, 1.9556, 1.0908, -0.4232, 0.638, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2882 left_y=0.0054 left_z=0.1553 left_yaw=0.0715 left_pitch=-0.1192 left_roll=0.0189 left_gripper=0.9982 right_x=0.2694 right_y=0.2902 right_z=0.0058 right_yaw=-0.0081 right_pitch=-0.3277 right_roll=-0.1612 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6435, -0.0611, -0.022, -0.0122, 0.0205, -6.1333, 3.6308, 0.6813, 0.0122, -0.0855, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f1cc7b2bda02993649eebdf2f77cb4216801a3d2e29792c49bade27682164f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eab12ab75c3c9a7b96e0276b4a67717d5cded4d574260f6b2b1af0b93c0644d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec3157ce27dbbaad979a316795e99c9e3f42cc5698200e003d4ff5b7a24a34b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtElyjMNfFCb9XREEn-EybSf5D6zZM3vrmIEWQCbTML9uJ3OgQ8MhzyuWQjVRAEXoDuwNs_UyaX334IdKZqERrVLW-x1NakNfxu7k0OYUX485arkOgYvfMK3kHFyzDdeQjNqH2FQsL7SBUo0oEpfImnvGzMrHlEpgX8_mtyvWOWgT8iphhx69Irrpv6vyyrmfphHj8hpTZe-TRv42s_OE-WguVnB64Fq6QkcOXFtOqerhdPOyPBBoPEFrTv8S3eH1l1RaHTcPLsIEZhvg2faj0HczhHVTQOG2w4n_zEHv7pc39QDaMeg4BcRTTVKQxWc7d7hoqo4szV5y1obMudXf4PoKHqVkGMHSWexQzdhdlDfcbgTPf278_UUAh27g4tF8W0TOlG1Kf3XMwLQelbZBmgS_40wVZ2R1wFiE57udKDsEelvfduRrZ3L733g3unZpMh8Fm-vlrqu_6VbKWh6BdWA2lbeSlZR38kweT1qIpYZ47K8xi2G4Ip9zCS_oOPJapCxA9uiIHBVv8cSOe6c_HXH_jpkjyLNKnvcpdc6HTzZpGW88khxJ0OYFuHGn-ILdEnMYAhb06HfpG80IaoeYIQLl8lv3_RbGD9t-VaYW6zoOn-NI_oY3SGI8zdddYDwqj3Byr7F3fU71dUmH5wl10x4QfLN4R4mggdN7kUu9_kYXqxCTL69u9ZhAdN5hjVmh-q3dJBLXg1nFb3Wi3p0NxIt6qL2ClRWdLdVJqsu67PnYLDtBeIk8nurrJogtpT3-W2jymeKClCTnLmFscRcd42qbcSMM5sco78N0OF2eJ5-JzMt0p-MzB6MgOxnzcxpjK7H7_MIO-MhlSeXghOgh2PAdzzXZdLNCk5COOHb8asqqtScT77LvPPTEe2f93eS7BwIYg2Z7Cezr-tMyojkJnJnMXEATVO6LJY_G5ZoWv7J48dLxfpd8ozoxJKkWV7f9W3OMahIZ_XTj8S70oTeLdMkJFwKTtKOo9qAZfnN6QXESGNptZ_OQxQu8w40LhQl8LAFQkRObtPfrU9EnUUrvHJeELOQFtNJp-eHIkZyVyDb-CxFyGxrv4VhQgbiUsp_Fs08_eMulhvxjVhh_D_WvlzkvnV1wRJ4ZRi2sknGU4D6dNy1XDsuW7mhAmakaGGbeu_CMj9b51rBYR8pRyPI8ofl9WoMN-DIs4ZMUCiCvF10vJJERd4U6yLm1tLZEHvsnCPOOw-D4dXEWtzKRd2E4nhmPtYt_m0aOvxeh3TN1G77zbjGDKbl9TtQfFkJdrFxEiwKoJJ9P-dJs4oLZu83imsVzp6skGdQZ6eej2aGmp19sRhWYhoQZfKk08C5fe7Cf8FzNgqo67ZqoSS6JeleQ3suuig7B8qMWVlmF-M0TZJlAcueH9nnHJqj0e5zw75vVM6fwk1nZAqRjLaUZd9pRvo2I8IzoPduXXMOUe4It-PrhZJPhlvaN2GItTjU5zIoFtk8nDIToDvP2tB_ZKK8Ma3a4mNPR1oxVP4GUuA1ayo7TIoVHdYf9-Wp6SobsvG7wPjkN",
  "id": "rs_04088de4166c88f6016ab44971be6487d0a0467b107b6858e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.26,\"right_z\":-0.01,\"right_gripper\":1.0},\"note\":\"At table height the pen is between the fingertips but noticeably right of the jaw center, so a close could roll it away. The low pose is now tracking well, so I’ll shift the gripper about 3 cm toward image-right’s corresponding arm-right direction before closing.\"}",
  "call_id": "call_csrMHvTyFEgD5njZPI6ghGD2",
  "id": "fc_04088de4166c88f6016ab449721b1887d08abf8b1e0c041b4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_csrMHvTyFEgD5njZPI6ghGD2",
  "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]: [-0.0689, 0.8543, 0.6197, -0.4629, -0.1234, -0.0879, 0.9982, 1.0531, 1.9079, 0.9741, -0.2684, 0.6403, 0.8639, 0.9988]\nstate[eef_state]: left_x=0.2881 left_y=0.0055 left_z=0.155 left_yaw=0.0719 left_pitch=-0.1203 left_roll=0.0193 left_gripper=0.9982 right_x=0.2754 right_y=0.2776 right_z=0.0025 right_yaw=-0.0038 right_pitch=-0.2859 right_roll=-0.0959 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -1.347, 7.1316, 1.619, -0.1001, -0.0366, -0.0122, -0.9504, -7.9521, 3.7128, 0.486, 0.1929, -0.2857, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e87d078631d15db906e817888695648d0ffacbeb4de5175e21acb3e913a4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1de10a721bfd316b54fc912a6c82a0a892d9e1738f6f4540232ae573bee2db0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38917818627e3a3d086503f1f36fbcd751ed517a4c8c4f57006a51ffccb33f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 2.259 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.123, -0.0879, 0.9982, 1.0813, 1.7844, 1.3842, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0054 left_z=0.1555 left_yaw=0.0715 left_pitch=-0.1181 left_roll=0.0187 left_gripper=0.9982 right_x=0.2699 right_y=0.2924 right_z=0.126 right_yaw=-0.0046 right_pitch=-0.3314 right_roll=-0.1549 right_gripper=0.9987\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.6532, -0.0757, -0.0562, -0.0171, -0.4034, -11.3846, 6.3248, 0.7497, 0.398, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8539, 0.6197, -0.4622, -0.123, -0.0879, 0.9982, 1.0821, 1.9556, 1.0908, -0.4232, 0.638, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2882 left_y=0.0054 left_z=0.1553 left_yaw=0.0715 left_pitch=-0.1192 left_roll=0.0189 left_gripper=0.9982 right_x=0.2694 right_y=0.2902 right_z=0.0058 right_yaw=-0.0081 right_pitch=-0.3277 right_roll=-0.1612 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6435, -0.0611, -0.022, -0.0122, 0.0205, -6.1333, 3.6308, 0.6813, 0.0122, -0.0855, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8543, 0.6197, -0.4629, -0.1234, -0.0879, 0.9982, 1.0531, 1.9079, 0.9741, -0.2684, 0.6403, 0.8639, 0.9988]\nstate[eef_state]: left_x=0.2881 left_y=0.0055 left_z=0.155 left_yaw=0.0719 left_pitch=-0.1203 left_roll=0.0193 left_gripper=0.9982 right_x=0.2754 right_y=0.2776 right_z=0.0025 right_yaw=-0.0038 right_pitch=-0.2859 right_roll=-0.0959 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -1.347, 7.1316, 1.619, -0.1001, -0.0366, -0.0122, -0.9504, -7.9521, 3.7128, 0.486, 0.1929, -0.2857, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e87d078631d15db906e817888695648d0ffacbeb4de5175e21acb3e913a4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1de10a721bfd316b54fc912a6c82a0a892d9e1738f6f4540232ae573bee2db0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38917818627e3a3d086503f1f36fbcd751ed517a4c8c4f57006a51ffccb33f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEl2nllHVsgptYwqL0eGsRa6QFrSoyu6ARSTMYuGLwsgd45eo-oNdnZaZQz7dIB_e-RCN9w661qNctQ1OxJwWQSLL1zYmh-2tvDCsT0xuJRjSu2KKqI1jG9VnCOlRIMWXVY0HMFmZmkzTmhv9Xe_ZD3horsfpoYx71z7B28YybHYKe6DOCNyau9gl5XH_sC9WVDHN0WHUykdmyW6jFDJ_uXtW08vTPWGjWLD7XMhRmRrxDC7M_NJ0FanOzTwN7c22CAzraSk2KHmUeJ6EVaMCPvIfIzJCgqGAxjsAN6YBTBLWjdHzqdOlcAe4urx0qRqxLHyL2I8L0y_en9880C12Z1_R5bTIrmdbc8Zgh9_XFWVE3fYWsCuCTbojXyKKDhTlesM9qwxYCo64WaTM0Z3q9Ckb_Aafvcr9NM8wgLJxAyGNQ_YKHOCqlzCp_aO059vfhdwrRGhUJk8I0KSwYMUwkniRjigsgsGcqnj31PO1gvc3diSspmmXGeXQcZShO0S1OOcyyMcI2HA_v8Ppa6Er-mckONBz6P_vBK7NVFHaKBKE4S3WHfOfyB7pNJ_JmJmN4wafvNkPcvxxLzsykcaRM5kn0gDOS3hJcqEFGXLDWWccqj1PxCxvGS-WTKxTj4NvuvlBUkQRHnK696aNNEf6zAqEt-tcqICHQaN4-IKk0lefbrD9cIMd4nbmZjMYdB88dlwFK-hzyOgOhc4SPN_kKfzdykiTeyCN7RTBYuaMZnaz7It3omv_xn1RoNsGzgkyKocm42WlPaO0vCtXh2msut-isNKaGMWTYgbzl_0jqRdj6QBSrVJ3gmtUO_-0u48lQ50U4WkDSMbXMXcqJ8CwPvomviC0alQLor4f8vYwZGFE4xFr56ZY2mUeBWLepQ5THMQI-rcgy2uULmVRZZ9-h9o3WIlnzgX536fyOnNzJ5h-uLodzH_IgxnvdeUjOsRaSjnW7X2aTbKw_qLsBn15-rPWJ4V7mnz8co734gqDlKtX8Rmt_eLoItlfGF2T6XPYMNuaPb2oAoDA68wbuRFY78z5ELiaWcoR7_OJJiHzhoT27hwINYUab6gEWUk088ZP4VfS5-5kiXW4MU8Vh9R5n0mJL6XPOL0e-TydJXXj09qBGRZ9b7F4QY6nOKdg5YcAz17izpyXIKy_vfMJNhVc9Rcn47LbJ2hOumfqUtb6-ah2XVqgetSJlD1jPpkU1GtDKNXGGqo7vzsltGEYMYT1FtZ9ovxocnIkpwnSrOLP2Lk3v6TZOF4ILbU79XHqXlN343ZYws4Yqt0uITlMCBy6cy_kcsXI5cX6fFvJAvo-i09SEvOqbxScW6oduYgWrPNTZhoUgEfgIQ8cZNTDMgSKqq0VXLmyjdepd4Fehe3qjcx4NsaOTMezl8xlQT6WNfRgqMG0CI6F1epBjQ3BwP9b-LgHBdyWnOFN03iLI5LWc7h2E4M8Be0gTWRBsyc8fbZkh6rEChQggtLK28jhJyqWFKZ33UZspDKjwrqTIbCZ31dk1Z-07Ds1qtJYW8iZNmSL_XLxtMi8I1_xlC05JE05RT1r3-quOV0u4GfEKeF55E7-tb2909ID2R8xOOc9cnqcPcuXDC78slihD4C4U8mQjdRnvx5uNnMTCjT6ZDse0SYangZ_mNlem3p2SIQemof4v08sQGZcW4wBo08SCV7NPyIJJXoFL_DxQXYxJQKb5enkmXbbsZer--0X2yMoCbKOTL3",
  "id": "rs_04088de4166c88f6016ab44974336487d09fa497e4acda312b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":-0.01,\"right_gripper\":1.0},\"note\":\"The first low-height shift tracked but the shaft still appears around 25–30 pixels right of center, likely because wrist roll changed the image during the move. I’ll continue the same lateral correction until the pen is nearer the jaw midline.\"}",
  "call_id": "call_xX54mXwmgjEMbFBHoxDoaRRN",
  "id": "fc_04088de4166c88f6016ab4497559cc87d0b22b634e7d1559fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xX54mXwmgjEMbFBHoxDoaRRN",
  "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]: [-0.0689, 0.8547, 0.6197, -0.4652, -0.1234, -0.0879, 0.9982, 1.0046, 1.8442, 0.8349, -0.1074, 0.6315, 0.8265, 0.9988]\nstate[eef_state]: left_x=0.2878 left_y=0.0055 left_z=0.1545 left_yaw=0.0719 left_pitch=-0.123 left_roll=0.0197 left_gripper=0.9982 right_x=0.2812 right_y=0.2546 right_z=-0.0002 right_yaw=-0.0068 right_pitch=-0.2501 right_roll=-0.0416 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.2786, 7.0085, 1.6581, -0.0757, -0.0659, -0.0171, -0.6359, -7.6103, 3.7949, 0.5397, 0.1001, -0.2173, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddd1a290c84e69c805c9f1b7df568800a5bbf01ecfc9bbdaa0d51d48786954d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e682130dfb7f0951f9fb4ff4bd83fa86e46121ba6b4c09688005e2a6beb4486d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed6926300b731db88ffdbca8608b207eaad43a9309845ad9d2327d5644196c8",
      "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 · 2.104 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8536, 0.6197, -0.4614, -0.1234, -0.0879, 0.9982, 1.0813, 1.784, 1.3834, -0.8841, 0.6315, 0.8822, 0.9987]\nstate[eef_state]: left_x=0.2883 left_y=0.0055 left_z=0.1555 left_yaw=0.0718 left_pitch=-0.1181 left_roll=0.019 left_gripper=0.9982 right_x=0.2698 right_y=0.2922 right_z=0.1259 right_yaw=-0.0048 right_pitch=-0.3316 right_roll=-0.1552 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -1.2513, 6.9402, 1.6337, -0.0952, -0.022, -0.0122, -0.335, -11.3573, 6.2701, 0.7302, 0.398, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8543, 0.6197, -0.4629, -0.1234, -0.0879, 0.9982, 1.0531, 1.9079, 0.9741, -0.2684, 0.6403, 0.8639, 0.9988]\nstate[eef_state]: left_x=0.2881 left_y=0.0055 left_z=0.155 left_yaw=0.0719 left_pitch=-0.1203 left_roll=0.0193 left_gripper=0.9982 right_x=0.2754 right_y=0.2776 right_z=0.0025 right_yaw=-0.0038 right_pitch=-0.2859 right_roll=-0.0959 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -1.347, 7.1316, 1.619, -0.1001, -0.0366, -0.0122, -0.9504, -7.9521, 3.7128, 0.486, 0.1929, -0.2857, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4652, -0.1234, -0.0879, 0.9982, 1.0046, 1.8442, 0.8349, -0.1074, 0.6315, 0.8265, 0.9988]\nstate[eef_state]: left_x=0.2878 left_y=0.0055 left_z=0.1545 left_yaw=0.0719 left_pitch=-0.123 left_roll=0.0197 left_gripper=0.9982 right_x=0.2812 right_y=0.2546 right_z=-0.0002 right_yaw=-0.0068 right_pitch=-0.2501 right_roll=-0.0416 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.2786, 7.0085, 1.6581, -0.0757, -0.0659, -0.0171, -0.6359, -7.6103, 3.7949, 0.5397, 0.1001, -0.2173, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddd1a290c84e69c805c9f1b7df568800a5bbf01ecfc9bbdaa0d51d48786954d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e682130dfb7f0951f9fb4ff4bd83fa86e46121ba6b4c09688005e2a6beb4486d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed6926300b731db88ffdbca8608b207eaad43a9309845ad9d2327d5644196c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEl494lDe7guAg_xrDoM6zvC2e9eYUYFe8srd2aChnH_4lOk-RCeJmZDatEj8vM0CVaPP_S3mFc9Nc9NCam-Ku7cQaja_iCiZiiWHHk32aFnn96zzIjA6-MEjfpNFsSMcnvIOc1nFXo_fMhBldlrhl843fcCE6qjC9zl6sgXldEu0uk6pkJuJz7Hh09UhmFXDr2b_6I1e9xh79kw7S2oC4vzxkQzdSvDIW4jiuMAkXchoblTe9nN7ZyyY7w2dugmp6FD3qg8vyp6sRPMvi6e9DCLUJ5UmJ20V3ATEqGBpqZeMFAwK-s1equpFo6-TqLsNnsQD7jGMUcU4YManwyGZq0QEqiP57lNkK4SJ5zqorR5s6WvIDwdtTkfAdObPjdAV8FzraOYzQMJKIrNPelJtLzjjNlTmUAaCAjEQcgfEQ6LZLgva8WaFx4lN0MTQ7re0OXZauHm6MuLSvrhsaQCJLhAHoL8DRZ7heGPSDv3Gny0L01wM5uFP1ZHL-9Mvv8q9DCgPRNPNrP9szwdu4TbOgXryiQG0srf0DD4t04aY29epwpHK5F9ZMrP8giRCw5JEC1-0RNW4E9idp8vSkt6vWUmHnSjAmHo0pfBQ93HoYoHwGFeOdRgABq6bPGdiKbp0GHNTAOGbr4ELvWOni90pNUuCNgRrL1TML5_WLpfVUd2yuoR0aL-MPskIKkve6n8BTjBTuIsnUffPACKnkPNjCM_5YYSuypY-0osbHFybzDBkkW4ESzDusyZHVPcTMW97qYqX6xZXxbutMd4YNvclGo3UpjF6cu9jOs5uWsBBH8AB-pC8EnS0IMnLVhzug8fldq9PGHsWtEXKAy1A-KKDEFNwUoNIyFcLq2j0WgK2LtlbsGqvpIiavuXDRDG54eESOth3daLT4pKJr7FPBTBQxqmBKDyVQzfM3TAtYkgghRsRSN8GHM6iQargBh64fcIO64dk0_NSrKhbOKBIJB33O8PKrIaZzdXdsR5Gu0YEbjYlR0a14ygAsb2gNa-5X1DE-19XitEB274MJY8ZTdZ9TPeT-ktSgIo5PtQF6bvh4Hb-oF3Wu_zd5h0guV-xKZsOLzM-xnQIU3CVrB_9TcUXKALxTH3qTqdj1IaBvXFfZBZKEx0JAqhJK0R4MSF63sBcUgMys-lRwOcd9aRrem0IhaoXOku-imUNpDRY_cMdHP4V7X2-ijTUlbk5Br-gk66kaft71fDEfrBTkDQC9oMU0Symg==",
