adhoc

completed
2026-09-23T22:23:04.824698+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
248.6 s
total steps
364
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short black cap is left of the long pen near the middle of the table, and it appears down-right in the left wrist camera from the left arm's home pose. I am moving the left gripper above the cap's estimated position with the jaws rotated to cross its diagonal axis.
move_to
left_x0.3400left_y-0.1800left_z0.1500left_yaw-0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.0185, 0.7925, 0.6098, -0.3779, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0022 right_z=0.1835 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.4034, -1.5248, 10.5368, 1.7998, -0.022, 0.0757, -0.0806, -0.7179, -1.306, 9.7573, 1.8242, -0.0464, -0.0269, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.18,"left_z":0.15,"left_yaw":-0.5,"left_gripper":1.0},"note":"The short black cap is left of the long pen near the middle of the table, and it appears down-right in the left wrist camera from the left arm's home pose. I am moving the left gripper above the cap's estimated position with the jaws rotated to cross its diagonal axis."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe cap is now centered on the left wrist camera's jaw column, but it still has clear image space below it, indicating the fingertips are a few centimetres short. I am advancing radially and lowering partway while keeping the crosswise jaw alignment.
move_to
left_x0.3650left_y-0.1800left_z0.1000left_yaw-0.5000left_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]: [-0.4904, 1.2469, 0.6502, -0.07, -0.0269, -0.0422, 0.9993, -0.02, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3271 left_y=-0.1652 left_z=0.1219 left_yaw=-0.4568 left_pitch=-0.0948 left_roll=-0.0086 left_gripper=0.9993 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0015 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.999 state[joint_eff]: [-0.3624, -4.8479, 9.9897, 1.9267, -0.0073, 0.2466, -0.0806, -0.1162, -1.6479, 6.7761, 1.8193, -0.0708, -0.0415, -0.022] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.18,"left_z":0.10,"left_yaw":-0.5,"left_gripper":1.0},"note":"The cap is now centered on the left wrist camera's jaw column, but it still has clear image space below it, indicating the fingertips are a few centimetres short. I am advancing radially and lowering partway while keeping the crosswise jaw alignment."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap remains centered between the projected jaws after the radial correction. I am descending straight to table level so the jaws can straddle the cap before closing.
move_to
left_x0.3650left_y-0.1800left_z0.0000left_yaw-0.5000left_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]: [-0.4561, 1.4509, 0.6834, 0.0166, 0.0082, -0.0219, 0.9993, -0.02, 0.8005, 0.6132, -0.3935, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3483 left_y=-0.1685 left_z=0.079 left_yaw=-0.4631 left_pitch=-0.1794 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1796 right_yaw=-0.0018 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [0.1162, -8.0615, 9.7162, 1.9658, 0.2271, 0.1929, -0.0806, -0.2256, -1.1966, 7.0222, 1.8437, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.18,"left_z":0.0,"left_yaw":-0.5,"left_gripper":1.0},"note":"The cap remains centered between the projected jaws after the radial correction. I am descending straight to table level so the jaws can straddle the cap before closing."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe first descent stopped well above table height without disturbing the cap, so this appears to be an awkward IK posture rather than contact. I am advancing slightly as I descend to help the arm unfold and bring the fingertips around the cap.
move_to
left_x0.3900left_y-0.1800left_z-0.0100left_yaw-0.5000left_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, 1.4841, 0.6834, 0.0418, 0.0166, -0.0139, 0.9993, -0.02, 0.8005, 0.6132, -0.3939, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3516 left_y=-0.1684 left_z=0.0713 left_yaw=-0.4671 left_pitch=-0.1873 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.2393, -7.4188, 9.1419, 1.9219, 0.1734, 0.2027, -0.0806, -0.1026, -1.2376, 7.0359, 1.7265, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":-0.01,"left_yaw":-0.5,"left_gripper":1.0},"note":"The first descent stopped well above table height without disturbing the cap, so this appears to be an awkward IK posture rather than contact. I am advancing slightly as I descend to help the arm unfold and bring the fingertips around the cap."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe arm is lowering gradually as it unfolds, and the cap is still centered but remains visibly ahead of the fingertip point in the wrist view. I am advancing another 3 cm while maintaining the table-level target.
move_to
left_x0.4200left_y-0.1800left_z-0.0100left_yaw-0.5000left_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]: [-0.4313, 1.5799, 0.6975, 0.1486, 0.0353, -0.0021, 0.9993, -0.02, 0.799, 0.6132, -0.3962, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3692 left_y=-0.1728 left_z=0.0599 left_yaw=-0.4723 left_pitch=-0.1617 left_roll=-0.0183 left_gripper=0.9993 right_x=0.2941 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [1.0462, -6.4342, 6.0513, 1.2234, 0.1929, 0.1245, -0.0806, -0.0615, -0.9094, 7.0496, 1.7509, -0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.18,"left_z":-0.01,"left_yaw":-0.5,"left_gripper":1.0},"note":"The arm is lowering gradually as it unfolds, and the cap is still centered but remains visibly ahead of the fingertip point in the wrist view. I am advancing another 3 cm while maintaining the table-level target."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe left grasp point has now reached table height, and the cap has disappeared directly beneath the fingertips while staying centered during the approach. I am closing the left gripper to capture it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3805, 1.9205, 0.7933, 0.4061, 0.0605, 0.038, 0.9993, -0.02, 0.8036, 0.6132, -0.408, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.4198 left_y=-0.1756 left_z=0.0019 left_yaw=-0.4648 left_pitch=-0.1481 left_roll=-0.0041 left_gripper=0.9993 right_x=0.2927 right_y=0.0017 right_z=0.1758 right_yaw=-0.0018 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [0.2393, -7.2684, 4.8752, 0.8132, 0.3199, 0.0708, -0.0806, -0.294, -1.5795, 6.9949, 1.8486, -0.0659, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left grasp point has now reached table height, and the cap has disappeared directly beneath the fingertips while staying centered during the approach. I am closing the left gripper to capture it."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe fully closed reading is 0.008, which confirms the cap was not captured. I am reopening and lifting back so the overhead and wrist views can reveal whether I overshot or displaced it.
move_to
left_x0.3800left_y-0.1800left_z0.1200left_yaw-0.5000left_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]: [-0.3752, 1.9453, 0.8059, 0.4385, 0.0753, 0.0505, 0.008, -0.02, 0.8043, 0.6132, -0.4122, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.4261 left_y=-0.1783 left_z=0.0016 left_yaw=-0.4786 left_pitch=-0.1271 left_roll=-0.0023 left_gripper=0.008 right_x=0.2922 right_y=0.0017 right_z=0.1747 right_yaw=-0.0018 right_pitch=-0.0427 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.0068, -6.9128, 5.0256, 1.4676, 0.1343, 0.022, 0.5592, -0.1709, -1.388, 7.1316, 1.7216, -0.0122, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.18,"left_z":0.12,"left_yaw":-0.5,"left_gripper":1.0},"note":"The fully closed reading is 0.008, which confirms the cap was not captured. I am reopening and lifting back so the overhead and wrist views can reveal whether I overshot or displaced it."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe reopened view shows the cap centered at the very bottom of the left wrist image, so the previous approach overshot radially. I am descending vertically at the current x position without advancing, keeping the cap between the jaw tips.
move_to
left_x0.3800left_y-0.1800left_z0.0000left_yaw-0.5000left_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, 1.5272, 0.8158, -0.0093, 0.0544, 0.0246, 0.9948, -0.02, 0.8055, 0.6132, -0.4126, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3786 left_y=-0.1784 left_z=0.0987 left_yaw=-0.4977 left_pitch=-0.148 left_roll=-0.0102 left_gripper=0.9948 right_x=0.2922 right_y=0.0017 right_z=0.1744 right_yaw=-0.0018 right_pitch=-0.0442 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.4308, -8.0205, 9.6615, 1.6679, -0.0024, 0.1538, 0.0513, -0.1709, -1.2239, 7.0496, 1.7216, -0.0562, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.18,"left_z":0.0,"left_yaw":-0.5,"left_gripper":1.0},"note":"The reopened view shows the cap centered at the very bottom of the left wrist image, so the previous approach overshot radially. I am descending vertically at the current x position without advancing, keeping the cap between the jaw tips."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteAt table height the cap lies lengthwise between the open left fingers, with its near end reaching the fingertip line. I am closing now to pinch that end rather than advancing past it again.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 1.7985, 0.6559, 0.3801, 0.0483, 0.0269, 0.9983, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.375 left_y=-0.1761 left_z=0.0011 left_yaw=-0.4954 left_pitch=-0.1898 left_roll=-0.0073 left_gripper=0.9983 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.4171, -5.8598, 4.041, 1.1893, 0.0171, -0.0611, -0.188, -0.3624, -1.6068, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0.0},"note":"At table height the cap lies lengthwise between the open left fingers, with its near end reaching the fingertip line. I am closing now to pinch that end rather than advancing past it again."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe gripper settled at 0.046, just above the empty threshold and consistent with a thin cap held between the jaws. I am lifting it several centimetres to confirm that it moves with the left gripper.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 1.8126, 0.646, 0.4263, 0.0349, 0.0242, 0.0464, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3784 left_y=-0.175 left_z=0.0005 left_yaw=-0.4822 left_pitch=-0.1682 left_roll=0.0014 left_gripper=0.0464 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.1983, -8.841, 5.7094, 1.1306, 0.1587, 0.0855, 1.199, -0.335, -1.1829, 7.0632, 1.7558, -0.0464, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The gripper settled at 0.046, just above the empty threshold and consistent with a thin cap held between the jaws. I am lifting it several centimetres to confirm that it moves with the left gripper."})
tool
executing move_to over 6 steps (0.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe cap remains secured at a stable 0.052 opening after the lift, while the long pen is still on the table near center-right. I am parking the loaded left arm high and outward to clear the center for the right arm.
move_to
left_x0.2500left_y-0.0800left_z0.2000left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 1.602, 0.7383, 0.0998, 0.0334, 0.0235, 0.0522, -0.02, 0.8104, 0.6132, -0.4129, -0.0231, -0.0143, 0.999] state[eef_state]: left_x=0.3733 left_y=-0.1724 left_z=0.0581 left_yaw=-0.4807 left_pitch=-0.1919 left_roll=0.0006 left_gripper=0.0522 right_x=0.2925 right_y=0.0018 right_z=0.1729 right_yaw=-0.0017 right_pitch=-0.0496 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.3214, -8.5949, 9.1009, 1.7656, -0.0464, -0.0024, 1.0281, -0.3761, -1.4427, 7.1453, 1.6923, -0.0366, -0.0073, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.08,"left_z":0.2,"left_yaw":-0.5},"note":"The cap remains secured at a stable 0.052 opening after the lift, while the long pen is still on the table near center-right. I am parking the loaded left arm high and outward to clear the center for the right arm."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe cap-holding left arm is now safely parked, and the pen lies diagonally near the center in the right arm's inner workspace. I am moving the right gripper above its estimated midpoint with the jaws rotated crosswise to the pen shaft.
move_to
right_x0.3400right_y0.2800right_z0.1500right_yaw0.5500right_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]: [-0.1848, 0.8677, 0.8066, -0.691, 0.1883, 0.1692, 0.0578, -0.02, 0.8165, 0.6132, -0.4126, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.2654 left_y=-0.0796 left_z=0.1921 left_yaw=-0.4499 left_pitch=-0.1642 left_roll=0.0041 left_gripper=0.0578 right_x=0.2929 right_y=0.0017 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.1436, -1.1556, 9.265, 1.4921, 0.1538, 0.2808, 1.0281, -0.0889, -1.2923, 7.2, 1.7411, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.28,"right_z":0.15,"right_yaw":0.55,"right_gripper":1.0},"note":"The cap-holding left arm is now safely parked, and the pen lies diagonally near the center in the right arm's inner workspace. I am moving the right gripper above its estimated midpoint with the jaws rotated crosswise to the pen shaft."})
tool
executing move_to over 24 steps (2.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe pen is centered along the right wrist camera's jaw column, with its shaft running lengthwise between the open fingers. I am descending vertically at this alignment so the jaws straddle the shaft near its middle.
move_to
right_x0.3400right_y0.2800right_z0.0000right_yaw0.5500right_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]: [-0.1837, 0.8742, 0.8028, -0.7155, 0.1879, 0.1738, 0.0578, 0.7288, 1.4925, 0.894, -0.0917, 0.1505, 0.1089, 0.999] state[eef_state]: left_x=0.2614 left_y=-0.0785 left_z=0.1845 left_yaw=-0.4526 left_pitch=-0.1978 left_roll=-0.0016 left_gripper=0.0578 right_x=0.3318 right_y=0.2656 right_z=0.131 right_yaw=0.5333 right_pitch=-0.1205 right_roll=-0.0121 right_gripper=0.999 state[joint_eff]: [-0.3077, -2.0308, 7.0496, 1.7216, 0.0708, -0.0611, 1.0232, 0.6359, -6.3248, 9.0735, 1.9463, 0.0464, 0.0611, -0.1148] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.28,"right_z":0.0,"right_yaw":0.55,"right_gripper":1.0},"note":"The pen is centered along the right wrist camera's jaw column, with its shaft running lengthwise between the open fingers. I am descending vertically at this alignment so the jaws straddle the shaft near its middle."})
tool
executing move_to over 9 steps (0.9s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteAt table height the pen appears about 3–4 cm to the right of the jaw centre, so the high view hid a lateral parallax offset. I am shifting the right gripper toward the pen while staying at table level and preserving the crosswise orientation.
move_to
right_x0.3400right_y0.2400right_z0.0000right_yaw0.5500right_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]: [-0.1837, 0.8772, 0.8009, -0.7219, 0.1879, 0.1741, 0.0578, 0.7338, 1.8706, 0.7101, 0.4313, 0.1459, 0.1009, 0.999] state[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1818 left_yaw=-0.4534 left_pitch=-0.2088 left_roll=-0.0044 left_gripper=0.0578 right_x=0.3367 right_y=0.2738 right_z=0.0005 right_yaw=0.5454 right_pitch=-0.1593 right_roll=-0.0228 right_gripper=0.999 state[joint_eff]: [-0.212, -1.7573, 6.8855, 1.5604, 0.0806, -0.0366, 1.0232, 0.3624, -6.6256, 4.2462, 1.3602, 0.0415, 0.0562, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.24,"right_z":0.0,"right_yaw":0.55,"right_gripper":1.0},"note":"At table height the pen appears about 3–4 cm to the right of the jaw centre, so the high view hid a lateral parallax offset. I am shifting the right gripper toward the pen while staying at table level and preserving the crosswise orientation."})
tool
executing move_to over 3 steps (0.3s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe 3 cm lateral correction was largely absorbed by wrist reorientation and the pen remains beside the right finger rather than between the jaws. I am making one larger shift in the same arm-right direction to bring the jaw centre over the shaft.
move_to
right_y0.2000right_z0.0000right_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]: [-0.1837, 0.8776, 0.8009, -0.7223, 0.1879, 0.1741, 0.0578, 0.6533, 1.8385, 0.6445, 0.4862, 0.0978, 0.0555, 0.999] state[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1817 left_yaw=-0.4535 left_pitch=-0.2096 left_roll=-0.0046 left_gripper=0.0578 right_x=0.344 right_y=0.2461 right_z=0.0011 right_yaw=0.5308 right_pitch=-0.1433 right_roll=-0.0226 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.1692, 6.7214, 1.5018, 0.0024, -0.0464, 1.0281, -0.294, -8.5402, 4.4103, 1.4628, -0.1294, 0.0073, -0.1099] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.2,"right_z":0.0,"right_gripper":1.0},"note":"The 3 cm lateral correction was largely absorbed by wrist reorientation and the pen remains beside the right finger rather than between the jaws. I am making one larger shift in the same arm-right direction to bring the jaw centre over the shaft."})
tool
executing move_to over 4 steps (0.4s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe larger correction moved the pen close to the centre; its shaft is now between the fingers but still slightly right of the jaw column. I am nudging another 2 cm arm-right to centre it before closing.
move_to
right_y0.1800right_z0.0000right_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]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1875, 0.1741, 0.0578, 0.5304, 1.7893, 0.5537, 0.5407, 0.0235, -0.0132, 0.999] state[eef_state]: left_x=0.2603 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4532 left_pitch=-0.2108 left_roll=-0.0047 left_gripper=0.0578 right_x=0.3488 right_y=0.2039 right_z=0.0003 right_yaw=0.5085 right_pitch=-0.1342 right_roll=-0.0264 right_gripper=0.999 state[joint_eff]: [-0.3214, -1.5248, 7.0222, 1.5604, 0.0024, -0.0659, 1.0281, -0.2393, -8.1162, 4.041, 1.5702, -0.1587, -0.0708, -0.1148] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.18,"right_z":0.0,"right_gripper":1.0},"note":"The larger correction moved the pen close to the centre; its shaft is now between the fingers but still slightly right of the jaw column. I am nudging another 2 cm arm-right to centre it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe shaft remains only about 1–2 cm right of the jaw centre and is fully between the fingers. I am applying one final small lateral correction to reduce the risk of the cylindrical pen rolling out during closure.
move_to
right_y0.1600right_z0.0000right_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]: [-0.1837, 0.8783, 0.8001, -0.7223, 0.1879, 0.1741, 0.0578, 0.4797, 1.7782, 0.5274, 0.5625, -0.0208, -0.0502, 0.999] state[eef_state]: left_x=0.2602 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.211 left_roll=-0.005 left_gripper=0.0578 right_x=0.3506 right_y=0.1906 right_z=0.0001 right_yaw=0.5154 right_pitch=-0.1278 right_roll=-0.0267 right_gripper=0.999 state[joint_eff]: [-0.2667, -1.3744, 7.0632, 1.5214, 0.0562, -0.0562, 1.0281, -0.8957, -8.212, 3.6718, 1.5458, -0.0415, 0.0269, -0.1099] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.16,"right_z":0.0,"right_gripper":1.0},"note":"The shaft remains only about 1–2 cm right of the jaw centre and is fully between the fingers. I am applying one final small lateral correction to reduce the risk of the cylindrical pen rolling out during closure."})
tool
executing move_to over 3 steps (0.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe pen shaft is now centered precisely on the right jaw column and lies crosswise to the closing direction. I am closing the right gripper to grasp 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]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.392, 1.7592, 0.4919, 0.585, -0.0738, -0.0975, 0.999] state[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3551 right_y=0.1648 right_z=0.0003 right_yaw=0.4982 right_pitch=-0.1197 right_roll=-0.0304 right_gripper=0.999 state[joint_eff]: [-0.3624, -1.3197, 6.8991, 1.5409, 0.0024, -0.0269, 1.0281, -0.3897, -7.706, 3.9316, 1.4872, -0.2271, -0.1001, -0.1099] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pen shaft is now centered precisely on the right jaw column and lies crosswise to the closing direction. I am closing the right gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe right gripper closed to 0.007, so the first pen grasp was empty; the shaft is visibly diagonal to the jaw geometry and likely rolled out. I am reopening and lifting before correcting the yaw for a second, crosswise attempt.
move_to
right_z0.1000right_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]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.3679, 1.7512, 0.482, 0.5846, -0.1097, -0.12, 0.0073] state[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3537 right_y=0.1609 right_z=0.0004 right_yaw=0.5167 right_pitch=-0.1192 right_roll=-0.0251 right_gripper=0.0073 state[joint_eff]: [-0.335, -1.4974, 6.9402, 1.5458, 0.0415, -0.0464, 1.0232, -0.1299, -7.6786, 3.8496, 1.4823, -0.0073, -0.0171, 0.5495] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"right_gripper":1.0},"note":"The right gripper closed to 0.007, so the first pen grasp was empty; the shaft is visibly diagonal to the jaw geometry and likely rolled out. I am reopening and lifting before correcting the yaw for a second, crosswise attempt."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteWith the jaws open and lifted, the pen appears about 25 degrees diagonal relative to the jaw column at the current yaw. I am reducing the wrist yaw by roughly that angle so the jaws will close perpendicular to the shaft.
move_to
right_yaw0.1000right_z0.1000right_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]: [-0.1837, 0.8791, 0.8001, -0.7223, 0.1879, 0.1741, 0.0622, 0.3679, 1.4239, 0.6376, 0.0921, -0.1097, -0.1261, 0.9946] state[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3518 right_y=0.1602 right_z=0.0852 right_yaw=0.5202 right_pitch=-0.1287 right_roll=-0.0284 right_gripper=0.9946 state[joint_eff]: [-0.2803, -1.5521, 6.7487, 1.5311, 0.0317, -0.0562, 1.033, -0.1026, -7.0906, 8.5949, 1.6288, -0.0659, 0.1148, -0.1245] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":0.1,"right_z":0.1,"right_gripper":1.0},"note":"With the jaws open and lifted, the pen appears about 25 degrees diagonal relative to the jaw column at the current yaw. I am reducing the wrist yaw by roughly that angle so the jaws will close perpendicular to the shaft."})
tool
executing move_to over 3 steps (0.3s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe partial yaw reduction made the pen more diagonal rather than straighter, confirming the correction sign was opposite. I am rotating the other way to about 0.8 rad while staying lifted, which should make the pen run along the jaw column.
move_to
right_yaw0.8000right_z0.1200right_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]: [-0.1837, 0.8787, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5644, 1.4319, 0.6868, -0.0093, 0.1818, 0.1234, 0.9988] state[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3379 right_y=0.1804 right_z=0.0846 right_yaw=0.3326 right_pitch=-0.1787 right_roll=-0.0351 right_gripper=0.9988 state[joint_eff]: [-0.1026, -1.5111, 6.7897, 1.5995, 0.0708, -0.0611, 1.0281, -1.7709, -5.4632, 8.8, 1.5751, 0.5153, 0.2222, -0.1294] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":0.8,"right_z":0.12,"right_gripper":1.0},"note":"The partial yaw reduction made the pen more diagonal rather than straighter, confirming the correction sign was opposite. I am rotating the other way to about 0.8 rad while staying lifted, which should make the pen run along the jaw column."})
tool
executing move_to over 3 steps (0.3s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe pen midpoint is centered laterally but still has substantial clear space below it, so the fingertips are radially short; the yaw tracking also moved opposite the request. I am advancing about 4 cm and returning to the previously reachable 0.55-rad yaw before the second descent.
move_to
right_x0.3900right_y0.1600right_z0.1000right_yaw0.5500right_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]: [-0.1837, 0.881, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5896, 1.438, 0.7086, -0.0563, 0.3481, 0.2806, 0.9988] state[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1804 left_yaw=-0.4537 left_pitch=-0.214 left_roll=-0.0059 left_gripper=0.0622 right_x=0.3429 right_y=0.1612 right_z=0.0883 right_yaw=0.1324 right_pitch=-0.167 right_roll=-0.0379 right_gripper=0.9988 state[joint_eff]: [-0.212, -1.7162, 6.735, 1.5263, 0.0415, -0.0708, 1.033, -0.5675, -5.6821, 8.1162, 1.619, 0.3883, 0.1099, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.16,"right_z":0.1,"right_yaw":0.55,"right_gripper":1.0},"note":"The pen midpoint is centered laterally but still has substantial clear space below it, so the fingertips are radially short; the yaw tracking also moved opposite the request. I am advancing about 4 cm and returning to the previously reachable 0.55-rad yaw before the second descent."})
tool
executing move_to over 4 steps (0.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe combined translation and yaw request stalled completely, indicating the requested wrist angle was blocking IK. I am holding the currently achieved yaw and raising while advancing, decoupling translation from orientation so the arm can unfold.
move_to
right_x0.3900right_y0.1600right_z0.1600right_yaw0.1300right_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]: [-0.1837, 0.881, 0.8001, -0.7223, 0.1879, 0.1741, 0.0636, 0.5896, 1.438, 0.7086, -0.057, 0.3481, 0.2806, 0.9988] state[eef_state]: left_x=0.2604 left_y=-0.0783 left_z=0.1805 left_yaw=-0.4537 left_pitch=-0.2136 left_roll=-0.0058 left_gripper=0.0636 right_x=0.3428 right_y=0.1612 right_z=0.0881 right_yaw=0.1323 right_pitch=-0.1677 right_roll=-0.0383 right_gripper=0.9988 state[joint_eff]: [-0.1846, -1.5521, 6.9265, 1.5165, 0.0806, -0.0659, 1.033, -0.3897, -5.5316, 8.1162, 1.58, 0.3687, 0.0904, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.16,"right_z":0.16,"right_yaw":0.13,"right_gripper":1.0},"note":"The combined translation and yaw request stalled completely, indicating the requested wrist angle was blocking IK. I am holding the currently achieved yaw and raising while advancing, decoupling translation from orientation so the arm can unfold."})
tool
executing move_to over 5 steps (0.5s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteAt the decoupled pose, the pen is about 25 degrees above horizontal in the wrist image; because the jaws close horizontally, the shaft must appear nearly vertical. Based on the observed yaw-to-image rotation, I am commanding a larger positive yaw alone to reach that alignment.
move_to
right_yaw1.0000right_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]: [-0.1837, 0.8825, 0.8001, -0.7242, 0.1879, 0.1741, 0.0671, 0.5491, 1.4769, 0.812, -0.1764, 0.3107, 0.2508, 0.9989] state[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.1798 left_yaw=-0.4539 left_pitch=-0.2169 left_roll=-0.0067 left_gripper=0.0671 right_x=0.3538 right_y=0.1574 right_z=0.0934 right_yaw=0.134 right_pitch=-0.2295 right_roll=-0.0588 right_gripper=0.9989 state[joint_eff]: [-0.1162, -1.1829, 6.7624, 1.5556, 0.0464, -0.0659, 1.0281, -1.5521, -7.0085, 9.935, 1.956, 0.3053, 0.0366, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":1.0,"right_gripper":1.0},"note":"At the decoupled pose, the pen is about 25 degrees above horizontal in the wrist image; because the jaws close horizontally, the shaft must appear nearly vertical. Based on the observed yaw-to-image rotation, I am commanding a larger positive yaw alone to reach that alignment."})
tool
executing move_to over 6 steps (0.6s)
step 176
assistant
agent noteThe larger positive yaw succeeded: the pen is now nearly vertical and centered between the projected jaws. I am advancing slightly and descending to table height so the fingertips straddle the shaft without the previous diagonal ejection.
move_to
right_x0.3900right_y0.1400right_z0.0000right_yaw0.7800right_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]: [-0.1837, 0.8852, 0.8001, -0.7246, 0.1879, 0.1741, 0.0671, 0.2024, 1.5352, 0.8639, -0.2565, -0.3573, -0.4938, 0.9989] state[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1791 left_yaw=-0.4541 left_pitch=-0.2199 left_roll=-0.0075 left_gripper=0.0671 right_x=0.3601 right_y=0.1406 right_z=0.082 right_yaw=0.7816 right_pitch=-0.2877 right_roll=-0.0418 right_gripper=0.9989 state[joint_eff]: [-0.2667, -1.7436, 6.9128, 1.536, 0.0366, -0.0415, 1.0281, -0.2803, -6.4752, 7.6376, 1.1844, -0.4762, -0.1294, -0.1294] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.14,"right_z":0.0,"right_yaw":0.78,"right_gripper":1.0},"note":"The larger positive yaw succeeded: the pen is now nearly vertical and centered between the projected jaws. I am advancing slightly and descending to table height so the fingertips straddle the shaft without the previous diagonal ejection."})
tool
executing move_to over 6 steps (0.6s)
step 182
assistant
agent noteThe arm held height because the simultaneous yaw correction continued rotating instead of translating; the pen remains well aligned. I am now fixing yaw at the achieved 0.98 rad and commanding only the forward descent.
move_to
right_x0.3900right_y0.1500right_z0.0000right_yaw0.9800right_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]: [-0.1837, 0.8856, 0.8001, -0.7265, 0.1879, 0.1741, 0.0671, 0.178, 1.5555, 0.8913, -0.3077, -0.5045, -0.6895, 0.9989] state[eef_state]: left_x=0.2599 left_y=-0.0782 left_z=0.1786 left_yaw=-0.4542 left_pitch=-0.2221 left_roll=-0.0082 left_gripper=0.0671 right_x=0.3509 right_y=0.1535 right_z=0.0867 right_yaw=0.984 right_pitch=-0.2483 right_roll=-0.0544 right_gripper=0.9989 state[joint_eff]: [-0.1026, -1.6068, 6.7214, 1.536, 0.022, -0.0415, 1.0281, -0.2256, -6.5846, 7.665, 1.1648, -0.4518, -0.1001, -0.1294] 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":{"right_x":0.39,"right_y":0.15,"right_z":0.0,"right_yaw":0.98,"right_gripper":1.0},"note":"The arm held height because the simultaneous yaw correction continued rotating instead of translating; the pen remains well aligned. I am now fixing yaw at the achieved 0.98 rad and commanding only the forward descent."})
tool
executing move_to over 6 steps (0.6s)
step 188
assistant
agent noteWith yaw fixed, the arm is now advancing and lowering while the pen stays centered and vertical in the wrist view. I am continuing the same motion to table contact, allowing the fingers to settle around the shaft.
move_to
right_x0.4100right_y0.1500right_z-0.0100right_yaw0.9860right_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]: [-0.1837, 0.8852, 0.8001, -0.7288, 0.1879, 0.1741, 0.0671, 0.165, 1.6398, 0.8967, -0.2184, -0.5209, -0.6987, 0.9989] state[eef_state]: left_x=0.2595 left_y=-0.0781 left_z=0.1784 left_yaw=-0.4543 left_pitch=-0.2239 left_roll=-0.0087 left_gripper=0.0671 right_x=0.3667 right_y=0.1538 right_z=0.0708 right_yaw=0.9858 right_pitch=-0.2316 right_roll=-0.0591 right_gripper=0.9989 state[joint_eff]: [-0.253, -1.1692, 6.7624, 1.5604, 0.0122, -0.0464, 1.0281, -1.0872, -2.1675, 4.588, 0.7985, -0.0855, -0.0562, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.15,"right_z":-0.01,"right_yaw":0.986,"right_gripper":1.0},"note":"With yaw fixed, the arm is now advancing and lowering while the pen stays centered and vertical in the wrist view. I am continuing the same motion to table contact, allowing the fingers to settle around the shaft."})
tool
executing move_to over 6 steps (0.6s)
step 194
assistant
agent noteThe right grasp point has reached table height, with the pen shaft running nearly vertical through the centre of the jaw gap. I am closing for the second grasp attempt at this corrected orientation.