  "id": "rs_04088de4166c88f6016ab44978399c87d0b722228bce7d4653",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pen shaft is now centered on the right jaw column at table height. I’ll close the gripper across it.\"}",
  "call_id": "call_YNkEeq7jLUF8oXgqbgErjso1",
  "id": "fc_04088de4166c88f6016ab44978666887d0a5b9b1ca18f0d1be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YNkEeq7jLUF8oXgqbgErjso1",
  "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]: [-0.0689, 0.8547, 0.6197, -0.469, -0.1234, -0.0879, 0.9982, 0.9943, 1.8355, 0.8146, -0.0784, 0.6315, 0.7952, 0.0484]\nstate[eef_state]: left_x=0.2871 left_y=0.0056 left_z=0.1538 left_yaw=0.072 left_pitch=-0.1267 left_roll=0.0202 left_gripper=0.9982 right_x=0.2833 right_y=0.251 right_z=-0.0 right_yaw=0.0038 right_pitch=-0.2411 right_roll=-0.0487 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -1.5658, 6.9265, 1.6532, -0.0708, -0.0708, -0.0171, -0.6906, -7.8017, 4.0684, 0.6178, 0.149, -0.0611, 1.1844]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e46240cc3cb52cc44e630e8cce99812e01acb27e203d7573a653a60ed510f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca26269ca943d85264522d15b123ebf36672717959124f11550acc6fa3b94c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cbb4a04011bcb998cd3f31959e92db79915854c9de8e8840479592d7cf4d42",
      "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 · 4.201 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8539, 0.6197, -0.4622, -0.123, -0.0879, 0.9982, 1.0821, 1.9556, 1.0908, -0.4232, 0.638, 0.8825, 0.9988]\nstate[eef_state]: left_x=0.2882 left_y=0.0054 left_z=0.1553 left_yaw=0.0715 left_pitch=-0.1192 left_roll=0.0189 left_gripper=0.9982 right_x=0.2694 right_y=0.2902 right_z=0.0058 right_yaw=-0.0081 right_pitch=-0.3277 right_roll=-0.1612 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6435, -0.0611, -0.022, -0.0122, 0.0205, -6.1333, 3.6308, 0.6813, 0.0122, -0.0855, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4652, -0.1234, -0.0879, 0.9982, 1.0046, 1.8442, 0.8349, -0.1074, 0.6315, 0.8265, 0.9988]\nstate[eef_state]: left_x=0.2878 left_y=0.0055 left_z=0.1545 left_yaw=0.0719 left_pitch=-0.123 left_roll=0.0197 left_gripper=0.9982 right_x=0.2812 right_y=0.2546 right_z=-0.0002 right_yaw=-0.0068 right_pitch=-0.2501 right_roll=-0.0416 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.2786, 7.0085, 1.6581, -0.0757, -0.0659, -0.0171, -0.6359, -7.6103, 3.7949, 0.5397, 0.1001, -0.2173, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.469, -0.1234, -0.0879, 0.9982, 0.9943, 1.8355, 0.8146, -0.0784, 0.6315, 0.7952, 0.0484]\nstate[eef_state]: left_x=0.2871 left_y=0.0056 left_z=0.1538 left_yaw=0.072 left_pitch=-0.1267 left_roll=0.0202 left_gripper=0.9982 right_x=0.2833 right_y=0.251 right_z=-0.0 right_yaw=0.0038 right_pitch=-0.2411 right_roll=-0.0487 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -1.5658, 6.9265, 1.6532, -0.0708, -0.0708, -0.0171, -0.6906, -7.8017, 4.0684, 0.6178, 0.149, -0.0611, 1.1844]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e46240cc3cb52cc44e630e8cce99812e01acb27e203d7573a653a60ed510f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca26269ca943d85264522d15b123ebf36672717959124f11550acc6fa3b94c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45cbb4a04011bcb998cd3f31959e92db79915854c9de8e8840479592d7cf4d42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEl85EfZTGTA1lk4SN48-D_jc8b0_NM9OpeYuF3WbLBfjLzSxJEy1TB8nKJ-7vaKFz74qMnzyoukYpxK2tp4o_Kxq75Z1NmSvu9qOgNpabjsTTF5U0x-b217n8pNOztNY4vqBgKIL0NGDQadh1UOmyOI_hTfX3HfUXevzBfLvDeHRTzZF653-dJ1W_iQEJWEySDnXleOQsBfum_nRDXlZLBI697MoDd7TQjOHo-E3wdAXJe3OfxpMri-511wyxfWcrJ3UQDyC3NboGW7zpDFXi5aPiqXG0Ig_L84gg-P17aZj4EDouB3e4boZK1VPnqu34ZykZIDAymmiYP7GpjLqWcVumoEK3ikwB5xxWahJRuCYOSX6TyXWTz-MHMpDEyPwFai6Gtensg84jWkrSyW9eWt0QTX7etx6oqZx-fAMML-HeE76TyM4suV83XiLf3puawNU5perW5lwloV-he2djL4gISS83vcTNa2tkB_kb5vhu0Y0bV2g69mYIktT_tE0I8Z6dOM1jnhKscG4ansoniWwTnbaRDb_nO7ikbGCsLnTuBXxnhya_LSiHgl6aiWyeCycnuH6biVMnAsC5Iz9GDKGnuYNtTodlgvWSpXcczwBn9HebOeUV7U-qjE65Q1V47SGMSOReNpXQdwbbZeNUBBBeeGYflWn0uRfdWGpTQPi7JA-3ptBXxNdRop9fUR2PJrZQD7HYwEkaWZf08wCI1oiV-IO6pXtInt5ns2vXnMpjxS9rZT60_0wqQJfwOxA8CzDKR0B2AdUgUuTAVDgXED8nhpOHsqCUXiDi6TIy0hUyrxev-2QOsrIm25HtIHT8gK-hv6VCXk7jL6NztQAd-ERHK3KmnHubN6SVpE0K6LrqSBfzYVG2EcNi8mZE_Ife_Me8ec6tx4IanYzSZVnwIgzxhfE6XVgdag3myIuZwWbDQ-OvkGkwKDDcC4HKbt4mQNUsnZy0JskCvS9EWpDHOON5Wtv8sHIYJnfAZ4vtn_kN7jdBJwWPh9cGxns1qewsofxSOYtbeszBPnPwLWNjB_G2ashJTlNFVietYIsqezEYCdNJbAUcbHXzlLDYipoaCoCTiwyOkihvhuo_-I_BBnmgFquq31qdJU9SFJ2U0YVJ5ENQPVuD0bvru49qDHIe180qjOddCwOJCOoJMCbkLl-2sOG6K3A2aHNELWA9i0hIsnf7PnSeGNYu9YafPRmQGw",
  "id": "rs_04088de4166c88f6016ab4497b0ad087d099f73ea7135b20c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right gripper settled at 0.048, consistent with a secure pen grasp, and the shaft remains visibly pinched between the fingertips. I’ll lift it to a working height so the left arm can pick up and present the cap.\"}",
  "call_id": "call_pS5lhfVcUjQgxFfZi4N1pZ49",
  "id": "fc_04088de4166c88f6016ab4497b2d0087d08e6b9f823748b1e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pS5lhfVcUjQgxFfZi4N1pZ49",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4835, -0.123, -0.0879, 0.9982, 0.9943, 1.5902, 1.1759, -0.6827, 0.6205, 0.7952, 0.0564]\nstate[eef_state]: left_x=0.2848 left_y=0.0057 left_z=0.1511 left_yaw=0.0719 left_pitch=-0.1411 left_roll=0.022 left_gripper=0.9982 right_x=0.2854 right_y=0.2571 right_z=0.1421 right_yaw=0.0106 right_pitch=-0.2481 right_roll=-0.0411 right_gripper=0.0564\nstate[joint_eff]: [-0.0752, -1.5385, 6.9128, 1.7656, -0.0806, -0.0415, -0.0171, -0.3761, -9.0051, 8.0615, 0.9402, 0.4225, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65bfcb9b3443fc13794df6e04fed0f62da879a7081dd13629ad9ce0584522ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b9089ca3b255427d687295ede05ea97f0fa911dab50c633148e182124d357e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0306ff0ec70c21f09d15820ea836a4c7456e406c014e6da294adb4a4286b8910",
      "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 · 2.615 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8543, 0.6197, -0.4629, -0.1234, -0.0879, 0.9982, 1.0531, 1.9079, 0.9741, -0.2684, 0.6403, 0.8639, 0.9988]\nstate[eef_state]: left_x=0.2881 left_y=0.0055 left_z=0.155 left_yaw=0.0719 left_pitch=-0.1203 left_roll=0.0193 left_gripper=0.9982 right_x=0.2754 right_y=0.2776 right_z=0.0025 right_yaw=-0.0038 right_pitch=-0.2859 right_roll=-0.0959 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -1.347, 7.1316, 1.619, -0.1001, -0.0366, -0.0122, -0.9504, -7.9521, 3.7128, 0.486, 0.1929, -0.2857, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.469, -0.1234, -0.0879, 0.9982, 0.9943, 1.8355, 0.8146, -0.0784, 0.6315, 0.7952, 0.0484]\nstate[eef_state]: left_x=0.2871 left_y=0.0056 left_z=0.1538 left_yaw=0.072 left_pitch=-0.1267 left_roll=0.0202 left_gripper=0.9982 right_x=0.2833 right_y=0.251 right_z=-0.0 right_yaw=0.0038 right_pitch=-0.2411 right_roll=-0.0487 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -1.5658, 6.9265, 1.6532, -0.0708, -0.0708, -0.0171, -0.6906, -7.8017, 4.0684, 0.6178, 0.149, -0.0611, 1.1844]\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 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4835, -0.123, -0.0879, 0.9982, 0.9943, 1.5902, 1.1759, -0.6827, 0.6205, 0.7952, 0.0564]\nstate[eef_state]: left_x=0.2848 left_y=0.0057 left_z=0.1511 left_yaw=0.0719 left_pitch=-0.1411 left_roll=0.022 left_gripper=0.9982 right_x=0.2854 right_y=0.2571 right_z=0.1421 right_yaw=0.0106 right_pitch=-0.2481 right_roll=-0.0411 right_gripper=0.0564\nstate[joint_eff]: [-0.0752, -1.5385, 6.9128, 1.7656, -0.0806, -0.0415, -0.0171, -0.3761, -9.0051, 8.0615, 0.9402, 0.4225, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65bfcb9b3443fc13794df6e04fed0f62da879a7081dd13629ad9ce0584522ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b9089ca3b255427d687295ede05ea97f0fa911dab50c633148e182124d357e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0306ff0ec70c21f09d15820ea836a4c7456e406c014e6da294adb4a4286b8910",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmB6IE2zkmBzszASyfXqIyY03ZnfDt4seOxIBImeINSI8LB71FyM5GoDsyuGvNdI4vRjIwfTzQgcCn0cfktmAwb4RW3Ef02_c6bOYa5O3DX1wmcQND7FRtVXZ2HyEYUtP5qJAURQWmuZZSO5pWA5RhJgc97Af73CL87x9YRKPt-wuPX7MUL29GyebUN2wuJpMZv1ywNjKfnbRpWGLR5NaZllWNphSMxY7hYmZY5Tvj5fZrCJaKcOsfD-yoB3gDoxTiWIkrkroA-96JFx_ZZN2mC8bSWQGmjsR7FizwMV3yGJuILv_9Hw8JnfOd9PBqiXCmMZLetUfmj7p5QjSesT-r8yTa4wlMkNVBcsq-7phj2HrBB_w2336_f9Xnu52KQv-EqUx7ar7Bpe5okFngiUykKfo4P9aaoHfITOR9QZs7WPWRoALPPEe9TLEHF3mLcbw2VmrITMyfrK54SCEbzzUtUpDxWgSMIj9CFlIwwV6RAjjoP-2U-A_DLYGuP9MC_NvYltTfmViZBQOek1FIfFF2kifiYIlwyyMop7vt5--Vgz9CGMVWbKyTV5nxp7otdVyI-YFqAtyuK7_eTNkLE3BxdmK3o6HgAFrIkTfbQYyCpMhfNimVWo3DXVqj83OS95jUTLWje3ofOt3dPQSJ4UkqrTT2uW1fANNUviigPjSQT8XUqNxdEj9NFmeMQ_Pl0xkT-NlVpubZ5QU4plrPiM3ahIQ0-vojVBLh_cDCAtdcrWSbTJ5G4KyZj2g_1Vv3o75_j9qTz8xoIi6T20op2Yg387dxyaUV0O4V_gTlGbsOXIhVxWBx3_CkT6VQHDR_94P5yRc2Ne54oaJ7eIZoasrzmbHXXPqKrAgG__zGpokglqDfD3-n9BjJQI-5Si2aTsKKKncH3hWZV-zHDKixk3Cpfzl1HXqo6DV1qJYMxqwh93cL8dJiQHn3TPhaFfNxDdAqSc7X7hm5MHLCcpYzKvNzJB4uH6_isbislFVCQewXZvdVnwo4W6S_f6dKgu1Ap64ZgF9nIMNOnrYl69_7lSZfnIUPgzmtiCeM482cXsPOm32vvFAnWgNle_sbRS8lEt020l9oown_sweCzQlpVGRVpZw51Aba2rYMNbBqBgyDAPBFHLKdh1alZSjKuzJ7VnugC_LWMNJ9U7m5HrylS3DfV3sfHOYsPc-PKp7QTroYRAVbhR_UsfT9V1pgeNePIkf-Yc8WNPl5Cf6AMxLXBoBm_6o9KuL_NDna2U4vUXgNFBWhmLn157_0kZILUrjU5xAzWsyMEtUQ6erI_-tWJarngNnEtCA2gcEyQqxjcqMQlx1obrLOB23LHO5uXEVknB7tjPPCVPuUIBPGKoIgG6BdzV_igSr96QFzFi0I8WC4G0Mu62sptiblvZRT32QuDMJvmYS5LNG0uMqaUNMrH5Qs9jwxWvCJCFHxK0tMPdey8t67bQlSTqLNjpRq1mUa-SE8ARopOqM9PlP_vDrJ2bPMUxL2L5ZvOa-7a90k7OxSvLbnOp-I0lWSuFbBARklYYirtY6_127yM7CgXVjDvT9XLrUjK87F0tSVNd8E1JcBPqxWUcqO-i-aOk2vxVapDceQzZLksTOxfcMAk1L2MjLgWCFNBEplon0XoVOpsCsG_W2mfITenlMSJKCIC_9eLqfEkIrGKY3q1gP0iXVi8ZgDBxs4QBTmkNmOAHqwqxVUV5y3VvAO32UFHsFq7IUSmeYiJKkhM7aSt5cJs-vojVf5yIHP6M0crpmUuZK4RGIRobMnIvMeBZ4uV4gzESVvjroTM9If2RaFSZel6yCnYeVvQFiZ2hQ6p-hoshXp6jlRMT8M8Ea7cHLFaYy8FTcuzAojVd7ffzr9E89wgWGWLvteoUM3WcHrSMUwaiBK8XKkK7pVfcbHGrsXC0nGbNNfA08SlLXh4dmH30sYwb51-UGgK1jLxmBSJbW5SYVdEFpnA98jQnPz-od65Oz0F7LT-sBG0",
  "id": "rs_04088de4166c88f6016ab4497e5d2087d0b7a6721f9c55810b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.23,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The pen lifted with the right gripper and remains secure. The cap is still visible farther forward and left; I’ll approach it with the left gripper at x≈0.44, y≈-0.23 and yaw about -0.7 rad so the jaws close across its diagonal body.\"}",