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]: [-0.1837, 0.8894, 0.7998, -0.7296, 0.1879, 0.1741, 0.0671, 0.1406, 1.9385, 0.9367, 0.0299, -0.5457, -0.7303, 0.9989] state[eef_state]: left_x=0.2596 left_y=-0.0781 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4046 right_y=0.1535 right_z=0.0018 right_yaw=0.9977 right_pitch=-0.2241 right_roll=-0.0601 right_gripper=0.9989 state[joint_eff]: [-0.2803, -1.9214, 6.8581, 1.4579, 0.022, -0.0464, 1.0281, -0.7043, -6.653, 5.2855, 0.9451, 0.1148, -0.0269, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right grasp point has reached table height, with the pen shaft running nearly vertical through the centre of the jaw gap. I am closing for the second grasp attempt at this corrected orientation."})
tool
executing move_to over 10 steps (1.0s)
step 204
assistant
agent noteThe right gripper settled at 0.042, above the empty threshold, and the pen remains centered with its shaft extending from the jaws. I am lifting it to confirm the pen is securely held before bringing the cap over.
move_to
right_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]: [-0.1837, 0.8894, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.9591, 0.947, 0.0765, -0.5613, -0.7303, 0.0422] state[eef_state]: left_x=0.2597 left_y=-0.0781 left_z=0.1771 left_yaw=-0.4546 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.0671 right_x=0.4134 right_y=0.1563 right_z=0.0038 right_yaw=1.0008 right_pitch=-0.1908 right_roll=-0.0797 right_gripper=0.0422 state[joint_eff]: [-0.212, -1.388, 6.7077, 1.5458, 0.0415, -0.0806, 1.0232, -0.3214, -7.4735, 5.3402, 1.0769, -0.0611, -0.0269, 1.0085] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The right gripper settled at 0.042, above the empty threshold, and the pen remains centered with its shaft extending from the jaws. I am lifting it to confirm the pen is securely held before bringing the cap over."})
tool
executing move_to over 10 steps (1.0s)
step 214
assistant
agent noteBoth objects lifted with nonempty gripper readings; the pen tip projects forward from the right jaws, while the cap opening is at the left grasp point and its closed end projects forward. I am rotating the cap to match the pen's approximately 1.0-rad axis while keeping it high and away from the pen.
move_to
left_yaw1.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 0.8898, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.734, 1.2221, -0.4461, -0.5583, -0.7383, 0.0431] state[eef_state]: left_x=0.2597 left_y=-0.0782 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4148 right_y=0.156 right_z=0.125 right_yaw=1.0065 right_pitch=-0.2075 right_roll=-0.0698 right_gripper=0.0431 state[joint_eff]: [-0.1846, -1.6068, 6.7624, 1.4725, 0.022, -0.0366, 1.0281, -0.3624, -11.2205, 9.0462, 1.1453, -0.3492, 0.022, 1.033] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":1.0,"left_z":0.2},"note":"Both objects lifted with nonempty gripper readings; the pen tip projects forward from the right jaws, while the cap opening is at the left grasp point and its closed end projects forward. I am rotating the cap to match the pen's approximately 1.0-rad axis while keeping it high and away from the pen."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteThe left wrist reached 0.80 rad and the cap stayed secure, but it is still about 0.2 rad off the pen axis. I am completing that small rotational alignment before translating the two grippers close together.
move_to
left_yaw1.2000left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7673, 1.5604, 1.3624, -1.4174, -0.7219, -1.5562, 0.0677, 0.1387, 1.7298, 1.2186, -0.4622, -0.5545, -0.7383, 0.0476] state[eef_state]: left_x=0.2707 left_y=-0.0939 left_z=0.1844 left_yaw=0.7956 left_pitch=-0.2782 left_roll=0.0621 left_gripper=0.0677 right_x=0.4113 right_y=0.1549 right_z=0.1232 right_yaw=1.0064 right_pitch=-0.2198 right_roll=-0.0599 right_gripper=0.0476 state[joint_eff]: [0.4718, -6.735, 7.2957, -0.1636, -0.6178, -0.1197, 0.9402, -0.335, -8.3077, 6.7214, 1.3993, -0.359, -0.0269, 1.033] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":1.2,"left_z":0.2},"note":"The left wrist reached 0.80 rad and the cap stayed secure, but it is still about 0.2 rad off the pen axis. I am completing that small rotational alignment before translating the two grippers close together."})
tool
executing move_to over 3 steps (0.3s)
step 227
assistant
agent noteThe cap and pen axes now agree within about 0.1 rad. Using the visible exposed pen length, I am moving the cap opening to a point roughly 13 cm beyond the right grasp point along the pen axis, at matching height but with a small clearance.
move_to
left_x0.4700left_y-0.3700left_z0.1500left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6865, 1.7336, 1.4765, -1.5558, -0.6907, -1.8565, 0.0677, 0.1387, 1.7298, 1.2182, -0.4648, -0.551, -0.7383, 0.0505] state[eef_state]: left_x=0.2788 left_y=-0.0783 left_z=0.1683 left_yaw=1.107 left_pitch=-0.2761 left_roll=0.0638 left_gripper=0.0677 right_x=0.411 right_y=0.1544 right_z=0.1224 right_yaw=1.0046 right_pitch=-0.2239 right_roll=-0.0594 right_gripper=0.0505 state[joint_eff]: [0.2803, -8.0752, 6.3385, -0.4518, -0.2857, -0.0024, 0.9744, -0.3487, -8.5265, 6.4479, 1.2234, -0.315, -0.0073, 0.989] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.37,"left_z":0.15,"left_yaw":1.1},"note":"The cap and pen axes now agree within about 0.1 rad. Using the visible exposed pen length, I am moving the cap opening to a point roughly 13 cm beyond the right grasp point along the pen axis, at matching height but with a small clearance."})
tool
executing move_to over 26 steps (2.6s)
step 253
assistant
agent noteThe long diagonal approach exceeded the left arm's practical reach and sagged to 6 cm, leaving the grippers too close without aligning the objects. I am immediately retreating the cap arm high and outward; then I will bring the pen inward to a shared, reachable meeting area.
move_to
left_x0.3000left_y-0.1000left_z0.2000left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7692, 2.5496, 2.3169, -1.5707, -0.6647, -1.9114, 0.0707, 0.1387, 1.7309, 1.2152, -0.4644, -0.5507, -0.738, 0.0511] state[eef_state]: left_x=0.3964 left_y=-0.2272 left_z=0.058 left_yaw=1.0603 left_pitch=-0.3013 left_roll=0.023 left_gripper=0.0707 right_x=0.4103 right_y=0.1542 right_z=0.1209 right_yaw=1.0048 right_pitch=-0.2266 right_roll=-0.0564 right_gripper=0.0511 state[joint_eff]: [-0.6222, -11.9043, 7.4325, -0.1294, -0.4664, 0.0122, 0.8327, -0.3624, -8.5812, 6.6803, 1.1844, -0.3346, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.2,"left_yaw":1.1},"note":"The long diagonal approach exceeded the left arm's practical reach and sagged to 6 cm, leaving the grippers too close without aligning the objects. I am immediately retreating the cap arm high and outward; then I will bring the pen inward to a shared, reachable meeting area."})
tool
executing move_to over 12 steps (1.2s)
step 265
assistant
agent noteThe cap arm is clear again and both grasps remain secure. I am moving the pen inward and slightly back to put its tip near left-frame x≈0.39, y≈−0.24, where the left arm can reach without full extension.
move_to
right_x0.3200right_y0.3000right_z0.1800right_yaw1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6773, 1.8553, 1.647, -1.5566, -0.6552, -1.8702, 0.0713, 0.1387, 1.7309, 1.2133, -0.4637, -0.551, -0.7383, 0.0512] state[eef_state]: left_x=0.3077 left_y=-0.1047 left_z=0.1675 left_yaw=1.1196 left_pitch=-0.3202 left_roll=0.0136 left_gripper=0.0713 right_x=0.4099 right_y=0.1542 right_z=0.1203 right_yaw=1.0055 right_pitch=-0.2271 right_roll=-0.0556 right_gripper=0.0512 state[joint_eff]: [0.3077, -10.5641, 5.4769, -0.0024, -0.6667, 0.1294, 0.5055, -0.3897, -8.6359, 6.7897, 1.2283, -0.2711, -0.0757, 1.0281] approver: 11 step(s) modified (delta_clamped ×11). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.3,"right_z":0.18,"right_yaw":1.0},"note":"The cap arm is clear again and both grasps remain secure. I am moving the pen inward and slightly back to put its tip near left-frame x≈0.39, y≈−0.24, where the left arm can reach without full extension."})
tool
executing move_to over 13 steps (1.3s)
step 278
assistant
agent noteThe pen is now in the shared workspace, and its exposed tip is estimated at left-frame x≈0.39, y≈−0.26, z≈0.15. I am bringing the cap opening to that point with matched axis and a slightly high command to compensate for sag.
move_to
left_x0.4000left_y-0.2600left_z0.1800left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6662, 1.8618, 1.6333, -1.5574, -0.6468, -1.8614, 0.0724, 0.6205, 1.5902, 1.1999, -0.495, -0.2356, -0.3302, 0.0526] state[eef_state]: left_x=0.3059 left_y=-0.1005 left_z=0.1619 left_yaw=1.1348 left_pitch=-0.3237 left_roll=0.0429 left_gripper=0.0724 right_x=0.3219 right_y=0.2851 right_z=0.1512 right_yaw=1.0026 right_pitch=-0.2919 right_roll=-0.0384 right_gripper=0.0526 state[joint_eff]: [-0.9641, -9.2239, 6.5162, -0.0269, -0.4811, -0.1294, 0.7937, 2.4274, -9.6889, 10.2906, 1.4969, -0.442, -0.1783, 0.9206] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.26,"left_z":0.18,"left_yaw":1.1},"note":"The pen is now in the shared workspace, and its exposed tip is estimated at left-frame x≈0.39, y≈−0.26, z≈0.15. I am bringing the cap opening to that point with matched axis and a slightly high command to compensate for sag."})
tool
executing move_to over 15 steps (1.5s)
step 293
assistant
agent noteThe equal-height approach caused the forearms to interfere before the cap reached the tip, and the uncommanded right pose shifted under contact. I am lifting and retreating the left arm well above the pen to clear the arm bodies before making a vertical final approach.
move_to
left_x0.2500left_y-0.0500left_z0.3500left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6907, 2.2471, 2.0686, -1.7016, -0.6273, -1.8843, 0.0748, 0.5339, 1.6077, 1.1851, -0.5701, -0.0463, -0.1852, 0.0525] state[eef_state]: left_x=0.355 left_y=-0.1542 left_z=0.1307 left_yaw=1.1603 left_pitch=-0.3169 left_roll=0.1288 left_gripper=0.0748 right_x=0.3491 right_y=0.22 right_z=0.1237 right_yaw=0.6757 right_pitch=-0.4322 right_roll=-0.0728 right_gripper=0.0525 state[joint_eff]: [-3.9316, -6.7624, 8.0479, 1.0134, -0.5153, 0.0415, 0.7497, 6.9128, -8.8137, 7.7607, 1.9951, -2.0049, -1.5604, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.35,"left_yaw":1.1},"note":"The equal-height approach caused the forearms to interfere before the cap reached the tip, and the uncommanded right pose shifted under contact. I am lifting and retreating the left arm well above the pen to clear the arm bodies before making a vertical final approach."})
tool
executing move_to over 15 steps (1.5s)
step 308
assistant
agent noteThe arms are clear again; the pen remains secure but shifted during the interference. I am repositioning the pen farther inward and back at its achieved 0.68-rad axis, placing its tip in an easier left-arm workspace before the high approach.
move_to
right_x0.2800right_y0.3300right_z0.2000right_yaw0.6800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3405, 1.5436, 1.5745, -1.5585, -0.6582, -1.4052, 0.0772, 0.5362, 1.6188, 1.1648, -0.5907, -0.0425, -0.1905, 0.0532] state[eef_state]: left_x=0.2868 left_y=0.0168 left_z=0.234 left_yaw=1.1074 left_pitch=-0.3423 left_roll=0.0667 left_gripper=0.0772 right_x=0.3408 right_y=0.2154 right_z=0.1091 right_yaw=0.6812 right_pitch=-0.4842 right_roll=-0.0712 right_gripper=0.0532 state[joint_eff]: [0.1436, -7.0222, 6.0239, 0.2515, -0.6764, 0.2564, 0.8278, -0.5265, -8.4034, 8.0752, 1.3846, -0.1099, -0.0073, 0.862] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.33,"right_z":0.2,"right_yaw":0.68},"note":"The arms are clear again; the pen remains secure but shifted during the interference. I am repositioning the pen farther inward and back at its achieved 0.68-rad axis, placing its tip in an easier left-arm workspace before the high approach."})
tool
executing move_to over 10 steps (1.0s)
step 318
assistant
agent noteThe pen tip is now estimated near left-frame x=0.38, y=−0.24, z=0.19 with a 0.72-rad axis. I am positioning the cap directly above that tip at z=0.32 and matching the axis, using vertical separation to avoid forearm contact.
move_to
left_x0.3800left_y-0.2400left_z0.3200left_yaw0.7300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3416, 1.5494, 1.5742, -1.5551, -0.6468, -1.3972, 0.0792, 0.9035, 1.726, 1.615, -0.9512, 0.12, 0.0883, 0.0548] state[eef_state]: left_x=0.2876 left_y=0.0145 left_z=0.2313 left_yaw=1.1016 left_pitch=-0.3543 left_roll=0.0732 left_gripper=0.0792 right_x=0.2802 right_y=0.3273 right_z=0.1911 right_yaw=0.7249 right_pitch=-0.4907 right_roll=-0.074 right_gripper=0.0548 state[joint_eff]: [0.0205, -6.5162, 5.5316, 0.3394, -0.4908, -0.1245, 0.6569, 0.3077, -7.8017, 8.2393, 1.072, 0.1685, 0.2125, 0.9255] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.24,"left_z":0.32,"left_yaw":0.73},"note":"The pen tip is now estimated near left-frame x=0.38, y=−0.24, z=0.19 with a 0.72-rad axis. I am positioning the cap directly above that tip at z=0.32 and matching the axis, using vertical separation to avoid forearm contact."})
tool
executing move_to over 23 steps (2.3s)
step 341
assistant
agent noteThe two-arm coaxial approach is blocked by forearm interference, so I am switching to a supported insertion: I will set the pen on the table in its current aligned pose, withdraw its grip, and slide the still-held cap onto the exposed tip. I am lowering the pen now while keeping it clamped.
move_to
right_z0.0000right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6361, 2.0098, 2.0987, -1.581, -0.6201, -1.3926, 0.0818, 0.897, 1.7359, 1.6016, -1.018, 0.123, 0.0933, 0.0556] state[eef_state]: left_x=0.3749 left_y=-0.1448 left_z=0.2195 left_yaw=0.787 left_pitch=-0.3756 left_roll=0.0317 left_gripper=0.0818 right_x=0.2724 right_y=0.3122 right_z=0.175 right_yaw=0.7026 right_pitch=-0.5785 right_roll=-0.0939 right_gripper=0.0556 state[joint_eff]: [-5.8735, -8.1846, 7.5419, 0.5495, -0.6911, 0.2955, 0.5543, 0.3214, -9.2376, 7.4872, 1.7753, -0.0269, -0.0708, 0.8767] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.0,"right_yaw":0.7},"note":"The two-arm coaxial approach is blocked by forearm interference, so I am switching to a supported insertion: I will set the pen on the table in its current aligned pose, withdraw its grip, and slide the still-held cap onto the exposed tip. I am lowering the pen now while keeping it clamped."})
tool
executing move_to over 12 steps (1.2s)
step 353
assistant
agent noteThe pen is now supported on the tabletop with its exposed tip estimated near left-frame (0.366, −0.262). I am opening the right jaws but leaving them around the rear as a loose guide while the cap approaches.
move_to
right_gripper1.0000
agent noteThe cap remains held with its opening at the left grasp point and aligned to the pen axis. I am descending to the tip and continuing about 3 cm back along the shaft in one motion to slide the cap onto the table-supported pen.
move_to
left_x0.3430left_y-0.2810left_z0.0080left_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6315, 2.0201, 2.0895, -1.5745, -0.6132, -1.4048, 0.0846, 0.897, 1.8679, 1.0843, -0.408, 0.123, 0.0937, 0.0562] state[eef_state]: left_x=0.376 left_y=-0.1446 left_z=0.2128 left_yaw=0.803 left_pitch=-0.3839 left_roll=0.0369 left_gripper=0.0846 right_x=0.2662 right_y=0.3044 right_z=0.0062 right_yaw=0.6971 right_pitch=-0.617 right_roll=-0.103 right_gripper=0.0562 state[joint_eff]: [-0.294, -11.535, 5.0393, 0.398, -0.4713, 0.1197, 0.2711, 0.0205, -7.5556, 5.4906, 1.1209, 0.0366, -0.0513, 0.7937] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The pen is now supported on the tabletop with its exposed tip estimated near left-frame (0.366, −0.262). I am opening the right jaws but leaving them around the rear as a loose guide while the cap approaches."})
move_to({"targets":{"left_x":0.343,"left_y":-0.281,"left_z":0.008,"left_yaw":0.7},"note":"The cap remains held with its opening at the left grasp point and aligned to the pen axis. I am descending to the tip and continuing about 3 cm back along the shaft in one motion to slide the cap onto the table-supported pen."})
tool
executing move_to over 10 steps (1.0s)
tool
ignored: one tool call per turn
step 363
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6315, 2.0201, 2.0785, -1.57, -0.6125, -1.4052, 0.0875, 0.897, 1.8767, 1.0714, -0.3595, 0.1234, 0.0937, 0.9949] state[eef_state]: left_x=0.3755 left_y=-0.1444 left_z=0.2099 left_yaw=0.8057 left_pitch=-0.3855 left_roll=0.0435 left_gripper=0.0875 right_x=0.2696 right_y=0.3086 right_z=0.0034 right_yaw=0.7003 right_pitch=-0.5907 right_roll=-0.097 right_gripper=0.9949 state[joint_eff]: [-0.0615, -10.4, 6.3248, 0.3346, -0.4176, -0.0366, 0.2857, -0.0479, -10.5641, 5.0803, 0.8474, 0.0562, -0.0317, -0.1636] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [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 · 14.62 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.0185, 0.7925, 0.6098, -0.3779, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0022 right_z=0.1835 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -1.5248, 10.5368, 1.7998, -0.022, 0.0757, -0.0806, -0.7179, -1.306, 9.7573, 1.8242, -0.0464, -0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4a56b96db3146236c4c56b707a767f684362e9275993d6ff02ac029e2b0a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3af6057809667b1891aaba8d3f0d6583aab9fa2942bdcc3257978dc71f04fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf63d1f15de3767a37795daa0136d9a5ae5efc8b578aa110d574ed18ecb59bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 3.928 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0aa9fe3be4ddf76b016ab45156c2f887d0be0a27e5d8633f17",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0aa9fe3be4ddf76b016ab4515ca78887d08150f638c1cc5db5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFFk3WQtPifYLg-hWOx46BQeq-o5XH-7tO9KmkmJxFeXms-vkmWmtG5pczKzTAQsfeHJLyJoK2yGKaqDNjT67sMIV88VG6e5PJNs1ZsjzjEBMGKeoWUBqpin_2PpcIk5-xZZ5j5QbZL9zSAs0OXpC_jgQfFopOCGQp-8b_Lx23TT7S1I-M_JIqQ6BMyT2QowEK-jIK9SP3sV_JRQSsXt9nRidcAr3rz9gDUuUancTclQTS4iOuu82roEGBibM9TYziODQALrfjoD855Zzi_DsXHsogewCctXTzX3Ic0xcb1nVkG6PAT2yOQIzPnjN4-GOtu4TQ7mxZeOGvAqhcA5dNmuZkMbu3NrtyrDP5V85F6ScQE3Gnwo6mIRKY8j27-j4IM3kdYs0noRMAXuoVdNU5b4thoL-JAEsb37zB52-dJb8VzSoX4HCTIXxrUAYBtGyKXmMwGTIsJH4IIvoczaMriKsDh4KwyBwQza9jdpBSLFV-Leg8-490rX6qmQe7k4StIE7Bu9K-dPZwqXPAN9FmwiT7qaE7uHpubX8vrs2UrZixquNJ410B7UfZdqsI1rPPzhJbA8FRrVxO4acvpMyBXAYQZAo4bnSzLqmtVRX23qQl8XBz-5vzqR8_odgN9lbKxr9oskcgqwvh4hD-2N11FeTNcd77VUd5Q5U40OEK2Ln7H9PcAtHLq9LAuwPp-lZlbbsyAaEiwvwWK8KMO6T0PbNdYeVUmbdyy_WWACxqpyPzg5P0L3Jf3ydliAMHbe39H8AFKL0a1dttVEbrbfh3yIvxppbY1yCfV3kkAj2SPJTCw1mHZcevFlezzTU8eTVje_pO7TG9hHV4dty1p5oKuGjW1RTq3b128csOD27_IjZh2v5EMObTmmUIEBVe6NLdaYBzP8ujFW2sE23vKO2JSrLlXuwdMkNNLwlq8WH_PA-k1x9-_StM6D5dt2G48ejTYxZPHl2TxR_kD0Sern5ka31fD7nKDdWaprbfdJKsLWD9fwKRoRyYw5rsfK0QqraowosqwgstlzZcRAL7wbfzbya7YYCw907nIpe5G6croWuR-ZcRPvaLsuFrOi4jkvva5kENLh48vkLNEc9rSgKL4T7Ymq5QiuwMS-ZZC7o8xbPwAFg159e6NhGa51mmqDMhjt5MC-T13Av5vHBYkdMDVzDzaUNBKFit1l7jhK57o24b087E-9a_prLQQ3znxZYufqMMjaRIPp0RYg_7n8ieUQGII_BxephPFkz4PD1WFgilBrIKHd-6_ZHuSoT47_s2BdgQkBhu7GXr_2RunjW_L_dERdSN63D8K8rxvVDkTUSwap7CSMwVgTF5Xc7HSSPbF8rgciaCpkiUQsODJUQZVPk7MFjYYNKpdLW6LY7Me1IXcUJBnfClcu42eXkAkoe1o6REpn5famX257QgofrUpv4wnW9Sd8E5Q3tARDV4wIhsEL_8KYNVtPGyFrl41CbY9otZU_eNVovyuwxfmKzdjirSRIyZHDvt42eI7EuamU8LUoKRi87uEia8xK1PCTEXNohYlwr1Q0gf5M4J7YRVf_nzV20h6Gt5tIognkrZ5RaRq5Tg35V3AN0oHe7P_eDvz3ELw9yJ2d1eAYxSkhw8qzlzEUpK0wunzMfqltmFWLdTZOxeT6xq0bLnDWMeB35Uej75b-R9VydROUjvXkxUGj4MqtuQGut0WcXCjRRN1kRiRAnFtUpoRYc7j4rKIhD_6fA5roMllUr6D59pvVc-G_kUpiobJA05ektF6gi1RukSJPNwoJk1zUmXGq5fwjEDofjDP3TV70kO8UZeu34FdU8L20pj-HEduwfSd13_dGksRysD6pgFevtF1BjAmHDBF6_Ss7HddouI2A-zOM71_OsNniZWsLCP0QhJtoFyyvkgDZ1hMPMHwOUR4AMRFtC9c4FyYpnTFlxsfrX5GZDClc8Gs9AbwPl0iAZA-46Le9g5MZVO8h2GbAeZsVy32-fQM6bSyReHVTki-_RR9HWpkMfMi-ZlA3LDV7zQ_6q0Z2lRFbPZnRCqr3I4n_bPhfIOV-",
  "id": "rs_0aa9fe3be4ddf76b016ab45161dd1c87d09c73e1eb6fff031a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.15,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The short black cap is left of the long pen near the middle of the table, and it appears down-right in the left wrist camera from the left arm's home pose. I am moving the left gripper above the cap's estimated position with the jaws rotated to cross its diagonal axis.\"}",
  "call_id": "call_qheAkrhlYBUibgQrunLxHBZc",
  "id": "fc_0aa9fe3be4ddf76b016ab451634b9887d0be754b7455860fd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qheAkrhlYBUibgQrunLxHBZc",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.2469, 0.6502, -0.07, -0.0269, -0.0422, 0.9993, -0.02, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3271 left_y=-0.1652 left_z=0.1219 left_yaw=-0.4568 left_pitch=-0.0948 left_roll=-0.0086 left_gripper=0.9993 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0015 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -4.8479, 9.9897, 1.9267, -0.0073, 0.2466, -0.0806, -0.1162, -1.6479, 6.7761, 1.8193, -0.0708, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de229e4748ce8fcc671ee4d70efd99ed0535e128aa59f1e502719fa8375b9c05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88facc8900e177b103789fadf557b25b33935a29075649aa0e2d29a9e2e1860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79cbc30f4f83e7c9e0bf17ea6f916af50fc918f58597350f871df47c7be3a8ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.738 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.0185, 0.7925, 0.6098, -0.3779, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0022 right_z=0.1835 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -1.5248, 10.5368, 1.7998, -0.022, 0.0757, -0.0806, -0.7179, -1.306, 9.7573, 1.8242, -0.0464, -0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.2469, 0.6502, -0.07, -0.0269, -0.0422, 0.9993, -0.02, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3271 left_y=-0.1652 left_z=0.1219 left_yaw=-0.4568 left_pitch=-0.0948 left_roll=-0.0086 left_gripper=0.9993 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0015 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -4.8479, 9.9897, 1.9267, -0.0073, 0.2466, -0.0806, -0.1162, -1.6479, 6.7761, 1.8193, -0.0708, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de229e4748ce8fcc671ee4d70efd99ed0535e128aa59f1e502719fa8375b9c05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88facc8900e177b103789fadf557b25b33935a29075649aa0e2d29a9e2e1860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79cbc30f4f83e7c9e0bf17ea6f916af50fc918f58597350f871df47c7be3a8ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFp6giB0bSDtdZO14vwD-_fEp6buVjleIMH-arGo_yDZJzR5yftiuttsdZCHZ9Zu9Q3uD0EvJ1YsSmLBMSo_xKIVDmOB3t_6yL1pfh-LMwbv9YqeY_2a54ga6aNy0rDlykLqSmHfCBYSDZMY1v-ANk7sQPxg12W8weVyOHnrhqoeG0mHM-f4DRet1hr1rM2Ukk19Apz6uZgMqoXtNNu8-g8OcgFa7GOoqOWkX3Es7tKVWqvn0cjrCsN3C0PJ2ErYB-3tOpw9r2ZIb0-AbjnBuT2hQYdkqkoohV60h8681vWLS1h4Y15pXez_hNUaGQyHM0i5-OyCgXHGbKjyAvPCjBFnPTGdS0DGzRlwwyiyWUqQQO5MxCrD0XOUJfCYn2JaEEnmdhwmemCuDtJGraggGZysEcxUL0jB0GmDPTlHsPzwPnOE9DhzNbVW7k__LDj9mqqmQGeZ2FPDUz6W3ZAYc4-jRccFncERWSgOQ4cWXJBt5d0vB4sWf2EW1XPUzaQzBQg1a_xcII0f79gpF7a8nueOliHAoSK56cAIpyr8NAFFJum4aLPe4yy-Vz5dJVM9Wp7Ilfe0F8oAo1_OEmfy8-mQ-On7cPtvOgMLzVj908nMKNeWMiyPhZCmv82XY2xqj_lwz0HWqKhRXc5yNu62d1c6AzyppG7DM2PO6Am7u6eBoOMRuFUm4TPtlVJ27a7ssHMH5jTxEYMeQRNPgaFUpAR2dTvLIQ1gutSmy5GZXDeGtMKZfngKvm_nnTsoyL4BUSgScB212TFEw2AxjNkWkI2-sFViIdMCwJ9t0HXRCTG0hQAytTW9AEQuQE62HtSDu6zJWv6S18atS5qeSYtWuq9G0nfAJc23GlhkXo07oOtiTHmksLF3EY-bqbyPJU1pbrL-nt_mTF5bkhcQYGCRQ8j7-WLgCZqx4HTJzBcHyoMsVITeTOL8pU6gtHEE7ZT_ErpNGfDdpxqk4aEEHe1zE79eNxV5NMgVOGqYWWnvjcI5oSkXNBogXye9NaWJ-9103OOUmAKocZ3IcJRPiCAUMtk1fFXjsuQTR1sgEgvPdEbkQYszE3haueIXBWTlWnhyuup7Q52Xz6q3CbA-4-7tOYmorJuMzcs0AYoauDlJRg07YQLv8GofRfZz-iqWC54z0BqGg63vmoQcPMruwHstB6npY6cEZp-H0XyNMnZ15giu0vNjXH6FkzTWWFmCjHmzkvYV2xnPbnCc313-MpXrYYMUwdjWcMYusEPkFEtMuDS4QaDhrEyohqifexpA88qyBsTXOMCuh1dyWh_ZV2lB5vYQVdkkwQvEEaO4P9KBl0IV-c4d4egzzIt9pvUzCyliYB9prcWzQq6QUNM86TiegQbTfEt6dxqZlvTY7qtf-MvSbucO9zkOY6gpdjknguro5GPxz3iydir0Z_Ep4x51q8bgniRLy0N2HOpjaGSzIkGpRXKkbmJmFBAouGVVhPOaYKTfn7tI2TYOoLhuYDYm1JvvnZHEioRS-RG3otQ7oDnALR9IfWvPVcUxbcKz-qqzwJy38vxd3ewDiu6l1TFkgJKy03qAMZ6t8irmSB-tHJzaaQWn16sVRbpk3K1ClZwQcuSc3AF1-O3sT9FNhmBFkHAdkGZfrPXIZ-P-Uac6FUccpHEMPPfZ6x2LgwK6GltBGoro8SUjWk03-6OIie2XdbUp6uR0BWuEZectkr0XQFGBuLq0dAPl9rOuXlsXHnwoWTqvMnkNO61uw59cqkFgc5y7LgUaeYK2SCxia0pGGFp3FwXuO-N71gQYGyLgnqLiKz6KPRFzEj6GsfMBMB5zVAExzxMqsj4Hd0wKCPfvfIRELJHDTZNbHzQQUYGX4j7jjC99mAen8rUkby-rby_75FJeX9Cb8YizTdb3fVFAqm37ALtlbnSWw6Ay-kuroqmMFovJtaHWNyG0U9iuu7-9XOcbJi7Bdu-5C_ddITbZnyq0gpHlZQy_MVi8-E8RB2k-bDFcXII5B6zHUtGI-NIL0lem7L7A15mrONjcll7N21tDW4t8dcurvNfLBk-tADQ1-0U6HYsQoJzfc1Zv4PPUP53t0uYaZZ-zdXxYTujw_iMxc7ReTjnPnGe_QF34QNx_a8ZHtPmg6cTXPKGbVEo0dWwJQ==",
  "id": "rs_0aa9fe3be4ddf76b016ab45167251087d0817e3fdb6bcb0ca4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.18,\"left_z\":0.10,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The cap is now centered on the left wrist camera's jaw column, but it still has clear image space below it, indicating the fingertips are a few centimetres short. I am advancing radially and lowering partway while keeping the crosswise jaw alignment.\"}",
  "call_id": "call_oApEFh2FfIoh6J44zHIecYMA",
  "id": "fc_0aa9fe3be4ddf76b016ab45168dc1087d0b5f054ef96765617",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oApEFh2FfIoh6J44zHIecYMA",
  "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]: [-0.4561, 1.4509, 0.6834, 0.0166, 0.0082, -0.0219, 0.9993, -0.02, 0.8005, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3483 left_y=-0.1685 left_z=0.079 left_yaw=-0.4631 left_pitch=-0.1794 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1796 right_yaw=-0.0018 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.0615, 9.7162, 1.9658, 0.2271, 0.1929, -0.0806, -0.2256, -1.1966, 7.0222, 1.8437, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc92a1832df6e0b2030dced3c2bc6d8a0353b3dd4caf65e8d13bf5e9208b4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2220cef5223733d70c1e16af895a0e21fe1302ba202badc14cb3e9effd048122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929c57c8901fd4177ca5bb828d1211ec7510d2adb8a4845072dcd30f37336dc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.902 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.2469, 0.6502, -0.07, -0.0269, -0.0422, 0.9993, -0.02, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3271 left_y=-0.1652 left_z=0.1219 left_yaw=-0.4568 left_pitch=-0.0948 left_roll=-0.0086 left_gripper=0.9993 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0015 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -4.8479, 9.9897, 1.9267, -0.0073, 0.2466, -0.0806, -0.1162, -1.6479, 6.7761, 1.8193, -0.0708, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4561, 1.4509, 0.6834, 0.0166, 0.0082, -0.0219, 0.9993, -0.02, 0.8005, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3483 left_y=-0.1685 left_z=0.079 left_yaw=-0.4631 left_pitch=-0.1794 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1796 right_yaw=-0.0018 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.0615, 9.7162, 1.9658, 0.2271, 0.1929, -0.0806, -0.2256, -1.1966, 7.0222, 1.8437, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc92a1832df6e0b2030dced3c2bc6d8a0353b3dd4caf65e8d13bf5e9208b4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2220cef5223733d70c1e16af895a0e21fe1302ba202badc14cb3e9effd048122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929c57c8901fd4177ca5bb828d1211ec7510d2adb8a4845072dcd30f37336dc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFsDk4Mh7io2X5pxBR_cHOAlZxkFy_zMv1sGZn2dolA6HnDl4WKwxUorPyXbXJQ6Wk9XhCzMXZeBDYgSyzwr3b8sO_AH1spmS6r2iyddmAzgjR2yqz6aNRZNrTtkuMVlpjLdbI1NwOaEZusd5nPkjoceJx2yrqvkx_3Cx4AfVwrdhqp7h9NHo-MypalklaMFczYnpHT5s5TkTTDaG3kEo3bgg5kR9IwqCtqmTHiZcCL-tvKX253DuZBaRhYVnd41CG8CwpGuhcqm9SqHRbDfd0nNbPqpmxjWMMptX7X_IOGEgTKletcskaoysPhkQEldwR8v8veD4YXglnRR_VZ9VASR-N-ms7aFXGjZeHrsZB2xqsYUBOGnPIcDBn98aOQGtmxluTEPFzdzZrudAVsZ9OitYP8qiTfqOI52F3V8H7mk143WssGLP0BGs_iDa7lleWa6pXG-G8HZv5HV_J3bJpMbfbuEY7lxbK8TW-KiswtdAqLSQgrn6sQ6aMJo5TTYO5HFaI2gdiZ1ZcIzm09b-CbhUmu1CaD25wEnbf9DOw-5fksSapjtsXi7NLLEAawvBWGZy6cat-tUqcWNbsnTk9uLSI5htRvIpkYrIsStcB_th7_nfKliyqOf6KbR5vxfyRkaX4qBQcdZjky4E95xCqtqR49-FEARRmDO7C4xLSPpqLLkx6xwDwEVj2utbxloCKPIal2RzulHbwEG4ortoTkEoeV58hQaHC-uhJS0jo04ZySu9YKzCIglQtmkO7FB6z297-SfoLA2JE5SyjVXwTZ1irfJ4LY77rVxBMO48-dbKt48vQaKlZNTmuoPpcBg8Z6s8uNPOOU6Itj05hvHNflzS5cBtrb5uAS9xmjeng8B60OjBiIsK0EPAi1wF7ICJWMIOnFCIdQv9EEjSKMlqMqzFN8p17DreYm5lb2tTs70KfTb4OywGPwGfRUwJKFiu1dobFRTcr3PfaKHYlo2GYfH5dXE4YocmxtPO2C3B9f6ZFtIUcVUYJ1-2PUYER28uZrCS5r_kdrWDlhAzKvIZaPyTz7cNP9dctiCjanPFMU9864a-30Ld_Ft3teuQyy8-yIKPCVI5ULUbTHngCO1ZpcXbtOGoeq6t1Ean9H2QfYyMVFfhfJe_JPggMd1TMKuPb2eSe8AB1Xw_sIfTkXfZ01BLo3OYazGvb_-X3vo_AmArfrr18251LXyT2TAb8jBpkx2DYOBPFQuYE226aurETvZA61rYa0YhUsyhIzYhgxn-KOnF0hu-5vl7qm0RFhMAFC1C3aFLKh2jHjbOdV7qzgU9UGsPMvn4Ei_Rr8GH5jrHcWkyjq_ldEfZJ2ita3NQD5pts7CROkZ7NRRU-HRgisUVjq3g2-500PqnN4I2YwG37t8jCEv3sUbSI1TP98dF-Ix4EksA4jHOSQ1_TdRT7vIncAclP3yB6ZA1hfyzoSTcvzpIdGBrQQYmEvm6dGOTvLl3eRPwRSPVMrMFETKPSFSNR6JE5eQwUL8d39v3VLgoZwistBYge817Ow6MMv8XJW0jJXxVKTzl-qr82TP6gUUQ-V-m_DSZL912lTnKP4ZAk=",
  "id": "rs_0aa9fe3be4ddf76b016ab4516b318c87d08d9219464fa62d83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.18,\"left_z\":0.0,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The cap remains centered between the projected jaws after the radial correction. I am descending straight to table level so the jaws can straddle the cap before closing.\"}",
  "call_id": "call_nC0JMusXvjym9Xhn0cSPSFDX",
  "id": "fc_0aa9fe3be4ddf76b016ab4516c208087d0a50d517b7494347d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nC0JMusXvjym9Xhn0cSPSFDX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4484, 1.4841, 0.6834, 0.0418, 0.0166, -0.0139, 0.9993, -0.02, 0.8005, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3516 left_y=-0.1684 left_z=0.0713 left_yaw=-0.4671 left_pitch=-0.1873 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -7.4188, 9.1419, 1.9219, 0.1734, 0.2027, -0.0806, -0.1026, -1.2376, 7.0359, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87230499f3656b65652f315b895a46be310e150953cb9d96d004e15b52f7e106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb28629e4c90cf32882581cb6b504a043209dcb5145f0ee9e0b3dab995b7947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cd74c3b6c056dd110b97b67076e8c7f91598f7be05893d7041d376e3d2a95a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.496 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.0185, 0.7925, 0.6098, -0.3779, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0022 right_z=0.1835 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -1.5248, 10.5368, 1.7998, -0.022, 0.0757, -0.0806, -0.7179, -1.306, 9.7573, 1.8242, -0.0464, -0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4561, 1.4509, 0.6834, 0.0166, 0.0082, -0.0219, 0.9993, -0.02, 0.8005, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3483 left_y=-0.1685 left_z=0.079 left_yaw=-0.4631 left_pitch=-0.1794 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1796 right_yaw=-0.0018 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.0615, 9.7162, 1.9658, 0.2271, 0.1929, -0.0806, -0.2256, -1.1966, 7.0222, 1.8437, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "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, 1.4841, 0.6834, 0.0418, 0.0166, -0.0139, 0.9993, -0.02, 0.8005, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3516 left_y=-0.1684 left_z=0.0713 left_yaw=-0.4671 left_pitch=-0.1873 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -7.4188, 9.1419, 1.9219, 0.1734, 0.2027, -0.0806, -0.1026, -1.2376, 7.0359, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87230499f3656b65652f315b895a46be310e150953cb9d96d004e15b52f7e106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb28629e4c90cf32882581cb6b504a043209dcb5145f0ee9e0b3dab995b7947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cd74c3b6c056dd110b97b67076e8c7f91598f7be05893d7041d376e3d2a95a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFFyheip23OYj3k3XdDdh7evRCdS72c13OuTI1CsgHaQftJ3LSVFqwdKcDQBUfVdhs0Cwbh4pc0F-EY9t2VQLszA6WPkrkRyOzmjI3OmIDvmp9RXlK5IyNf5HDrWWXKVUDwaqZsxSIyWdtwbwhLbaUCxp1Ypc1qyz6uGOZ7bFM_BWovyEu9Q-dSOtAgfVD5m5bojNMV9-xEK6nak9ADe4CyeTB_Dr5oKDsYsHEQBjCSxrwjQmt6Qx8VlYxEkxW0IVLzlnH1mtwfxFcopvFil1fTWgR_TscXbYmyvPr2aPDsjw_CgJBO6XJaX9u6vgmFc-2ezeps-qwm17xUpsVM0NtJy4xYPDgTRlksKI1YAW7W7H19H5DCdFpEeh-e5acdSWY31YSczIpMkWDIgJ-WcyTZHSxm09gKoJnxbwvf3Ocb1-fGmhccwiZJmvoi_dSiyS4TV0mhPjXcqD8LlKfLzvw1vvSESWGrO96-AUCQcibs-R0E68tTPvZRdSrWTOeFtyvhBgkPB1H1Ebhh9t-G7vIqUR_wDA6VSFz4LQbFu3nG21VaBIO3X1CBpXeCiPaZLE-Sk231jGINIqwlaP9PorBwp-5msDAJOdwRjfAAhoB__3X351IGzMUICYZbqBDRwg-_6kjt2jqwEYcslIhdK2dcCu9s3zvGzQ6-SyP_Xk4MlJye8qhVH7EtnWT3OPGX_xR0pmXOcrxrTMIzaghCyAB6FZWgKf9ii3dLMTBJb20-_RAw9gd1yTR_Kvws2jaQrzcP035-OH6oAx6ekLn-7ayihahJFvzj16lU97yCq2VB9__8QnM2Wu2XpYwB5dTu-39XEraOLZXUeJUEwFuVohqAUPt0i8DWTSpLd5BuP9XYhkIr-ecV_lCaXHzxikyLbsmOaIf_uIkUrlJvcA0Hr4gXJL-KR-x9SOFzxzMWbc6dzEzYffOb7Dh3uTH3Sb1mJAefDudrvsD9iRrG7U2AiDpNsMzHe4MrqtzxxxYVeP3X3Q8N0HloDldolww7SSxq2ujzjmy8QVrIlMwLb-ytaAvwgjZBKCwTeqK0iAX5ZGQ5vL8PdxieCR2-VKzZE8FDTTDMJjPZH2Kd4BY17vSyR4c0FGF5vDbEI9Uee-8Mtgtwz04qF5DME9zwikwiVW0_l6P8qibd7pvCmox1P19cA_26lzzrPrMwveeOsT0KsbRIiX5368augKcTbYTOxfXJkGghLgMQscznLeLvR_UbfyRzHSTIAr7LLP2W53OmGjVZOcmIsBaF5ZQPKm2htX_kyykHt64bGshs5xJY5EwQe4gyrUV5C61SOu7sxg_7v0r2U7pljb1u8Q1qDwjBWj4NAINFGUin5TZR3mxwWk14r4v6FiShJ5Mm6ccP_85xuxo1DhIS6-KXGWeDvvbhrSTGce-fbQa2ZM7G8kaDREfVrKqqPp07AJAuN7N3ZNH_rRlud2KKhoOWub2txwgF29eDnoBmDhtav1m4VXmzDopjbXFbs30JSjUyr9SvFud1bLoIq-xFA0CbUwHClBUJ_bpS9gB5QYaIplQtx_ohIzwMtgdLA1_u_sJ4fjfCNcR9cMXfHwWRnGT4fCi3I4UoQhYCRt9dYohgD8VucyJOJNTFRuJoRK-U68sYXprY0lXt7HcJQwjKpFFruwGqtu1GOtc1vXgwZaubs6EhZn2BKicfehVHPe2gmR6azNttewYPOq2I4_s5RtY2Qc9NOvbw5_Czbl6660bHDLB5kB48xRAoG7PV_DVIX1igMwLvlcaf7sa1Uza0L97c2xAyA8aAojNoFLa2-IuBIB-qgBkxD_vMHr4SxqWgDN8adl4bsptjI7oTiMx_3WC-Nzs4kKCaRp1oZUoAhNQJf0_nSICa9DzuUsJBB7OWS4QXghp8JOvy0rAFz5NtsS99W7XxNbEM8LoEZUZCOKzHUkWBm6UnjgGc4cvPnZWgjFXHvE34AfZr7UFjC6nw1-tvYEWI9WgE9N9hPHkp8sOoWesY22FS04z7gNuH3hgHtR60z2k8d72YQzBYOQKbido19TCSyfLjOYPxcwp1Li9WTlZrxQCl8hK-IBQTE-yOTn0Ah0cVGjPFtuo2yX0ydy-szfqKTuXQaLO0IY8seYrSraoFK2zrKOUzOBi6yNMoAOizM7ILcRXcLRzxi-oR5AJ2TnhFwQ7TNORX0mQxFMQHm8L8r6nRL0fLd1E67Q9DJdBu6dF1zhkC9ehJVZtKCkVrdaTY10AtCGUdc-h83LJEwAy6kmRYQ7k0DRU_BO3CtBV7vObJmtWEXB85TMYBxlpNzMSXI7ch9zoNIKmzXWXPH6dJXISuUxwS-Jh_WWrRlpp7aGeEwSB2aLibZiYnIA1GR4OhTukTcYvX0PpYNovPOEztlZ6pVJ6QmOJgg4hOw_ykchRY6j0Gen4TFHB2AXqct2O9Z21pd2WYghNHQLriGPJP7tw2Q9EVrMX-CRVjTvMmc6CfpGecJ3N4vFfr5tDekwKoU3nsBjlnsz_vTm6PA28hjct_0dGO264zSbGKK5fCB1bE3RNZSuu0h9NpMWInNySklVrPd2ho79iM-1iD3TK0P0wIRpyjgUC_3dCGI32jta1Lr8taew4IcxQpu3GFCyePulUpP4GkHoHxct4v-JDzBoyiVm6MGaqvPYneSUW-rqnWv3d8SLts17LcX0-W3s649HxxZaV7mY1xI-GCT0Iny0FL4myRDqBktnmWSQwoztJeG5c8Srl6lu0D6-g8WZc1eMkHOjIh4cwMahf8sIkT6VEAhYAOum8TAfYREEMIJ_rLm8URBo_rbgT9PJFyBXfeXHixXl9srXUdYscEjpvBxR8SNzjLWrp6K_A==",
  "id": "rs_0aa9fe3be4ddf76b016ab4516e686487d086351c45fd928d88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":-0.01,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The first descent stopped well above table height without disturbing the cap, so this appears to be an awkward IK posture rather than contact. I am advancing slightly as I descend to help the arm unfold and bring the fingertips around the cap.\"}",
  "call_id": "call_dhH7cHnciSvWqTYEJw5e7Tez",
  "id": "fc_0aa9fe3be4ddf76b016ab4517179dc87d09cd7d73d7ef09db7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dhH7cHnciSvWqTYEJw5e7Tez",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4313, 1.5799, 0.6975, 0.1486, 0.0353, -0.0021, 0.9993, -0.02, 0.799, 0.6132, -0.3962, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3692 left_y=-0.1728 left_z=0.0599 left_yaw=-0.4723 left_pitch=-0.1617 left_roll=-0.0183 left_gripper=0.9993 right_x=0.2941 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.4342, 6.0513, 1.2234, 0.1929, 0.1245, -0.0806, -0.0615, -0.9094, 7.0496, 1.7509, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33caa321f4ad48577e19c78aa7747799914f748179b19491593387284c1a741f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12099c1383cb806cdea09693689879f46d706477b6cf4240f242f22fd9880eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c009af3b6b03a1dfe0d59a2141bbff1bebb38cdb63334d9a4c87c1cb0e71a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.952 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.2469, 0.6502, -0.07, -0.0269, -0.0422, 0.9993, -0.02, 0.7979, 0.6132, -0.3901, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3271 left_y=-0.1652 left_z=0.1219 left_yaw=-0.4568 left_pitch=-0.0948 left_roll=-0.0086 left_gripper=0.9993 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0015 right_pitch=-0.0141 right_roll=0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -4.8479, 9.9897, 1.9267, -0.0073, 0.2466, -0.0806, -0.1162, -1.6479, 6.7761, 1.8193, -0.0708, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "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, 1.4841, 0.6834, 0.0418, 0.0166, -0.0139, 0.9993, -0.02, 0.8005, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3516 left_y=-0.1684 left_z=0.0713 left_yaw=-0.4671 left_pitch=-0.1873 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -7.4188, 9.1419, 1.9219, 0.1734, 0.2027, -0.0806, -0.1026, -1.2376, 7.0359, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4313, 1.5799, 0.6975, 0.1486, 0.0353, -0.0021, 0.9993, -0.02, 0.799, 0.6132, -0.3962, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3692 left_y=-0.1728 left_z=0.0599 left_yaw=-0.4723 left_pitch=-0.1617 left_roll=-0.0183 left_gripper=0.9993 right_x=0.2941 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.4342, 6.0513, 1.2234, 0.1929, 0.1245, -0.0806, -0.0615, -0.9094, 7.0496, 1.7509, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33caa321f4ad48577e19c78aa7747799914f748179b19491593387284c1a741f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12099c1383cb806cdea09693689879f46d706477b6cf4240f242f22fd9880eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c009af3b6b03a1dfe0d59a2141bbff1bebb38cdb63334d9a4c87c1cb0e71a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFF2SnO3754yiE4KXR5WaIzovl4PCRuHbVtQJNdRBPmMJFULpOWEHPagrIsppx2GLUfPuBsdfqaQJ56KB8sOOvyovpxGXXUWZs0ddtN3SznDgS6arTj-OQ1xqyDNrWbR4wns1EvxTtXVTZv2pQSly1_8R15D4T0kNKNxKLDrcCPFLya5Fhx_lnKlxqy-RvxW7Gl8en2bM-B2XbDfSD5CyfJ0cnpi5s9nyYIHUsN1l5hbG6wDzAlwaWMLePd4I7_DHxm9IGAr0bMbVEMa8Px5ravAwHdXMzbJvddwPNF4hHac_RhdlGnqa7ewSzF3tsLik0KP45FWh6gyBsw8AIYD-SttL88D-NIAhA9NAY1C3NnYnfsmx7pKCkGBM4VSnUKp3kZas67iDE31YDspH0ICf4IIz2XfG87b_pbQI2GNkCAk2qtd-ufkPl8pQ0973t0gNQui0Dwc-qEsMlOAONOlffO7UhhBUP6H6JV_DF92falRhajiJKqYdm6RB4sRZiHc14ChTf6uxHe2m32nEZf4aJjekP_2K9EQKS30eIwPKSNWzQv9ZUX9UlK8wAEjQq8xGOYdxGRVVdsSDWwYYJtj5vwJCALQ1WMFLMLG8uE8pJP1f29LOgnJ_kuBQaRUDOlaeXQQLjVAtlysuVwND-lpuJKnjd5Jy4kZStOBDpEsUJrFaWkJmqIcj1iDSNucJR68n91nVZgM76FXSl-LHncwKuvFpDYJNGzvsX3vaBMtrFvJB9Z3T1YcJERIg0WD660iBXsPb3pWRoV_xU17vSt0BS7Eg3uRHCiViF29sdKRJkwHT_hmhRXlP1T_2jUEb0v3m1OS0WpJ3kX_Uu0tFPr6dOEjQFAO4X_XlSwru-TR1Al6C4tnROpvyNaLkIBImBaUtSHDbf9hr3AgiN7QusQPz9Ab9hzg2Y_VT9U3Q7vcD6RFI3fwvtrZ2o6aITck9jyfwQl6c9K-t5EicGC9P620xti8PbtEo7nPbGQObqpXfRXwRXAQX2Qun-K8DDpL6taKoAeG3v8JK6tkCSLxQ6y2JDIznydihl1JhUOgDU3EN-R8BoRUtmMgsBluokIx85JtuQRXJFafBC8Uw-c3r3K4HD6KTHBhw3HsCQzahxNWeV0S_OGPcdLBmQIx8A-vndYFT1WR_V4T1QEwH8Lcg3S-8N9zq_rU6vEZMTsADMnKBqN9o_pzWB3GgYVJ8YGGlOykhwOx40Mdee7YctByRqSsuY9PzhfQKtiu0ef3aXuHV9pTSNKTDrDE2IJtEE17NCPjVJFE6iJjUZ0LXp34fYUZG1n6pVSthFGRCH40hloGinVt-x0KgYLqGTcyGLGfxo2NK9YTeNCzLEK0g7tUwsqUH-BOqK8Z1-4q4njWJZwfN_TMPCgHnqUMU2u-wC6yjJllgfqQVeqynsHxWARW56BJU3yZElM7s8ArMVKULmz0yp0BhsQ8KJmwBTZkI2AbG3w-f-jSxbVYPAm0GWX749WpMXaEGdR2jVYtdm-oo60DDtSHzdkZxdV1BJKm8NRfm0liomBf6LuodxfxuASkbQzQsb6rBrPxFrXNMShFfZ6P1LtQqBrrin6UTBnAqgavdH64Xk4brSKIkpWCZ-tmCkqlpL0Fwu7GNwjuIQxrGQUyT1Pge1tcgIsVl5QXHDbue7Re9KhBrYrbfLve9DZsLGLbUZGnFP7qc916392jwQyoq-_ZPbv26HEBeQ2DeukgvujATASuQG2I7w3AEHC1fKxHYkz7WgbNN1UtgIe1217RyyZ-5Z_QeiJFeKqocLlzuMVh6QY6vrzt6NB7eRYTNv3gtTQhazqodAjAPRH_jHYpEi-DDiSTYnLcdHbfZOUtu_-eDcHkp6AlHpRa2ypcZTsDMbNDrmIX7Zpm196VmwtY88mvcaXu3VyF60-3fQhogUMDeBQjE0EFJasZ8n6qfeVsqb7Vdc56eQto6vlkJJ_fGp9clpA=",