  "call_id": "call_dbrCP79mkYmLl60p1UKZIGrE",
  "id": "fc_04088de4166c88f6016ab44980249887d094c67ca81a1fbda3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dbrCP79mkYmLl60p1UKZIGrE",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4141, 1.7435, 1.2205, -0.2687, 0.1535, 0.1425, 0.9984, 0.9951, 1.5898, 1.174, -0.6964, 0.6083, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4296 left_y=-0.2144 left_z=0.1277 left_yaw=-0.6365 left_pitch=-0.2088 left_roll=-0.0014 left_gripper=0.9984 right_x=0.2823 right_y=0.2561 right_z=0.1392 right_yaw=0.0147 right_pitch=-0.2656 right_roll=-0.0475 right_gripper=0.0616\nstate[joint_eff]: [-0.5402, -9.1556, 9.8667, 1.6874, 0.2418, 0.3639, -0.1832, -0.4308, -7.241, 6.5026, 1.1355, 0.3736, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ecdf6eb538d098c70768c033058793037143062b531941709454f46e30b9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678edbf99520252a046c1ffcb15cddad086f6d602856d13a66361a25c0ef1ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d01151747fc762b7430bcfb20b2c0a6e9a3ac382e70b23228c1d254cca99fd5",
      "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 · 2.21 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4652, -0.1234, -0.0879, 0.9982, 1.0046, 1.8442, 0.8349, -0.1074, 0.6315, 0.8265, 0.9988]\nstate[eef_state]: left_x=0.2878 left_y=0.0055 left_z=0.1545 left_yaw=0.0719 left_pitch=-0.123 left_roll=0.0197 left_gripper=0.9982 right_x=0.2812 right_y=0.2546 right_z=-0.0002 right_yaw=-0.0068 right_pitch=-0.2501 right_roll=-0.0416 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -1.2786, 7.0085, 1.6581, -0.0757, -0.0659, -0.0171, -0.6359, -7.6103, 3.7949, 0.5397, 0.1001, -0.2173, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4835, -0.123, -0.0879, 0.9982, 0.9943, 1.5902, 1.1759, -0.6827, 0.6205, 0.7952, 0.0564]\nstate[eef_state]: left_x=0.2848 left_y=0.0057 left_z=0.1511 left_yaw=0.0719 left_pitch=-0.1411 left_roll=0.022 left_gripper=0.9982 right_x=0.2854 right_y=0.2571 right_z=0.1421 right_yaw=0.0106 right_pitch=-0.2481 right_roll=-0.0411 right_gripper=0.0564\nstate[joint_eff]: [-0.0752, -1.5385, 6.9128, 1.7656, -0.0806, -0.0415, -0.0171, -0.3761, -9.0051, 8.0615, 0.9402, 0.4225, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4141, 1.7435, 1.2205, -0.2687, 0.1535, 0.1425, 0.9984, 0.9951, 1.5898, 1.174, -0.6964, 0.6083, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4296 left_y=-0.2144 left_z=0.1277 left_yaw=-0.6365 left_pitch=-0.2088 left_roll=-0.0014 left_gripper=0.9984 right_x=0.2823 right_y=0.2561 right_z=0.1392 right_yaw=0.0147 right_pitch=-0.2656 right_roll=-0.0475 right_gripper=0.0616\nstate[joint_eff]: [-0.5402, -9.1556, 9.8667, 1.6874, 0.2418, 0.3639, -0.1832, -0.4308, -7.241, 6.5026, 1.1355, 0.3736, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ecdf6eb538d098c70768c033058793037143062b531941709454f46e30b9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678edbf99520252a046c1ffcb15cddad086f6d602856d13a66361a25c0ef1ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d01151747fc762b7430bcfb20b2c0a6e9a3ac382e70b23228c1d254cca99fd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmFi5X2-4zhyM4pFGc0PPfpe0OPVLsFqdeVsAOjDrh1T4pfgiXo_T406HOpf3A-LfNaytBU2Pi8Bxh352v3LU35xYOapJWvQ5l_H1KzNWEZpGNO_Wc5Bh0wX94tvQ72d5324kS_JtPrp-oC_123VJm_Lfp52rYgQUbq-tcobo_loYS7sIrSuojXK__QoQBfaVvNkoZe6VIvaufFwbINWI-vxC6Tk26_-dh52-xOKm5fm6m7wsh3FMYtH_R4HQ_pNWJcEHwsX72QEfuqvvJXEufDMt0UJhFLKw1t-ItnvXurKxU8nlVx71AVxV9E1recJhWjsLqNxQhiWSE3XfD7XEVIyabDbCl6hOCsXPNksSHLairXoxxMqOMbblKinTpr8sg9TtXLRyXpe5MXsLxrGMErlL9j1lLqKKlTMr0EBv05nRbm7_2qyfvNPpXGqz6KtCFTYWNQPI9vhaOa3j0xBmTpLowwGwXd5sd9BseEy3apGXv8zkvIpsqhz7gjeF-5b0-eNT7xT8wlwOQilojax8iLKJEIN-ns5oSoFtNn2kVbGfHt-FOsgx0EuyNaK7jJjAoBf53f5uG3Q7rjDyACsQpscvcTV-40iotUC7W9cNPTgHsdfgUMO6oCAAuvC7LMeQJ4GqQRqugHjrt0I9mGXiBBxoBnmAsU5zDZWPlhGB0SW3fiUvywNKt4nCYWegvK2l1zG5oXvBBUv55_IHcwEAOtfvHAyEhXlFMzWP8IvrygKh_EcXwtRhujyc4UDN8ELKEDZc1-0LGyXCbQfn033LTHxKBmhreszT-908zwm-yGaC7d0_gZ5Gyl5JOiFHg27EPgcmsTslx1rsPR0ss1Z0nqsM6fN56ahSkdg3mo12reQ4Y2ptX_6RQ2lwlwpsfdkHEv1yI2euhpF6iW25GVnvgvl7Z0_aQeG2xAfESjji4yQ0BevqsB2Tg7x_ss1TE_6uLsPpt4dSS2JaPOsNxaNQHvV6N9r6v5nsxuuHtotwe0HdIKe33CJh3QnM4pJWcgV_pMpBA8qoIziS_WuUUJiQmBmlU3FHGkiLp8f4ZmuE6ccO_CellSqWMsU2P6ct58cNfL4MPRREDRfJ30Q4ZwuOp73n8HnDD7E4-n16BRoN1_SvtmdWy_fpB0HT-kAnn4SZKJGUnM3ql_2rZIipEWxKWCs6rOyeHahvCkPR5O1OqnJCAviOIAyKXEUA-pJeIijVCSpTJ-PQkXcrbT-cplyRGNulaNgc6ixic1XNWOxXeyjjEoULfbBxCyrFpFR_1qPcs3jUxlM0c4LIHg7yK7Ik8nYss7PEQgjaioESc-iMZChmcCaTYPwLySVJa1pLs-mtQhQl5pUOVZ0SVBAe3UM6SdDb5p7LbpCImaopU0PwGPB-AZDM61KnhFclPCvgeithn-ca9Nt3nRI5Hqv4vvsrAp4w==",
  "id": "rs_04088de4166c88f6016ab44984790487d0b2828dd64d5d827e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.214,\"left_z\":-0.01,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap now appears lengthwise on the left jaw column and reaches into the fingertip area at the bottom of the wrist view, with good yaw alignment. I’ll descend vertically to the tabletop at this pose.\"}",
  "call_id": "call_ppbpUHBqgcoZfMwz6VXN21A7",
  "id": "fc_04088de4166c88f6016ab44984f06887d0aab55c74b172e1ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ppbpUHBqgcoZfMwz6VXN21A7",
  "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]: [-0.3973, 1.9976, 0.9943, 0.1982, 0.1905, 0.1898, 0.9984, 0.9951, 1.5898, 1.174, -0.6991, 0.6003, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4314 left_y=-0.2134 left_z=0.0026 left_yaw=-0.678 left_pitch=-0.2154 left_roll=0.0032 left_gripper=0.9984 right_x=0.2812 right_y=0.2566 right_z=0.1382 right_yaw=0.0188 right_pitch=-0.2731 right_roll=-0.0456 right_gripper=0.0616\nstate[joint_eff]: [0.4308, -7.6923, 4.0, 0.9841, 0.2906, 0.0464, -0.1783, -0.335, -7.2684, 6.3521, 1.0818, 0.3541, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14cec783a02c0911a510c78eec46f5f5b444de6b936f809b0ce129f8c6f1a8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1ab4299c44d2e4d3fb1066c1436998f92e659865cf0d49f5d869f5acab7c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3aaab5052ecf6825701b25fa3afeaeefeee2addbbfcce2ff8116fdf7604298d",
      "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 · 2.77 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.469, -0.1234, -0.0879, 0.9982, 0.9943, 1.8355, 0.8146, -0.0784, 0.6315, 0.7952, 0.0484]\nstate[eef_state]: left_x=0.2871 left_y=0.0056 left_z=0.1538 left_yaw=0.072 left_pitch=-0.1267 left_roll=0.0202 left_gripper=0.9982 right_x=0.2833 right_y=0.251 right_z=-0.0 right_yaw=0.0038 right_pitch=-0.2411 right_roll=-0.0487 right_gripper=0.0484\nstate[joint_eff]: [-0.3487, -1.5658, 6.9265, 1.6532, -0.0708, -0.0708, -0.0171, -0.6906, -7.8017, 4.0684, 0.6178, 0.149, -0.0611, 1.1844]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4141, 1.7435, 1.2205, -0.2687, 0.1535, 0.1425, 0.9984, 0.9951, 1.5898, 1.174, -0.6964, 0.6083, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4296 left_y=-0.2144 left_z=0.1277 left_yaw=-0.6365 left_pitch=-0.2088 left_roll=-0.0014 left_gripper=0.9984 right_x=0.2823 right_y=0.2561 right_z=0.1392 right_yaw=0.0147 right_pitch=-0.2656 right_roll=-0.0475 right_gripper=0.0616\nstate[joint_eff]: [-0.5402, -9.1556, 9.8667, 1.6874, 0.2418, 0.3639, -0.1832, -0.4308, -7.241, 6.5026, 1.1355, 0.3736, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3973, 1.9976, 0.9943, 0.1982, 0.1905, 0.1898, 0.9984, 0.9951, 1.5898, 1.174, -0.6991, 0.6003, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4314 left_y=-0.2134 left_z=0.0026 left_yaw=-0.678 left_pitch=-0.2154 left_roll=0.0032 left_gripper=0.9984 right_x=0.2812 right_y=0.2566 right_z=0.1382 right_yaw=0.0188 right_pitch=-0.2731 right_roll=-0.0456 right_gripper=0.0616\nstate[joint_eff]: [0.4308, -7.6923, 4.0, 0.9841, 0.2906, 0.0464, -0.1783, -0.335, -7.2684, 6.3521, 1.0818, 0.3541, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14cec783a02c0911a510c78eec46f5f5b444de6b936f809b0ce129f8c6f1a8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1ab4299c44d2e4d3fb1066c1436998f92e659865cf0d49f5d869f5acab7c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3aaab5052ecf6825701b25fa3afeaeefeee2addbbfcce2ff8116fdf7604298d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmIoBYQ9PCKe04Ks-T_WSc9vp_N_wgg-CvTRlSPZJEdE1AiioUYcAhi4ZTIkD1P3JdGpimqscdwZ38djD-V4zKdj8cg5kpWMNlgi-hGUMQX-e7r57pffTX76ywOKW3RdNrR_b5s2F0hNUyL4Ymz4BfJD4CEsmWrRIThsbEuWlB8QNTMtBxBTz8SzbatBBknjKV99TM_0eg0HAmkjwzFbIJ0lOmVMJDcOh57vs8_bG0VdNnLaNb9UWjKFAeZsKfxKjMx52CkCmMkl4BBuMmYVglVgVk7yPi5g0io2hoFsPzShRuxFcbbxRL8FrljwPoJ8QXKVRFpbdh8luPSPKGhzG_SNflnsCAogL7HmuMMSUtmv-0XkxSQGDBzuGWJ17AtgOYKa4UwpDIpsyz0RswM_vcBaaQjuL55Gi32z3NpJ21LXc_Jim_QIIJVyHVVeszJd6kJX3Dy_w5TP7NoWq4kovEeCKaXAQMj6dKvo8NgDnW7iuebJmQcQzngyGrO8CRcRdJdueef94Ls6Q6EmygYd0Cy0s7UXfdhOTv1wFe111cOt9S1qewa_2PPq2k1gZpZ-Y0Gz5MXsQUTw-PNcUTX0S06bXgzi5ASlTE_c2RIF6w4EtOt6iP5Kya5EtYN2lMXVd2gulQPjO3dUsJuNj5VbrC0Oi2c8yDG8w5AbVryGe2tCTw5UQ6UyWyLNuutagHcNdDaYOTTGcHzeFFKUsHo-HMEnAXUM3Q9RkHsynNn_JEm5XDK3NInO5X_5gcFWQtUIA_7Dig-IhM6LK7hgAeqDqjbVGxyAEvt3mp7syfExIpvI-LYCWlRtf3LkSLJSTLmz3LbBXM6uc4BJtvEBDPX9MRHPPKPflhk2uZwurdn80S1G_clgdQ4H0Wmu1Ng0FDf9lK8LmgzY7Vtgn-UEzR064hv7-7GwZzll3tad6X2VL9xmQS_vuGZVcf7XMzte-DR6aJPJz-zuWDPP5tk6HeZeuVweeZww_6PTQ6ihVj0s5E3K4ansy6myNUvGzhVn44VXucUheEy_ypa2n7ZNZOaHlNZo1iAWK2Fn3RT3VC1xojKE5N2fQoZZL7SnIvswM-RVs-KCrZ8j43Nj4ER6kK7RSvvKDgfbpZWRL9MNE1s_-x3-T1gkzFNTgcyrb39JYj6VxpeMW_HxkVEv-qpvx9-VM6gq5bSqNnimz_k_YiCcv5F28aMDkx7bxnoVDSmrzzvB4MbfASvKWYsgQTYHB9_bHuQh1_k3C-wBcBAdf9HrjOs2qmJopYevFPLOrftqIo6nlTl",
  "id": "rs_04088de4166c88f6016ab44987e6b887d0b7cae6489411720e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap has moved into the space between the left fingertips and is no longer ahead of them in the wrist view. I’ll close the jaws to grasp it across its body.\"}",
  "call_id": "call_jNaec7KTlhuv275YT7D2nvFB",
  "id": "fc_04088de4166c88f6016ab449880f5487d0b9b4af39e4036aa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jNaec7KTlhuv275YT7D2nvFB",
  "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]: [-0.395, 2.0106, 0.9863, 0.2462, 0.1844, 0.1848, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5934, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4363 left_y=-0.2131 left_z=0.0018 left_yaw=-0.6663 left_pitch=-0.1905 left_roll=0.0114 left_gripper=0.0088 right_x=0.2805 right_y=0.2574 right_z=0.1376 right_yaw=0.0227 right_pitch=-0.2784 right_roll=-0.0423 right_gripper=0.0616\nstate[joint_eff]: [-0.1983, -10.9333, 6.188, 1.0818, 0.149, 0.0073, 0.652, -0.2803, -7.2274, 6.3795, 0.9988, 0.3004, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d4e2b2accd4c80c58eeb23f153ae0134e321fc003d528c140301321017b10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74e6b491fcaa5b3e8ecbd5c3f1e33e195b6e05d3ebbeffd45d0a9ce374e5133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b3b550367c36e5e26f1ab562b482b1f383beb631da8e0c7c688928243e17fd",
      "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 · 6.998 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8547, 0.6197, -0.4835, -0.123, -0.0879, 0.9982, 0.9943, 1.5902, 1.1759, -0.6827, 0.6205, 0.7952, 0.0564]\nstate[eef_state]: left_x=0.2848 left_y=0.0057 left_z=0.1511 left_yaw=0.0719 left_pitch=-0.1411 left_roll=0.022 left_gripper=0.9982 right_x=0.2854 right_y=0.2571 right_z=0.1421 right_yaw=0.0106 right_pitch=-0.2481 right_roll=-0.0411 right_gripper=0.0564\nstate[joint_eff]: [-0.0752, -1.5385, 6.9128, 1.7656, -0.0806, -0.0415, -0.0171, -0.3761, -9.0051, 8.0615, 0.9402, 0.4225, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3973, 1.9976, 0.9943, 0.1982, 0.1905, 0.1898, 0.9984, 0.9951, 1.5898, 1.174, -0.6991, 0.6003, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4314 left_y=-0.2134 left_z=0.0026 left_yaw=-0.678 left_pitch=-0.2154 left_roll=0.0032 left_gripper=0.9984 right_x=0.2812 right_y=0.2566 right_z=0.1382 right_yaw=0.0188 right_pitch=-0.2731 right_roll=-0.0456 right_gripper=0.0616\nstate[joint_eff]: [0.4308, -7.6923, 4.0, 0.9841, 0.2906, 0.0464, -0.1783, -0.335, -7.2684, 6.3521, 1.0818, 0.3541, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 2.0106, 0.9863, 0.2462, 0.1844, 0.1848, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5934, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4363 left_y=-0.2131 left_z=0.0018 left_yaw=-0.6663 left_pitch=-0.1905 left_roll=0.0114 left_gripper=0.0088 right_x=0.2805 right_y=0.2574 right_z=0.1376 right_yaw=0.0227 right_pitch=-0.2784 right_roll=-0.0423 right_gripper=0.0616\nstate[joint_eff]: [-0.1983, -10.9333, 6.188, 1.0818, 0.149, 0.0073, 0.652, -0.2803, -7.2274, 6.3795, 0.9988, 0.3004, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d4e2b2accd4c80c58eeb23f153ae0134e321fc003d528c140301321017b10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74e6b491fcaa5b3e8ecbd5c3f1e33e195b6e05d3ebbeffd45d0a9ce374e5133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b3b550367c36e5e26f1ab562b482b1f383beb631da8e0c7c688928243e17fd",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "encrypted_content": "gAAAAABqtEmMbkAnGOO8OKLDI7w6wiBX2khwVr1dkj--6ZGwwdNhOvdV0naaGXr795b5AKnENNgQX327Uv4ppDLzZAEdZ4qLPqXpkHuIJzwbGSVBq0pIK_aksabV4q0PKDtPzV7e5kOjyk1XsPM-e6MkQMjTTDeYA1afYvUbX1HsyWjDcYVibV-XUil87tyURN0Y_ABQPea60bTJMtfIWN2srAXe_gvc01CrmvLTfO-Gkz5N9xRMs03yt_--sd0lY5129JqNhuM8j0h4vfuPqJY7_3kZ_9XwDov_BUtV2hCN0J8pbHfEfKSJS7S4oqDLRsmiM4ScTYlDzihHjrmD88VRSLGjkb3p1BxOmOQGyWBc3mYolF2jy1wldpOuFh8_68qGChGECwqNS8oVGWb358jE8mouxJMYWEuO7rhcM3OTodRbqvKqC0ZBrVuFM0ntCwu03f6mJmhu9H7NhFuyvc0RoHSOtehJg9UsiA9iqA_IwN9Rjdpw03ZusRxU1TE7gmJEykZErUmhWAoSQh9HLDr42cHz1QOCZMn7UkC7HmWoAJbg2z5tSeN8PUXmdmUYOCyY9sU7B3377WUG-RfdJa54IYOOxwV7TwK6sKEj3EAWVjmPbrPVb3A3WPlbVKgTMs-gTOG6C1-G8NgLkbZu1L_P-tXMCqJ2cj8eg49leK1ZVxcWviW0Utc_5YTCrnZ28RpwO_mgyB2tdACzuFTjIEcDZzDaElJejR16EmnkdAa1CQXe1Fc67MVNKdJamvk1IVY9GN6wSwX5SKuDofS8W3HyoB4QtOTdHE6NPR88DcTSd3IGiHmrCf62EYBOEong6nxMIRYdRvp-B_AAijH3xvW9yH6uAJ409uR43xwmYU-9stVoSIgA1rGiVbuiBjQJGwbax-k34tZFsWyV5x1YEzA2y5usW1BTMKLAhbWEdg3SQe8O1OV1nCGjYaT6cKVDeQJ1vsaZ0hNnLByvNFjIiWEktVmsSe755oyUMtyLxgJJSrPSmpWSk8IkelZ-avpiX1GmfTghQeURSHMyDArJtlB0HxcXZ2DQqACPPymCdGMz9V8KzPvbRgeB_VOAag8OyBII8N8W-VPmnXRBTf0pCumFWOtfjqdM3BfeeNKXo1sP3JR-vYVfoIn7kktUYVC7_rUtmZa2Oh5OQM8RY7xn3qdMOOZiml1jeI8Oe-q41D3MEk9pUtV4JuXuNjdbGudiwumvOZKO08zq46tVj-WVZIMasPEqjO3nI74_0H9Eq_XtAXjF-KxSdXGTDy8pNoycg8A3uDwwZZ-yOhENV3ue7AOv5LaUlYxInHvsqySoC9ET5C6cYBllYYY15WVoo6AFnUECv76Q-JNY62KipFu9q6OPkHSVY5_KXtDxF1SRa9oYuTpckUvA-0rOPofEeM9QF7c465GBCvhDgKkcVrWHRt4oZrx2zBt4hA==",
  "id": "rs_04088de4166c88f6016ab4498b52a887d0b5cc08cd76f31326",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The left gripper settled at 0.009, confirming an empty close; the small cap was missed or pushed aside. I’ll reopen and lift so the overhead view can reveal its new position for one corrected retry.\"}",
  "call_id": "call_odAYYxS0py9Uo0DyE2ZpKyIl",
  "id": "fc_04088de4166c88f6016ab4498bc86487d0ad36814815fe3904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_odAYYxS0py9Uo0DyE2ZpKyIl",
  "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]: [-0.395, 1.7836, 1.24, -0.2871, 0.1841, 0.1741, 0.9954, 0.9951, 1.5898, 1.174, -0.6994, 0.5896, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4328 left_y=-0.2116 left_z=0.1148 left_yaw=-0.6631 left_pitch=-0.2412 left_roll=-0.0104 left_gripper=0.9954 right_x=0.2801 right_y=0.2578 right_z=0.1372 right_yaw=0.0249 right_pitch=-0.2812 right_roll=-0.0403 right_gripper=0.0616\nstate[joint_eff]: [-0.3624, -12.1504, 9.894, 1.5995, 0.0366, 0.022, -0.1685, -0.2256, -7.159, 6.3795, 0.9841, 0.2759, -0.0562, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4ff210da2edb2933fcaa2dfa9cb9a66dedb6a61f3e8d1a66d07616b121a09d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c14384ee1a3895a0df1d12ee6a8249700fa94dd44f5ee5eb68c8e71f93c087",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aefcf63023181436620afa419cb8b0f86afdca97ddd2e8868b51f480f638e153",
      "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 · 2.552 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4141, 1.7435, 1.2205, -0.2687, 0.1535, 0.1425, 0.9984, 0.9951, 1.5898, 1.174, -0.6964, 0.6083, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4296 left_y=-0.2144 left_z=0.1277 left_yaw=-0.6365 left_pitch=-0.2088 left_roll=-0.0014 left_gripper=0.9984 right_x=0.2823 right_y=0.2561 right_z=0.1392 right_yaw=0.0147 right_pitch=-0.2656 right_roll=-0.0475 right_gripper=0.0616\nstate[joint_eff]: [-0.5402, -9.1556, 9.8667, 1.6874, 0.2418, 0.3639, -0.1832, -0.4308, -7.241, 6.5026, 1.1355, 0.3736, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 2.0106, 0.9863, 0.2462, 0.1844, 0.1848, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5934, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4363 left_y=-0.2131 left_z=0.0018 left_yaw=-0.6663 left_pitch=-0.1905 left_roll=0.0114 left_gripper=0.0088 right_x=0.2805 right_y=0.2574 right_z=0.1376 right_yaw=0.0227 right_pitch=-0.2784 right_roll=-0.0423 right_gripper=0.0616\nstate[joint_eff]: [-0.1983, -10.9333, 6.188, 1.0818, 0.149, 0.0073, 0.652, -0.2803, -7.2274, 6.3795, 0.9988, 0.3004, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.7836, 1.24, -0.2871, 0.1841, 0.1741, 0.9954, 0.9951, 1.5898, 1.174, -0.6994, 0.5896, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4328 left_y=-0.2116 left_z=0.1148 left_yaw=-0.6631 left_pitch=-0.2412 left_roll=-0.0104 left_gripper=0.9954 right_x=0.2801 right_y=0.2578 right_z=0.1372 right_yaw=0.0249 right_pitch=-0.2812 right_roll=-0.0403 right_gripper=0.0616\nstate[joint_eff]: [-0.3624, -12.1504, 9.894, 1.5995, 0.0366, 0.022, -0.1685, -0.2256, -7.159, 6.3795, 0.9841, 0.2759, -0.0562, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4ff210da2edb2933fcaa2dfa9cb9a66dedb6a61f3e8d1a66d07616b121a09d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c14384ee1a3895a0df1d12ee6a8249700fa94dd44f5ee5eb68c8e71f93c087",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aefcf63023181436620afa419cb8b0f86afdca97ddd2e8868b51f480f638e153",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmUu-F3dnUSSZJKC3_WAUZI-CuFDJP1pQZVeDkY4Nzd_7pZ3_9D1xqONW3KOnkRwMe9nJ9UNlM6Ys6yqYaF5KLz7Yb6vS-zxRfHnb_qPGJS5njtIhcFXmJbFah-rqErpyksomoe3lCluL7xaYjOpDS5Rg2ZPUt16Lg8DPjzgeCOL68WndI8SD_zCnEMjMEFUYBlV-IwfyFcignKQjlGicVsM_f-NrJSVpVNd7mLqycuvb3Z-O1-vHHlpSy7zQRi9S1uLVE77tEXadWeg8CMgqG8Pf7g5mYeOkBmmNfDaGXuTa9f9EBw0C4QXqiGYBlwTOoxXRx_VUbk9X66mXH7EqZoY5tokhv25rPvuXO2Xypg1bglLWRH6sMD2kISfJQipcOLPrhmuL5snpKgVTwoiRkLXNymN_fm_mJ0z--iFfZUhdZXa62X7eC81M3c4jRqs9XIeeEjt3-YXcYbeu_bGjZt-9kQJrXj8vMjR2FrDV9xN1yLLb4F4JQhGA1hbxM5rw1n7pqpDuDQD0bmo1ZzEfReKe4234Pvq5yo0UEKpYWpICi6foNf2Gg_qm59opPRHC7axpOyjnLMnF5yr-gsEWfA52vI6rMPj1WDAWjatfbQwP26bANNbG9BvOnQU24KbOx4Iq5novHU-pYB1K1itjwDk5XsrpaoFkl6Veg0uB8FYxb-yYAgHGr4ZSaJxBSfPtA0skujCCO3NUeFAh_W7wXaPsaE_-atwHxPGtvCuq12PWoXKIoRzmEsDHsSj7xs7SNqHFUruM7_4RWe18sKh4OmNx1-n0wurlnTuU3B0LDUiqTEf7aSjSZiy6Vt6rL3u2Z6pkqRy1RlxHI2ZGVLZCjttD6EfYQKtqaOhkx4yLCM_NHi1LbB9sAXFcQ_29e50n8dtz3aw8nNGmrQ7cnHilY-NElSMolzfFAaQRk9xzF-JKfm1vu05x7UZ8-HqCDgXbAXfEzKh7cfRud2mMV2Ib-6x-kVyYQCiHWcqpbJQ84Adr7Y8AMNKApdzr8kSdFheHL6jGpAqVCEdVH2cLLy-GmxMusFVYk_EKi4xu37azg_7mt_GIihjS5fUXt4GSIcV13xq58L-1m7K7p_gWFp6z8v-iD8XNZFr-czB2YHEPJWW-C5erI_5q8rdOfhtEbaKwCrSxDCMCBYQfIIeMVZ3f_ANZc_DYTEf-5-tLqVuiSUqBsGxAUW57mv2RPhz9iHujo2VDxvSOtMQG2J5QwXEklrX9WKD4pFObkXhllsl2ORzqNeF1kDoD3vLgjOdcRjvPwyzChOE_l4AhBkGLUn_zr39BI4Zf0bI39D3ghRVNUec49whNV8ZFDc6rGFYTZfxnJs4ufct2AXSp8NacRIoLAB56zvLC_KmIqEBSu9ItvzTYr998-VgqPxlXAXb7LHAD6FDP5APXOUbi9a4Vz8g9KrQPJarg7GCaiKOMwcQKqhwWB2WamtabF6wYxfi-7SxA5CMcWbKkBuVT5nnaCx6JoViVx1XoYjnOsGBG-l0HFIvcKpfvhUWlMvAjwNrGdgRIP2dzvd711XtCfRsn-1w3aSYbcUPOVwwPtKQ9OskjcpRd9rf1-XvoJJRQ39CTXprWPfeFlXO6MmBBrb26n9--MCyIC0_gR39YQmdqeRWqnMg-IUh5p1vJVchHVVt0DSctVtTvtQeu5ZUPUy0ruCu8uzuXvrjgJkhAWVogPz1La9Dsr06DT5bM4vl4SBhiSq68ANeqOweWuntSKzszsl6g0s_QAsLWtCuW9IAN1zWv1j8uq98lOn1JleA4rLMTtUXd7Rm2bFxUBsJy3xvx8grjIZ64R6NozO12ByR_nUU1rt1HfFPB28r6a41Fp4XxF9Mcjn1F2tj58oXbE-jvg62HcFQaSJUwND8Khv5cQaiiFvHmCkEHUwx51SUCvGxDCwI9C743HEPIQABc2gmEu8arTege50gEalyGWgfl1rYADbFpVsLLIxxMaeai2Kx2MsT0Q5Nf5P88EWzIdS6E2X7-42hKTpsdZQRx3Ri8kDopGxaXnUpz-IEgIgzvSc1xxn3_ETLqVeg5VwCJZmSVcUSTtQvIWspC2Y2M1si2ppfux7PFzD-VCE2ifld_Dd8vWt9n84pwaKOwyrKCCUDUXlVMkBI2JjZONi9dSZTZMUW8zJw0H3ir4UmaRuI32ZFUCu_W2DZueCi6KY6x5J-UTegb_X8N4RAzesG8qD94oxHtn7P2u-pSTPMurefVnrglu73-mImrEXBkt6Ypfx4JADNzIveuoKtBxPcdD9qxAfAhNODJjX4tmcXLPQMVeyMKvIX3VXEJytnsslqavnSBPXfc0OvzOGru7wFleF86-lfD-sb7HGWkZMCMXJcAz4cXWCmyLStduPoQXD65HZm106z9SRhbvSO086X_c6zOlk-hfPj8xH27V_k9zAeBmUtc6fBjAQvp7XwPZddvmKKMFXQcO5dX06P1fWWECldpwl2S5ZoHGdFyzCQoWeyXiXinQEBI_xoEX_f4l6uTYvU-Sc3pXgPlQzYxT2bGeAEIUsLSYSNcXO0U_lu3l24k2NGC1OED4rlfErfmeEIzu7iPGP2Y9xo1K3PNai7xaqpxWMjkClNQcyXbZ7k961Gv3RbAHdIhwgPz5nE08sQiup7SrQC5a2eJHKBwsLpPApydmZIvqoJGmg0zwplWsNBEN_OTrtMTse9YHQdICkALnEVQVrA0-BDHXQ26TsnZ_4QbfBEom-7qqCcYWpUE3e1XeSWjar6ZxCNz1wAZKKI36-YUluFT8s6UASuMmlPsjIvvF5gmgwS-1Z6ymKadBl9FUk8_9JX6343ufFMOcwzOYlNrilqYBEVWOQOcmxBj76Gn35anpbgf8jPVQM1lJgcdDP-2lxSZ-A2Ndj6qUkDu-iAG27Cm4vnwIHI5lo9kAFBO_A5Ja2cV8vLjt9BmM-sXuowy08YKeL1puVQpRAFJnoAcBtrqXhSaDxwWP9z2s9HHiiN30khwXCybTKkSHvJ_KZTgsCenFL1YQf3g4cvJEuQwITjxMqOO04CnVyL6nxGgCQK-OC5mlGbWqYH31uY-q9O3FnfkrEG-2wPE30BJNGD86R52iBlv7K5joS0yluRz3NlMnayYZqBCQv1ywRZ-iPKePwm1tOURwfjTEM46qNGiKGZUznli8L2tiHX6CnL-dbSKXie2H7-aaNtmOdAj-VmyPmUzpAFW7CCWOuEQwNFETCcBhdie-A3Gq_5V6SI-DwgvCYNNjYT_tADDZVBIq7Xu0xl3kNnYBfj9AWnpK_TWb71xkmdJ2HMfd19avZTB2zt0VzyfZsU6Ef6PK_LEM0ppcr3QOFmK1WoDL_qlsRwWjxeVoSj-cE7LsmodjFInowUJMmQv9tpCmDtSHxUwzWwzJqreaTOst5OAoq5GqMxKw5KgI741a6wvfF2-2Ojbk_2PQFsEIcD5rpQSA7r2xMJyZGULMTUJlswFt7_ALRbmOhzZAWjFy-JvHjJwY-ah3HhnsuS7I7jvFLlhm3hV5aBBuEDvoMLrCCoVVEW2NJq1DlZII0uw==",
  "id": "rs_04088de4166c88f6016ab4498eec0087d084b56f5f157cf3e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.212,\"left_z\":0.12,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The reopened wrist view shows the cap still centered but just ahead of the fingertip convergence, so the first close was radially short despite good lateral alignment. I’ll advance the left gripper about 2 cm outward while preserving yaw and lateral position for the retry.\"}",
  "call_id": "call_j48rQi2OF7VGkNq5Shym2naZ",
  "id": "fc_04088de4166c88f6016ab449937dfc87d0822a08113d5640eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j48rQi2OF7VGkNq5Shym2naZ",
  "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]: [-0.3813, 1.8107, 1.3087, -0.3534, 0.1997, 0.1871, 0.9984, 0.9955, 1.5898, 1.174, -0.6994, 0.5877, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4393 left_y=-0.21 left_z=0.1197 left_yaw=-0.6717 left_pitch=-0.2618 left_roll=-0.02 left_gripper=0.9984 right_x=0.2799 right_y=0.2581 right_z=0.1371 right_yaw=0.0264 right_pitch=-0.2826 right_roll=-0.0393 right_gripper=0.0616\nstate[joint_eff]: [1.2376, -7.9248, 8.9504, 1.5067, 0.3053, 0.3199, -0.1734, -0.0205, -7.241, 6.3795, 0.9646, 0.2857, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf2b3289326fc16e4fc0846843910bcef9891fb2d03d0ef63398c8127424b71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9838660ead54e2387352094cd79d44f5b63b19b0a7c3c5e6a4c0bd0fa46f6b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28828b7a7781f447ba20167f58b245ee0c647604335e730b0c0aee258697fab3",