  "id": "rs_0aa9fe3be4ddf76b016ab45173d20c87d0a64516b2a7c5bec1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.18,\"left_z\":-0.01,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The arm is lowering gradually as it unfolds, and the cap is still centered but remains visibly ahead of the fingertip point in the wrist view. I am advancing another 3 cm while maintaining the table-level target.\"}",
  "call_id": "call_XtYJIKAxveUGMC6E9TTEmLOo",
  "id": "fc_0aa9fe3be4ddf76b016ab451758a7487d0b0e2594a50b3dced",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XtYJIKAxveUGMC6E9TTEmLOo",
  "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]: [-0.3805, 1.9205, 0.7933, 0.4061, 0.0605, 0.038, 0.9993, -0.02, 0.8036, 0.6132, -0.408, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4198 left_y=-0.1756 left_z=0.0019 left_yaw=-0.4648 left_pitch=-0.1481 left_roll=-0.0041 left_gripper=0.9993 right_x=0.2927 right_y=0.0017 right_z=0.1758 right_yaw=-0.0018 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2684, 4.8752, 0.8132, 0.3199, 0.0708, -0.0806, -0.294, -1.5795, 6.9949, 1.8486, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425992f36a6cf9c2106db2e940e90bc9af5b861861ee1db53da4b0a9ceee1708",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aff99a7cc32f97434802bad9e005a4f1726159d061ddadb2a7a46c126366791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f8761e311ab46b7344e36861cb50ee487b2350057eb213a38aba0745590561",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.66 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4561, 1.4509, 0.6834, 0.0166, 0.0082, -0.0219, 0.9993, -0.02, 0.8005, 0.6132, -0.3935, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3483 left_y=-0.1685 left_z=0.079 left_yaw=-0.4631 left_pitch=-0.1794 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1796 right_yaw=-0.0018 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.0615, 9.7162, 1.9658, 0.2271, 0.1929, -0.0806, -0.2256, -1.1966, 7.0222, 1.8437, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4313, 1.5799, 0.6975, 0.1486, 0.0353, -0.0021, 0.9993, -0.02, 0.799, 0.6132, -0.3962, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3692 left_y=-0.1728 left_z=0.0599 left_yaw=-0.4723 left_pitch=-0.1617 left_roll=-0.0183 left_gripper=0.9993 right_x=0.2941 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.4342, 6.0513, 1.2234, 0.1929, 0.1245, -0.0806, -0.0615, -0.9094, 7.0496, 1.7509, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3805, 1.9205, 0.7933, 0.4061, 0.0605, 0.038, 0.9993, -0.02, 0.8036, 0.6132, -0.408, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4198 left_y=-0.1756 left_z=0.0019 left_yaw=-0.4648 left_pitch=-0.1481 left_roll=-0.0041 left_gripper=0.9993 right_x=0.2927 right_y=0.0017 right_z=0.1758 right_yaw=-0.0018 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2684, 4.8752, 0.8132, 0.3199, 0.0708, -0.0806, -0.294, -1.5795, 6.9949, 1.8486, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425992f36a6cf9c2106db2e940e90bc9af5b861861ee1db53da4b0a9ceee1708",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aff99a7cc32f97434802bad9e005a4f1726159d061ddadb2a7a46c126366791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f8761e311ab46b7344e36861cb50ee487b2350057eb213a38aba0745590561",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFF5iZSmNpbXgieobWWU-lI_u8-fz38uN_k9r0Lq12JWDVs1hF9hob87qmwB4Kmmb6vKRKz_Tg5xTBZiGThkAxEN3POShwBxSpLZRTjdEobBoFyTxWvh3al23euhCOqP2_XdpJoPWt1GyyH5Qhr4GXrj3wjUI6KXMDIpbJEHzk0c_kQtaH9ef5L57dQTQy0rh6wR2lqpYR7ckRd_pT00vnKh9SmhUvLLjiGRxaRI34h2XaLuSt0IkiXsqVQnJoocU2YFOCcArEzBN3LwUymmw-biYReRbMmR1BqejIBzI5UC9ah2zUoU6eoJFtYPz6ldZaEUwNZ6UPsZN2UILKZCgSRpgjAaYr7pu1RaG5Ly5Z4Pi2jIq3MEKT9OPInkMbygKGzDS9wkx8PJNV--j5-b5yep9lP5KRckyLofOa05afjUU81oI8c7BuRNa__8U-mKFFCReNUKA8xKE9-uPc_E5gE54PSR_n74KRn8PQQJHE95cmDEiIBLETtEyYHqNFwETiFMTrnfBfVqgzlpU98EFcJPkRIQfnDae-w1WxM3GkfgaG-JMYuU4_kRcefEbjt1bNZyIBRPOLOrIWWCqra4OLaP7Qqp0CKxLlmEoHJWSAb3_WNvYPki6UJUqTE79UEfYpKZVPQOYCvdn5aXdSyzQpKxk_-5zmKSFlLZscKl56JFWQ2-Cwfi6lpCMByuPGejcdzfrrm2yothH7kqgFmic35RU_mj9q_mhdJD7Z1TyOswqGf0luijAAfHVbFRQSwC-mW3cqdEp4BvewRUGMTro8NY5v4Q33SIIBQF9N60-jXwPE4pdWvEVocQpnJOfxs62ssr3ck6qm6drhGP_03za6vyfGxfF3wjjDUfglH-Gj1VtcIDFpvCYpX5gk4zIozoKKCfVQSwr_dntsqlSVouY8uqalBH1Uzeyc4fAAwZLNin7kaR39HiIb6pPfl476sjdQtke70mLw2NN6wFbptvF0sr52-SFNHmthU4kn0NJTIX_K8zJ7PTmfB8Yxw3gh12dc7YnAaxQwoBdqztlGQNjsonzhfkPUE5gsrbTuldfjyVjR_mUfesRBObvm2OT9sDnzzxmZMNUj5NeHrsbwH9E8MZfYM-Q2MqHcaYcf9eI0gZ-guPdYMLZGMbiK3vkK-u7WsC5Hi_RnzsSI0GA8bnnSkopmoNWxzGTwJ4kgHAIg7Vm4qrVifCdczH8GOZ_-a9OyERNO0T2zFrsCr_0GDz2ujUjjQox4o0mL6_xU-E2FvgCGtGL1ZcTKBbeUm3EznasgSOw5SvXt4oACkjPH7t4Ai1gxsWT2csIk58trrNdgRS-3Dmc7GBvVKFZJn8t0KxQ8dFLujuyTnuIgt2ln2DX4kxByNm0mNSD3zV5Qsg-_Mae_KO9vyz0MOwD4dgS12xiGpDduUAkqA772WKYD59vC0Yim13K2uE4g6_s2CPP2XCn1VZyOV5sgNZWRcGfSzAB-djDOzNYD_-EKx-fcP6_uorb_p532VHqK7ZE3tRf15Kflf9jLhip_xepa4PH6m8BpM23EuCmG4Nmh34QhjOKYzJHEZqwyPhMRPfuWeDJkI8werceIAQ4XLmIo6cGRJ8vwUXqTVFbg2dxV8-UVrQPiEp1FBS8SyGfqAeOiGsuMvm25vj9AP-jB4NEWpHiwL-xB8sdfvnhwFfGc5iCPlZG8Uuc49ynaSeyPIhRGdt_W4u4KQ=",
  "id": "rs_0aa9fe3be4ddf76b016ab45177d56087d08cc7f2597dadc430",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left grasp point has now reached table height, and the cap has disappeared directly beneath the fingertips while staying centered during the approach. I am closing the left gripper to capture it.\"}",
  "call_id": "call_32oYfKh6LkwWzhkH7Oz83oGv",
  "id": "fc_0aa9fe3be4ddf76b016ab45178d0cc87d0996addfe81863eaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_32oYfKh6LkwWzhkH7Oz83oGv",
  "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]: [-0.3752, 1.9453, 0.8059, 0.4385, 0.0753, 0.0505, 0.008, -0.02, 0.8043, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4261 left_y=-0.1783 left_z=0.0016 left_yaw=-0.4786 left_pitch=-0.1271 left_roll=-0.0023 left_gripper=0.008 right_x=0.2922 right_y=0.0017 right_z=0.1747 right_yaw=-0.0018 right_pitch=-0.0427 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.9128, 5.0256, 1.4676, 0.1343, 0.022, 0.5592, -0.1709, -1.388, 7.1316, 1.7216, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5538b95e1021d127e83cf16bcf25845903c40505e8580b4be3483ae47e68a5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080f87b102b7ab170e992bc97f94437af35a1ef4b842ab90a8e8aab1012fecf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a3d4bd41631732bfc952c8142de696ded367b1c413b3fcac048d0a02b538e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.585 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "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, 1.4841, 0.6834, 0.0418, 0.0166, -0.0139, 0.9993, -0.02, 0.8005, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3516 left_y=-0.1684 left_z=0.0713 left_yaw=-0.4671 left_pitch=-0.1873 left_roll=-0.015 left_gripper=0.9993 right_x=0.2945 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -7.4188, 9.1419, 1.9219, 0.1734, 0.2027, -0.0806, -0.1026, -1.2376, 7.0359, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3805, 1.9205, 0.7933, 0.4061, 0.0605, 0.038, 0.9993, -0.02, 0.8036, 0.6132, -0.408, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4198 left_y=-0.1756 left_z=0.0019 left_yaw=-0.4648 left_pitch=-0.1481 left_roll=-0.0041 left_gripper=0.9993 right_x=0.2927 right_y=0.0017 right_z=0.1758 right_yaw=-0.0018 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2684, 4.8752, 0.8132, 0.3199, 0.0708, -0.0806, -0.294, -1.5795, 6.9949, 1.8486, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3752, 1.9453, 0.8059, 0.4385, 0.0753, 0.0505, 0.008, -0.02, 0.8043, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4261 left_y=-0.1783 left_z=0.0016 left_yaw=-0.4786 left_pitch=-0.1271 left_roll=-0.0023 left_gripper=0.008 right_x=0.2922 right_y=0.0017 right_z=0.1747 right_yaw=-0.0018 right_pitch=-0.0427 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.9128, 5.0256, 1.4676, 0.1343, 0.022, 0.5592, -0.1709, -1.388, 7.1316, 1.7216, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5538b95e1021d127e83cf16bcf25845903c40505e8580b4be3483ae47e68a5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080f87b102b7ab170e992bc97f94437af35a1ef4b842ab90a8e8aab1012fecf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a3d4bd41631732bfc952c8142de696ded367b1c413b3fcac048d0a02b538e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFF9tK3gGVVrlSaqv3pOBIMVQWCezr_i8ODpki4bYpSXedmrgXPKQS14f2PSkyJ5ng7ZEtcSbb7P_J5yV3LhZleql3wGC6D2eOOcG54I9ZO5iAEJcghdnX_K5U9Qqy0pmbJB6EgrX7-bqwKEC0JYqcL0EB4dEpiRJsF0htsLb1VwiZUnT_Sc6fiaPAVnVqe2yVGBE8_EsiDrXEeHNZ3efDY7lGSe-SCm9kz8h64CYXZEmhdBFL6pj9V9s5uqgz9tinRRxTmydGJ6QjeqlC5agDSlLVIz_2A1TDMktJxoBw69s5vY3-vmiTq3y14RgCM7ErYlIM2eaY-omslugVlnOt-HsyD0TK8a7LOU7anT6bl-YOA1AD9QYyC_cO6LDSjEw0MQP0_bVQLnO_cMaiLEtXpCF3T_-hmwDCVIOfYqEEJjyUDHByOvxzZc-jC2EDPq1gqy7_aVJgqrpr1xm0M07xuxqo2Xwv3nGM4y0cKXASbAbrw4FJ04tQkv-2cz3q0_pakm-9z_usw9I21GTEDPIvXRrU95_JUY2aEigW4X2OFxShdBOrAc88xDrtXwANhNcchoi3yEBTPxKFwJi793_NX0e5PKeeolqRenlfDTPMeL3HWwIGC_JCoXfYYLUCizg_GgV_nmtvSx8lF-m9Nln71g60Be-60LmZGHuksCpmBX9nq2nXYsQ8RKtL3RUo1BH_Zn6R3t6U8NRx6tie70tENVcsOxsnQTvUX5CsyoYieyhNWkENS0dcCwBEHZr0RBJqrTZQQG8PCkparQslPQsKBHZfZulKLOhi6EV1eewzz02lG5-0UaHeoZxqFoeOypSHC2TL9EyaS734fqFixg92oODYEIO90nszuM5vfkU6IK39sivzoRcJJh58nRuxjXC-rYR29OhQDY7xDrQjwdQMIr2_R6FprnoyY7bqlkxTGqN5L-2DtHGo47jVXC21MpUKw_XXSgAY9ygiXB_OHWZypXzvPgIZbcF8I8yd414EQlHtnrIMoOsvvjJ87_6D67zkKfODxmwc3cp36f8K75ZgVY4Svu7RF3p9FWIr-RnVLWlfP-YCpvakXtZdKdhBLjwsVAzohWo8yrwLrIIokKnnls3HVr_Jc0nviugesxLbUN9UReLnKbxGc7hGAYf1zn9ZxyAioHYyParEiIRnH6D4MNNTqr9KT2Efg5oSH-txo3Cy1Fn9Cd_Ksq1oSTHwxsgoD6D6ZnGoJW3b9RvKkJvDiZZxX_VUeitGSK6xjJst3zEVGzu1tIFALXNykmMTRsdpo33ajOK1YiSs9_hLYHejh50hrKG7uqpy2kk80IvA_m_T78HAyKKhdc0JR_FWqT-3N09RjMynOQBFV2cWXWVcVPpnc0ULF78P62vUx_sz4AKD-7UqnSCcZUEoSHcZuMcMDKiHUY67l6q8DqlS8SsUzI2FH_fK03jxRu2zpYCMydIpHy7OR79eqlWIqaNU_uKhpEV1Xok8jq0r15joZXugflXrijd5r7JlEs4HUdv2QV0fP0mehWMtAEuhg8ceSde-xT",
  "id": "rs_0aa9fe3be4ddf76b016ab4517bd69087d0ac794adca28701c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.12,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The fully closed reading is 0.008, which confirms the cap was not captured. I am reopening and lifting back so the overhead and wrist views can reveal whether I overshot or displaced it.\"}",
  "call_id": "call_B41Yfd0rGqP7XxnPx1fhpgxR",
  "id": "fc_0aa9fe3be4ddf76b016ab4517c84d887d085a38a6c56110aaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B41Yfd0rGqP7XxnPx1fhpgxR",
  "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, 1.5272, 0.8158, -0.0093, 0.0544, 0.0246, 0.9948, -0.02, 0.8055, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3786 left_y=-0.1784 left_z=0.0987 left_yaw=-0.4977 left_pitch=-0.148 left_roll=-0.0102 left_gripper=0.9948 right_x=0.2922 right_y=0.0017 right_z=0.1744 right_yaw=-0.0018 right_pitch=-0.0442 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.0205, 9.6615, 1.6679, -0.0024, 0.1538, 0.0513, -0.1709, -1.2239, 7.0496, 1.7216, -0.0562, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02c9edb0f87ee34fe41caab58513e926d65b3611b7cf54813b3b9a5be789841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b58e32f0f3f9484bc8d6852aac53e52087e2a714cce76f38ad4c8101d134e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a044c0abbb7bf0704a3daf3f1181c0734c4d2bd5b0a8648236c12e67776c7c6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.347 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4313, 1.5799, 0.6975, 0.1486, 0.0353, -0.0021, 0.9993, -0.02, 0.799, 0.6132, -0.3962, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3692 left_y=-0.1728 left_z=0.0599 left_yaw=-0.4723 left_pitch=-0.1617 left_roll=-0.0183 left_gripper=0.9993 right_x=0.2941 right_y=0.0017 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.4342, 6.0513, 1.2234, 0.1929, 0.1245, -0.0806, -0.0615, -0.9094, 7.0496, 1.7509, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3752, 1.9453, 0.8059, 0.4385, 0.0753, 0.0505, 0.008, -0.02, 0.8043, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4261 left_y=-0.1783 left_z=0.0016 left_yaw=-0.4786 left_pitch=-0.1271 left_roll=-0.0023 left_gripper=0.008 right_x=0.2922 right_y=0.0017 right_z=0.1747 right_yaw=-0.0018 right_pitch=-0.0427 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.9128, 5.0256, 1.4676, 0.1343, 0.022, 0.5592, -0.1709, -1.388, 7.1316, 1.7216, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4259, 1.5272, 0.8158, -0.0093, 0.0544, 0.0246, 0.9948, -0.02, 0.8055, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3786 left_y=-0.1784 left_z=0.0987 left_yaw=-0.4977 left_pitch=-0.148 left_roll=-0.0102 left_gripper=0.9948 right_x=0.2922 right_y=0.0017 right_z=0.1744 right_yaw=-0.0018 right_pitch=-0.0442 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.0205, 9.6615, 1.6679, -0.0024, 0.1538, 0.0513, -0.1709, -1.2239, 7.0496, 1.7216, -0.0562, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02c9edb0f87ee34fe41caab58513e926d65b3611b7cf54813b3b9a5be789841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b58e32f0f3f9484bc8d6852aac53e52087e2a714cce76f38ad4c8101d134e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a044c0abbb7bf0704a3daf3f1181c0734c4d2bd5b0a8648236c12e67776c7c6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFGBD8vsRZdCLccN2vSWCXZp3XsuBkgjl79L50qn0R9ytdUfR6HRN6pW7Gd_Q7CQQN32zeUDt1ThYLbGRDljEIOd3_tCIn025Bmz1V1-WGlWhd7wuwfX4MjvcXD7iEAf3GOikE3YEy6nuO79PZru8pYA6UDCLrEPYI3izeNLT6wdQNz6a29I-ATc5ucLqoyDuI5ez1HX2eeID0phJe388ik71ad4YtLyByJfjHj_lt9zTUxbkK5cR-fSBzFDL5QNx_E7dCsQbxu0aIgq0MrMsuOtyQ8jo0_AmgBx3u3GWhh-GYFejlGeQyWJYJMDp88WMH2ALjCHFY1waVBCXwuY9mW3Yu1KS9Oh_84jFOMwtMd1-4bA9U_gVsHEg3HX_orGoaSQaSl9hQEiOcV6O9YX_6oUHRHp26JvhFrDUmizgZ_k49dvPNy-04bia_ayCgHAKOkuPoJONups4qTexA82jnV0el_rqAxWVlb0Ud1xDG6XBzWn7irKRZa_QVKA55eeI1zzn9yHxwSXh0yTY4WxxttW5oVZaZD1RKCPciqXm3nAZIxXcfI61TkcnJZ7hhyUi7dX8lxzNRpxbUVofC2Py-faVWgrTYelHimJBj4UxrhDA0a7iHuHeEm23tIOk-drViQd4cYGm6Rdi3D4ZBnRFlBmhwAVAThtDtUVrAEyEozwIk3K-DwJ25YyAiHbPmwt1S01AS8ZCyg2GkUuwE66iPHJOqHQbaN4WGs1iZOtJOHX11x-azaEHfcdmahp4a_EA84xr6lSudB55-jZUeft4zOgte6SqQtafuepzk07T2iMvKLh3XkTJ1hhOpyXau9jfREZXcerhqqqKuUMDtAS1B-nKOxre7KQGAQw7j2uXbyHMaSu2_vxlX_l-wKrdUFT8NCGxm3DW31W5OaJ7-4sCvQe1Jd_ZbJyRRJX-kSqOvvhwmc5122blrFPcowpNIhysCPbWOFJJQk1n21TpedcKnf5Ee3DzamiSZJyrE_x4X54H7w188yuSQpWzK9RFYWxJjCNXRi6l6lO51YaczL7qcTAY_E-OO0YTiasTPzn6TMQe-IHkO36aO6v34XHIbJNAAnpgeYh8dJfV-_OuCSv0RDQqUnR5QliEB1A-6PAHxKiOTA33Amp0zfRKfQ9DmjrmeUSw-f3x3CVMWamy6L69hPRjj3C6rVyoho36tIov1kD8gjzAorfIJt5BXcVm6k8uyxrdrEBWZQuFw-0PHPAr6ghwQIxaWm1LnT-viU4y2bE8Wt7TqiELt5LbwQisJucfWtpnpqcdRurrq-W9_CXRgSWr0wJIM1eqXw4VNBU2yybuVdQusaDQfNLN9UV2BVuQb_6L0C_AR7VzpQx5-Vl4qZbJrpmVhVbDtCendJlUMJ26Q4jVZe4jGY64H0NOus0J-wmPlka1Fll0aVuBK-zQBPeKSvs6oEKtA7zi2NqJWM40KWliBZbsJWmAbIs5TWG1Gdmmn3VxA0-JWGHMzEQ04OCPbRUTRBZ5_dywsaHp56zooO75wMwqhCBEwZfhGjibl73-ExSnNtFO-vD2mdbhEpRzu4--rpjT7RXYJsXq_cmWbSYqjKfbbuaRibKJu8ix_7uOtvhXCkIUsGRvm5fJjjDXxGzt58L65d1eJjL25KU_9-VWSuX62bIj5Q3QIzs2KqyRXNkewp-9n91ZbIpJwZfJH8Giclt5u3vinmF4xtQ7B-7xJ6ipEVLUCA7XVvhZe6zrRgDxNKyeu70TFoCXOQusCKimIAAmTmEYVlix5_1T5GyTcpZK9egZ_I9w48KjFsbuMBToous4P5cpAyrHzRUYrNJJLWcZHD7z2Vr8cRzqjsUDxjHXOOR82T7m60l7grQItfsHOYCgK-Eol5fHuNVsLvAuEhMQEh9yzWmaQ6vJDULln_cpQb14zSfa_BYmt4Wscsmi0ZMQ6ZRTU6xHihqckD52GO3hmEUQUEfsKzo_pOn8Cc-nymcIx7YodKi23laRs2jSTxBFtCTx9IT-cuyVuM-VFWOUuJXpbii8mp1TgymNls-s9lL1gIG39EsSjcQ",
  "id": "rs_0aa9fe3be4ddf76b016ab4517f6ce487d08a82630ef2a97fc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.0,\"left_yaw\":-0.5,\"left_gripper\":1.0},\"note\":\"The reopened view shows the cap centered at the very bottom of the left wrist image, so the previous approach overshot radially. I am descending vertically at the current x position without advancing, keeping the cap between the jaw tips.\"}",
  "call_id": "call_zlcSxxOWgthhNwJIPcg1xhkZ",
  "id": "fc_0aa9fe3be4ddf76b016ab45180cd8487d09a0fbdaae8238135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zlcSxxOWgthhNwJIPcg1xhkZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.7985, 0.6559, 0.3801, 0.0483, 0.0269, 0.9983, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.1761 left_z=0.0011 left_yaw=-0.4954 left_pitch=-0.1898 left_roll=-0.0073 left_gripper=0.9983 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.8598, 4.041, 1.1893, 0.0171, -0.0611, -0.188, -0.3624, -1.6068, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa29e2b97ef55896168d2cb7bc59c4248271171e5cc8a9ce0ee55a09caa7a6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03065e2b3bc20bbf3186d448824796b10c2a24989204d21dd0f48a4820588c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b399c2e53e210888aa97a9767cdadcd5223f5bc578e6994cc1a0af50dfd4a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.813 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3805, 1.9205, 0.7933, 0.4061, 0.0605, 0.038, 0.9993, -0.02, 0.8036, 0.6132, -0.408, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4198 left_y=-0.1756 left_z=0.0019 left_yaw=-0.4648 left_pitch=-0.1481 left_roll=-0.0041 left_gripper=0.9993 right_x=0.2927 right_y=0.0017 right_z=0.1758 right_yaw=-0.0018 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.2684, 4.8752, 0.8132, 0.3199, 0.0708, -0.0806, -0.294, -1.5795, 6.9949, 1.8486, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4259, 1.5272, 0.8158, -0.0093, 0.0544, 0.0246, 0.9948, -0.02, 0.8055, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3786 left_y=-0.1784 left_z=0.0987 left_yaw=-0.4977 left_pitch=-0.148 left_roll=-0.0102 left_gripper=0.9948 right_x=0.2922 right_y=0.0017 right_z=0.1744 right_yaw=-0.0018 right_pitch=-0.0442 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.0205, 9.6615, 1.6679, -0.0024, 0.1538, 0.0513, -0.1709, -1.2239, 7.0496, 1.7216, -0.0562, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4271, 1.7985, 0.6559, 0.3801, 0.0483, 0.0269, 0.9983, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.1761 left_z=0.0011 left_yaw=-0.4954 left_pitch=-0.1898 left_roll=-0.0073 left_gripper=0.9983 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.8598, 4.041, 1.1893, 0.0171, -0.0611, -0.188, -0.3624, -1.6068, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa29e2b97ef55896168d2cb7bc59c4248271171e5cc8a9ce0ee55a09caa7a6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03065e2b3bc20bbf3186d448824796b10c2a24989204d21dd0f48a4820588c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b399c2e53e210888aa97a9767cdadcd5223f5bc578e6994cc1a0af50dfd4a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGGHx_btiy-y7M1JyyPhHSf9Ub6w_1583XT4K9nhroI7mUvk1ATCI2yeCnO8hHdU6h2Iz5MOg8YHWjV32CCZYvUoasTd6Ssz2V2QOGLSrhFR4sms7Y5xKAOeqAuPDulyiAXlvCASdj-g9oqCa4kq31z78b6-ounH8MnhMJGQfw7TfQbAOkha0LPV6qKaGQl66cKCHDWGNH28CfpECBq6FHNRn2PP2ukcp2BfaQVqBB9zuifblc1oRG9PBR71neR10WLyuPSl7n-KYMqj0TQPzsnOD2mNttvTWooFaH2cx0THClCzPM3oENApqQJiQeKha9THGyfW4C6vNjRjCHUrw-sAUNoXIYZHAIbHMIiYAyDD5bkBKWcOR-nc-k6q47Zm1yyl4wd9czPOk9FUFDQiNEEUZ5rqk4XBSMtnpHCSuW-wqug0sUJT0r_7d_CjiEFhz7SHserW4rfkhTY9_7aEuDR-hSR87ECe09ugcNsWwEVTUI2g4rjuUHSYZLV60VOXHfPOxxD0B07roJWsj5CwrIH4uYtF8J__KDNsQaHRPzgBqIuoyrHJC6kXvVGUC1EGkzP44aXf3NScvG6B2M6zvO2yWDDvk_a2qPZHnwb1xSj_7_73OLhS2T4oZY0e01U5tEsept7biTIfgTA2IZjhhq45-PjIjlixTltQgQQa8ABJLKjnxUxlUU5AS2YmAxwUySAF2YI2M_2IpAbH1XZrKay5i_8TziDJLcdphKjfbJr02gonZIdHuqr6_CWW1a8PmkC3OI2z2pnSVdCUVQ5C3o5C_k2Kiof-Jh1XyCDO_jiiTkaXftWDWjxuWo_MA2Iwvufq0lGOLg4EnA6NYuX2gW9L-tpE-78tg1SfWItYN2Y4VjusAok32WwjphZFkPY9FjsRAjPLAJUXIGkS76LQUGcliEXVVV-eG5KPCeWb27DyShBQxthyYt3BCC2pCm48nrLYECWRirKUZ6LZDnfg9DN2LMFmqTwpUVXldl1Qsmlzblxt-APMxUV9iMakVsBeylL9A9vRkUo0nScPwlP2b6TV5V6ccZvKSQrYbti9pSKkijmC-9n1DwQOcyDY_Zhtr5IdR4kIZf1u99lkJE5f_brpiKRNem-AfmJDBps2EfXL2EkqZLq25ROvXA28xvBk9Q8zHzoJ8zhrEDXWdpJ1KKRdE_SnxuJ7h5C1UzF5cUI4HbAoGU4LwSwoIJGu08CyytkMJZMt8AfLw57OWyw2zgtSpW8Qr_4jbpXB7E2iIQHPFeIOVd449HzfSrqFnbxq4Yo64P3TLoxqpYWx7J_fLNwWF-MqXmq9CVUYmRAsGdigWyO06i_f3irBPl1Z-syjWSOAsO4YsqdVC13ZRH59JVcGyvd1Zz24LBuZ-suEwK9TirGHKcEa8mI5IIT5OfVtgfbD5BMyeHMMu9F6wgxQsNvfjlG74Ssem4jzExFc-193ETZ88BUjIfStBO0mPwk60U7bnEJvhfugAr0BoZl_O0wlWBG8y1_mdA29RqF8ikN9oLu8yuPPdPWEzRpz7naIKLc4lzhe1c_xAG54XwlpSChkT30TuInQKtfaUP_k5rLomdzFTo02JrtI5KEcFH7JKX4VEiXiyFbjzZt2jhvColpHy54IZgw1QrbaTYbedvjqi3R2aZ5MyZiMgVfPZ8Hy_g5Bj33EQBdOXdRFSKhWGby6a3hc0b7Wew98eWIKPAxaV3wc43YKhvSDnX2KPs2aeMdVPk2Fy4tNTQZue9cRUOj1_gHW1yqx1tB5xltJfFr6HWDJBjmIx9d4qI9KxX_qU9yehKEegR31eIzuB3LC3qwFCPh5Hfu6mfiQ2LW7Yk25as5KtmT1vSzojm_VpvTdMtr_Y16q3W4Hzb29crxhbjkSugonK8AfQF1iuJ-eBvnDWHxTrPpXJ6piHx2My8JMukbE800YHtT7rYkHm8TyF3KkHzg7H98ify-5gYziHcoH3ASsQ519C_hMrWaHjw2p2Gz45iCYiy7X5hkFE7OPHWxHt1hDB_TYyPaAmWgBJHYnPKrT88jeE_FmgcZtiBiAsqxexTPMUfN4KjigE48l0xiSz3hcDsCxv3NhDpoG_IxAU_bODxelG9RUylPY7ax_X_vgycAOEl_3QmXAPNt7_fXiccIDh8HDDbvAiw4O2PD_ZZVkp3hxXQp3mniKtYcVvPGcyxmWmf2LeNtpqnNbv7K_QXmdpAn15ixgxCKDLgXVJt1Cg42fPA1mkTYlKqg5M6Nfd1GhVsrrxdz0tzRGW6pZoxYFfaB1ZW0FQxbqtg55ZcwCMu7U7gEj__6GRYOJGPcnIWVp58_6Up4f8u6iZw2Dabz4TtQqHiv9chsrqwmj6ITqRMovMopQqeYSLLDI0kiVaVIGDFARni_jmaBZgl5W6OYO6fbww2QnSgV5vaMjZSyghwOgAzKUYBG_3JDTh14Jt34eenmS7TWOONChVo120gdZuW4PW7vut7PaRvGtahK5vpB7Tj_jNrlVSrvQcWO",
  "id": "rs_0aa9fe3be4ddf76b016ab45183b30c87d08705bdad26613b3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap lies lengthwise between the open left fingers, with its near end reaching the fingertip line. I am closing now to pinch that end rather than advancing past it again.\"}",
  "call_id": "call_n290OR3h0ugcva27VbVEWzJ3",
  "id": "fc_0aa9fe3be4ddf76b016ab45186089087d0ab325f99ac1074ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n290OR3h0ugcva27VbVEWzJ3",
  "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]: [-0.4271, 1.8126, 0.646, 0.4263, 0.0349, 0.0242, 0.0464, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3784 left_y=-0.175 left_z=0.0005 left_yaw=-0.4822 left_pitch=-0.1682 left_roll=0.0014 left_gripper=0.0464 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.841, 5.7094, 1.1306, 0.1587, 0.0855, 1.199, -0.335, -1.1829, 7.0632, 1.7558, -0.0464, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b244367452e5dc92cd4b6f5464b38328401553e7a11cd9541ca3559f8e80bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353352f35acf1439484c043dea0e7a1dd345d65e58e6636715ce2d69eae09ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce10939f9a289559a63b8d39e33fdd258cc94583ab48a2c57609634178499ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.769 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3752, 1.9453, 0.8059, 0.4385, 0.0753, 0.0505, 0.008, -0.02, 0.8043, 0.6132, -0.4122, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4261 left_y=-0.1783 left_z=0.0016 left_yaw=-0.4786 left_pitch=-0.1271 left_roll=-0.0023 left_gripper=0.008 right_x=0.2922 right_y=0.0017 right_z=0.1747 right_yaw=-0.0018 right_pitch=-0.0427 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.9128, 5.0256, 1.4676, 0.1343, 0.022, 0.5592, -0.1709, -1.388, 7.1316, 1.7216, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4271, 1.7985, 0.6559, 0.3801, 0.0483, 0.0269, 0.9983, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.1761 left_z=0.0011 left_yaw=-0.4954 left_pitch=-0.1898 left_roll=-0.0073 left_gripper=0.9983 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.8598, 4.041, 1.1893, 0.0171, -0.0611, -0.188, -0.3624, -1.6068, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.8126, 0.646, 0.4263, 0.0349, 0.0242, 0.0464, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3784 left_y=-0.175 left_z=0.0005 left_yaw=-0.4822 left_pitch=-0.1682 left_roll=0.0014 left_gripper=0.0464 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.841, 5.7094, 1.1306, 0.1587, 0.0855, 1.199, -0.335, -1.1829, 7.0632, 1.7558, -0.0464, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b244367452e5dc92cd4b6f5464b38328401553e7a11cd9541ca3559f8e80bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353352f35acf1439484c043dea0e7a1dd345d65e58e6636715ce2d69eae09ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce10939f9a289559a63b8d39e33fdd258cc94583ab48a2c57609634178499ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGK8ylcvTK9W0_XetF6iaOCdgM3jaHD26eek0bbqbGNOLQzHTkLTxNokEvAJreyq1gzuYE_F8BedKxpCmbRSdsWj6W5dBVNN2iESPSYyQHFp5n6UeSuxsTvBD3A68rC6XbuDgpk4sEZSfkHFhyD-db1RE9M110P2pfzW7vQXRc8X5XTN6msloeNA-6FYTavnWHYBZAKiG-RR-UQUKHIvP3SkixSAaXwtuw6r-KVTQTtPB1l3RV92jsHqUFwxVlDHBRo_6GkB3vW0LkZuH7tjh1zN_TEUxqRQ7XODpE-Dou1k6aRw39gBr7kB0seV34Tn8MVHClkzdU-L0Lx2IJ9yebIB1O5k9NNfeli2C-oiQcw7FXYgILK7Y5_JvkmzslJokbkgmhO7CT1da56ipqDS7ZVRD2qfgiXvxH8UbDr9UGs9y42y2IPv5ZzHQUXDTgfBUSyOp5Y0PKI9Zp6bRjxKXqQGq6meZ5RqWDM8Bi8kXf1DKKVNIssPDtRJLnMqtbiZLUzDHceP1KckHueksobSrf_kHUzQYmyEVM8eTKou4PZIRat9YSTG-RaS2UIL7SMKTizmseQ2z8uZZjZdiuq1_25z3lpuh90WTcZMz59-5QayPCgVNtuJzNQUIyyqj1MPE1rR1lW7vGEnC9ItyZGxIcda7clKg3me07AiV1NzMQnG7FeRsUzoUjB7jfPpJHVPKq21OnsnNpnYjbHTZv3k64ajPO5K-rRwHxsw7HvncLf08H2qqyBlA_xPWH4xYhplOni3QtZlsEJa_LwvXIwY75YgRseNHlwUFqriCqnfv9eb53OHalYbsS0vew-bZXIo5Qe2Xzu_JjaCIGF4STrm-E7mfiSL2XW8z48SNh3kKPoJ8i0mBbcq-4oovgU5yQCiT3_vjpEg7fnqQkuKvS4OhqjerMkmng2fUgDcq4EyrcJTKeX6YPUNyETkYKTm5JUy8abLrSOAwhJJ-VsgfCg9NFamIwD2F92NbS7W-dhmOt7UFs-pg56C6DvxUd3_aGAay9IG-v43kpQ4R5cSh5G4K6nSsvqKxpAV1WPmZ68qhPC05p4PlcPGmrEOxeMrDU7ZtLjDMQkklnh3jeoIJ7VuupTmUPcaY8J-5hNeAOmROJm0gaR1I3VXvzEj3BK_VsNJ5ZroWtiiXbWosVHH2-WiADmy13JNEPc6hR3ohxWfGnKEFQlerhKIJd3Hurkt1nHtRlVFqXl3F1rlfuuo4kptyv66Tv3lXiNm7KpJ-a0QEbERPsFSxavTF21Af2Z_1e0BXk0burGIMlzaA2yYF7E-QpPlp3q49rRh1s9adq-WVIEqeKP9vhHBmX_fPbCuHwBY3dggEFpPckdXUoQtkmzcs45UvLkX3URYInYFoIcqiqXV5-42p3SbzcQSOjYodxFBD7lJ7Lmcsub2yE0eiCNT1ZRNMk6rf4rhHCv_2UKGEmdyDU5jsaEzqQCvidMfPkmZ3Y2JqgEdWWShE1MNrCGMFb4Qrj4T8U8777tZ8ggxFVlGkn1gHCxLuKxyVM_fXCYDpge6-WrP4JHlw5S7CJR2vgb7iLtUKrsioDsJS1LMrMi0IWsEMxrSH9TqZe-Tyu2zSMjhW4cpEr8Xgf-QmsbmCXec2rgXfneKbzPqkD1wyt6Mt7M11dRAl4E-z3XtXz8l3kXV8qdoXdZE1S01tDH7BuMqYArEAIAkJJk0aHVc8bE9JvwwAXBMBMbAeFaLGIFSPE7JgVP3YZJjtjJ5m3UXUSsUmxhSjXKwKOICzRQZK2dYzqJrbCXO0c0JZ5OfzpJhBDGeFl-G0X1x8Iu3wyQjz3i2euiM-hSYwOhcpU-sABbI_HyLbtxTokJ9J8TJKAnM-8HmTT3j1IIPgbcqCZKKyyRBTFrVrp_Q4M6wgr04ZrTqyk=",
  "id": "rs_0aa9fe3be4ddf76b016ab45188ef1487d0a62f35c178c30bca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The gripper settled at 0.046, just above the empty threshold and consistent with a thin cap held between the jaws. I am lifting it several centimetres to confirm that it moves with the left gripper.\"}",
  "call_id": "call_JpAeat5q6RywheCumY0YJlKk",
  "id": "fc_0aa9fe3be4ddf76b016ab45189f33087d08b309200b02081f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JpAeat5q6RywheCumY0YJlKk",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.602, 0.7383, 0.0998, 0.0334, 0.0235, 0.0522, -0.02, 0.8104, 0.6132, -0.4129, -0.0231, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1724 left_z=0.0581 left_yaw=-0.4807 left_pitch=-0.1919 left_roll=0.0006 left_gripper=0.0522 right_x=0.2925 right_y=0.0018 right_z=0.1729 right_yaw=-0.0017 right_pitch=-0.0496 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.5949, 9.1009, 1.7656, -0.0464, -0.0024, 1.0281, -0.3761, -1.4427, 7.1453, 1.6923, -0.0366, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f26fed7bee3023ecb6c809e3127bcd0099797371d641a19c7fe3eda3f8af60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580c3c123f1b02b0460d56548ba1fe8e1741d5dd5d2fd2841be78ba62ab4477d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2642f1cf24160af1e79c26098a86cccb3b1bb2f9732c17cb3f006d70576270",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.943 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]: [-0.4259, 1.5272, 0.8158, -0.0093, 0.0544, 0.0246, 0.9948, -0.02, 0.8055, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3786 left_y=-0.1784 left_z=0.0987 left_yaw=-0.4977 left_pitch=-0.148 left_roll=-0.0102 left_gripper=0.9948 right_x=0.2922 right_y=0.0017 right_z=0.1744 right_yaw=-0.0018 right_pitch=-0.0442 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.0205, 9.6615, 1.6679, -0.0024, 0.1538, 0.0513, -0.1709, -1.2239, 7.0496, 1.7216, -0.0562, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.8126, 0.646, 0.4263, 0.0349, 0.0242, 0.0464, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3784 left_y=-0.175 left_z=0.0005 left_yaw=-0.4822 left_pitch=-0.1682 left_roll=0.0014 left_gripper=0.0464 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.841, 5.7094, 1.1306, 0.1587, 0.0855, 1.199, -0.335, -1.1829, 7.0632, 1.7558, -0.0464, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.602, 0.7383, 0.0998, 0.0334, 0.0235, 0.0522, -0.02, 0.8104, 0.6132, -0.4129, -0.0231, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1724 left_z=0.0581 left_yaw=-0.4807 left_pitch=-0.1919 left_roll=0.0006 left_gripper=0.0522 right_x=0.2925 right_y=0.0018 right_z=0.1729 right_yaw=-0.0017 right_pitch=-0.0496 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.5949, 9.1009, 1.7656, -0.0464, -0.0024, 1.0281, -0.3761, -1.4427, 7.1453, 1.6923, -0.0366, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f26fed7bee3023ecb6c809e3127bcd0099797371d641a19c7fe3eda3f8af60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580c3c123f1b02b0460d56548ba1fe8e1741d5dd5d2fd2841be78ba62ab4477d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2642f1cf24160af1e79c26098a86cccb3b1bb2f9732c17cb3f006d70576270",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGPX_qYckZhbbK4bJf3N3apH3ak0Y86ge5VE3taaATE891FQ77RDQ9isYKwBOWB4YcsO7Rjuin5hysx6Gb2gdSOLI8L6pyiAPaKEqfxPpyaTbMMVC9I3DL-k7BHXwssGb0p1vYj1Ji1pOIFHZ0bXvRkgCVgl8OFppnPYjXqMJSbnGH5khMqzLznn1hAsSKqCNXVEWzUxfHFxKNYq2FJPiCZCKW3tfEO-DPoSeSe_c4eI2ChDiMHiJK-F4fN8C31Ga7q6k6GVOGl0BaEnu9uxXCM_iUN_dmRHCiJVvM-gky4y6A8C6JkrmXuO29_kK7eWWzgtNP_WXjYPqT413JrxHs-g_8lZODauj8JU3TYti66lSZzDVKJUOzHBjQFTPZ3Jg5E-mlpvA4NpViQ2o580kBFt-moqlEkezKiEt6JeWbCq20_G3GT45_sK64XiUZhwfrRXi2VLTWyUKEkBfpdaV49NE_5E_UR-kL4ymJvenK2a6hfcejkxQRUDP8gdf6IgO78KtHxAwI8xALOm1pzw8s1VRt1mDZwFD3iYqSFBIDYKehybmqfQJT6GBnaw28S2O7ylFr-WA9fP6BicEK5aNdd5o2noVVHMk7zqUyo73wF2fsYwniTu_rWA8W-y7JPueZKc_ShrU5fQGZDa8Zgp9VZhd0j_oWfU6l5ulwmalEGHPThJ8k5FD5NiXFjFlcABHomQFXG8yHjWtoqxBUlQ__Dl4TV3eU6bMlRRLyxTlCWvwpcmPavYhT-sn5vgeRlgaOcp3UaL_IeI8WhrdBf24lDz5qmzEBgRNAgef9UZw_BoEXDRlYX3czbVC05YQZG8e5-KDBz_T0BSbhMlGolBhU6hSnMzvplMYPKgPQqrtkas3jrs5UcFaMyg3Gc3ismEYI0oEck29lRgiLq48lODPp1SlQNNV34OL401itlYKj95kuuWNSNg1V1Pq9aVjaTc6XYIGu9GpwEWtNKsMMMCvCEOPTE79FLhKAsmgY1OhA3XuK8E1b59AToR1rvbxl_2C4MEaSGzSPl_pO8qT4hogy0YWAEVaB6poDvx3HUOp7BztNn7jcP-yoqGw-KpEdCWUgpnlTSQAsKpbxAPfMemEYj9brd2C2BmY2jOkbopAmOsfyBsiXoS4s9WSlSi2VAv-d6zODR-m6eW1BkoN723ZtzFG_BbjXFlDQ1fjvOYNZLWl2tWMhsIkX-d1p2Mrd_xJpb0Zdn-0nKexhN6-4Y2HavqQhqfhhR2GxNkIunRbNFXj-WBv_VeTQavr_3tfd8EQNGgl19hycojIZ7k-mHF2dR9SxpQIOZMf6ug-BGC2fP1sI2tFW_56pVtl6ulZyD6bp8p2fq0GDYv9fp-F2J2zLcm05jM7NjShyDvxwitOwqsUZS9-t_GMT7LzoGzNQ8jbrngTlV6wK109_0M3ZE2az-mFp5OGeVLL4X8daKNk7vKFdulvUC7dRKXgYh-OjqZx82jqrjyndsy9Q_nWUaKgJLac_RNE2FFYUUxjrozMHywTvQxB1uMEFSUSVlOjDfVl6Lxj5G8yYxsLxoiDeG_uATQvFbTb1VosYAhp1aysO4oK02UNWo35h1AeYo7KOHKD2rh2stQJYlfzHn4yvP4L53E0SK0HKKIT8xPgfWg8BY9FOttyI_s13UsW9cDLZ8L-wqf6YhJP1HCjvMLFMi9kfQtXMtXCucsLheTTKSYqMOt8PBwAGjtflAOpwFgB4ArS5taF1ahDgaWAw3ZvRTPBFCOzRRulkclpmE_DiB9LN0bmmgcTiGbCeNjVWMDS04Xp4TSjZKrujli8NM74Fk1qOsIu6_HnrBkuJ1w1-QOMgEZaTioYa35KWzac1jw3NalvjdgLu3FNrsunIyJ_g0s8qpvzdU7VbgFD0huIBFQ1RJNkIty5awr2MZGFEerMVBoq7PpcJ1l2W9Jh0Q7Iw9dgzQfFEMh7cIHwAaAp0VXA4t39QhkqRK-7qPUBZWMrXzbz4p0n6AagZsaUS04yFvj-lvxORMfP-qsJLTMM4_2IbvCy5ZBVwVF6ZroPm1lnvJKv5OABoiM3CARGLJ_aQ5WLInbER1twc0QhBWeDKrzTSbagp3BM-9BSuGWl1dFOwoeg1OOWXtbUhpo9hoP5NmCBKQMnVaZPeYaEBoGz7NL1f-QWRgCt0ISLyUJQjFXLyYTr_mMN0LQamElacTI7X32poyG9gBfy1NgJXojyx_D8UFIz0jxE1KsvOnoo6HEtXjeBoBNkRjfIfb2VfJHLQkceW3KdM4sP-wfFlfFxZNre4sCqAHp_ChS69fkoVeHNf5mY3JHmt0UoXh7xmyDOw4tdKZopKjX2T5o5M3hqyIVtXJbn1zc9iv3XzvKnADEq2wWSTtvCwBfwsgPeKdJmOthnXN_KaKmV9bHjWDPZnLOxT7BCRjC59WWFc3gil8gPaTy9k0uX5IcsaFnEszWyjvzBfJGlYrFWLGik6Wj1rSj4p8rt2JHhz2ID011oMGBuhrTfGAgqkvahkb3-T5o4VDkpi04HdVRyJC5K608L7pEccH6ks=",
  "id": "rs_0aa9fe3be4ddf76b016ab4518c03f487d0a8835fa95a287c49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.08,\"left_z\":0.2,\"left_yaw\":-0.5},\"note\":\"The cap remains secured at a stable 0.052 opening after the lift, while the long pen is still on the table near center-right. I am parking the loaded left arm high and outward to clear the center for the right arm.\"}",
  "call_id": "call_6AcezJaMGMaKaIYfO5VTt3GE",
  "id": "fc_0aa9fe3be4ddf76b016ab4518ee55c87d0a11ee38e07395cd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6AcezJaMGMaKaIYfO5VTt3GE",
  "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]: [-0.1848, 0.8677, 0.8066, -0.691, 0.1883, 0.1692, 0.0578, -0.02, 0.8165, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2654 left_y=-0.0796 left_z=0.1921 left_yaw=-0.4499 left_pitch=-0.1642 left_roll=0.0041 left_gripper=0.0578 right_x=0.2929 right_y=0.0017 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.1556, 9.265, 1.4921, 0.1538, 0.2808, 1.0281, -0.0889, -1.2923, 7.2, 1.7411, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb369b40cdecafc7b53146da49e9b684c77512b32c8ea917fe6dde6e950a741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa469ed79284207f2bc5cc6ad32303067227428ac95a7d09608fd7da95f47e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4e1cce60da60ff8ab7c6da8bf7c82e28c39296d83698f9c7b822308ec328e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.044 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]: [-0.4271, 1.7985, 0.6559, 0.3801, 0.0483, 0.0269, 0.9983, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.1761 left_z=0.0011 left_yaw=-0.4954 left_pitch=-0.1898 left_roll=-0.0073 left_gripper=0.9983 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.8598, 4.041, 1.1893, 0.0171, -0.0611, -0.188, -0.3624, -1.6068, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.602, 0.7383, 0.0998, 0.0334, 0.0235, 0.0522, -0.02, 0.8104, 0.6132, -0.4129, -0.0231, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1724 left_z=0.0581 left_yaw=-0.4807 left_pitch=-0.1919 left_roll=0.0006 left_gripper=0.0522 right_x=0.2925 right_y=0.0018 right_z=0.1729 right_yaw=-0.0017 right_pitch=-0.0496 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.5949, 9.1009, 1.7656, -0.0464, -0.0024, 1.0281, -0.3761, -1.4427, 7.1453, 1.6923, -0.0366, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1848, 0.8677, 0.8066, -0.691, 0.1883, 0.1692, 0.0578, -0.02, 0.8165, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2654 left_y=-0.0796 left_z=0.1921 left_yaw=-0.4499 left_pitch=-0.1642 left_roll=0.0041 left_gripper=0.0578 right_x=0.2929 right_y=0.0017 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.1556, 9.265, 1.4921, 0.1538, 0.2808, 1.0281, -0.0889, -1.2923, 7.2, 1.7411, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb369b40cdecafc7b53146da49e9b684c77512b32c8ea917fe6dde6e950a741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa469ed79284207f2bc5cc6ad32303067227428ac95a7d09608fd7da95f47e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4e1cce60da60ff8ab7c6da8bf7c82e28c39296d83698f9c7b822308ec328e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFGUEY73OlCsfn2ROIRYnCakF7zkWwhVJV-GEIP7YfN4FKm6MwPR8Gpk7rUyADktrqmYCe983kqOHyv3aWXJ6b_D7k9VCcGGbfAcH9FBAKQvLUTa_-q0kdNSqjatQ3wyGfA1HCLT9AbdMC0voZC3w3HireylyRgzf-zk7jrMZYSR1pYls6N6trHxs0psWLlAmoP--9kFcecicJ8quDXLZHqjOu4GWuXjSuWTETv9ncFQzaS2BtnW933ucRfTdRDFb88oIL26y7HredRGzLkxf5MC3MXgP4QZl4acX0eoqFEosdGdRZHCJlvrFB61VZadG0OuJRoqWFCUlaO_ZHTQwYhFsgfR_FXNycaIWJBt3Ndx9Pqsu6KGZHHXmOESJEn0F_dMObyTWylInCh7yNUlZXB_MYs-6yd1EUAdLBM0fVAcd3hlodL-7MBuv-9tYrAecX0LFY6FUzsfeQYY1fxBM2R9NjXEvREVHp05rPStlwA32btlRhB1fbv3yN-cduWfNIfI9x9RKP-pyfvngK5d0LtzEOwJTwaT4hYnnaKWXMYW_ZUWot90CKk4LOyqDvGwy2ATDlk4dtYLubi2_eAC7YX0OTGMVo6l6dLd9zewTnBqBFMgKaVy7HAckO5s7IPjfZnAExn_HPSEBTd6-6K7zHN7rdCp03eAxHzhHA1JKj0LxBbrXnVdCRaQUxQerp37FBjaZ327L0D80Db-pFK3crWkkDD-wWJ9RE30nwqhGgcaYLRZQyt-uORD_GOPsYCmxDM45i0_zm80NInq2MPRloEWN1smzNhOuNLqyijmqk8_4T2oz-c9oriQ5H52nboNr1-cCTspHLa_hJ4YQm1cmcnzT9yEA0LjArIjk3iw1tv4MmufPn321h_S5k4cKtoVWe5sSwW0kTTepkpOT09UE5tLITYYo8x8lkW65U3kSOhYqY6umR49qhhLaer6SoN0lvpLFy6wUmmuYpKRHDP1POZlJ9a9yJxzbKWiR02jZRxt7bCzGWQjNcIj4-vjvER_ozRnrrhyWb6B8IBh3gACxM_-2pNbUMNx_aKAz7iWsru6ImyQBR9w8vg5VN-URdhKSTlvFGUKfjiU9yYBIFCiixQHQ1BCOCMw3KKDmUfD-TVJvjVzTQUZ4WBM-Ce8uooHaO0QFszTahQjVT2QqbT7GiDYLqNkFVZKWn81nCwwOrmah6HQQNaB-qefkfP_pYn4lcCEj50r-XR2i8IBn7aY57sU02GLq-naEPxHZe20eMOxUI7W1vSnoF7CyQZWpTFNrGoX92NufYAxfEFn2tkZG35_k2pvWx7691Eijvuzb-ArTO3hLcXKlPSbRgEJPa_AjKRmxGzb-ctvjZqY-MRHV6br2Qv_obAql8RYlWcrI2Iq6TR2LfNlvLzRdgUyGWJj6s_YYgM3lHl-njx70DOQGw3G5E8uCpAIL_61JyB14HutXbE6iQkj9kzJectDnP3VD9yuBgtt6gnm1SiteZ3gAbkw7Sif6AnDOx1BqERCcL-0wxla6L44mdVLNdW6A3gKUm1z",