      "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 · 4.757 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3973, 1.9976, 0.9943, 0.1982, 0.1905, 0.1898, 0.9984, 0.9951, 1.5898, 1.174, -0.6991, 0.6003, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4314 left_y=-0.2134 left_z=0.0026 left_yaw=-0.678 left_pitch=-0.2154 left_roll=0.0032 left_gripper=0.9984 right_x=0.2812 right_y=0.2566 right_z=0.1382 right_yaw=0.0188 right_pitch=-0.2731 right_roll=-0.0456 right_gripper=0.0616\nstate[joint_eff]: [0.4308, -7.6923, 4.0, 0.9841, 0.2906, 0.0464, -0.1783, -0.335, -7.2684, 6.3521, 1.0818, 0.3541, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.7836, 1.24, -0.2871, 0.1841, 0.1741, 0.9954, 0.9951, 1.5898, 1.174, -0.6994, 0.5896, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4328 left_y=-0.2116 left_z=0.1148 left_yaw=-0.6631 left_pitch=-0.2412 left_roll=-0.0104 left_gripper=0.9954 right_x=0.2801 right_y=0.2578 right_z=0.1372 right_yaw=0.0249 right_pitch=-0.2812 right_roll=-0.0403 right_gripper=0.0616\nstate[joint_eff]: [-0.3624, -12.1504, 9.894, 1.5995, 0.0366, 0.022, -0.1685, -0.2256, -7.159, 6.3795, 0.9841, 0.2759, -0.0562, 1.0281]\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 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.8107, 1.3087, -0.3534, 0.1997, 0.1871, 0.9984, 0.9955, 1.5898, 1.174, -0.6994, 0.5877, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4393 left_y=-0.21 left_z=0.1197 left_yaw=-0.6717 left_pitch=-0.2618 left_roll=-0.02 left_gripper=0.9984 right_x=0.2799 right_y=0.2581 right_z=0.1371 right_yaw=0.0264 right_pitch=-0.2826 right_roll=-0.0393 right_gripper=0.0616\nstate[joint_eff]: [1.2376, -7.9248, 8.9504, 1.5067, 0.3053, 0.3199, -0.1734, -0.0205, -7.241, 6.3795, 0.9646, 0.2857, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf2b3289326fc16e4fc0846843910bcef9891fb2d03d0ef63398c8127424b71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9838660ead54e2387352094cd79d44f5b63b19b0a7c3c5e6a4c0bd0fa46f6b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28828b7a7781f447ba20167f58b245ee0c647604335e730b0c0aee258697fab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmXPmfs0pS5Dwpv55sBUa2hrzjSdyKF1iv1lhl8VfXpfMZdyU4LY-OXSn6a0f8HTeVZ_BKY4inLSkUujGpDHYd-_EklItqsyehkdFenDz4IhruFZFtQ1iqqI8hZVMxVepmXlovHhDj0wCjVfeI7_NqYxSISHtGN_UPcbbXzhxhEniP2xzsIENRssS7TNg3TEJGsQpyq1zkk1DrQrdUz6hdLT3ew0kGNO-Xe3Vociuz7ofdKMwpJGl0R3FGUDBoq0kwH8SbFo7C8738oee7C0h0ckF8OD23fPJDuY44EQQ7dy7OgEEPvWNO9XWLVJfjvAUUNv7ari0T-_iQmmiEQH1Z5Tn3_xPVcibNLoPWq5ffHwP9WUL8pXf-s8xulBHXdpGQGNKw_VZcGRGXFIrwl51EWkVaBksOp8QUxd0JBOGgQL1an6KD6isV1wfdCtzW_JXS-eorqYnuvAtH-a4ffzcUVznYANlZRiYDC_cuAiT9ALY9deFSmHnEcR0Rgan9MgQFwyxMzq7jJp_7Ax1jcqAMdct0FQ3Wz2HEcjuB-B94RL2y5lMI3UcUQjTkrMFoWurK9Cq6sr2S1hgjGA76EpunpJrMH9cy9svtKHpEZ3de9d8DIuwbswy6etHSl3s7X5AF9jAOK_JWh1NyPeW2kqHiigQwFTnOFu6gdmxznxFPBrPXMdnX1xOiy85CDLEIVz8G6gPcRw-HRYOcKsIV1w95sxnesHA3hQ2OaKGT4Z7cO3xKv0EYqWmhowsRRdurFuQjVoQoFgCv1xnh_r_KjsVqt9CKqrn0Z7RiYaPPAt5jQvlg-BaUpiNpVZpmTvSkZaPIW1iiENU1k7H-g0zYfaus3h1_aV46LcDrS_Woymos5gcagWZHL-aYPy9R8CEuA6rIlpKtrFaWFPrwYb9avLoL-YnUCihg0LTMmZaH88J3gNdmnlgLg_nznwFgk10wDW78hubHUukrWvQNIuvwMcqaOGly8ouPrzp6wkja4QqLIj9SrVx3CkT8qnDjWyX1CUSTjVTHkbztLUT0WVmGweRPDUDyPPkFmULWU_3LCbQ0xoXeF1isBSp3RElKk9blZNVCrTU4-bSa55Mjx4gWHQ-RNYQeCdJtSzrmt93B3hPpBRXsW7fq8ZflA23mZf-4t76jP6ucMoWvugJdYNVkvbfSuHD4wJzWwfiM8CM12tdh5OvqMZ-FRs21fHcMNj1rjwomBBsF7SBKHI8dMCU7KGAd8ngwuEisyYAVbIFBRVvsIGvSiGOVJaQHHizkX3mFEAWqrDnBR-i5brDzquy7yJ4zbcsLNVCZqS_HRqqoyH0k4vL8=",
  "id": "rs_04088de4166c88f6016ab44996153c87d0850b66d1c015884a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.439,\"left_y\":-0.21,\"left_z\":-0.01,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"Even the partial radial advance moved the cap down to the fingertip convergence at the bottom of the wrist view, which is the desired depth. I’ll descend at this corrected position for the second grasp attempt.\"}",
  "call_id": "call_FJGDgkEvPB0vmWQacW3rHVtA",
  "id": "fc_04088de4166c88f6016ab449969a5487d085c449b287a5678d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FJGDgkEvPB0vmWQacW3rHVtA",
  "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]: [-0.3603, 1.8702, 1.3308, -0.3641, 0.2173, 0.2115, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5819, 0.7959, 0.0662]\nstate[eef_state]: left_x=0.4455 left_y=-0.2047 left_z=0.0995 left_yaw=-0.6836 left_pitch=-0.3033 left_roll=-0.0318 left_gripper=0.9984 right_x=0.2794 right_y=0.2587 right_z=0.1366 right_yaw=0.0294 right_pitch=-0.2869 right_roll=-0.0363 right_gripper=0.0662\nstate[joint_eff]: [-0.3077, -10.7419, 9.0735, 1.6044, 0.1587, 0.1197, -0.1783, 0.0068, -7.2274, 6.5983, 1.0574, 0.2759, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9970a5a0a924b0c0da229f08920031ef0f3e3f8d024b46bf18682295f2fb3f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0210124818899948d093f8b2a0c1ea011d2efe89431a9de353d4133ad3ada47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514a43fddde1dc2ef9217d13b93445625470c53d885b7a06a0b5703cc3ccb499",
      "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 · 2.13 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 2.0106, 0.9863, 0.2462, 0.1844, 0.1848, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5934, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4363 left_y=-0.2131 left_z=0.0018 left_yaw=-0.6663 left_pitch=-0.1905 left_roll=0.0114 left_gripper=0.0088 right_x=0.2805 right_y=0.2574 right_z=0.1376 right_yaw=0.0227 right_pitch=-0.2784 right_roll=-0.0423 right_gripper=0.0616\nstate[joint_eff]: [-0.1983, -10.9333, 6.188, 1.0818, 0.149, 0.0073, 0.652, -0.2803, -7.2274, 6.3795, 0.9988, 0.3004, -0.0415, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.8107, 1.3087, -0.3534, 0.1997, 0.1871, 0.9984, 0.9955, 1.5898, 1.174, -0.6994, 0.5877, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4393 left_y=-0.21 left_z=0.1197 left_yaw=-0.6717 left_pitch=-0.2618 left_roll=-0.02 left_gripper=0.9984 right_x=0.2799 right_y=0.2581 right_z=0.1371 right_yaw=0.0264 right_pitch=-0.2826 right_roll=-0.0393 right_gripper=0.0616\nstate[joint_eff]: [1.2376, -7.9248, 8.9504, 1.5067, 0.3053, 0.3199, -0.1734, -0.0205, -7.241, 6.3795, 0.9646, 0.2857, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.8702, 1.3308, -0.3641, 0.2173, 0.2115, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5819, 0.7959, 0.0662]\nstate[eef_state]: left_x=0.4455 left_y=-0.2047 left_z=0.0995 left_yaw=-0.6836 left_pitch=-0.3033 left_roll=-0.0318 left_gripper=0.9984 right_x=0.2794 right_y=0.2587 right_z=0.1366 right_yaw=0.0294 right_pitch=-0.2869 right_roll=-0.0363 right_gripper=0.0662\nstate[joint_eff]: [-0.3077, -10.7419, 9.0735, 1.6044, 0.1587, 0.1197, -0.1783, 0.0068, -7.2274, 6.5983, 1.0574, 0.2759, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9970a5a0a924b0c0da229f08920031ef0f3e3f8d024b46bf18682295f2fb3f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0210124818899948d093f8b2a0c1ea011d2efe89431a9de353d4133ad3ada47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514a43fddde1dc2ef9217d13b93445625470c53d885b7a06a0b5703cc3ccb499",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmc-C5ZqWAJhCU5NAiyoAH7lDuTZsHFIHXyi9dd1IfZxCJPu86pookcgiUnioF4eb69MkbM2CD9Yp50bnMzLoZzwiRt3O-k7DvnlRLUL-qRURnx5xLOuCIBbano5AJ78uGWGqjLRfXOyIoep5yuzOBEpLvFMpR6jp2ufyd4fty46AQff7F8Jux3hHd4RYw_ZNo5368PPXd0FYLeEjvA40Tq3dnAEfsQ5di-liKcYuh_1w-CPo1XnyktF9VVl-u0Xfe6h8FJu-yVcb-cX-GuYaSojy9wn8kmuMxUO-fpGRrp2Y0b01yYAtIxJi4LJvH_VdyzMDGN_Cg2oaJQBPoI6WZl3jgFwRPSFtAVJduQQL1EB3eoyUtSIhzfjDT8fme9utKShvHH5SOq6JANXPS3N7qUMYxDN1zUpgM6SiZ0q7te1Y_iwCFCrtRoAMd654idVJL1lhBlicXK4mVQJDYQfp_UkqoiFU_QF70JNwbNTuqO9bSK-lJwrMrtS3TvFeWMZXcRIIaqRn4RIdmcW6XtsR0l212bYRYay0P2JSn17l9RGw4-_v7v9ayOP6_xB9_NEJc4x1QIlFJvdMMWIUk1O47v8yGrd40x6NJh4Ovt4F3xaEYmCpJU5kF4RWIyWHCxCWFWD942lGyJp2N8u_Z60RhK2-yahxmTc0QPrufwop8qCEKbiQooqEa9TI9BFLVk5st5uVNHFwGVsuBl2jXKjyqiykh3m5JyH_mBUe6zfzykNC5EtMDU1e6ntkNIQkSy8jG-He_vR4ZhgpPWfJKnILnLBy-U_PWrud34GhB3_fRF0xngoZLQFmBd6Gd-b-HccfduJumAr9PMbUqZGSSlIekLhldrIN8yvafkpxC5tsH1DdjxeQMBrUd_MPGsv51O7MF9QFnkxW-KIVzSPR2l2LA1t9KzxQXwuyftp6Bizvry50_M7KIFLQ7wQu5NRYdWXkyHPTnnykYAonpQCRSZVkb0MYSe5r_6hw3OYaV5H1ZxoxtAr3xvmFDoA_nwMtKaRQdPIlJG6y8iS7BkpE_3vkguoqY3A90PVLv55iqSDjG_cwX_OXwFENR5GfHqcS_2h-Yz0HxWOho6O3u_7mbS-mOrA4VCrUSnHxJ2SD3imkslizkUHw2HlEtWT2bC2ndioQv55HcgIAeHk-kSkYbECTBDVYH7mv5hHz88I7lT5dv9OGfV5J1f8UPxHGlmISBs1X7EOSrUlMixgfXIHiW4F78YfxKSyculnvcZ-HQCTpDWMNvqzEIonWRYRa7n_2HA749JIQzfR-Qgdu5SkclYtdDWTMOSbiwgdrZLYaM2RdSrZ1VKIMo22FWuaIYoYrN7omsOAUwNzsUopyix069RnrqqT1ambQn7Rbzq7SdFcFRngzvdvxVuVaTFYr1nI_dJs0KTioIZjKl5iQYYPwthoMCDN9xsQA81JkFLLYUS-AG8IkyiCoXszhMNEyF9IewE-xRK2gE-jzFD_mPI_Q-fTojboQSmI5oXWmZXYMEN8uoJojmd5IR4PUcIO41e01P4w8fMB2HDctffLTQSPw6RS63d3yIeAtgeJUAJdPUyMq7l9MLsvoh5YV9m584D88GlIOr-8k04BZq_6Atuuoi97pRZ01iD2n6ir4_6mNZ71ahHwJRgJcXv2O6uCrkIq7KpfhqcHmtGv0LeOcCKVAl-CnCjG1QUZBjUtdhDdRRViZsZM-QU55uoDPlrUf0ZTGDYWjJLKxb3lboORO5-OY_D_1j7HxZTDkxc5DBpyCWW9Rlz9pgct4bjIm1Nq4iMXsvjDSCK6rWQBLexqKDlYciuekcm3dtnvN43P27AvakkBwxfmnHAgnVXPWdMzN_tZrGVld1EwKJEPYn0Hh_2NABJi8iHtTz_btLRBH1FjIYTI-MsBUUeBbN26hCnGeIb6r0kBq4EYkCT9xQcasH3gh34WatXUku7onAdy67S81UQWQJbXKlW-pfQWabta_G4z1Kc2zu-bSI-Eihq3aRUGI79xyX-mnR0EgHEpZ4-Q-HkGn3Y5zeCeAb3utVqWNglHceOCh7cCvVBuQiAMqT0rljY8555PmQlDrJPEebaNtQ5Cqs7JAGb8sshMa1fvDnXrC4FgUPpQbHcrUDsv2YlPuvpZbQ8fEI47OVhfKPpYbMv1vaDnATWB38a6aL2Waye2kZP87x5lYyLTWVeg4T0hCBDxmGEI_sXDpin2uipvJ2tIDfmTEkrNNhhy4cMyCPEqBzApKr5NRtWKB3iqf9tGfqAJh-dI8bO_e4QoXwLeBT7rxozeo5HHB2_cUKUKdsVhPsfd0xlqWGRRTLJ22RKv1Zj_5tCC5P3u-xhJ5WH0IuthKqpykWg3dEFk8-aO_DNBCyGPK2YVQLrPmiEaL7BgomDpXCtIN-vAO6tO1aJQIrk2PRTFZoGHqMl5qHa1jKqz0P7Ca51",
  "id": "rs_04088de4166c88f6016ab449993ca087d0947452c38462e2a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.23,\"left_z\":-0.01,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The outward pose stalled 10 cm above the table, so it is outside this arm’s low-height reach; the wrist also shows the cap slightly image-right of center. I’ll come 2.5 cm inward and 2 cm arm-right while descending, which should restore table reach and center the cap.\"}",
  "call_id": "call_8yvwlC2j5zRi4aMAYoQct6n4",
  "id": "fc_04088de4166c88f6016ab4499bc82487d09e93ff302858fff3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8yvwlC2j5zRi4aMAYoQct6n4",
  "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]: [-0.4351, 1.9965, 1.0794, 0.02, 0.178, 0.1677, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5743, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4217 left_y=-0.2265 left_z=0.0039 left_yaw=-0.6992 left_pitch=-0.3065 left_roll=-0.0284 left_gripper=0.9984 right_x=0.2786 right_y=0.2596 right_z=0.1359 right_yaw=0.0339 right_pitch=-0.2925 right_roll=-0.0322 right_gripper=0.0697\nstate[joint_eff]: [-0.9504, -7.3778, 4.3966, 1.0574, 0.0415, -0.0659, -0.1783, -0.3214, -7.1179, 6.5026, 1.0379, 0.3101, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002bb6510216a6e8129bac6f73426eeeb23da763d33fa9a5e65d268e4f88b16e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b41deba25c43cf9d3cc8e2368961fda29a2888861854f03be104e2584e43969",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56af6873984c2880e6694837bf9ad342f06ec8b1f2c8d6cfe225a1e0b090c2",
      "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 · 10.4 s