  "id": "rs_0aa9fe3be4ddf76b016ab45191f03487d09eb12e5c504c9f6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.15,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The cap-holding left arm is now safely parked, and the pen lies diagonally near the center in the right arm's inner workspace. I am moving the right gripper above its estimated midpoint with the jaws rotated crosswise to the pen shaft.\"}",
  "call_id": "call_OaPakjvuRDd7Yq0jUa8OIUEt",
  "id": "fc_0aa9fe3be4ddf76b016ab45192f7a087d09dcb94cd592a276a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OaPakjvuRDd7Yq0jUa8OIUEt",
  "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]: [-0.1837, 0.8742, 0.8028, -0.7155, 0.1879, 0.1738, 0.0578, 0.7288, 1.4925, 0.894, -0.0917, 0.1505, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.0785 left_z=0.1845 left_yaw=-0.4526 left_pitch=-0.1978 left_roll=-0.0016 left_gripper=0.0578 right_x=0.3318 right_y=0.2656 right_z=0.131 right_yaw=0.5333 right_pitch=-0.1205 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -2.0308, 7.0496, 1.7216, 0.0708, -0.0611, 1.0232, 0.6359, -6.3248, 9.0735, 1.9463, 0.0464, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0ffd83d1ddd4feea60fa15c52a7fe6dd3836786cbcedd79d5dba92976d27dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:552c97899edca598dbb7d5d9f9aa28d6d6abf0ba0b8521ff64d19a54cfb88af1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f696ee2f7912962eeb8ae9efc22340197cc4a453a29b4a665209eb915c8cb781",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.718 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.8126, 0.646, 0.4263, 0.0349, 0.0242, 0.0464, -0.02, 0.8093, 0.6132, -0.4129, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3784 left_y=-0.175 left_z=0.0005 left_yaw=-0.4822 left_pitch=-0.1682 left_roll=0.0014 left_gripper=0.0464 right_x=0.2924 right_y=0.0017 right_z=0.1732 right_yaw=-0.0018 right_pitch=-0.0484 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.841, 5.7094, 1.1306, 0.1587, 0.0855, 1.199, -0.335, -1.1829, 7.0632, 1.7558, -0.0464, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1848, 0.8677, 0.8066, -0.691, 0.1883, 0.1692, 0.0578, -0.02, 0.8165, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2654 left_y=-0.0796 left_z=0.1921 left_yaw=-0.4499 left_pitch=-0.1642 left_roll=0.0041 left_gripper=0.0578 right_x=0.2929 right_y=0.0017 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.1556, 9.265, 1.4921, 0.1538, 0.2808, 1.0281, -0.0889, -1.2923, 7.2, 1.7411, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8742, 0.8028, -0.7155, 0.1879, 0.1738, 0.0578, 0.7288, 1.4925, 0.894, -0.0917, 0.1505, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.0785 left_z=0.1845 left_yaw=-0.4526 left_pitch=-0.1978 left_roll=-0.0016 left_gripper=0.0578 right_x=0.3318 right_y=0.2656 right_z=0.131 right_yaw=0.5333 right_pitch=-0.1205 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -2.0308, 7.0496, 1.7216, 0.0708, -0.0611, 1.0232, 0.6359, -6.3248, 9.0735, 1.9463, 0.0464, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0ffd83d1ddd4feea60fa15c52a7fe6dd3836786cbcedd79d5dba92976d27dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:552c97899edca598dbb7d5d9f9aa28d6d6abf0ba0b8521ff64d19a54cfb88af1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f696ee2f7912962eeb8ae9efc22340197cc4a453a29b4a665209eb915c8cb781",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFGbtJhT7l3YhpHYvvDeencLvk0ZIsOtxxmrnujXd8J6g8KW9hXROv_zyHVReINCDWNH1GkatsFO12Dpr6huSNLtqLRiPrbNP1QZS0b14mlTLdL3hRDQc2BQJqcibcUnL-nHeVoRi6mPxR1BZ-8qPVWlMuX0mPUG1343VT-1CtPEV7i7CTb3I8uTRuT3syN4DkSAF2F1rpTrbqkAee74eEvQEf6I_-OScV5MblBoS1dXbw6oclQ72chrqKu2MMdEte0gqyjKMl1nglaYrU6SUDCBOGmNLiN6GmSkQHhea_qewVw4H1jIaOV1D_XNg4ZwSdlDbEEK-g78VgZ7-eiKX4ZQuRYolRhcievgzfNIYDOyhCDCoYf8wgBvCoMTefsuzpe8mpaQpTY7Mpkv3kixD463V2BdsWLqzXp0aY3zOVHI8TuZ1vhSi3yzZ-FB5C4AA8rcsBxlQb5j5oo-i08JExul8P-_XDxDfpzJVHMWhEz7VsiELJzmzzsnNOjIGG6_xuGBVDtgiwQ_U_NmsS_ets5iAWCHCWnagAuLBd6NE7X6zoUsFs-asWBhhjK5KL0p8_kc0glIYzYK6ucYk_C3GvTOHLSqd7Tbnh0gXsMEOEpXpc_yG5iqRmeZPlEt0V4MVTXtGd5_CiVvnA5oAT3d_TwTQ1T8H5Wofnv1n-kgP_5-sfXy4DJt1thTWeEtAGKY5guO94Gy4ckxDm-uQNTb-_qLAc-GRovFvExgNu0aC7f931-P9FqJqRiHpQHiW2L4ExW0bIoTyT9oXwPHf6IvI7xIakiP4idL0p64TAsyq5lBTcOkEWodYohLCruXIlp2OPg7Q5Te3qXM7NVbNf3966Bgr2yKhFQJZPDkz731vljHE37Z71O2ba3uBL_wXC-w-c2kLr9rKkdv-21MjHXIdhvEk2LsGWD21ousXFj7ei8svmmw8VlKnf_wFAQKpB_xQCKjcuoCYoDI6GfUbzOnw-6bboib7daz5G65aCvCDIzKswJr2SDN6z4KsTp-xLZpQ2EI5mmkP1vYnQqOyBayrGfWLxb0_BObLazqGkLod9zzEqOEVBlW8yO7RUhuyCXWd5UlWn3JifZ-_SZgmGw0MM1xIrDIC9IXENjQymNbpnjp85PJJ7UlszWt4MqXivsk2JJdWUJ1pGCTIMqO9P5pkfS_efFgqWXd59Qll8NXK2t5JXGGnTAsGy31StIEuFrS7Vve0Fuig4Vw3fNdHkVh4quEoxNzxlFa4OPCTHgHZO4V1puD2BIIosyG7CtnSsuSzLN1YRIK0waQrYD4xhnBugLQ2B7PQC4KOGbax172wHYpfAyduIWlGUhAHUxvHaK2o2gTNvk149ZZZo5uLeLYKUGZ_oaYXQfNceLnv3FWxlx00cFm20HrVZ6sMfIzfr98hM0Z3xMS55vXRol4QHM_FrgMN5WGetaooFUGEKvYkXiaYugPhoQNGx3PirI3mI2bdmZqHX1MZMrk8rjZlOgiAXXG-XkEZtjaJSxUYxbD46Mjf1AyHOpflnGaqAlx5B_8L9tgV6ZFPddvZ3MNtrzCPwPigleLrYqu4Xt_bU8y1QZtCHZhg4PCVvdyI3JAG5Whahc86nBIwUX5tU-tquS787IS2dQMIi4KDmXfRq_egMShME19cL28vOQAAwt2S3_sm4yRdc0YKw_Zps7vcO_sdWhfs2PsLUCrN3KFrtwh8Apn4CqqVu3psnlj-NINgmPhQq5ZpTsx7a2bpYucS46SJVdGUjvMSc8YfI2FbkGXHdimEF0=",
  "id": "rs_0aa9fe3be4ddf76b016ab45198e36487d09a5754d8e868277d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.0,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The pen is centered along the right wrist camera's jaw column, with its shaft running lengthwise between the open fingers. I am descending vertically at this alignment so the jaws straddle the shaft near its middle.\"}",
  "call_id": "call_0BNDlegcbDNwNYFI9s7iIRUL",
  "id": "fc_0aa9fe3be4ddf76b016ab4519a0b7c87d09fbd96dfcc5b0f6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0BNDlegcbDNwNYFI9s7iIRUL",
  "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]: [-0.1837, 0.8772, 0.8009, -0.7219, 0.1879, 0.1741, 0.0578, 0.7338, 1.8706, 0.7101, 0.4313, 0.1459, 0.1009, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1818 left_yaw=-0.4534 left_pitch=-0.2088 left_roll=-0.0044 left_gripper=0.0578 right_x=0.3367 right_y=0.2738 right_z=0.0005 right_yaw=0.5454 right_pitch=-0.1593 right_roll=-0.0228 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.7573, 6.8855, 1.5604, 0.0806, -0.0366, 1.0232, 0.3624, -6.6256, 4.2462, 1.3602, 0.0415, 0.0562, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d88f72b89ea5d81d9d0b0bf4c8140ea3a835c500227b9f821171d3a8e262d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c2598090bdb882c155a773dab7c290d68762cf11d6a165f59ceb959842699a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bc6fdab88444b933165427414a0d83a33c1c2a2d9519c43e7d4049f9fc9c01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.021 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 1.602, 0.7383, 0.0998, 0.0334, 0.0235, 0.0522, -0.02, 0.8104, 0.6132, -0.4129, -0.0231, -0.0143, 0.999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1724 left_z=0.0581 left_yaw=-0.4807 left_pitch=-0.1919 left_roll=0.0006 left_gripper=0.0522 right_x=0.2925 right_y=0.0018 right_z=0.1729 right_yaw=-0.0017 right_pitch=-0.0496 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -8.5949, 9.1009, 1.7656, -0.0464, -0.0024, 1.0281, -0.3761, -1.4427, 7.1453, 1.6923, -0.0366, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8742, 0.8028, -0.7155, 0.1879, 0.1738, 0.0578, 0.7288, 1.4925, 0.894, -0.0917, 0.1505, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.0785 left_z=0.1845 left_yaw=-0.4526 left_pitch=-0.1978 left_roll=-0.0016 left_gripper=0.0578 right_x=0.3318 right_y=0.2656 right_z=0.131 right_yaw=0.5333 right_pitch=-0.1205 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -2.0308, 7.0496, 1.7216, 0.0708, -0.0611, 1.0232, 0.6359, -6.3248, 9.0735, 1.9463, 0.0464, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8772, 0.8009, -0.7219, 0.1879, 0.1741, 0.0578, 0.7338, 1.8706, 0.7101, 0.4313, 0.1459, 0.1009, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1818 left_yaw=-0.4534 left_pitch=-0.2088 left_roll=-0.0044 left_gripper=0.0578 right_x=0.3367 right_y=0.2738 right_z=0.0005 right_yaw=0.5454 right_pitch=-0.1593 right_roll=-0.0228 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.7573, 6.8855, 1.5604, 0.0806, -0.0366, 1.0232, 0.3624, -6.6256, 4.2462, 1.3602, 0.0415, 0.0562, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d88f72b89ea5d81d9d0b0bf4c8140ea3a835c500227b9f821171d3a8e262d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c2598090bdb882c155a773dab7c290d68762cf11d6a165f59ceb959842699a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bc6fdab88444b933165427414a0d83a33c1c2a2d9519c43e7d4049f9fc9c01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFGghiMAztzQ4iIElA8IJkP7ppjDl7aVNQ1veGX52ZpBg1LWupSSlwGfX8Twg-QK-KF2vLiCBbiA4nBVG1AeMH0HWPh7fsn-7rkHZ7_WaAOQe4ZSaNcc9NsXvrFRHHVgc481oYTYus0qvojBSmyqdHJtRxyiRGj_qheD0aVNibr94wrU-kw6dzQCToiDcqAX7svBPl1ZmF7QhILDtXCt3gDr2RatNdTgAFPNfgSgpmv7Uyri47azPhc_zM7E4OKLg58e5mRdypaGWV1NyZRfrAioXpIxCSskiehyIsAsXo1BFWeGTlrWatTzKvQKS1GdqlyTs5qTvI5FOcMqvK7QfWVTjKDdaGvO53yOCmM3tKDqtpRyijp0VLf6FJxWhU11mvcNBSX1NavAAS87xlRrWmot3D8aiRiexVC-bCD4bMEu0OJ0ckjFhP-CaOmJMghxgWoY8w20hMiluvwoKgojP9qLB7c0qaAivIFZKPQ4ox7VbKZMpm-ap0aj5K_CHdDc2ZB93OAMKKoOi5VsO9iKqnh0cF4xis4HZAQL6vehbSnnP7DTvb27eZ6RdtAcKf7oGQ0bguU3l65JntDcr2wKPz34vQcpn1aqsDJwbKmDwUQLpqRTAsBFzKQz5dmRdQ2LXD04aQKVWPZ9A6MA2ba1FZgS_aC16wsZ7TPhLZkdkfq1wPkmQVG3VvAkt7A0T15TJsJH2Daxql_iUok5_OHv6s4eSl8ULtCYN2lIDsP9j1y597VTgpkfihk5FuOc12covElKC3G5mhNEs8xX85hy0YMPQyvcDA9rMRlruIZaUKZxCSHC61PXbR_4yEmjinfDoRZx2uieN1FOdi5ep08HrBouMyqNWkqvQTPRGqibT9_1lHrOw-oB-C5kOpoogsRngdEKJ9d54jMLh6A7te8bP-CSmxJRo27y6JR1kdYbrTjEB3bqL8Qi-eWXlpljX5SDDdtoIGgs_Ql0oZJ_I6nxcV3YTQF8uNz6YZ-8WDedbWss0fqVePNSgbCpdPPTH87IY6ou4QbwawUsRuGw_xV0eadRhNEeEZM2tHdc8gJ6n-171q14Jyol8wKKB5vt03pabG7p1JFNBNtvTHrX4yNah_lmbSHXGGescL_TMqpLpz7tztwDyILHO5IkC5bpAxnEV9B-AMT_uzmo5CwZn2RI3f8LUqlCxbcREW8Mqi5S1vHdzLOhLpkauRJsc72Tv0tdHFWnehON--DA7-TBrWxpMKJW8x2V2tk2wOA8PHtKnHnvJxJUCRGhPLaY3l898Qay1i_Jvnt-wRzkI9GHf-DhicDbbfJbfxtH7_9LyDf7-2-wyvb-H6I3McZzo7Q3p9jWPdzY8s4hUku_49_PtlydvPhFxDXQa8Sl0PCUEQi0SBM7-NCTB0Dxp8eJLmbbUupaUprgCrtZj3lRHkCjvlTFDt8Kh9Q2aSI-nobFK7KnW5IXeBDHWOAVWf-SYyPq_zf6qef-R2ujwIJ-ULkGeIm9A2mgIYi2FOPUdSnezxMuq8M_5TiAQUCy9p88KZEh1PWlB4Z7E6wsSxCX_MV86EL8YX4CF1IPbgNpvgpHXaoesJDTTnU5k1HxE4fRptgBOXMk7rzuvUjL05K4Ex7XPoxFUSlFBDdWh3e4wKaEnGEejGhHT61fH7QXeX7EZUzt6c2Cp1FVZpT4W9xvLFD1EkJ8ME9eM7C9SuQl975B6ue7mI0msz3FW7i63W_1uHGtE_E2j67hlA3FGMYyc9OorHOrK_niYrU0DfyvieWCxgZPLfckpkbl64zxcM5wb4fSoSxtCg3j0o_yT9jGkAtFZ4sxcYBUauXr5d4q7CvHx09QPP7eyDR9Lsnf35kjYT5EefSAe40IL8xTDiXM_j9i6ScCVUpbjlAB-41TS9EpZByq7Q6c1ZSVA9piaKx5bS7PiOKXP37gINqNBIg3rC7-MscFPns5vZDFSUEkKg80fH2lsXn2hKSRQeEb5Hrzq-MSboiQKU2Ot_YvAdNXGsrBcYd-tb1dfc-OLjxiVvZyq2Wf1vsxQJ08p7Qy9Abukl9x50KnlB5RN6oWe2_gZCbsmIQvhgIflGOq8k81RQPtHhHvXmQmFg3Ga9dZC55RURnShDihC_CB",
  "id": "rs_0aa9fe3be4ddf76b016ab4519dc75887d0b99745f9b04e0f50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.24,\"right_z\":0.0,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"At table height the pen appears about 3–4 cm to the right of the jaw centre, so the high view hid a lateral parallax offset. I am shifting the right gripper toward the pen while staying at table level and preserving the crosswise orientation.\"}",
  "call_id": "call_dLGFVRR3lngJPscw39UcnWcP",
  "id": "fc_0aa9fe3be4ddf76b016ab4519f7d3487d0a0986a1cfb654756",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dLGFVRR3lngJPscw39UcnWcP",
  "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]: [-0.1837, 0.8776, 0.8009, -0.7223, 0.1879, 0.1741, 0.0578, 0.6533, 1.8385, 0.6445, 0.4862, 0.0978, 0.0555, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1817 left_yaw=-0.4535 left_pitch=-0.2096 left_roll=-0.0046 left_gripper=0.0578 right_x=0.344 right_y=0.2461 right_z=0.0011 right_yaw=0.5308 right_pitch=-0.1433 right_roll=-0.0226 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 6.7214, 1.5018, 0.0024, -0.0464, 1.0281, -0.294, -8.5402, 4.4103, 1.4628, -0.1294, 0.0073, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c675c4501a25c15194a5e2f856d5a1499d22b0e6200dcbc61764771d6726ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d220fb9467893503a33623ed690ea9ab47d907dfaf531bb7dec525fc18cfd9f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409f97b644273c3582cd0ca02bada6d801d90667c49af4e25d18ab18b641d89f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.842 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1848, 0.8677, 0.8066, -0.691, 0.1883, 0.1692, 0.0578, -0.02, 0.8165, 0.6132, -0.4126, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2654 left_y=-0.0796 left_z=0.1921 left_yaw=-0.4499 left_pitch=-0.1642 left_roll=0.0041 left_gripper=0.0578 right_x=0.2929 right_y=0.0017 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0553 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.1556, 9.265, 1.4921, 0.1538, 0.2808, 1.0281, -0.0889, -1.2923, 7.2, 1.7411, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8772, 0.8009, -0.7219, 0.1879, 0.1741, 0.0578, 0.7338, 1.8706, 0.7101, 0.4313, 0.1459, 0.1009, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1818 left_yaw=-0.4534 left_pitch=-0.2088 left_roll=-0.0044 left_gripper=0.0578 right_x=0.3367 right_y=0.2738 right_z=0.0005 right_yaw=0.5454 right_pitch=-0.1593 right_roll=-0.0228 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.7573, 6.8855, 1.5604, 0.0806, -0.0366, 1.0232, 0.3624, -6.6256, 4.2462, 1.3602, 0.0415, 0.0562, -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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8776, 0.8009, -0.7223, 0.1879, 0.1741, 0.0578, 0.6533, 1.8385, 0.6445, 0.4862, 0.0978, 0.0555, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1817 left_yaw=-0.4535 left_pitch=-0.2096 left_roll=-0.0046 left_gripper=0.0578 right_x=0.344 right_y=0.2461 right_z=0.0011 right_yaw=0.5308 right_pitch=-0.1433 right_roll=-0.0226 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 6.7214, 1.5018, 0.0024, -0.0464, 1.0281, -0.294, -8.5402, 4.4103, 1.4628, -0.1294, 0.0073, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c675c4501a25c15194a5e2f856d5a1499d22b0e6200dcbc61764771d6726ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d220fb9467893503a33623ed690ea9ab47d907dfaf531bb7dec525fc18cfd9f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409f97b644273c3582cd0ca02bada6d801d90667c49af4e25d18ab18b641d89f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGj60AmamevCiHhQB3P69G7EqpXbcvWvCfgfGUZ1s3VVbEW7kvtI-xJYt5pJL0mQOgnrxdRnvo6YLRqzuzaGCWA4ZhHH2kqXYLhR8H8eVrLLKaP_Q78cMSWbV97jvCC4CTTb5inD5FyXx7Ul0ylhvVmqG3iP3GAQD_UDL7TNqdW4yxMAXN1SGjzNJFgbaEZ_Cc3eiwCXwzksufVJHZjT9vOMH8EmpucGKsshtnc6ypHRR52GoML6hDpAHAuR-aDW2FD1u7jKu1JR3dOvnEp50wlhPG9WsxavC3zqHrw2DhQpX8nfxV6UFWmaQpMOILuTaHYVXyNY37Y5YohvBTh9EO7RKGgsP542SDi5A0oCXhErwqeNTE6ZzK2VoEWC_RLMVvWHgAB3rlauMzApNv7JNzQcNflzbU7YTfktKzxFauUjNw3ON8nO3aTMOyDRP_r3ozcwkwRzkue2NOqrcSUbZ_bZcunFM6V8fjndgecJEB0YrS3dhcY-UK-qFQFJOsDnjt2-0ZWamvKttcLSgY11M_WS8GFPsNSKPD8M8V-JEzxVXb1L3JKbxqNX9i-8v4QfSQK81i-Y1tF2SSvAF6tz5YHDcmfzKKc3k5GiykQQlL6yT3tDQRSHDgqzI3t2tYcrAA7XsLbRIAd0umdKpyH1htDdIwyq31oDFYg7YSh6QbQRJfC-Drh7lbSG4TRMeeW-lTrro4IZb0j5rcsilXXDKEDPW_CNg7EA0q_p-KfSHf2wKbDk82UB3x1drqyxiIMXXmQodQk20B4TtXLiDUM6DiCj9OzyDBsSgBOaww0hk3Oi2KNUdgmlSHEkYGkWm8VRFL-SnR57bY0eX8mBNjywQ1uXAl-yF_hEs_65pnW10uijpJY6vR4cOPJAbrKkTwBQNoBLjiE7ZJiDXVZSg_LR6ziC14BxbYBYh9OE8sG2_UOnzYPhUBOergAuE3AxcW2_etU5UP4LORYvo6z7OJfw9l3mOtq7tH91dNPRiCme86KwGkBzfpnt4kD03LvTgRM-m4lFGOY1NwRtFjx_2_uTRAIDoQ06zzSVrkTg6oGkEqwRGDEiXw9PIF8zxYzr6zwnACuNfhlN59fd5uMF_YTr6KEW5h_Y-r6HCWSj_g_5Q6b2cqSXU8n3XJhbMNFsM0eEh1bCCQTw4ikGfcxcNoAfhzhkuH5v4BxMrtWqEVQATnV58YEVS56MkIvD_s-2RiPh4XnMuTzNobzpdJQBDYGeIpoUCk-IFJ_g26zwDN3s0_HDFldNg9cEvr6IF0HNSTEKmwKY269dDI_PcW6jbx6SLnswpdXe3yuJjgRqq7aQrr90N4OG_thxvZGv8iQRkEQDcPGiSyhkhb3zTDILU-7UYEyX9xYxLirSk4rHR57i7suZFAJerNtiEPppk7y9hbZOM5f3Xc7WD0Qzj7PnmxANmzOGcBnlnccol3F3e5Dmu59Po7x5aH-gC1g0xo_HQLbE1mLqnDDMDyRivAl-8vs4pZEYwsRogCVGc2GHSMvOcfEBSiCLANfBnnThJ8p5OToqx0ofuXaK3GCGKa-eK2e-VlBddfBdN2AWf2QvtZj8yhJ7EURJB3fxI7Fi8bWoFcOBO_ktoxbPDEACTOGX0oowyiTdPe6n-gIfcA5gXvXJ9dOcYG8JLys_ePVWRlplFwO3YQG8oImaoWRh2OoKu-aWtP-Ay85HdALHSiLPPRONhQhYVmpByefNDeoqNJzzZIdZxcq2LvJCdJGJuSCa1PIzVt2x1CU-QKwHC_INvy2izst7DnE-HlGKxCSIVr8gsl6huzPKIH0442tmcz85XHW8K8Gaw==",
  "id": "rs_0aa9fe3be4ddf76b016ab451a1dd2087d08d8f5804becc6899",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.2,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The 3 cm lateral correction was largely absorbed by wrist reorientation and the pen remains beside the right finger rather than between the jaws. I am making one larger shift in the same arm-right direction to bring the jaw centre over the shaft.\"}",
  "call_id": "call_wle3gr7nG4U5huWfDlQlYWHv",
  "id": "fc_0aa9fe3be4ddf76b016ab451a2fcc087d0a3347004422ab4c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wle3gr7nG4U5huWfDlQlYWHv",
  "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]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1875, 0.1741, 0.0578, 0.5304, 1.7893, 0.5537, 0.5407, 0.0235, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4532 left_pitch=-0.2108 left_roll=-0.0047 left_gripper=0.0578 right_x=0.3488 right_y=0.2039 right_z=0.0003 right_yaw=0.5085 right_pitch=-0.1342 right_roll=-0.0264 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 7.0222, 1.5604, 0.0024, -0.0659, 1.0281, -0.2393, -8.1162, 4.041, 1.5702, -0.1587, -0.0708, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f651d8806a2489d5d9bba42c121f49322179af5b2d3175af17509ef93e3ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f90fa9b8fde13307788d2a4bc13cedc1d0f36e829cdbaf4a637468a3e2481e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3585037cdcac7cea7e8ecba6dd1cc75d3d8cfe2c1b0e844fed5c170c89ccaaec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.484 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8742, 0.8028, -0.7155, 0.1879, 0.1738, 0.0578, 0.7288, 1.4925, 0.894, -0.0917, 0.1505, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.0785 left_z=0.1845 left_yaw=-0.4526 left_pitch=-0.1978 left_roll=-0.0016 left_gripper=0.0578 right_x=0.3318 right_y=0.2656 right_z=0.131 right_yaw=0.5333 right_pitch=-0.1205 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -2.0308, 7.0496, 1.7216, 0.0708, -0.0611, 1.0232, 0.6359, -6.3248, 9.0735, 1.9463, 0.0464, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8776, 0.8009, -0.7223, 0.1879, 0.1741, 0.0578, 0.6533, 1.8385, 0.6445, 0.4862, 0.0978, 0.0555, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1817 left_yaw=-0.4535 left_pitch=-0.2096 left_roll=-0.0046 left_gripper=0.0578 right_x=0.344 right_y=0.2461 right_z=0.0011 right_yaw=0.5308 right_pitch=-0.1433 right_roll=-0.0226 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 6.7214, 1.5018, 0.0024, -0.0464, 1.0281, -0.294, -8.5402, 4.4103, 1.4628, -0.1294, 0.0073, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1875, 0.1741, 0.0578, 0.5304, 1.7893, 0.5537, 0.5407, 0.0235, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4532 left_pitch=-0.2108 left_roll=-0.0047 left_gripper=0.0578 right_x=0.3488 right_y=0.2039 right_z=0.0003 right_yaw=0.5085 right_pitch=-0.1342 right_roll=-0.0264 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 7.0222, 1.5604, 0.0024, -0.0659, 1.0281, -0.2393, -8.1162, 4.041, 1.5702, -0.1587, -0.0708, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f651d8806a2489d5d9bba42c121f49322179af5b2d3175af17509ef93e3ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f90fa9b8fde13307788d2a4bc13cedc1d0f36e829cdbaf4a637468a3e2481e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3585037cdcac7cea7e8ecba6dd1cc75d3d8cfe2c1b0e844fed5c170c89ccaaec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGnBnu9NURuuMdFIuFhK5sovZwKlVWuX5voqT13EkuKKT32Ony9gxfYkw-o-jgFMZNIaNQDrrYUHSGMQS4xZe_LZgcu9bDh4C5ynd7smKXQTU5U7Ma7RSENICPT_sAMlc6iIG0kK9X-kr4erXmN3MeCN2Ib_zXrj59qKqlJZVuDNHsnY8iqOi_Ixm9jE7JmUZVtYhEguqOtMLlakc7KxF3Bm--lgMiXBwPB-Lb9QUl1omLOXuadjKyTS_Py4I7nB8oZoMcKNW-NCvIn_-xK4_zchhHBXDtOb5vxy2C5EPk9Ae7AQERgorf1O39UEz1duVv6DbLmmhyvwPSi80gIR31iQMpyAO1ulZLTI1HPcPB7C4ndaraP9dPpTGh5byZfOYjBH-FGizK8Ra0JgqaZkna3nIJhIpc_ycxG6Y0hM4TL1QDwXGFIHNBENRd2XzY-sGA9u9Nsr7-DlvWfsKrMko-Ves-hIPXXi5fCV9NHI7YptL0wcmGtV-r2GBFJnAR4xCv7FuSs62XaMb5HNZefVlf20z5LjDbrSnYtSv2YQKMAZucBvwaAzD4u_1fC-jE87P97R3YOiI1GKIO69sE2bfMJrbD8JXA48AviWONcjP_BOChZuFv4UTx6KSw5bEWiqC8vGrd_jXJq7fBW89QUJY3bD99Z6podQISJnEsa7gWbcvcxkLGkfQKQLJ1xLr9S8A2GeRHzEIQ4TSgGGNUuwrmKT6tHHhT_RXtm8Zs2FFF59o3RmkCKMNKk4W0g9masxPylfFYkGfGkFXPGaOl8YWgN1Y5peMzIxtMhnpTvLQraxRz4qDR0lDcJAXgzauXX5_k77e_WnzMmuDltEBb-k4gy0NUhZqhT6vepdEB8UwH66AEC8URPgWdlfMSfBUfofb6vbFGfuBJe-XFG1J3ThDnulAKD4Avc9FY2UF1XJSnYXRlTr1IUlDHNxc1Xrd7nviqbWVNmES_kftqQ3pWRGqdi4IPP8g6Y_42ktkcQZQDc1EBXGTP3M5DOJWZfN195b0uaQtY1Q3albCpHHJPW61MgOMhkBdP2pNv8QEH5L-DFO1GrJDLmuwd-rMGx4OZG0w7v0C75pXyKrBACV18_BujZ59sqzNS_VaWGCJOlR8DavriudZQrpn61GPep6feAxsBnQ63MRgY3-vZq23SADLJEb3KnuC4ok-R7QMFi8pmQunWSS9XPGDOMxBffVEzs4aGmZdjAKtUQO0Bk37ezsUqj0HycCHP10Z87rNL8Rl894pHJgkpA2LHE4jLRr3BWrfjM9KdN6VXV2nb-e3fifx5H2e-g_8eDC1qLb_i0E-WlWGlonrVFBm7rrfElvwQgn9ayuTjsPORxyUqqxD3cud63Xx333WP6VEdewiR4Zykc0aiCvHTc8gNgC3SHxThQF4HKDxVlHry_MI9A3Ber6dD4lcHhCzWpKFPPUZeatfDOyeIg1bMDMOUbCRJLpwMb8yF1hjtv-ebac5W21HPHH5xUcmmxMc3Y2YO0Z9J8Rom3zRo=",
  "id": "rs_0aa9fe3be4ddf76b016ab451a5801c87d0af1d0c52d4109d57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.18,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The larger correction moved the pen close to the centre; its shaft is now between the fingers but still slightly right of the jaw column. I am nudging another 2 cm arm-right to centre it before closing.\"}",
  "call_id": "call_cAz9QtpUMWDH73YlYypx3NZp",
  "id": "fc_0aa9fe3be4ddf76b016ab451a62f1087d0b222f29b926a1b6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cAz9QtpUMWDH73YlYypx3NZp",
  "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]: [-0.1837, 0.8783, 0.8001, -0.7223, 0.1879, 0.1741, 0.0578, 0.4797, 1.7782, 0.5274, 0.5625, -0.0208, -0.0502, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.211 left_roll=-0.005 left_gripper=0.0578 right_x=0.3506 right_y=0.1906 right_z=0.0001 right_yaw=0.5154 right_pitch=-0.1278 right_roll=-0.0267 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -1.3744, 7.0632, 1.5214, 0.0562, -0.0562, 1.0281, -0.8957, -8.212, 3.6718, 1.5458, -0.0415, 0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73b331b7abd069fdd8a502365b2c1deed537ee9c07cba07fc0359734116f30f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2497df2ceb5ec7626625800647e28d465cff3cd8bda4d3a438608e544a517a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb971f394185b2c4062cfd3d29a6f845065df43a6343f6cf88788d8fb3779ba9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 1.937 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8772, 0.8009, -0.7219, 0.1879, 0.1741, 0.0578, 0.7338, 1.8706, 0.7101, 0.4313, 0.1459, 0.1009, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1818 left_yaw=-0.4534 left_pitch=-0.2088 left_roll=-0.0044 left_gripper=0.0578 right_x=0.3367 right_y=0.2738 right_z=0.0005 right_yaw=0.5454 right_pitch=-0.1593 right_roll=-0.0228 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.7573, 6.8855, 1.5604, 0.0806, -0.0366, 1.0232, 0.3624, -6.6256, 4.2462, 1.3602, 0.0415, 0.0562, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1875, 0.1741, 0.0578, 0.5304, 1.7893, 0.5537, 0.5407, 0.0235, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4532 left_pitch=-0.2108 left_roll=-0.0047 left_gripper=0.0578 right_x=0.3488 right_y=0.2039 right_z=0.0003 right_yaw=0.5085 right_pitch=-0.1342 right_roll=-0.0264 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 7.0222, 1.5604, 0.0024, -0.0659, 1.0281, -0.2393, -8.1162, 4.041, 1.5702, -0.1587, -0.0708, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7223, 0.1879, 0.1741, 0.0578, 0.4797, 1.7782, 0.5274, 0.5625, -0.0208, -0.0502, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.211 left_roll=-0.005 left_gripper=0.0578 right_x=0.3506 right_y=0.1906 right_z=0.0001 right_yaw=0.5154 right_pitch=-0.1278 right_roll=-0.0267 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -1.3744, 7.0632, 1.5214, 0.0562, -0.0562, 1.0281, -0.8957, -8.212, 3.6718, 1.5458, -0.0415, 0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73b331b7abd069fdd8a502365b2c1deed537ee9c07cba07fc0359734116f30f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2497df2ceb5ec7626625800647e28d465cff3cd8bda4d3a438608e544a517a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb971f394185b2c4062cfd3d29a6f845065df43a6343f6cf88788d8fb3779ba9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGqYYpndDnm1tTm6yDTSjNX1xV3Fc8E7wJCTi71jbGEEynStKrfJBi4UEpxbXNjFTmCi0NN5aVzDC5lgjacJQQRtdex3tnhCOCkQyKeDr_eaqTPA-13m7w67nsoewy4CKtkBuhHyFz3QZwlv9MpMFPsxl_Rf-KYGB1QWStii0KUO7L6krJonH0f81_iE3tErllzJJOwJYKvANtVhB7J26leQKu0h6j-Uaej6M0HX_LEu5xMeJlKFPkMYtlznFeYn7Q4SOsfELtNufrIDtxXq0B9doYkth-iXicqTvr5di3uQonV_Mt_4gGvT2RJXgGqphQ6sYsRleVMBF-O-IcSdFiArZN1Zi3S4zK-6yZx0YQMAPnw_iC6eGqlX-toZv0Aft2nmYmOnQmmgMXzu4FUjCNuGkzfuS8XHWbFwU_aZsjj00s3ox9DP2tDgTsZMRyfzlSNd8dKs0HKDMDmfJO526ZEIiJmvvBtGBtllMgxNSsac31ElRYmLML1Szkxq6nkRY6juaAgnLQwPbXQ-4R3uYCF-Xp93YcwDRvWMarVBm79zHHh1x-LHQKfpYr1hByndgKDbyqCR5oAxuyqT8FKIdgQVKJYILJZ8kHotquG1gJMJ1cn5OGG37Il-cvWrgHiMqeDrk2ubGX8QUWHDYXCuX0ahJDK6gi0wKObjMg3yRTRSvKtzLmuc3Z9TPXD6k3egmugiKFPSgh8qVoGLv2CzIl6lVquzguSPFCv8b7-DEGDfYoMN8T5PBA8q4lqgGTHLiDlOHkguWERXlO3DWIJvNuDplHrRC8XAMNxpamQll0Bb9lfGc_S4MzBHGOSJeoVXT39mLx2oUGCmf-Nl5v7Chr3ElDZsHGbkPkKGDgFgw5APONwn4lDxDWB3GTFZtC02Gw9sRdgjmDsQTve4RU6_irAxP7_aFdTB3X5bd5dKflygdf3K8-_hS2FDsxPRwom9YumZV-gwvy7Ypj8fF1HGSaMHJJqaXGD1dtBwtPUro1aCLJQojJEhiOzxIoTEyka3H_tAd6VbQyOPFih5KeoZTfiw01LTKglc3lkPYihWJK-0nNpTSztRsqVT2iT5XzCH74OJLd-GpA_8LDBLQLxfwhD7W2bwt1eSKqWldLgZtrvBsuz7TxvQSkESs7h9eU6p6UTZXlKgIRG5WLbtCPJx3Gm89o2WvUoSPowfb-a7SpOB2dBR0fS9eqpcVPdW3LctndpXNm1XphULtHKJ5zvbWIOXRQWCHAOtb4FpAzQv22aAHq_bGKbTTz31OFr9o5McW3HkPgbbrCfdi0G9m4OP7mx4uRJXqAWlmkc-htPbP3m-Oa12cs3H_M9WFF-MmAKSwZECvvMBVyZh5WmO0Y6VL2WyhjXhCC5YiWAOeGtKC5RuDmPlA8Xzc6XjFOZh1Hj9zcuEGDiFb1USMXp7CH6ORE2Kq6wqdRBE9_UM0mN9AdRTvqs4RqhCP-pn3cJPjR0vCnAorsjxCOiozRyxCRNrgPWtSpjEcG63YI731QA3jkboc1zDCiN4rAM-xac6SQEs9Gh6B0UZgUjuR9l-EUecwnE-8qnpDneJzwcf7tlGOKjfEX96hzWCS_GwHnVv8eNvCDnG5d8hXDKGsq9uJpnd5Din28EdvVPvh_kSLinZF03eQgQFfWVkWq0S520msU7-h1Z",
  "id": "rs_0aa9fe3be4ddf76b016ab451a83f9887d0b3b2dfd28b8819c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The shaft remains only about 1–2 cm right of the jaw centre and is fully between the fingers. I am applying one final small lateral correction to reduce the risk of the cylindrical pen rolling out during closure.\"}",
  "call_id": "call_vRNn6vHgkYjSrvY0lNZanq7U",
  "id": "fc_0aa9fe3be4ddf76b016ab451a9721887d0967cf0483e120229",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vRNn6vHgkYjSrvY0lNZanq7U",
  "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]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.392, 1.7592, 0.4919, 0.585, -0.0738, -0.0975, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3551 right_y=0.1648 right_z=0.0003 right_yaw=0.4982 right_pitch=-0.1197 right_roll=-0.0304 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3197, 6.8991, 1.5409, 0.0024, -0.0269, 1.0281, -0.3897, -7.706, 3.9316, 1.4872, -0.2271, -0.1001, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f16ccfd84112b063403d4b311c72466306632d636899e0e0a2ba8615577bdbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641e89f633ad1330f4e2a438fc3e6c37da74d169f8287016d77a3527e05b9f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b683e1fe265aa6b99676aa36d3f5939e2c8965faaee16e346c5e4c7a6079432",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 10.02 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8776, 0.8009, -0.7223, 0.1879, 0.1741, 0.0578, 0.6533, 1.8385, 0.6445, 0.4862, 0.0978, 0.0555, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1817 left_yaw=-0.4535 left_pitch=-0.2096 left_roll=-0.0046 left_gripper=0.0578 right_x=0.344 right_y=0.2461 right_z=0.0011 right_yaw=0.5308 right_pitch=-0.1433 right_roll=-0.0226 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.1692, 6.7214, 1.5018, 0.0024, -0.0464, 1.0281, -0.294, -8.5402, 4.4103, 1.4628, -0.1294, 0.0073, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7223, 0.1879, 0.1741, 0.0578, 0.4797, 1.7782, 0.5274, 0.5625, -0.0208, -0.0502, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.211 left_roll=-0.005 left_gripper=0.0578 right_x=0.3506 right_y=0.1906 right_z=0.0001 right_yaw=0.5154 right_pitch=-0.1278 right_roll=-0.0267 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -1.3744, 7.0632, 1.5214, 0.0562, -0.0562, 1.0281, -0.8957, -8.212, 3.6718, 1.5458, -0.0415, 0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.392, 1.7592, 0.4919, 0.585, -0.0738, -0.0975, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3551 right_y=0.1648 right_z=0.0003 right_yaw=0.4982 right_pitch=-0.1197 right_roll=-0.0304 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3197, 6.8991, 1.5409, 0.0024, -0.0269, 1.0281, -0.3897, -7.706, 3.9316, 1.4872, -0.2271, -0.1001, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f16ccfd84112b063403d4b311c72466306632d636899e0e0a2ba8615577bdbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641e89f633ad1330f4e2a438fc3e6c37da74d169f8287016d77a3527e05b9f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b683e1fe265aa6b99676aa36d3f5939e2c8965faaee16e346c5e4c7a6079432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFGshBg0iXOlOO4I9DXkeQAX_dBdS8Ioc4QIwpwQP0pDaYPSlRy-ZT14BAd-D7D9in-tAOa9GHImWXxiUDZWhdKz1glhwmVq2V4itHBmRVx1brWcwkq68Xsh8yOoUrhhf8iFyIKYII4kRz0OnvR0B4A-IoXOH9pTa6CMxzaow1RJSczzKIPHAKCqo1rrcxmA9K4PePjhJhlhUUM2OHfk-f5M3uuShEnTvizoKggveOs5h1ES389VJBt8Of-LuKgd8GtkyfTyulYDA_DWwFj-9Td5VXajFXvlpniSLNKdechLF1o8DDWXv8s2nvnLKC8RN2tOGHvdO0OLrBQZjFDpWzna6oz6gQemXcSecZb45in4XFapR2LwfnG6Z_nIMYrxIEw32qvkln5ArEYwvZL_n8-MBSCexCKGogS3RkCi8WfkUb2m3l6TUxzbsueG27qArtHQT7F6jmaoZTS1tP3VLrFRXiHav3GkT2aDpRcphJ0ns0MpqGsg7mQLHoNbO1ufeFBEBRvZTBy5vIhLCUdZ_NiY87rL_G-4nFHJzAS3EXl9snHgnm05MieVxf4lOdvrvG5JpRp7a5MS5BD8ir_8Ten4zUOOi0SlMHsK7n0em-dqar984pXQlWpbvG2VTAcN3dfkG_jXfZt1T9qydE4GtXVhjV7swXPW23J3wrLaOvr0xZyUmbOBCmPfR2AAVjyGHL5D_Kwikbc0rEPWKVg5eji50prpuTmUzhvAgVU-PguSellZ8KkvnGu_RwOi92u8yJ5fkGbxlfc8PptnaYYrKNNoACEeOkQDiPdRUnccSMswpCl1reQfe0RDspDLqIvuaBAZ4M5I2BJEZ_mIGRU2Sc0LpLminXzcDtEa_xkXDMjnh_IU7jGVcEW2W7pTEGkF-vpJe9UG4fpWsJlfSoQD60XWF6T8sf52Ix2OXN1jT6X6ziw5NupxeAy88U8P0AXLM3REGpB62VzAj_g2Op2mJpa10OGt5KjykV1qg9fQN0UlluxZ753vbwRC0wpMtp8aFnfOba6ofEtko019_wfsvP_YhLFFlo4z-0vdwxWgVtLgFQKFpKYQkdggWp0rUljfTcuYuXRNsy8uIbvJPFWXLn0wQ7Cr_WJ4tXyMLh6A9GGQ9nZIoAzFLzX4_zHIDUYLWA8kYF2SqhlRBZPV1Vj3SDdc8SI4IQF52-eVe9A_8DDmf3BZzLny_8fvFn9BntFRZUdj",
  "id": "rs_0aa9fe3be4ddf76b016ab451abf3b487d080d04709e54907a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pen shaft is now centered precisely on the right jaw column and lies crosswise to the closing direction. I am closing the right gripper to grasp it.\"}",
  "call_id": "call_EtTrsNBFU0suX7LjtamIi69c",
  "id": "fc_0aa9fe3be4ddf76b016ab451ac222487d0be5e4e4b64aa7e34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EtTrsNBFU0suX7LjtamIi69c",
  "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]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.3679, 1.7512, 0.482, 0.5846, -0.1097, -0.12, 0.0073]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3537 right_y=0.1609 right_z=0.0004 right_yaw=0.5167 right_pitch=-0.1192 right_roll=-0.0251 right_gripper=0.0073\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.5458, 0.0415, -0.0464, 1.0232, -0.1299, -7.6786, 3.8496, 1.4823, -0.0073, -0.0171, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2b46c84e0b424bf87b58d80b5cea8cc22adb0df134aa0751b929bfa2231173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e17dc5af28fdb79e3c7cac0babe15ed9aec96fede0cd5b8ad9b4e97399a982c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f27d6a6973515f9595ea42c90bc0fe0cc38415b267a1d66c38c1c9ff14161f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.577 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1875, 0.1741, 0.0578, 0.5304, 1.7893, 0.5537, 0.5407, 0.0235, -0.0132, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4532 left_pitch=-0.2108 left_roll=-0.0047 left_gripper=0.0578 right_x=0.3488 right_y=0.2039 right_z=0.0003 right_yaw=0.5085 right_pitch=-0.1342 right_roll=-0.0264 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.5248, 7.0222, 1.5604, 0.0024, -0.0659, 1.0281, -0.2393, -8.1162, 4.041, 1.5702, -0.1587, -0.0708, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.392, 1.7592, 0.4919, 0.585, -0.0738, -0.0975, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3551 right_y=0.1648 right_z=0.0003 right_yaw=0.4982 right_pitch=-0.1197 right_roll=-0.0304 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3197, 6.8991, 1.5409, 0.0024, -0.0269, 1.0281, -0.3897, -7.706, 3.9316, 1.4872, -0.2271, -0.1001, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.3679, 1.7512, 0.482, 0.5846, -0.1097, -0.12, 0.0073]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3537 right_y=0.1609 right_z=0.0004 right_yaw=0.5167 right_pitch=-0.1192 right_roll=-0.0251 right_gripper=0.0073\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.5458, 0.0415, -0.0464, 1.0232, -0.1299, -7.6786, 3.8496, 1.4823, -0.0073, -0.0171, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2b46c84e0b424bf87b58d80b5cea8cc22adb0df134aa0751b929bfa2231173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e17dc5af28fdb79e3c7cac0babe15ed9aec96fede0cd5b8ad9b4e97399a982c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f27d6a6973515f9595ea42c90bc0fe0cc38415b267a1d66c38c1c9ff14161f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG3Rw4oSgdccLE9KdLuAccCpH1T2QU55hR_ycuioyBFamK1HGxmoziD50kiRhNHHR5d6EAwSb8dVd9G-hDjizfk9DB7JrqFrWZu3GUuLG_MQlRC6-Oe3lh-HlEirNWttLFibfZRW59pX7FntG9pLG4zL5MVaaH2AB8RMmTvagDN4YC2CQVOKcjqqhVypfa4D4wyCfdGiDE8dCMbFam8i4pAH-X7nhh45aW2gUw85X2LxsEqVl1e1r7Yr-Cx-eIIn86TorGz0fic371wSomiC8GScHG0qfsPTHLJ0Pvpxjofz33qqzXyW6_2BM2z_R5QNlw93BYIOHn1lWVG-Xt6-qH7AQH_EZm4mXISjHOjqU001XGQY0_jwSnDhPkoSsgOF0RKlvuReKkXyA1wiTjzvbHhr_TpcimHJtwgH4iA_9C-Nkfzbr0V8dUMrYrjZ1pfM3MPV3dN-UEg60zC4cntUT595QT4RaFPW5PlHOmwgJdUkb-IF1RoDHTTatAcahkhXO-0hNcXCjU6Yvj1eR-FEOotJZrdwRJlEykVCH7-voleaQT_H19lpCvL3jiEIna6nFKrfvN1EtyFTKIUP05mziD_Y6pzEPpty98r3DVV9TYDtDNG0-Og8hisk0ksQ3Q8P_pB3nYbUZmlnK0ud7OImVgGFEqkHkDZIlvRrIg8uoh2WaIb80h3AL4m6CqmibcEPAZJPGEgLN8J8VU9GL4BQIbpkQtWCKOK2iGgohabmWVKNVOrn0jnNLS5_PjcJmr9qWT10KqztTseSkXDqruGC6Nb0U2EMQNo0_zUKsF1KfZNyceYwD8FF3qRia0Vx0Fk2Srn9ZMbazjqure6fF3CB4Ad4MwlsND-BvRqcc9QPZa83H6To6jUNhzyG6u7hy66dYjDHgfmnn78yFfMvkeczEz1WA7Ni4cPFgwiAWhXYmcbGYLgylqfaRoUYWqo3xtKGTeb_nowf1lp1sgn3vyMx5NN-Ry6hHScHUOW6EyT0br6Srm6VQGwq-GB3crgYzuH0EdoMGpFO3P3nPyHdlDAV6VYhlubYPOuplMUq8lHvP_sz5L2cEoWTY5bWu2NTcZ_aLpwBrlyjfeECHV5dMLQ2_iEZzE-7WaIpImuuNlVUh7XNrL4R4Mo8ZSPF8gzSBKKNnilBYBZBGTModJYy85q25Z5feF8rAwOPNUSyDgmwSpDgat61RLEflaJsRQH8NGps-OoE0ricg_0LwPkGAU91ys9U-8MqMnIRzy3JrKm-DFSfYuf2UOZZ8xOZI7ffYsf2RYwGUbNC2Z9xVnuQhCy7KAQ-G3x8m1nc7jNUgY8BGBdBhCxuzGFD5ViDSgh0sms4NejK3Ci5mUHSB8rMd-mzBvZc4mTpZ0tG9146bG-qiFmaXmLmncLk97-Sg4lS0rts5BiqjlNbcOQPgdp4qpRzqqXSpT1vIWc3Q_3-KpawmcW-tgH2GirJH1xpgkeqeQFqJwkqetfAMBEiy6oTBiRns1y2zXX3DrLrMoMfsEko975Y2XoCjSWTR_IyE9QTY8LB_p2QdQcI59T3JuaFrTHMbxkChDSRLfLlXkmgeyCvypP-FSspPuOOIaZ3HqB8mB6Jp4PKTeVcUTiNx6QxLi6Tv0ckBUZKs9wlqjJ53sdJjhy48iHCDJ0pXxkbGpWRN6eoOWsB9fJPdMTVQ-6jZMs3ldcE-KI96MM2rrHH9p2ljb_9ApT76frj54yU_vm3jHt8TgyI5BVxey-L6HALpuOqAlHrNigE0cqai0t8OihBq6q7_f2fWAzskM0wUMZ6kLUOTfOKtA5s26oXK02cZkaJNUrawrPAKzsv8HV4Y5xGJlWP4Lg9jmyvMImMQL82PVttZ_V74rOAjKEKIEgWMCSw_qRb1EMNsnu5sAsoC3WZE5WaaGB6LtstnPd0Vrb_L2aNSezg9yZZmdjXn1mZvF4IbOxPXTlj2JSU-u_-Jii2GRsq2csLuhUJlhA962CSJx7HtdN1cTvRvUaT-pe7Tqnv_CM3HnGx2CtBdbD-_WXr9fHZbDjoM6vAL3xAX250J-eVHYsG8VIb_RgqC6jK8PWV-nKHd99npS2ZnDuHpmdtPRW9YhoulWd4qE7EY0PxSsgKuK2HNVvma5uf1W7LCXZ1vuLDPyzVKazFnGcOVsds9OCI2h6MMyguFnzC5UqI92bLzJPRiUAfFHm8DNaCDz85zrJF7KVoLwCu09Ik78X_AZXeOO9PLEO8lUW5p6dcWH-vR49LkcnFS8b1kqiXmRi_rSmwUUymilZyrxXf5oLyOXrNx1bczqog5Ks0yJxz5XqmuIaLu3tqp353jKZVXWzuxNJRSaXGK4NgftpXzIZpGEI4OJFmQWAi9YTxQU9ky46iDj8C2qxVgMVNA0EPBB6mCsHJqSvRw3LV2wbQ-CGIlEfoVktcqPzKn5PvBXlwCZy6UnJ8BDHTa2X8CdWacUDl2gqeXZ7CQXLxpRfWxPWA0dxexlHPfpWeViXBNieYeiAMgQ1e8I_j2-a3-HocBl3pNVagUFmZgEstNGmsSEyVzRKcFe33ZPC6bK4_Z9VKpzZ2qQjMlz-D5FNoxbspTO7WzqtRz60Z6kh9Xsm4ZpVGKyxLZtypQU8uxXqzf4-l5IPo76mN8uVtoa0H9dXF3TFnhG5GwQ3qIJmAtqYoMv7s_oGunT4E436ERZRy6l--nG7SDwLR6FHjgvRtRv6vyLNtUWkkEb2rC74vG4ki66opRBjJDYSkqLPIyHGXBJNWaCrP4Ax1I3yZ3mjNO8MdUEcHCg2gzpC5HjI44VliT1B_SBs39P6BpSWULgctbbCo4NzQOhKdi6Qgl3M_2jTWUFXlu432OPWuwUeRl4bZ0Er3wmqdsEPDL4FXeFeMjMN7BNNb-TqZwOYLM5VYxhdqTjspGNr2mVG92iU5RVv64iaJnDhLL8i1nGFmqqmmXfDl8f4fo8uwflJwNaFhQ50dU3_VACwCD82AKtk9QaIk7uHaV5OZvP3XTmH05r42x72AVXxRqTsM74koUW6AdDnD8VdYwwYYKwx1v3MxNav0WOEyTw86QmXcbOkXFQz2hbTm5nFgGzfTqoUkA8TdlqtYQZKKVIsTM1L_trYLnS0YVeGUlz4oGsbe_ShnNSeIHcEsWLbANn07GziusphPaLSjvu7lymoF5x7Vs8jojYIfB4Svz_Lcx1BbtmFMzD9z8Bkza3HxaYRip5hB7GhtbSeWpjriDk0mmts0xGCxQm7aYqH4FFY-cCMiO0BceXLEF0Xyx6z8-e9VWMaPPdRd3YrI_ncYt8Gjh8UtuQYm4l1jqm9OjkVFgI0gkDz__0lJjPHeLH98K2KTvLZjSiw2sJhuPMgRVDc7zyQY4XL5QaxCgnGy05BQNx0mq2HzWrXCY8b4Bdf0XCaxSSU1SXO0on2EZmmEaKtsJkUoitPILwFuqgzMPlAs8V06vItjd7Jaw44kgJIbqImeBFz-f68rSdEMI8Hw2P-VEG78DYFw_K-R-vkAsKzq34Rd8qSSluDx6bS05GKtPfvaAHhRoEu5VQGk_SiQ1RxxT9spYjSNHSYVRigUKQRDmdMxbBJi01Uo2E3UCMNsG-_ySgTCoDLQ5al_SSfi_vTyCnjO5TOvfrCNv0aLteT_-wDCCByZUvcyqM_biq0gTIRGSV9Wg35dvr3WJTcSvTnyHToBfW4t7ZmmuQzcDM5vsyzcJ-y50fe4FExGsw6uDuMbjBh1T2-hl2Kdg_uCHUtbnDpsvJ8GgyPhY1vczCYMPRAIYmTYVZWbQDDCD11Wctc4jcw_pRVoeBwBe8NtD8uEMkx3d528bjNDpymLHUJpVBcFBOeO0dCTfo4xGecVMFk3u1bURDX1cC4RXGlRZi9-R8JUVo46EnMHGdHmGuAhFbONfntuyjJMCJv7KoebqNcuwxn45r-zynKEdORjzkpagZDZt5tPtnr7iwyZlojwuMRT7teUhLeq0A-WiHgfjxJqTDyuPd6MSDItPvph0hTekT0K2dz6w3k6PZEOVbzdSMnDLYAiXxrAyW6akLoaapLRB9_bk6NNSrMVGDkuQ6gkQ1A71omyNGhZM1u45logmYsS7s6P8vhWADbU8OdPAX2_BJZ9zFTitep0H7OBOWkzm0QwZS84BiHK_99Y6HGoxK_fl8oz5VO0lPvGBWJYlSd",