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

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.7836, 1.24, -0.2871, 0.1841, 0.1741, 0.9954, 0.9951, 1.5898, 1.174, -0.6994, 0.5896, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4328 left_y=-0.2116 left_z=0.1148 left_yaw=-0.6631 left_pitch=-0.2412 left_roll=-0.0104 left_gripper=0.9954 right_x=0.2801 right_y=0.2578 right_z=0.1372 right_yaw=0.0249 right_pitch=-0.2812 right_roll=-0.0403 right_gripper=0.0616\nstate[joint_eff]: [-0.3624, -12.1504, 9.894, 1.5995, 0.0366, 0.022, -0.1685, -0.2256, -7.159, 6.3795, 0.9841, 0.2759, -0.0562, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.8702, 1.3308, -0.3641, 0.2173, 0.2115, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5819, 0.7959, 0.0662]\nstate[eef_state]: left_x=0.4455 left_y=-0.2047 left_z=0.0995 left_yaw=-0.6836 left_pitch=-0.3033 left_roll=-0.0318 left_gripper=0.9984 right_x=0.2794 right_y=0.2587 right_z=0.1366 right_yaw=0.0294 right_pitch=-0.2869 right_roll=-0.0363 right_gripper=0.0662\nstate[joint_eff]: [-0.3077, -10.7419, 9.0735, 1.6044, 0.1587, 0.1197, -0.1783, 0.0068, -7.2274, 6.5983, 1.0574, 0.2759, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4351, 1.9965, 1.0794, 0.02, 0.178, 0.1677, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5743, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4217 left_y=-0.2265 left_z=0.0039 left_yaw=-0.6992 left_pitch=-0.3065 left_roll=-0.0284 left_gripper=0.9984 right_x=0.2786 right_y=0.2596 right_z=0.1359 right_yaw=0.0339 right_pitch=-0.2925 right_roll=-0.0322 right_gripper=0.0697\nstate[joint_eff]: [-0.9504, -7.3778, 4.3966, 1.0574, 0.0415, -0.0659, -0.1783, -0.3214, -7.1179, 6.5026, 1.0379, 0.3101, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002bb6510216a6e8129bac6f73426eeeb23da763d33fa9a5e65d268e4f88b16e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b41deba25c43cf9d3cc8e2368961fda29a2888861854f03be104e2584e43969",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56af6873984c2880e6694837bf9ad342f06ec8b1f2c8d6cfe225a1e0b090c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmfeXO9elNM54KpzckYUqhvStoya0sGWF_6GC6q4ovEJcEsJ8ykLr469tDFZcKq0PeksEW9mSPEIAu9HXH4fIOOWYNDAQ_lFtLNZVVoZTiD2XqCTWctDKCCGurdZbvNTBrhWEp2KM_-M9UURK0xp4cL5qp1x9Y7G8zY2hE4BC2nRI4YCfKtXYapj9KG-ILHI7M3Zw_1emMcwCc7jIZA5K9_2jsSJqpbV06IObBtTb0ZJzoGIJzZesVYnuZhgxq0lphuL0RnSluARcj7m81gmvICabfcZ5ljCHCmkYfZq-YPHOrNhEaDE-dBMS1fWsmvTUHxjGD3_jzuZVnqn4g3jK530ZnrgiVZLhUVXFfRu9vb2GShy74kyboYoY1kdwZBa3Lk8XD5HF76duJL0ayNGSLZ3puUQAcLzFO2rMgj1Kjl-ToirAN3iPOTAt5sXZqOYaAxL5vouOMAwuzEDXeTV29ZOGXriG0MdB6Bl6yMpsEHaRs8xqp2xT9lTzZ_tyy08b8Jqp5ySR9w5BqBTsCqE5DEK6j9pp0-xqMNyb1nq4lDgxRugaqesW6dnc7vodQYHSpG7_4Q9smWaAgUvGrG4-Rv2oSt8HKRz_PlvAid1ooleYr9EWAYQ6Ja42YaMJuISVF3UfaCXMoR1ewWLgsNDUub4ZKd5PkadBGTI_pXFhPakfcPUioT3djV6Dx2tjUi6CaGI9DTDa3roS3i6Qc21aZZgQ8RlNe-h4-k2q2g5sl21YZ_9NsoDK0yuMVVjQ3tUgPteh3VHL3T61nyhSL0swJZCKwQLWJOy8Wuwuml2c9-JnLdZjzx499xwGJBbDCO6FDboDQO_2uRmGEHPohNkUo1xBznqE_JgmHSF2LydX8C5h5LqYnRP73-nMSY6wq2Wb5HTL67ufTDokIrJ_fIu_vTF6V6HCRygQJOa1hj8rKo7EGIcnAKTG48SsL_df0LI9n-vl4QlMfEw0QnT8rB2-75kpNDx4WF_xtmLWRBreD0NBoeM_K5Bf7O9tCKWp9bYlNDokgtIJCIRZM97KR5eRKOkJCPwFDet8fHWwhllU1XpKzury1jjNS6rX-7I1UsCxItVk6ykN5HphQUJVcdadlECxirQXDkAayRhK2kLSM2ZgOreQAoGrs3wykPPyfDh0dXJt4tU8b91GBccCLiP_CTWA_fgqNfMFOhQ2eNTsqRxc_HzF983JW7WUE7ADsq4S3ETv2K-BZ2_IannHeCZQBTuKtjw82T4MeE2hgFIxkWcFZRpSALnX1HAgU5UfERUT-b",
  "id": "rs_04088de4166c88f6016ab4499ebd1087d0a5603d7eded976d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected inward pose reached the tabletop, and the cap’s dark body is now centered between the left fingertips at the bottom of the wrist view. I’ll close for the corrected grasp.\"}",
  "call_id": "call_xoWrWeEujT82Uv71BY08iBgQ",
  "id": "fc_04088de4166c88f6016ab4499efca887d08636a27c1aa5a82d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xoWrWeEujT82Uv71BY08iBgQ",
  "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]: [-0.4374, 2.0041, 1.0695, 0.054, 0.1654, 0.1593, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5674, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4242 left_y=-0.2265 left_z=0.0019 left_yaw=-0.6846 left_pitch=-0.2932 left_roll=-0.0198 left_gripper=0.0088 right_x=0.2779 right_y=0.2604 right_z=0.1353 right_yaw=0.038 right_pitch=-0.2975 right_roll=-0.0285 right_gripper=0.0697\nstate[joint_eff]: [0.1436, -10.7556, 6.3248, 1.0623, 0.2027, 0.0415, 0.6667, -0.0205, -7.0496, 6.4889, 0.9939, 0.359, -0.0562, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb483c1762b0380ea55e56b69314d8f7b28990f0e6929a7163999b1f5ceaf61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4455f24091a0830a3e15d56868349ae5f45665ec485e15c0d03ce56aea2252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca54fcd7b10794c77d945bca2743d1dfa2bee84ed953f0b836821b1df8afc33",
      "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 · 2.8 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3813, 1.8107, 1.3087, -0.3534, 0.1997, 0.1871, 0.9984, 0.9955, 1.5898, 1.174, -0.6994, 0.5877, 0.7959, 0.0616]\nstate[eef_state]: left_x=0.4393 left_y=-0.21 left_z=0.1197 left_yaw=-0.6717 left_pitch=-0.2618 left_roll=-0.02 left_gripper=0.9984 right_x=0.2799 right_y=0.2581 right_z=0.1371 right_yaw=0.0264 right_pitch=-0.2826 right_roll=-0.0393 right_gripper=0.0616\nstate[joint_eff]: [1.2376, -7.9248, 8.9504, 1.5067, 0.3053, 0.3199, -0.1734, -0.0205, -7.241, 6.3795, 0.9646, 0.2857, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4351, 1.9965, 1.0794, 0.02, 0.178, 0.1677, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5743, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4217 left_y=-0.2265 left_z=0.0039 left_yaw=-0.6992 left_pitch=-0.3065 left_roll=-0.0284 left_gripper=0.9984 right_x=0.2786 right_y=0.2596 right_z=0.1359 right_yaw=0.0339 right_pitch=-0.2925 right_roll=-0.0322 right_gripper=0.0697\nstate[joint_eff]: [-0.9504, -7.3778, 4.3966, 1.0574, 0.0415, -0.0659, -0.1783, -0.3214, -7.1179, 6.5026, 1.0379, 0.3101, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4374, 2.0041, 1.0695, 0.054, 0.1654, 0.1593, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5674, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4242 left_y=-0.2265 left_z=0.0019 left_yaw=-0.6846 left_pitch=-0.2932 left_roll=-0.0198 left_gripper=0.0088 right_x=0.2779 right_y=0.2604 right_z=0.1353 right_yaw=0.038 right_pitch=-0.2975 right_roll=-0.0285 right_gripper=0.0697\nstate[joint_eff]: [0.1436, -10.7556, 6.3248, 1.0623, 0.2027, 0.0415, 0.6667, -0.0205, -7.0496, 6.4889, 0.9939, 0.359, -0.0562, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb483c1762b0380ea55e56b69314d8f7b28990f0e6929a7163999b1f5ceaf61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4455f24091a0830a3e15d56868349ae5f45665ec485e15c0d03ce56aea2252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca54fcd7b10794c77d945bca2743d1dfa2bee84ed953f0b836821b1df8afc33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_04088de4166c88f6016ab449a234e887d0a2ea0180e32e57b6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmqD44l1Ngt6BaNah8gu0mmmC-YOtepS5fC-Ib8SmeN2SEW6ydRuqIfp5mx0H1d0sdikPDEMqiYhgqjzqQmmZccU2BR6tCzAARjCUjldU_vGYKt-KcAEvcJJ4XNY4tsu8X-y2j1wkeDlow09YdU3p_yxrhUO6700MEVOR38esI9wgfkQIT0qz9KXZff5K7SzZR0byrI8DrBlgaZWo2geJQRtlFJRT8wwwqBM7ptxBric71GVPOsduPm_NK-OPxmW0P4hJI_QJCuRDcfmwOYJmK66L9TGat6hSU-4DrR0MMcEDXUXZYQguaGstzOjlupX7X5-lOPqPZuKSjpJ2xO5DTJnEZcw1ZShiU6VJmF209QzHKdJnTRE_HSaBxovxZqCG5pL0sfzhnL48T_H6r0WAnIvQ8VemxcDoRHba2esZ6cjWwBWPjV4aLeME19AyL216WFSYspAocpEvWSMHK4Czk-ENecCEieJgiK3hBYiiaV34Dowokvl7dNzHsHpUq9669vWwfo3PCkuD4ZGPeG_eTLjKeVJecQLepCq1J7HYzVshpF_ptDNV2gyp0aC8cx-ElE_P8uX6pYCvfUEB8cwj6mZGl6nZ6_bXC8wc35PSgerrmTkszPMriv-WQygYamg9D97BdZRDFQ4Hlpmy5bWSucnXbBpR5d3Aqr-Xzy8xBRkHP9e5SUhYHa6mcmnuC16mreuQwbeNMdb6s8COTYLmcISXGjyPlcpQada40HQMqtg-n2a0i9EqBpfWBvf7UGj1RLbFZz0sHLkA6XHShdcrZ9i9_K3_FKDoRbZzMBgLgm-OSWntx0CkC50qJo-fGBX9yWkiOQAJ1PZ7BFE8PFCO6_E4KBFJJPT3wHfGhwPP4nXWCNAu7Rtq5tOT-yzinFS4_AWqS4X80fCoHDF6FZAEzPHHnhIJ7-I2khTIyv4pIDzwUMKvZp3lEizVKJ6c3nMW0Nx8l8iEmHf_foeaR1xy6nEbYyTh1bOwP3Ph_leC-eGpQmkRvER9MxkktS0ozTQeZgrVINuY5QO9gaYE1XKYFpUnGrc8nppA02piryqrGgFALJri-A8FV259hRnJCc2DZzLxJEqly-uJ4AgJD8FppkEloUe4S5dWOVuRxbOa4bMnwLM1QMsBQLwnnBB2KthhFrVEH0mIq6jZrxVNx3M9jggtq3vNFAcWr6yKuDvWcCd02KBIZe7Cs0GycX_nzZFwDHhJ7rcQIEU8JqNNQMf-Ihh3kpb8eUiMrmWilTYe345nqDKEb_S6qgdMLhk4tu3Q9NLZLihx7d-y9LE_jkkWVXoIx0BHA8nEbD6VphIIhN423LlUgIgt0aK176l7fHcgFjB90TjIX8Gd_NawQzm7vKrRBssOkB-wD3OOfrxzET2abd3cJl00laxggt7BoCjH3IGqgsfsfGhjS2i4T6-L17YC9O98Kg_WC012n4b_EJe88IS4l97p_-BgJEYO04gpI5OqN0V_Grrogo02MYKSmU-CpGwIsVJIOSkRg7sivAjTJgn_RguRrlpu5w8_nWttIY-uTj8An4wcaWjGknSimsTTYGqkVk1OVqvh32eczEeJBEekwH5rCuMy_qe6lopv37Rx9uPac6lpP3-hDLTxWOG5XC-lsL4r2IrxoW3NhH4fC4440eS5pLRrynd8LsfRqkodfKlvAZfOYe1H9hjM7ZiTBY3Txk4hFFKAS0Uv-ESr3nJUfzHR6r5JEG5NQ0q4_byH-o8X0ZKhYGRjU7kg4X1MbYGRfYTFJdACaKPVYqHCBmDoGM__I2nfFQK-7lYR8hIm6CpfPhJSsGcyohr4XEcSnGzzNcTS73cTYqf3n1MMILtc2i1YRnbw6veN8JDyTM0MR3D9RAxxHO-61FpUrUPKKaPSoVL1DcQ0fUu-j6MxGcjMcOiI3_MJRqNuPoXJsAqbwT-1SjuTrk23tGpU0J8RVOnaX1QycnXfueAPYp8Z-VbQ-gKu20W1I8DiILhoPJnLDJfQaK7WIGV1BuHFHfNg3rSOAMOk9Wn4UCae9PoU6mJUJxPKlIr-gYfcTX7i-nGksh5PLAF8L2gWDxQvrERWhiXCGUT5Fk5A8KQzPtyCxhStSXCdMGnySxLU1b_DXh9soKm_7qar4m3ynzgvs9Byf9tt_ctCb_ghUYTfTHY0LciYkG9Xb5nUNllT4Q6wpo2Oy6lN6wOrvkovSHyRdajvjb0VTFkJoIASbwfnF2dvSnYslWebFOMQEbjdQuNFLQi1W2rjwxM6LH2yW155suHdGlIGP5W6Lr7bKnzJMQFxeoG32IrTRGRiPINZuN6DBK7etIe_M5519ESdLTKTOb-Eni0HRN9LDO3aa5j3lRjJED5h6ijKK4bxCEeXg5cF-qoNOdSt0Hux5r5etjjW9CMMXeU_PwpgBBFeuf81JTijdcNIcKYtCxyikZGNGh9VY2Z5sIzQPMmLNnypAztztIRWuB7iyHwBWNLH__kInxkL-HVPnStdyzUnOUyOKvt9RIEgCMPS8nBboXLryI6e-XOZ9POWPZ_CgHhtLRTZvkyta20L-Fwo8J5AKKNYst2t-y0QsOBDfFLfQp6lMj1Sz4PFUf1P9oI46SeXcdmhukksNSqfcszBpVB9h9bYitIIyaHLqF4IQ_7oOVXtbNKxSqJqyW_hfduur7KmVi5yZxhTC-fBiqT1BaJaUHj_k8MsBioDpUpgu4FiSm_TWLboOIlusTVZw8Q3wsBMzwiarFxr2gpPQKnlB8AY5h7_xod1SJ",
  "id": "rs_04088de4166c88f6016ab449a74d3c87d08182f561dcd3e310",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.226,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The second close was also empty, and the other wrist still sees the cap lying on the table; in the left view its near end had remained just above the true grasp point. I’ll reopen and slide about 1.5 cm farther forward at table height so the cap body, not its near tip, lies between the jaws.\"}",
  "call_id": "call_nXCOYDC5QEfMSA4KybxZ7FWV",
  "id": "fc_04088de4166c88f6016ab449a9b28c87d09b4f3be39b2f64cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nXCOYDC5QEfMSA4KybxZ7FWV",
  "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]: [-0.4255, 2.027, 1.1126, 0.0422, 0.165, 0.1619, 0.9953, 0.9951, 1.5898, 1.174, -0.6994, 0.5636, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4363 left_y=-0.2257 left_z=0.0046 left_yaw=-0.6733 left_pitch=-0.2851 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2775 right_y=0.2608 right_z=0.135 right_yaw=0.0403 right_pitch=-0.3003 right_roll=-0.0264 right_gripper=0.0697\nstate[joint_eff]: [0.4444, -8.0205, 7.7744, 1.3748, 0.1099, 0.0464, -0.1636, -0.1983, -7.2274, 6.3932, 0.9988, 0.3101, -0.0611, 1.0379]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f775d2b4ab5f2c74bf262c36949d2e59589a3ca23c866b8709fb7c073a1b77d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68815eea14da6cf4158e5d5f3a4792975c6498ab3567341ef6225a98d16ac159",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa004f3f826ac90234f5c0c91de173ac64ebeb612864a9a45680867814a48fe",
      "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 · 6.088 s

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

message 129 changed as sent

message 137 changed as sent

message 142 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3603, 1.8702, 1.3308, -0.3641, 0.2173, 0.2115, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5819, 0.7959, 0.0662]\nstate[eef_state]: left_x=0.4455 left_y=-0.2047 left_z=0.0995 left_yaw=-0.6836 left_pitch=-0.3033 left_roll=-0.0318 left_gripper=0.9984 right_x=0.2794 right_y=0.2587 right_z=0.1366 right_yaw=0.0294 right_pitch=-0.2869 right_roll=-0.0363 right_gripper=0.0662\nstate[joint_eff]: [-0.3077, -10.7419, 9.0735, 1.6044, 0.1587, 0.1197, -0.1783, 0.0068, -7.2274, 6.5983, 1.0574, 0.2759, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4374, 2.0041, 1.0695, 0.054, 0.1654, 0.1593, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5674, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4242 left_y=-0.2265 left_z=0.0019 left_yaw=-0.6846 left_pitch=-0.2932 left_roll=-0.0198 left_gripper=0.0088 right_x=0.2779 right_y=0.2604 right_z=0.1353 right_yaw=0.038 right_pitch=-0.2975 right_roll=-0.0285 right_gripper=0.0697\nstate[joint_eff]: [0.1436, -10.7556, 6.3248, 1.0623, 0.2027, 0.0415, 0.6667, -0.0205, -7.0496, 6.4889, 0.9939, 0.359, -0.0562, 1.0379]\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 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 2.027, 1.1126, 0.0422, 0.165, 0.1619, 0.9953, 0.9951, 1.5898, 1.174, -0.6994, 0.5636, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4363 left_y=-0.2257 left_z=0.0046 left_yaw=-0.6733 left_pitch=-0.2851 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2775 right_y=0.2608 right_z=0.135 right_yaw=0.0403 right_pitch=-0.3003 right_roll=-0.0264 right_gripper=0.0697\nstate[joint_eff]: [0.4444, -8.0205, 7.7744, 1.3748, 0.1099, 0.0464, -0.1636, -0.1983, -7.2274, 6.3932, 0.9988, 0.3101, -0.0611, 1.0379]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f775d2b4ab5f2c74bf262c36949d2e59589a3ca23c866b8709fb7c073a1b77d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68815eea14da6cf4158e5d5f3a4792975c6498ab3567341ef6225a98d16ac159",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa004f3f826ac90234f5c0c91de173ac64ebeb612864a9a45680867814a48fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEmu3MyH2cy6dAp_x-0XRGuIiwj5L9wKlFAKw1eZV8LztPsp1xG9VZyy5pv46ubBY6ei0D6ck-s5qm5jpUuN-JHkkVi6ilVg_txT1lMKiLVH61SZaOYK93B9x1i7CXlEDfpjo6-XCMdVSjy5CclmqAKeoOa_deLs_AiAsRw4rr_2CSPh6qbgucHMdrIxTsi6CtitFWHKpVdNmzTvwbPAXn1Cnb13UazLNS5odSwCZ_r8YtbLCoahMklvBCDXd_WbPqTX8EkGqmN85yXFP90QumKJ4EnYNDNrN_tnx5VLEVQ1bMvPD7CPSlZqWLGYe0E8vbq-AMhuDXVc3jDvc6TkhD1s4geqvfrog9v-OyQCNXtnXUTJFGsumDvawD02JKisil2racVEz9oplaM3lozuGo-tVaZdgTJMYPKw4ESAJBejbR4BqlLpHd3kaVjDoELvmCcp2n5_UBNlQdxZjV_70-OF4LfrzxgmJ_6YZDwCgpGRSaKwqHAlEdM5DMq-GMsUeHE62nbVNIWXBGhD5jv07kgPIoiW01XkoN2eEHocvkSow1N3xzTToCt8CyWobH7lLa-7RdO_5RroEN-vowjkctXCU0tIkRJ7Ia3cn-IsH1wUKe_NhCfkjOHuN3j1ekG7YbvllGJ-UTepH-tQV8wtWm3lkR7E0XcNBbmnqzzxJiqNa6UNIb55arLYeB2wZZ4-YufuoN_nqptmSTb7EVr0H2YvPgDyCNohCJLvvdjCTY3Bb9dmFWgISl8lEKuwezZJc9MPopxziZ3U_bpHYj99M5Egp30cq9lOZUV49gvd59tgHqpTtpndRoovMXoegVurPwHpJ50PxhJJPAhg0YGCJXZyEuUNUwznNFzCktND1T8sAKBRoZbIuI-AUTh8Vj5zH53JsMA4lyqBGcD4pocH_ci23un_sgi5bSxpxzxnhqo49dIwQyd4A7WjuhqZM2AfP8TARsmPVHMkKTuZrzmX4ATR1tBte7149YKpGSAqok0z6xZQwDsIiyP6Fe7g0EeEsUd_Wq-glZp5H8h1wehfWJnj71Iifub4baDo696cBV0Zkm31Lauv6b2UuzR_TKvrjZhwBHEMcdhOPIgp7SHACt1TDp0EbeIMDIlEPI6ihFxEmfAJklVjlPta7flLYCgCASSiYWGpWTN6MIJOBzo60qk0d8MCMyPdUul1umOoHyzQ0e8GA1awR9yYU8v3-t-sPInit16QXLBLoyR6PML_GqV7F-9pXZrz58PpT9J8qhwEBQe7UCWmQOMSi-_sVKap6p3ap-EihacMZsNZcaQun6F6AtGDDg35VFWrUCPYwRZPQPkto7hVhQoTuLHFXgUyEkq1qEhhz0feooOFk3dKvonWH82Gekc_KwiTrzY3bceFwj_gxpIbZ5hZRlUfXvrHOi8X",
  "id": "rs_04088de4166c88f6016ab449ad266487d096aef16353e2d8c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the forward slide the cap is no longer visible ahead of the open left fingertips, while the right wrist confirms it has not moved away on the table. This indicates the left jaws are now over its body, so I’ll close once more.\"}",
  "call_id": "call_hfytGMM5r594wLg7uye6qoeM",
  "id": "fc_04088de4166c88f6016ab449ad6e3887d0be09e17959972b17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hfytGMM5r594wLg7uye6qoeM",
  "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]: [-0.4259, 2.03, 1.1141, 0.041, 0.1608, 0.1577, 0.008, 0.9951, 1.5898, 1.174, -0.6991, 0.5632, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4365 left_y=-0.2252 left_z=0.0034 left_yaw=-0.6679 left_pitch=-0.2885 left_roll=-0.0158 left_gripper=0.008 right_x=0.2775 right_y=0.2609 right_z=0.135 right_yaw=0.0406 right_pitch=-0.3004 right_roll=-0.0259 right_gripper=0.0697\nstate[joint_eff]: [-0.1299, -10.4821, 5.6957, 1.4872, 0.1148, 0.0659, 0.6422, -0.1436, -7.1726, 6.3795, 1.0574, 0.1929, -0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8b2ae70e1c5fc507bb407a1a8db21dee348429e942160c3976b46c5d8fef17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deabad0b7da4e94ba9bfd99980168348066896bf942237cd69f577e274d2840b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fb51e87d89ed83addd4efb96b8d863b392df4d963a7689e6e5346804416136",
      "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 · 12.12 s

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

message 133 changed as sent

message 142 changed as sent

message 146 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4351, 1.9965, 1.0794, 0.02, 0.178, 0.1677, 0.9984, 0.9951, 1.5898, 1.174, -0.6994, 0.5743, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4217 left_y=-0.2265 left_z=0.0039 left_yaw=-0.6992 left_pitch=-0.3065 left_roll=-0.0284 left_gripper=0.9984 right_x=0.2786 right_y=0.2596 right_z=0.1359 right_yaw=0.0339 right_pitch=-0.2925 right_roll=-0.0322 right_gripper=0.0697\nstate[joint_eff]: [-0.9504, -7.3778, 4.3966, 1.0574, 0.0415, -0.0659, -0.1783, -0.3214, -7.1179, 6.5026, 1.0379, 0.3101, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 2.027, 1.1126, 0.0422, 0.165, 0.1619, 0.9953, 0.9951, 1.5898, 1.174, -0.6994, 0.5636, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4363 left_y=-0.2257 left_z=0.0046 left_yaw=-0.6733 left_pitch=-0.2851 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2775 right_y=0.2608 right_z=0.135 right_yaw=0.0403 right_pitch=-0.3003 right_roll=-0.0264 right_gripper=0.0697\nstate[joint_eff]: [0.4444, -8.0205, 7.7744, 1.3748, 0.1099, 0.0464, -0.1636, -0.1983, -7.2274, 6.3932, 0.9988, 0.3101, -0.0611, 1.0379]\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 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4259, 2.03, 1.1141, 0.041, 0.1608, 0.1577, 0.008, 0.9951, 1.5898, 1.174, -0.6991, 0.5632, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4365 left_y=-0.2252 left_z=0.0034 left_yaw=-0.6679 left_pitch=-0.2885 left_roll=-0.0158 left_gripper=0.008 right_x=0.2775 right_y=0.2609 right_z=0.135 right_yaw=0.0406 right_pitch=-0.3004 right_roll=-0.0259 right_gripper=0.0697\nstate[joint_eff]: [-0.1299, -10.4821, 5.6957, 1.4872, 0.1148, 0.0659, 0.6422, -0.1436, -7.1726, 6.3795, 1.0574, 0.1929, -0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8b2ae70e1c5fc507bb407a1a8db21dee348429e942160c3976b46c5d8fef17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deabad0b7da4e94ba9bfd99980168348066896bf942237cd69f577e274d2840b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fb51e87d89ed83addd4efb96b8d863b392df4d963a7689e6e5346804416136",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEm1sajyiLfFElD_4khvYbBXqqi4kWesQnNp4he4TThguZZH6n7NJwvfo9fRYli6g9zmS7-xLV1xdWhPXkpa2AocvHK7h4fODOzICTAN5wgF0pE510Tt0aSFYW1qzDf0P1TAi2Zuvc7H8k9oAWmGNm6Xa0g_VBSuKlA3ZHT-FGjsfSPV5OWrj1QQJkUNRNxMcy2C8FeCdCezIiLjmGnxsmeVN4uNQ58WBoFALlIFHMqtTz_xYcxDTEtbZuGxunZYoxXN9-HiNy17ldge7SyFtKUWddMh1j3m6p8rgH8ux5rr_TsqevKiOrpcAI4MihIcTdq2c-WmVaJDaSlROYNV_kTclphRTi1xca0FOtpAmysF3XwVJnbdYV9zqYkBt8NSSyjlZnZNIqUNQif3f469pD18qOrX2s-WY8DBdlyTdbI-okbpqoWjy93eKn20AxnWNZITz94Zey5LRhvUjtHO2qYuTHtLQI0dOdT44XgugJRS5IO0EQpOLjFGVxZP7xd42fAAwzvcHOHFT4Yx-SVJ8UIjGPYprKJC52e9Hvoc4Pk4tVvAX35SLKG6Mlh8T069OJ5uhIilhCiDPevoeQmPnyvXLnYd6S-_TvCnEALDz8B475IVCwWshgCKXuQ62n9qqVhj8PyliupvOHgzEQsaVAUl09FJaJRQOJ4o9COWiKQ0HhxV8nzG7tUjcFvL2QKob_rxs9TLq1I6UPKhRd2Ko3Vl-fW0FR5cGWtPgzFea9xXOpmPMU0YKFo1LJZdIDwizatuXRutgLfk3W7mPvy2Z95PCzwgjHDMYKFEvNqQagowN_a6pnkzKNrx6m58VPPqVD4Y30m9mISUfEx6oxCsFuIBOUtxD8iTx-dTXNrCFMlwoYSgW8yI1LXttERHHErxgPSCeKaeEZjxXSJ1ADHT7VXyWWyOttpY-FjJwZeFXpAzhiKuZudB_l6jw_s8zC9fgH9QoZK_9t4fBvTPvQ29silBSRTy8UcasRikjhGfF6x6D8YeXLPmD5WtOEtchL4kyx095tCzS9Nw71OpUsZUyDI1FXRlHQQBpoyP2QDKxPSDYBK-8ggcvGmh_plR-EU-bKMPJF8l8KlN-bQka4YeCb4SV4hgqtsrbH1DNOw6KOSNY6znAjH4IyUaqV7C8cgPqNwUgqHl2LbBrHPDU7U8XDMCNN76picxG5FKRWwAibBM7MwGrJQgFAZlmdOvwP97dmqcTfBJW7PZXgYRD_kyZjt-w3bi1OUrfjP3V1UJQ5H_IhqpLIEUcvauIglM9MTqYdtgSMO-enaY0oYYoM5K0KRmQAbujMjQwXGxOxwZ5ckH3GM7BIcF_piQXHQrmUMsTSfa68p8EYJCLeP5o-gYOk0oRjQpATFLRBM9v2KfuHLG7a2NE3vpk-Dj3Ou3g5kEXAFWQ-WbtlsZ9MivqUVcGCwkY8_f07xPG2oZvtQjE4tArTS886M8BsZmAHgQrXXuGk1UxMnZbVqFG3j2Aqj79qGwZYYeMWK8ANfV9Oromndsdecdx035hd7uYgDidYK8zr5jXO0GraiP_LUrBjCOB_xzY7nZpkHZjFVFfTnmTG9qwSyZIiHN0xJNZSG-7_VOUVLq8nwh5XK8i0fIN9Rq0e7Pn7ghwCJWwhZmVvCnMPU-6QxtePrEw3TSLpmVatY61TTefT5Hu-7p-IqrByjjmn2NfiLNRvM3Pt2s8lnerTXp1zk6xhYKBmJIBOA65Q64mct7rtNYZ80ZtIUiqVtP32T2s2KTmvemag-5tWmB_sELKaP1usO9ZUC309Zi44oeO0RMxEvpLEyORrxbACqDqBhRJMEb88OG5BV_oPAfplGNxWu7INTNu79DsUl1sq4zeOcbSMA2Yuh3F13Cl_8UTCgpZ_2CxXsbBloBT2iLRS9hL8_20LR_-_D9LK4j4IxrgFl1YLLwScfLLc5Aej9ANMg0GZ3eaiLcFVxCCYXLNqOUvtCm-RJVIn6NHLxK7D56cNc1OlEnzHIAIFgDMnufugmQQa_ae_8J9k2axBghJFEi5mXYuIMnTMSGGwBGMHRP8RLEMku_EasO3YMCYGqq7zivpLuW0MbMlslZ6I6LrjeeqzWtzPte0Waxdx5kFQU0nrRPs0hrICKPma6ANGg8rvHnm0aTCOJ2q1DRQr_LA_bp4xm9iBDu9xp6AjygE1VnfCnvP0aK2Zfi39mxaJIkh-EbRj35Cw9kN1FMDaPlkXAKHkaeILWCAvexeT_CvDHZDA8i3Op9A9vnxknZjQHC3jr06WMvl2gWQJfQrtmdRRIl0A4CdW3uJI_R2aRWrTVPYF6q3FiJOLJVUxlO4DfBGnO4pFms9eqJU8la5AGapWtoLAPAdJJTr-Lea5v8-zb_5P0mxLZBJzv06vPpplB-WyDvRDrfyC1BvuY0zMrS2iNyJ1uEcUgRyujiHklbjmriLlvjc4sHq5lDH65RiO4IGdPgim530RPrlVOjZp_5UyruuETGIhiojH-dmSFFR4jvGnUDmE6QfLjGGBTm5v5nj-WGgbdR4gv0ZK9zMrbATnuyqxJyOcBq-2faIW20nTDAhObR6I3YS7uBWDTjZx_h1lTduWJKHkmwI5EM4BWGiYXTdknNmk0D6hH1xyZMzQa7bMYlC4UzrbXyW0vPahUnWgBeYH4DTz-Mk83GTnktwM9upg31G5GOD3oDRvL2bzZO55oE31D7RVrW2oLJGUvhUtKG9XmVWk8hjf-aqMOITXIYeRqdQ8rnMt3l5aq_Rw2y65GJeYMPf2bRp-jVKlLNnjyobrFvK3G21r8LDAOW4Ah2JYHkwM5cPnws7QG9t-LN6wJkRSObIoKktAh5La1amcQYJ2ukSPlTPc-vXxPKz8NEY94=",
  "id": "rs_04088de4166c88f6016ab449b20bac87d09ac18b25d137f18a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"This close was again empty, and the long object in the right wrist is the held pen protruding forward, not the cap. I’ll fully park the left arm to reveal where the small cap has been displaced before choosing a fresh grasp point.\"}",
  "call_id": "call_8tAcNrc6d2WvxCpE4dbHpHwn",
  "id": "fc_04088de4166c88f6016ab449b4ca4887d081bbd4bd85f46685",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8tAcNrc6d2WvxCpE4dbHpHwn",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3016, 1.2675, 1.021, -0.8703, 0.5331, 0.7506, 0.9977, 0.9951, 1.5902, 1.1694, -0.6998, 0.5518, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.3033 left_y=0.0041 left_z=0.1628 left_yaw=-0.6109 left_pitch=-0.3142 left_roll=-0.0313 left_gripper=0.9977 right_x=0.2757 right_y=0.2612 right_z=0.1322 right_yaw=0.0461 right_pitch=-0.3121 right_roll=-0.0245 right_gripper=0.0697\nstate[joint_eff]: [0.0615, -5.8051, 9.0325, 0.9646, 0.4469, 0.2125, -0.0757, -0.2256, -7.2684, 6.8581, 0.9939, 0.3053, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14016b5633dcc3077483d4f2f642e31531ef1666953d8f612cfd810cbfc096c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b8bdf6fd6bc22032fd3d4be44d742a9c2c5d78b9aadbec5f17f5f94e5a7d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e5088958ac3adbbc11fb03288fac78556495dabff998c76a5eba9520a2bce1",
      "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 · 4.073 s

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

message 137 changed as sent

message 146 changed as sent

message 150 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4374, 2.0041, 1.0695, 0.054, 0.1654, 0.1593, 0.0088, 0.9951, 1.5898, 1.174, -0.6994, 0.5674, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4242 left_y=-0.2265 left_z=0.0019 left_yaw=-0.6846 left_pitch=-0.2932 left_roll=-0.0198 left_gripper=0.0088 right_x=0.2779 right_y=0.2604 right_z=0.1353 right_yaw=0.038 right_pitch=-0.2975 right_roll=-0.0285 right_gripper=0.0697\nstate[joint_eff]: [0.1436, -10.7556, 6.3248, 1.0623, 0.2027, 0.0415, 0.6667, -0.0205, -7.0496, 6.4889, 0.9939, 0.359, -0.0562, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4259, 2.03, 1.1141, 0.041, 0.1608, 0.1577, 0.008, 0.9951, 1.5898, 1.174, -0.6991, 0.5632, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4365 left_y=-0.2252 left_z=0.0034 left_yaw=-0.6679 left_pitch=-0.2885 left_roll=-0.0158 left_gripper=0.008 right_x=0.2775 right_y=0.2609 right_z=0.135 right_yaw=0.0406 right_pitch=-0.3004 right_roll=-0.0259 right_gripper=0.0697\nstate[joint_eff]: [-0.1299, -10.4821, 5.6957, 1.4872, 0.1148, 0.0659, 0.6422, -0.1436, -7.1726, 6.3795, 1.0574, 0.1929, -0.022, 1.033]\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 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3016, 1.2675, 1.021, -0.8703, 0.5331, 0.7506, 0.9977, 0.9951, 1.5902, 1.1694, -0.6998, 0.5518, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.3033 left_y=0.0041 left_z=0.1628 left_yaw=-0.6109 left_pitch=-0.3142 left_roll=-0.0313 left_gripper=0.9977 right_x=0.2757 right_y=0.2612 right_z=0.1322 right_yaw=0.0461 right_pitch=-0.3121 right_roll=-0.0245 right_gripper=0.0697\nstate[joint_eff]: [0.0615, -5.8051, 9.0325, 0.9646, 0.4469, 0.2125, -0.0757, -0.2256, -7.2684, 6.8581, 0.9939, 0.3053, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14016b5633dcc3077483d4f2f642e31531ef1666953d8f612cfd810cbfc096c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b8bdf6fd6bc22032fd3d4be44d742a9c2c5d78b9aadbec5f17f5f94e5a7d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e5088958ac3adbbc11fb03288fac78556495dabff998c76a5eba9520a2bce1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_04088de4166c88f6016ab449b9429c87d09957f69e4b4791da",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnD2pI-6Kvz_j7aQRieq4qJmlLyss2Uxzjk32b3ZHLOAHlQ2P-qEfIcAPV6DY9wFospagMI4aKYymoFqVTR9QHmsGOogLBfup5B6G6d_i6H589Gbe2uvLYNGIBNKl9PqRSbe-mBGuMko_RJItqmvBZ_uzYrK35QX6Ls3rTOepl602FeQKTRztp18vZNTJ4Sns6H2ZnVJziSjF-d67nRmJlIQ1QxF-Y63RJZH_4WBUvYpe6cyz6hyAqerUjAtfRMQTBkTceTBv2Mc2yK9zSsJGKdj3gdnPj9fUxhr5d7AAcydHpLx4CvGt2B9O5BW-q0M9cqOsliCebnGe0Q9YuG-0ZDpJ02HYltXEB-1ORfO5iKW2HLsMnMpA35253M1UuIpNhxnlNIZbwo8nrDFH3lWBcpZ2KCEKacZDgHto2ao6NyeCHRWmZ8oV_j4ZX4DzWJWfQDHLCRJIVdjztMrPlBXNXjxjKXPK9-xFZoDwgzRqAvnh6fbx-WnPd21bOMvsLq86-g10llwzEgbFPnYkO11a_r2umfJpRYldZYBQQRR8QApYShbeXq81MTDHL7r2QUcnD3SoBC_WOThwjFSQTg85_RkIUOUUbQgdPTKqYLTXRcmOj1IIPAu7kHhfB9T3NdYMDZHvPs60ME1ZZ-I9MiKz2ak68tHhW07tl_Eqh__xMvxu46nU_vo3K7mC2jKgSPtiChvuLHpZEjpvNxa8wwzp-xpWowp8WQwf-gCpJUd9UY7p-Bt1Kt4Baz-4iWxDgX8xZygakIVryOhm_Bcl5qF0tYFiH7HT2vqba38MczVxynBS7zJf6knxmgkoaqqDpI7S6XCmozpOPoyiurzln4liRbdKABiBwFTeFuakTDwH3ipXnyg8MUQPk860ftZFtNgF8I8Bgu4AFwbCOL8IN4lC4qt9R9ZRTW6G8aUGapyL2MBDy1k74mqA48xSqaKWZrjyR68rZZ2w8_jw5fFYfwxIFpQ1uhanwzTHU9H4cWzSZMOqbgbrBvbQqWEsElzkIZA4EAW-FU1_7SpSOHnwWr1fQ7jEPZRBUQky3X6j52NIZHcwGCHD-ClonuZSOoUCfISid9zh-ZM5_WyH37VcdAFcj1pW3ZC5pfGJAsbgw3gUkDqovIv_A5F9uFKwjHkNn_XmAN5xgpsKDOhoVJ2R8v6gAxecQI_lemNWiNLnOR29ilrsmYQP29boPe-e1Wj25tbaYMODpFV-VRyeuhgCg9ANuSR8Y0qQTY_BuQdW6-ugJsnQTasUbq6n-KeW2uTPEBv01wiGryEoru0BRMclrrMa4DMrA2oHjijXxGkXrB4k5t3y3OoXXSH9pS-mOVncTVBJ3lEZ2zvT_R_WYoOSUiT-Va5wJAie4t6BVgC-rNAawh3Hez-mqy8VFzUD1dRke99BdL0_weVxI1ox85ocuPIHQq99_rY3y5YpUH2_5Pj5BFskfVlM0MgKeAI6uN6711qPfSe0K0tLE19M9fr94eHsduje7TRvrcei22pymhKaNq-xCxWfknQGSVHDMq6BZwEffjaTIAiUwo42Gpg4mrBoEIMVWTHoBWXxSmz-TFSqDQmA5BCakZ6rq1S7JruaoMIYxbrpkU67y9MzEkX0rajZmpGsYnWduJeRGRUsyHx6PlnInjbesLR1_p-BBxfM0NsyCtdLxdRMCThp-KIARddoowz65SZjW8fcdkWxGnAvYCopeVfuqZyuZHXuTlhcGKSB1QBSyxZ1r_3qHT3-S1EEa5WdPcWEWDy7EthWDnV0QqMHFlNun2hyKX4UQni_AMgxR_vFKfJxDaXt0ZnkS6mUchC6pAclmEMeTGEna4KhjgA7HEG5Siv8KRbOuFCRxwDvGWN03rRGOacGJyc-JVxbywJjETUEm6G4RSjoCXrSKjifka2Pvsf3fEaeVY2qy16UIvqWt5BMc0wOO62zixT6pS7tMTrDSfOGrbaEW472uBl0asELexrcGromPLnipOvaMvd6soOyzUHhWbP1xmCM4FjXyvg6FU-odh9E3XSi_3ZtLQtDZfKkIXB76KYsBJVw8z9R5Y6IuQ_M0xeObmK3JRijFU6YAxzRqvkSZ5SltWKqu8vtBZgCTUDMSjkBuCWwsAVtIkbzrZspHm9ideLkhcmFzitV1nUGfMYQ34uxEuJ9aOCx0SzyDvOwxYML2427JKSiIL2oeToX0uOJU7AmZAyy2FSdxDIy6rL9EjD8XG47xYC_-wTCz8a9byiYpWYay6gDRM7ocLXBZXcDdGHHXExh4xPW9RE_Lo_tx1SSfg94XhRLURCyet0g6NPow6xtkA2UrfAMb1Nr_XuJlufCrjS4Qr8iopAf-qt3qK7pDybM4mGCVt6fi1M0eB9FziMVsPC4dtbhORT1ESYGHvfL9acKB4UESCACioiQ2FlrhTrtxh6GImeX39HCDStJEcajKl7MdmWdQANS7dE4K-j7nzI87l3hHIyWj4ALhbwRtla8BltEr1qa1iALPwt__Z8cuuNVEgfWkm2cFD2-rJMC40HBNc9F_afyIhU1IcJAPGxNTYixvUrPdsEvMofLqu2pAlfbRWDQ-I1a9FoKDj_8ysZJx40Xk-1_m2JazxsM9Fphf6UHw8O5iR35zmIJn8YO5M6GLeeKCXR15dzYr5K59je--Qy5XnXEysD8Q6ASFJs8nVTvnRJ8suwcel75RqmSms_BgZYUEnTQDobtUfyXKH-2nkWy6I3ubr_91UGkhy9iNYmh4lNXgZubdsy4KwEhrN9vhvgtPjB7Rpe_WdVbKDMe9G-4wL_V5I0NZ8_NDKg3wyBBsdYJdb8hAptUUiYD0B7IdjtILZSZmYHMvyOnIn8QZo82rQjddxqahtqj_kt3-WdiYe4cdla67s51Of_kaM3IcnhXeepQf69J8CVUYb1w==",
  "id": "rs_04088de4166c88f6016ab449be5ad487d0a29326777ddcf402",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.12,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"With the arm clear, the cap is plainly still at its original diagonal location; the prior attempts were laterally a little arm-left and likely closed beside its thin body. Using the wrist-camera shift measured from the last approach, I’ll return at y=-0.24 (about 2.5 cm farther arm-right) and x=0.43, keeping the cap axis aligned with the tool.\"}",
  "call_id": "call_CaHfold1kA0pDS0nGdrHttUu",
  "id": "fc_04088de4166c88f6016ab449c2720087d0b254b69900509f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CaHfold1kA0pDS0nGdrHttUu",
  "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]: [-0.4484, 1.8427, 1.3468, -0.4828, 0.1768, 0.1547, 0.9984, 0.9951, 1.5906, 1.1687, -0.701, 0.5446, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4126 left_y=-0.229 left_z=0.1002 left_yaw=-0.7118 left_pitch=-0.3858 left_roll=-0.0584 left_gripper=0.9984 right_x=0.2747 right_y=0.2617 right_z=0.1311 right_yaw=0.0498 right_pitch=-0.3187 right_roll=-0.0224 right_gripper=0.0697\nstate[joint_eff]: [-0.4171, -9.935, 9.6889, 1.5116, -0.0317, 0.0073, -0.1783, -0.1026, -7.2684, 6.4342, 0.9646, 0.2711, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b032276e21da57dc4445764a8b434e1d947ae7d469ca264b69f36ba23c9cb0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26044397e70f502f7ae487f9e33dacf6f266c057998340f545a76dbfb58b0338",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d84554b85b254204636a66f1b60ef0b1c104eece43c95b3bc2ad49c097dee88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 4.027 s

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

message 142 changed as sent

message 150 changed as sent

message 155 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4255, 2.027, 1.1126, 0.0422, 0.165, 0.1619, 0.9953, 0.9951, 1.5898, 1.174, -0.6994, 0.5636, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4363 left_y=-0.2257 left_z=0.0046 left_yaw=-0.6733 left_pitch=-0.2851 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2775 right_y=0.2608 right_z=0.135 right_yaw=0.0403 right_pitch=-0.3003 right_roll=-0.0264 right_gripper=0.0697\nstate[joint_eff]: [0.4444, -8.0205, 7.7744, 1.3748, 0.1099, 0.0464, -0.1636, -0.1983, -7.2274, 6.3932, 0.9988, 0.3101, -0.0611, 1.0379]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3016, 1.2675, 1.021, -0.8703, 0.5331, 0.7506, 0.9977, 0.9951, 1.5902, 1.1694, -0.6998, 0.5518, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.3033 left_y=0.0041 left_z=0.1628 left_yaw=-0.6109 left_pitch=-0.3142 left_roll=-0.0313 left_gripper=0.9977 right_x=0.2757 right_y=0.2612 right_z=0.1322 right_yaw=0.0461 right_pitch=-0.3121 right_roll=-0.0245 right_gripper=0.0697\nstate[joint_eff]: [0.0615, -5.8051, 9.0325, 0.9646, 0.4469, 0.2125, -0.0757, -0.2256, -7.2684, 6.8581, 0.9939, 0.3053, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4484, 1.8427, 1.3468, -0.4828, 0.1768, 0.1547, 0.9984, 0.9951, 1.5906, 1.1687, -0.701, 0.5446, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4126 left_y=-0.229 left_z=0.1002 left_yaw=-0.7118 left_pitch=-0.3858 left_roll=-0.0584 left_gripper=0.9984 right_x=0.2747 right_y=0.2617 right_z=0.1311 right_yaw=0.0498 right_pitch=-0.3187 right_roll=-0.0224 right_gripper=0.0697\nstate[joint_eff]: [-0.4171, -9.935, 9.6889, 1.5116, -0.0317, 0.0073, -0.1783, -0.1026, -7.2684, 6.4342, 0.9646, 0.2711, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b032276e21da57dc4445764a8b434e1d947ae7d469ca264b69f36ba23c9cb0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26044397e70f502f7ae487f9e33dacf6f266c057998340f545a76dbfb58b0338",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d84554b85b254204636a66f1b60ef0b1c104eece43c95b3bc2ad49c097dee88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnJP-nFwfBiCVP1H4EtXP9VVfbgmS5dNOIyi8rkvzAr6BLud7Kud_bghV2FhfLPRd5ilndv71cbKdDEVuMirra-_xPPa4XCtrGO0mzR11fXz-D8W0Q6M8RediDy7_M9OZwJaWTE1grJEqz5c_svXMkpluaFy49L2YTf0aC75wex9fo51RoDc7YmWUzxu8hxsS2t0HlmOjpOl_X6s-NV4dOWr_4ZMAdATKCQVkLuUzeho0RaUH7OsPCy12K9TDO3KCNw2NinGgMG13tlvLhHF9n34gUr5g587Pv1nIneuf4RqwByRpxSg7IBJJDUHxE3s6xTKHPTiSvxJqFMImd9dVgEn41bC-eDF35VvUV29y-xXQajYYk-n2CzGdtmZSGWbOWkfBRv3KhgCdJyoJy6BT-3zxQBbaZERfcgS_FtUHswrWM8XbXDH1LXKUUHafHM1KgHphzGq-_ubBZ_kettLWHHiSl-9p-DxmeKfgnsy5-GA22NImiPSEGXAS9pg0I36EwfXs0uUdvAxVLwOpGUG9rtSvjTzHWHvfWCjq-yP9jWhZb-jXNaLpb6Po4e7-wDvVehIerDPPNBBCB1wFfZf4hq9yB4MWqDyZpeVI0W9p7E9rTKeJ9quStprTBrQfF_u72ppOQ0-Y5ymK-TkUcf479sEsiqVYycrepEmN9-DXT4Mm5yt9O2i8wxu_cpgXx0J0i6_qVEfzzwW8OTRHItHfDAQ72TZrGmKlEkbqAtgWKiofQyoexpDrJwr2sB0RrpU6b4H88oNHLp4huN4vW_6vHtqTcp9CODxCo-IjDhDvoEchBSJdyE4DTubi1WO96h0BJSGCWuync9LZA824T5D5Xzfvc6t9TfqrtXF2xQp4nJsmJzINRlRLpnZF9ZRFXzr8lgXxvbEaGecvllsQ1BmuanK9a1Wf4hR65s01c9mfXKYIKruk1pptQj475YfPJH8sdhAHXnWgspHwdTPMF6nEhILbuRMdsD10sNW9ruTLH3XfuxW6Uv0zZFZvu4zsTbT6dTvyUoITL5tq5rRFSJAm28NF7bMpsGA6lffK1qlR4zJWmYVgwkRCCmlQ2rS0a7FE5DdsuLJDylJ7edIG9o7oN8WpiOGBzopRYPLCgbrg805Er5-1E84VJp6g5YgLnuQUsnglRq39t4K5c2wHXM4irNleCZv__mRAhMDYe92cKRVVVxvno2uCJtraRS_1RLi-qHsAimwtQABtnSS7GQ4PLejGdlTtkhdLSDc5Bl9HnJ5CPg1b9hXZCF76UOdJfZk8B3QRTOAF4XLRiuoW9hjDMwoefXn1Jcz8J9S9FnYCUh166smXMLL7iid0Izpw0xFMiS-BMmICiT93xUNVb55w0rRnTOK2mWnLOUybfpfZMK_RpJGd8c55kWXpW-8X7j0xBWZ2QtzVTPsGVCE055FoUSgtyoGYTK0IRKC9sNKqQczUS06GQd9ScV4U3hpc28qL4fhmorycWTwLtfZkgcMZ2bS9QJYePP5WKAQl56wxh9SqyUscV1MhgAC9-p477ye3ZWY6YipbYSufpCuvI_41T5elhhXbS1nK1W14dh9BubuhrcWfFKA6AodIyfxkBk-XCFT5Qc19JgelNSwJL9arOWzWJUOQD9Wmm8PW97cBFANOxWMjY-EbyhBZo8IBqo-6yJ_Lx4f_4VNzmyi5ueimbpYGrTzyA_LulWnaDTKkLDBd9Goe6f-GMhcFiBO8w3G02F352k8hc0oaRfb6-W5IsBd5Ltdiy2VTJa0JDasJRf2DfDuVSn1TBtAO7xQbkL9yU18hv8xgtPL9Yjo8Q2aloi4JK56-r5IZS3K4-7gBriBXxJmDSrZ_PyXCd2LTaU2afXpLlql-8pry6U7j36q0sdgQNRMi04HMkgPWMbIAVL-C24EvA3zXhiye_JgdwNdd-ggQ-ADrLc_-d-b8ea1cC9x_GnShDcwZrbamd1OqE_SaDVt8fpTQseizYDUBnlRksdqXxCeefy27Rk5l7kYqnVmA==",
  "id": "rs_04088de4166c88f6016ab449c76fd087d0a98ef5c699822de9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.413,\"left_y\":-0.222,\"left_z\":-0.01,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The cap is now clearly visible between the open left jaws, with its thick end extending to the fingertip line; it is only about 10 pixels left of center. I’ll make a small 7 mm arm-left correction and descend vertically at the achieved radial position.\"}",
  "call_id": "call_rSHiWXc5DyEK3fG9CQxiTBpU",
  "id": "fc_04088de4166c88f6016ab449c8e65c87d098c27d3d6abb36d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rSHiWXc5DyEK3fG9CQxiTBpU",
  "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]: [-0.44, 1.9854, 1.1275, -0.123, 0.1635, 0.1467, 0.9984, 0.9951, 1.5906, 1.1687, -0.6998, 0.5407, 0.7959, 0.0703]\nstate[eef_state]: left_x=0.4126 left_y=-0.2221 left_z=0.0046 left_yaw=-0.6871 left_pitch=-0.391 left_roll=-0.0524 left_gripper=0.9984 right_x=0.2744 right_y=0.2623 right_z=0.1309 right_yaw=0.0525 right_pitch=-0.3208 right_roll=-0.0193 right_gripper=0.0703\nstate[joint_eff]: [0.4308, -6.9128, 4.4513, 0.989, 0.149, -0.0171, -0.1783, -0.0615, -7.1726, 6.3658, 1.0281, 0.315, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea3abce808ff10f93b54d465113414376141063b2be0bbc08dffd9417711a0ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2370852963158239351b4fe6502bf8334ee6d53e65edf04f9b549cf031f323d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726ce8922a80ff60391676cafd1ad06846dad5a201a79447e457cdcdd4b559e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 4.244 s

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

message 146 changed as sent

message 155 changed as sent

message 159 changed as sent

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4259, 2.03, 1.1141, 0.041, 0.1608, 0.1577, 0.008, 0.9951, 1.5898, 1.174, -0.6991, 0.5632, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4365 left_y=-0.2252 left_z=0.0034 left_yaw=-0.6679 left_pitch=-0.2885 left_roll=-0.0158 left_gripper=0.008 right_x=0.2775 right_y=0.2609 right_z=0.135 right_yaw=0.0406 right_pitch=-0.3004 right_roll=-0.0259 right_gripper=0.0697\nstate[joint_eff]: [-0.1299, -10.4821, 5.6957, 1.4872, 0.1148, 0.0659, 0.6422, -0.1436, -7.1726, 6.3795, 1.0574, 0.1929, -0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4484, 1.8427, 1.3468, -0.4828, 0.1768, 0.1547, 0.9984, 0.9951, 1.5906, 1.1687, -0.701, 0.5446, 0.7959, 0.0697]\nstate[eef_state]: left_x=0.4126 left_y=-0.229 left_z=0.1002 left_yaw=-0.7118 left_pitch=-0.3858 left_roll=-0.0584 left_gripper=0.9984 right_x=0.2747 right_y=0.2617 right_z=0.1311 right_yaw=0.0498 right_pitch=-0.3187 right_roll=-0.0224 right_gripper=0.0697\nstate[joint_eff]: [-0.4171, -9.935, 9.6889, 1.5116, -0.0317, 0.0073, -0.1783, -0.1026, -7.2684, 6.4342, 0.9646, 0.2711, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.44, 1.9854, 1.1275, -0.123, 0.1635, 0.1467, 0.9984, 0.9951, 1.5906, 1.1687, -0.6998, 0.5407, 0.7959, 0.0703]\nstate[eef_state]: left_x=0.4126 left_y=-0.2221 left_z=0.0046 left_yaw=-0.6871 left_pitch=-0.391 left_roll=-0.0524 left_gripper=0.9984 right_x=0.2744 right_y=0.2623 right_z=0.1309 right_yaw=0.0525 right_pitch=-0.3208 right_roll=-0.0193 right_gripper=0.0703\nstate[joint_eff]: [0.4308, -6.9128, 4.4513, 0.989, 0.149, -0.0171, -0.1783, -0.0615, -7.1726, 6.3658, 1.0281, 0.315, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea3abce808ff10f93b54d465113414376141063b2be0bbc08dffd9417711a0ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2370852963158239351b4fe6502bf8334ee6d53e65edf04f9b549cf031f323d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726ce8922a80ff60391676cafd1ad06846dad5a201a79447e457cdcdd4b559e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_04088de4166c88f6016ab449cc474087d09bbd7e892c201b50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height only the cap’s thin forward projection remains visible on the jaw column; its thicker body is now under and between the fingertips rather than ahead of them. I’ll close at this corrected, more inward radial position.\"}",
  "call_id": "call_zLDcFG5fJLFGIEU8lzO9JJtJ",
  "id": "fc_04088de4166c88f6016ab449cdd20087d0a4ffa13363c544d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zLDcFG5fJLFGIEU8lzO9JJtJ",
  "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]: [-0.4393, 1.9953, 1.1191, -0.0895, 0.1566, 0.1394, 0.0088, 0.9951, 1.5906, 1.1687, -0.6998, 0.5377, 0.7959, 0.0703]\nstate[eef_state]: left_x=0.4159 left_y=-0.2219 left_z=0.0017 left_yaw=-0.6746 left_pitch=-0.3777 left_roll=-0.0471 left_gripper=0.0088 right_x=0.2741 right_y=0.2627 right_z=0.1307 right_yaw=0.0543 right_pitch=-0.3231 right_roll=-0.0176 right_gripper=0.0703\nstate[joint_eff]: [-0.1436, -10.8923, 6.4205, 0.9304, 0.1587, 0.0562, 0.652, -0.1709, -7.241, 6.3932, 1.0183, 0.2759, -0.0611, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9d7c34efda3b56abd95ad46fe0f624fa4473a757a0fa178c366737d52a3f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e34725d399fb27fdc22664111660979a5bb7cc3efd95f0feb71e58d38c387f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8df77cb2f2e52190b2f7de0b1fc41eda86d12d713d2666fbc51b32ce6995a34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]