  "id": "rs_0aa9fe3be4ddf76b016ab451aec7f487d0a5e53adb1803e02a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG3MS0EC_vPgcN-iHIufx7oxCTHG7P06HVysjNls2xOMVScgrSPRJTntrvkJKrezgjB8AYhiQLzxi6qXdt_Wz3GLrepN4yyn5RjcEaRHPiw222QHVi1nA-NbVE-bamrEmIfMtsG-GlbowGWTMxAU7KbUWMBLC4EEoLBG40aLhk6bnzmLY1g2x99gWgZaK5YcjnFjdrcSmTAQ2VfI3R1sqO7TiYGW3cVm01Q21MeuYpZx0e6cR2IMRTn8XMVxhGgQ2rNk0IBfDQIHDENVk1rEGhtDf2eHnfqduaq5vpwjSvqeI0Fmw2f0lPiiGmgm1QIHQpZ3ZJY6ViDdZcFq1Ar8wKLRu3gs9aqCIQNvzL_fbAQhVDN21EDPa9qoLk-4nPAWqKW5dO8zl6d7SZNPfMAAeSkDlC1qHdE6lT5UQ4H4htsiReleXcVvk1H15Q0s6j-6Tx-K2VrEkqoBmOfssM1Li56ss8URmM99UBuPcZ3-AC5396Co4va0qQDZ29llcYTQdWM9L7UY3kwOh6rnghyrAp8KharKP46NDF1xdajUvv9mKCJrJefgEYWWpiuS-nKWvhjqFWHRyt6eJk1QFpdYtRtNx8NhWtrqL5xqOsk246siMUCiynIX5GopYZodq7BiI36ln7BmHge3biMpEiYP25ag21SFkuuoyCbMyZh3DK8IGZZ5vqPfCvnzh0aMM2Jn29gHyx-lg1Emn3HbGTpzMPPaRJQ4hP1OMT1xtuyA0OfU2nivN3yeFE0u-fYKp4-VoB2q_KBK1DlWfeqXUj7U54lvja0YIGhtWP8k-Tfp060xnLzLn4E3OgLDz_PMPkrbjrxZtDZJL3q0Yzi-Uezy1Iv0GeiPVPz9img1ukieaVEZfH1_OvH5I7zV16y4zGY-7e3DXReMIpKqHM1C_-G3xfm01We0w93PPfFMeIv-lnk1ZGw0mZCtqn3ZjTCM8Yo1Y-yWDt3bk7hnylPA_kXeIUCZEG1zXJ_XiNUJGWepDx3Y3YwnI61hEhL8nsI2yK6CY9D9JLE_4q4FD29yks8hdHM4YQtF76FTijdTB_KdJICOTUmAtXfwXPdz8_ujT74zo3XP_aQIPbV_lbiRiAHxHGri4EMYpFx3TLG3QPXvJXt-ME6LOxyiWIAyrog7w25BGEEm_8r-pmkJ-Iry14AAkebW94PQmof_AfpvshCctIrLoo3h_IpHJrYsOZEFwfr_fj33J3IurmsarjCepprHqgLPBExT2z1IathLlbRt_iVZ47t9qjy8QRldOlu0Klpf0ZiJ_4Ju5X0HEVmlrYe8tH4Xdm04sgBvBm00HHyaDsE9gSJnlmbBRevDyXVDj5F_yTv5VWEgkNO5txvfrnZFMlUWQRBkflvy7UwtY22BSfRIPLW8C9tuJ6jccZJkrSzjD_IN3-TmUFwix4TsNu-moDfaolC4lFRTbOfNXRKllNqjELPZmbbf8T5H1OCvVnWZ0iK0HAAG8Vk_5eMy2rj_jqG2j_5rzRhQcpEdYnfjsGUTsmBkpyVN0B92R8eU9xAnqQc6lDFoAMvEVlRNzi6-irwzwEK8riVZmDMb76pTHAHnMpKHA-GMSADqAKsUGr3gtGK4Wtr82EWjt3wjmisOo0l1lAmjmihmXQgxTMCN6w2YyYm4fRoE-klopOvahHk2tNk4yShVofQ-2FioS-0MqyPLIASOr5F6hLrsn1biR1JnD-NjV_XD1EyiVv00dbD6Jptzhcb8DdLT9LSIB1OTd7XfnKmBTh-m5K8iyQexu4U7RFwBAksQ4oAyQWRPRg2zGbcHmfeq60q5qx1c128zQ2WfsH24Awslvq1KTL1QxLNX06pTDeD4a9nnbAcgoXOi3k9KNXQkA2ZxsohvzczKcdF6O8b8CWHq-RHesKNdLGbt-ESpsmHSjqUMm1PDlWSXAoUO7liUK8nwIREYUu7CzJvjtyC2dzGq9kWWb00fJwyQqfk6-S-kygrGHFw1TFrMwrI_uWoftFk9PUq7On4C2F8nkX4mhqJE_ZBoJybfhGkT5_aXdzyzppMN4XKEJ1GxNbiSPhJtZY8Bm4rPXw3VmUO-TC_IumK2m3mP6anMUZO-8UTZMWeZ-jdtvEo3LPbGi3VoR7hALiLHYsoFBKQqecx2Y0lB3t3yIGXE9iG0x0ngE-lBuqJIw7IidOBVjtHlGUrU6CTwNFMq5hRUE_qjCOjW9MFDsRDc2dFxM7Al7SsembtEYcae_uAGie4Mp28OsnxywoeGnlazoqcHG5bmVKZyQJ_6yCCSJ946f1dUQevXFxZ8Z4bSkjw2xBELRFaHaY6qprq3Og_TIvvuyk216pgPSgmat7e0yI94frJMqB2l59PlMp5ahGzE1-wIliIiFOIYdIeq-i_ONc7tCGMJLmICVEbriyrn2LJ30QUnnzBa9o-OwkYd5K1_ZCaFAqM9DUjNbbGZpadaYkeeR0xTRnd3dplusKrY26ganx4DU_GMGKVAdd-dnxW_RffTcSEPbyP9crs9IvIpl_TpojTZyEHnGSOb5nTlwcRMjbblADhlAy_Ga1HM5N1uokS4_JKLkJ2kQXPBBlfHGyokDsmxZ9Zjnj9RPa2_WKiPOLEAYW8wi7mUqOOZ2zROtMrRrAIQvnHTcEin9j1bEM-JGR9lY9iqVcXHN1C5rk5YIJtWeDPIL7WtDLnXW57w0_qH2dddiHK0jEIdnQTx-1Px6WqChb3a-ffY-4BmY0gUeiYjhacSDjwRVAqTNjuQo2m_Rh43tu_r5KfT92ijNKvFtaZp60yGg==",
  "id": "rs_0aa9fe3be4ddf76b016ab451b3c93487d084a9cc69a7902fcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The right gripper closed to 0.007, so the first pen grasp was empty; the shaft is visibly diagonal to the jaw geometry and likely rolled out. I am reopening and lifting before correcting the yaw for a second, crosswise attempt.\"}",
  "call_id": "call_ML3DfGjsYRxdTo04TQiTLI6r",
  "id": "fc_0aa9fe3be4ddf76b016ab451b6e24887d0afc9b30ec8235a9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ML3DfGjsYRxdTo04TQiTLI6r",
  "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]: [-0.1837, 0.8791, 0.8001, -0.7223, 0.1879, 0.1741, 0.0622, 0.3679, 1.4239, 0.6376, 0.0921, -0.1097, -0.1261, 0.9946]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3518 right_y=0.1602 right_z=0.0852 right_yaw=0.5202 right_pitch=-0.1287 right_roll=-0.0284 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, -1.5521, 6.7487, 1.5311, 0.0317, -0.0562, 1.033, -0.1026, -7.0906, 8.5949, 1.6288, -0.0659, 0.1148, -0.1245]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aa7210ab126826b8fcb7724015bbf9842d656b2bd95c146a95da3740b1ec9da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828485455ffe37251530cb60ad11ae1415a0bf251ec5e2dd7e8a242472ac4d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434406f28c2263f01c4cc720c904d3624a1a54ad41863510ec24d936a800a26a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.78 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 81 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7223, 0.1879, 0.1741, 0.0578, 0.4797, 1.7782, 0.5274, 0.5625, -0.0208, -0.0502, 0.999]\nstate[eef_state]: left_x=0.2602 left_y=-0.0782 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.211 left_roll=-0.005 left_gripper=0.0578 right_x=0.3506 right_y=0.1906 right_z=0.0001 right_yaw=0.5154 right_pitch=-0.1278 right_roll=-0.0267 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -1.3744, 7.0632, 1.5214, 0.0562, -0.0562, 1.0281, -0.8957, -8.212, 3.6718, 1.5458, -0.0415, 0.0269, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.3679, 1.7512, 0.482, 0.5846, -0.1097, -0.12, 0.0073]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3537 right_y=0.1609 right_z=0.0004 right_yaw=0.5167 right_pitch=-0.1192 right_roll=-0.0251 right_gripper=0.0073\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.5458, 0.0415, -0.0464, 1.0232, -0.1299, -7.6786, 3.8496, 1.4823, -0.0073, -0.0171, 0.5495]\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 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]: [-0.1837, 0.8791, 0.8001, -0.7223, 0.1879, 0.1741, 0.0622, 0.3679, 1.4239, 0.6376, 0.0921, -0.1097, -0.1261, 0.9946]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3518 right_y=0.1602 right_z=0.0852 right_yaw=0.5202 right_pitch=-0.1287 right_roll=-0.0284 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, -1.5521, 6.7487, 1.5311, 0.0317, -0.0562, 1.033, -0.1026, -7.0906, 8.5949, 1.6288, -0.0659, 0.1148, -0.1245]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aa7210ab126826b8fcb7724015bbf9842d656b2bd95c146a95da3740b1ec9da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828485455ffe37251530cb60ad11ae1415a0bf251ec5e2dd7e8a242472ac4d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434406f28c2263f01c4cc720c904d3624a1a54ad41863510ec24d936a800a26a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG7Laojkj3tCZSUjOT2L5Hjud9ZQMCrhqJomgKV6IoNpn3S2h-rs7K6465lD14oW7ecBV6YYqycctMKYL-_QO5m3w_1VnO_n-XQkjEeKPJeEOFfuZ0PXJkmVu5srtoStighErvQbiNHg9S-xmtsjjrmizNrqpvsg2z1N57b6POSll27kF6bdHqEROErAnvqUV95K9Vn5KFnP-v3gyJblp_VXh40v06l28CYSb4BQe7qPJKRqu3j7QOzZIr1GAob2p0pKuOQM_hGvWdGtJjAAMaSG3mW-R99ZXzpoD6HaxruS479uEPg_Hdvvth6mNAN4uQjMKKBBptcEYmGvHowCd2TgoP468VXGzEkb0IjfOBosqAhd_caoxmTz9IvVy6r8H1GHdTAGLxxPULjRFMT7R91LV5XmbFdFMjrAQBAh6EAEjPGv4TcWOBq_FnqdU9TL3oKJW0zvi8dEDWVT4TD86XU5H27LVDGZl1_OLPt4Kwt-PW7TYES57Zw7dsYfvS-2T8DPrS1J2W4BTbwogJld-jutxYuPTxK3rRY9urXRD5Pf5gZreNFtnBaWIkfhG_J3rEGjsNx375hTcgxzhboaPH7Z9_ZfSrQ9lBjhKGS6VUX8hiRCvQ5AyGwMeXA3isbNJs4Ixj7YH_naQi2jIX3B7QskQuekPymo8LYPmYORWzoZ1cr4jUBxV4x7l9hXrttTqiHSi-j8PXGW0sviC38rqvQ5iph5QN-PIOcrzYxUfFQ_6ZUI7KzXS6owyqn1x8Tud7NryqWwqKRNKkO4cU056gYfra3L7zCVBzeZGyZlYhu-8oJ0GqISKmQjl2QlvPlVAx68sEQ-KMEuV3EsxKjUcdoC84-ZoxcXp6teUvCPHY0OgC0IrAqQkXYPjZSaXSoUgV_cyF6hm3o0O_G8hz12m-JVu1pkEiDJ2V5ind3XzhOoY690BO0E7XCmofMs2BSOfLLdGHt45e46iwlMWFSCsVya75soTJylet7qAWGKyFbHP0kxZrBlsaIFmP5B2jHnelxe_wCTiGGbKGQ9JCuYjNt0TXBy2zdJ7fyG7gOyW_cY5jxMDjnfau1q6rZeHU-xKLLZ-zLBwLTE8YXY5TvcQHl1mnZvyc4-07lwdoF-GfjHD7BjXQSvZjdUSTg-emi8WNwwwII0g87-4KGvUoZnSxYD4mS5AAAh2m7lVVggqiYPysuNsP623ZNmahiqMPm0em7IqrVkW45fZvoZh1Sq3fS4xkjcoRoBayJXhBCO5XX6AwWklB6t3dbEoe5KBr_T19vtXCkwiPJe20b3lBNVq1trKQG9ypFQsjIzEh3sZ8iJH0EswH-TY4oybZWOHODOKw1F_VYKoQeRhIbZNUvmYyh9EQ1lojxXVkH2V4-R2WZFjkfGpLRzXiXH4XLoXZRqA0M",
  "id": "rs_0aa9fe3be4ddf76b016ab451b9e63887d0aa01bcbbb1915bf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":0.1,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"With the jaws open and lifted, the pen appears about 25 degrees diagonal relative to the jaw column at the current yaw. I am reducing the wrist yaw by roughly that angle so the jaws will close perpendicular to the shaft.\"}",
  "call_id": "call_dIxYh4XJjXvOcfaMNWlAoSXY",
  "id": "fc_0aa9fe3be4ddf76b016ab451ba7c7487d0a1da6b5be86f150f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dIxYh4XJjXvOcfaMNWlAoSXY",
  "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]: [-0.1837, 0.8787, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5644, 1.4319, 0.6868, -0.0093, 0.1818, 0.1234, 0.9988]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3379 right_y=0.1804 right_z=0.0846 right_yaw=0.3326 right_pitch=-0.1787 right_roll=-0.0351 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.5111, 6.7897, 1.5995, 0.0708, -0.0611, 1.0281, -1.7709, -5.4632, 8.8, 1.5751, 0.5153, 0.2222, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51d7d8183736dadf7876d27bfa5f33df83a90bf6ba4ad74b58a16b5c02863dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac3db59ae5f18feaf8e6d0c4612b3f651071f9128db07f77f9bf04b355d0331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ede12d385efccf2fe98c852bb64de40d7d256099936e452dc2a1ed88e080d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 6.858 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 81 changed as sent

message 85 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.392, 1.7592, 0.4919, 0.585, -0.0738, -0.0975, 0.999]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3551 right_y=0.1648 right_z=0.0003 right_yaw=0.4982 right_pitch=-0.1197 right_roll=-0.0304 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -1.3197, 6.8991, 1.5409, 0.0024, -0.0269, 1.0281, -0.3897, -7.706, 3.9316, 1.4872, -0.2271, -0.1001, -0.1099]",
      "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]: [-0.1837, 0.8791, 0.8001, -0.7223, 0.1879, 0.1741, 0.0622, 0.3679, 1.4239, 0.6376, 0.0921, -0.1097, -0.1261, 0.9946]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3518 right_y=0.1602 right_z=0.0852 right_yaw=0.5202 right_pitch=-0.1287 right_roll=-0.0284 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, -1.5521, 6.7487, 1.5311, 0.0317, -0.0562, 1.033, -0.1026, -7.0906, 8.5949, 1.6288, -0.0659, 0.1148, -0.1245]\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 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]: [-0.1837, 0.8787, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5644, 1.4319, 0.6868, -0.0093, 0.1818, 0.1234, 0.9988]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3379 right_y=0.1804 right_z=0.0846 right_yaw=0.3326 right_pitch=-0.1787 right_roll=-0.0351 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.5111, 6.7897, 1.5995, 0.0708, -0.0611, 1.0281, -1.7709, -5.4632, 8.8, 1.5751, 0.5153, 0.2222, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51d7d8183736dadf7876d27bfa5f33df83a90bf6ba4ad74b58a16b5c02863dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac3db59ae5f18feaf8e6d0c4612b3f651071f9128db07f77f9bf04b355d0331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ede12d385efccf2fe98c852bb64de40d7d256099936e452dc2a1ed88e080d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFG_k2RLRYZo0wZzghaPgjpV6fa5FeMFsut0Oyw9AASci0NO0GaYFT4PIGfb4zZgii7f8nIvMoubaC_nWD5MEVpgi4-TYB5Ub1Ya4y60QbbO2-lyWSHivgajq8j7ScmJkmvw_M91YSjD1LSBOx30pDV2TlRYP_OZ0UeLhJK8IQb6PztaD_zzfC-U2ARE1FnVQjfTU6E28z8GLlmLUOY81Vo2U9HARq-MxX810PnZiJJ6AXUoOZi8QYt9iUDKuMSIWILVbOtGn4ra3oxWbQoMqL4_L8dlXtX5xfVFog9x2frYzUN8zXNfCl1j0ptiDE51vm8g0H1JqUY1_D3Emlf6nnppOaKJNLnHOIWKo8LXF3nB2XSnniTeHpDBveiK_xu67L6Y13WSPeUYWnPiWEy9iWl5UYLvJfwW-pVJtosQiI-fGzjUCf-UcO2DOASel-TmkgLzYGAvi0yN0ZCx7HluliSKzPJsaU1dVbaSO0F6f6UkpzLhA3cUXqXRO3pEkLIN4otYG8PPOWyMDKGGegjGh9wXqYj8sm6bhuDUWveWigUJqFpMraVzXII3gyMl9DwugnuFMM0W9JoQpoD8FTtxnonvUzNz73NDgxJUgBP5mnuEgKjyP949bzoh9Ujl2p9wf299u13XsmmglPSIg-M7XmXS5E3IGiELajhAVtsVq5s1sj2mvpCOfy2ePX76raMz2_388-s66PeiPl2hRuPRe7cwgbsTwyMsFRtKJ2wqZlnRmg9nd2j_da1lsjbyvY9t02ANu0_YTcu8s9vvPKPNlBTusYJk81ygRoQid-5txq2BJjXgFKN0o2Uaq94RuflxMv6v1j40QS1lX8IOTpk7ye31UVO2gQsLf5zrW33fmrc8AS-8PS-D6QygCRUOlDGiKx_cvk7ViPxHnc2S4FM1UDG9f4CSj6kFtp44IXjEH5yKwmEE--twgLWSdL0egQii9s99b4c6fJXUIusKYtpT3hNQq8iDlP2EPA7SnGQfJZVE620BOIaogZ_Fvujaj7reY9KRhxC5e-G2pI9jGvQQAGZ15k21ayJ1v-gBkoU38UHC1oPKACfMd5h0A-rQdLPdf7llwy-J5VofdEwPObSi3CYfm-ozfcFBH_WyWIz74-3kz80dv2az6Qz65nibs0eAOVt9wY7oA7XYYBEcOluKVL5G2H6xvnQj_AMqkcu01z0YI3MFNQh86-CVCH4ktbTWVSwrzFuj6aexfmt_vhNdmz6CSej5aU0y6tisvNe1WcyzwwwLG3qZnL0qB9XyB19Iz-Afq1wiDsZcI7ZqJmgrBmvqznwLPnGZl4EPV7B-upsoXh__1rmrhsUY-KYkQ4wMh_Zvu0syuRYm7IQTkUGZ_KupbgErT8XCU74TWyAqSb5-oVoezXEgr5yFZj-niZQDzulA1Rz_vzcdDBousxuT9W-fYv7QrHuW3ZOhldqVKrLMlAPCpd8ho960U3c0BB0R7cUovuat-FNX0kSIXDt3Mv-jTrDgoVP8RH-B9NxPfl0tu2t7B0DqEn7PrISI1RLnL3TIfWGafFSFagu2B0lqizYUMf-EheBLmlamic5LIVX9WNFPz5EJ_Qs9kU66CIuMmtdFad-tgZ7GbJTjxtYJhbDtwWXn9q5U469ANVr7VBBarnLfun3IC-aEZxAeEb2S_PngPvlL-K0QNSnOjukw4tExXfoMmMauWPYLCw2SRlzzvUrv4OZtQ2_mPQ-ZF85KhAKwa10k8EAKcgCfdDjKrKIIiUpIfEF8tPz1XTQuod2YtaeD8poc3xKQdyRifE-YJRXRK-Y-QzJjRGRyH-GphK61op5_BAA0y25bnHc6vT3MT9R6jNyax5mR3QNpS9pef1I6refKuZUqYp2Fhvu9AsgNVODy7HVT088DvrV9WKF1mJOR9vYlfI2_ARmsWLKHuFLaw0LmQdJ__snkAJsmq2n6zZQUMI6MsXIaS-oVLnOMxXgDcRJMPTdcmItx4UfblBrWcFpVCyn83GsOmzXO8xteMhEvQ0PP2HVqV4rrA3qqCO0shax6Pv3f4mtXX0bvP0vqbLR6TxYf3_qrUfgzt-YvsrT2V_tihuDkiox7g-vXc9Y=",
  "id": "rs_0aa9fe3be4ddf76b016ab451bc95bc87d0b32e74379aaab7bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":0.8,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The partial yaw reduction made the pen more diagonal rather than straighter, confirming the correction sign was opposite. I am rotating the other way to about 0.8 rad while staying lifted, which should make the pen run along the jaw column.\"}",
  "call_id": "call_8H9GmsYrnS0rF6jPLrMVJUhl",
  "id": "fc_0aa9fe3be4ddf76b016ab451be5a6487d08b106bf8e5d8096f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8H9GmsYrnS0rF6jPLrMVJUhl",
  "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]: [-0.1837, 0.881, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5896, 1.438, 0.7086, -0.0563, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1804 left_yaw=-0.4537 left_pitch=-0.214 left_roll=-0.0059 left_gripper=0.0622 right_x=0.3429 right_y=0.1612 right_z=0.0883 right_yaw=0.1324 right_pitch=-0.167 right_roll=-0.0379 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.7162, 6.735, 1.5263, 0.0415, -0.0708, 1.033, -0.5675, -5.6821, 8.1162, 1.619, 0.3883, 0.1099, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4500928e321fff90b344d87dbea9fe8ea6533197f064d326d4d5a1757d751346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ec378dca385253fcf1bb7713c3337f4ca72ba80d683bbdfc0927d8128ec435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d913484ff0b35518c21c0530b1ad9923f0e558a2bb2ad24742501420ebe0742",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.827 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8783, 0.8001, -0.7219, 0.1879, 0.1741, 0.0578, 0.3679, 1.7512, 0.482, 0.5846, -0.1097, -0.12, 0.0073]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1812 left_yaw=-0.4535 left_pitch=-0.2107 left_roll=-0.0049 left_gripper=0.0578 right_x=0.3537 right_y=0.1609 right_z=0.0004 right_yaw=0.5167 right_pitch=-0.1192 right_roll=-0.0251 right_gripper=0.0073\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.5458, 0.0415, -0.0464, 1.0232, -0.1299, -7.6786, 3.8496, 1.4823, -0.0073, -0.0171, 0.5495]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1837, 0.8787, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5644, 1.4319, 0.6868, -0.0093, 0.1818, 0.1234, 0.9988]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3379 right_y=0.1804 right_z=0.0846 right_yaw=0.3326 right_pitch=-0.1787 right_roll=-0.0351 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.5111, 6.7897, 1.5995, 0.0708, -0.0611, 1.0281, -1.7709, -5.4632, 8.8, 1.5751, 0.5153, 0.2222, -0.1294]",
      "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]: [-0.1837, 0.881, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5896, 1.438, 0.7086, -0.0563, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1804 left_yaw=-0.4537 left_pitch=-0.214 left_roll=-0.0059 left_gripper=0.0622 right_x=0.3429 right_y=0.1612 right_z=0.0883 right_yaw=0.1324 right_pitch=-0.167 right_roll=-0.0379 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.7162, 6.735, 1.5263, 0.0415, -0.0708, 1.033, -0.5675, -5.6821, 8.1162, 1.619, 0.3883, 0.1099, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4500928e321fff90b344d87dbea9fe8ea6533197f064d326d4d5a1757d751346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ec378dca385253fcf1bb7713c3337f4ca72ba80d683bbdfc0927d8128ec435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d913484ff0b35518c21c0530b1ad9923f0e558a2bb2ad24742501420ebe0742",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHGylgiCWnipYOoHe4Pz9gP48V2N5RGC5MOe1qVZx4AzAIu6IomAXgzK69EY9RWIMBTbqzBMAqxNmU6bxB88_fNWfvmN1-K3Vg8bL1K8PgXl_eqRUTd9AfEP6j5Szbcb-eoPh9xWw4RkJvgpWXpXe-ymg27dtmcyNY6GMXmlnzL3gYcSD8r0SAWyovaen8yIaok96B1Tnjg8TetPyCOgd7YjPsWLhiqBO558rGzCKV0ry7u1QWjlI2F9aHAw7fMW3ZWgH-C-Yp9Ztxu8lWB6C7ctM2C5GwWHnrR8vnjCVzLldrFqvIJG6pr7ye2II26EwfZ9YeNkTGqkeGcuSNKNquCmZNCZufyDK4utekCTkfTDqQKP0Nb0mB8FeH080GafPyVGlFZCVkbyiNwu8_tcY3iYD2EIN8StIsdaoXJiaJaREONMu9C5glpFtqUFqj7XrDROta0s8M9uNcCU0Ys04zEwNZL2a0KXoaFjYI0Q2FPRIeVgi12XpnhkUqF2GOiOnejeF-qs2V6rRcyL16EfJvXiurbQocYZeBgtTOwe3RYzClnB2vNnSb0BlnDvbWY6NpYt191O6OJr6fJuwJcQz7R-RGaY7OmDfe4jgIKhphYqP9kbNXQkYweluy1ImqmgRER2sjixiXas97A_OOkLvCtUM0-k-HRn10i3U4a3khWAmfnU5oMLuKNlxPay5Gdgd4PXHFDOwMNFW2dJB1MfARhLjImHeAYsL0SV36SmtEhbe6XIv_GjR2B1YHWM7tZCCexNljjoQnZYtr0v5KBFG41I0NSElvm0EDIVrihYzJlyb1av5LiGJdyRkbb5Bc_oIWPZZl2A18aTzGpmPbwP4HbVCtquNBvyiv40vitz3R7hyRPulTmzkG8DVXX2OfwDnzvxAL1FJGVQ7kipdlr4JLSFIwA15qqhXz1k3UbxA1k8vJ-MBxrU7XKrdeFFNnV2G9D9OGXBRWE9nkufKYEoDPOCeUY3MF5Xj5lpSbSelRjeOmBGrhgXjG30Q8krH2pTv0iU0JGt95OX97dCUxYGHqZ4oFC-dUcVrg1CV-Ydzu6sHLyv49a0YTQK74oyCJVjqv3PzSttrFi4-_JbE4CCoHmscrhUqfkx0eW29TAB8ifF6LC5JSPJy_1_aNZ0zXd18io4Xk6aiVsG1WnGO_aSBnLVM_1W4V0mo0h8jfWM7jY5SA9Hh2GpYM5mheVa4knKXLY1ZyCbQV2sKsv9F9iYgKhoW2NshPI2-4mCw2DIS7gkq8WKn1_s_9gbJ4rb90vuNqI0387VZ03mWS-a2Xwh6ogMe6HqA5wgekmOm0J-_Z3-PzmXbVeHezmXrdG7vzBHL8BoU6mZ3ofc_Y5EaSGQJ6pth1_Q5M4JLy1ZhNKxF6yie_K7SvOnIEfv-KueWrzyrRH0RVvvhZGl8Wh2uVvKomvNCn1sTmNPcsr2orYyc7iRAA6UfxG0yJvAHzgTHKoURtzmOvdaIfa1uZpgwjSeoqk6KyhjT98fXZ6a3VhPM9ry70dbFHHELkjPSYYbQ8OU5lJxUC98q_WsG6U7OBDIlIH461TpufhwShXgAa_PSvVMvzkvnt6csQpXQrIuk16Rz-SnkvFjWvQZUtmhYdlOwuMUUHUBCBQ3oIYOnWOKcRh6S17tDYyl_xfUBtVkuYn_jE8qPIED-wFEPGJnGDFsb06AzazJsrOZq20syqdIX6qwA3Y71Rgq7bTjFPxZubgadukcEkW_Hhdll_gbDSr-Qy22elAuhw4Z099j1BzViAa5dhfwKkeL3-RWQOH5RvSosIOLxqVJBT7Wtcuy8Di1ZVDWLPzs26g7XaKJ9IIKCq88qYAGHYU8qqNIY4Cbtrd_Dh-Pz8ab6CdwZ508mfLwGiXVEkRyIeWMD3IWZGpfL_i7qsDp3f3-3z2ctnSxDAuowlMfswoT9hGuma3Ykr1uX6vCzqBFl2FDUA6hUacGG3kc0TVL5ljqtdCwSQpExq_OocFtENeykfAoCR68-17moWHnHmhvYV6CgbHRzfUgWzssv1U0l8H1XDTkVtd0x0X5rfM-6d0yPeEG9dPbOm_A4_908mdjM4TdFXkXLTbJRyojSy1JIzHFWtz1IVIXI6U4anOT3PFoISzBH13XUfOcTtxbLlN8Ij9W7Nr456pBb_1SB1pAYklvuFueBUXTTCGtXrIQWQjwtq16Uh_3rJEpv3LRsN2KiIbRdTRK6_-5YUbn-B67BUPROkTalDqTx0cG15-Oex6pR_mLV_v3yMR1_1gwWQQ3I58dU5lvSEqwr9yM9QyPTfUsJl7qDPpdTxjrzrOvGr5G_olvn0KAb889d7PhdTVh4eOIgFKRrJp3huVMvnZajXJftBnCQMzrn6h2zguX-boa2Ndm4wAFzbRS9oBnufxUUutQtGUOg5sENA8qq_kdHjkxiDg2M6w8KOQwqZPre3EQMOU3Ivop4kaO-xhvpxAwg9lJXr6rBoXSIaIoosOo2UTnVWg3KdQlwpCDf3ikj2SWt_9EElfGgqNgWwN9gOt0MmBC6TiliDVH9-f36OCRBcpgKTHFZq9NWTrtfvju4JQ8O504HvnGAhBoPPcbNpuvLoWXtwrYEAnwZwAoCIfHQFtZ9xzkU41FXDF39KhMgyn0xxHWYivuZEhzFuGcxQ-3o7C1u7eVv_nALGBfn5MPE70MurAzjweBh07tHBJwhhV9pR5l0YFpxeOm5XcYktyW2DODit0FLM2bkOyB_L4FPGbiS9djmVsakXQUAeuPY4pY110-521aABKm0vlF9e4_RXmrFmqbs--xTXwoZuVTg8b5qFq3fdjiiwvOLfYw3GIFA4rWGvf67-tFaMAgbsg3-KrJ1jrzEm-jFH5nBXDd3mFShJ15MoWZSHLgZxmB8RpHK2HFM2cEIMMnw8Jw2Pji2qin9Uwb04GB1OHJP1QT1ea8jzUYLkAXP92tZTOzTJ7s-b_uu9QulxZVLBphmrSYpf4KGQA62tt0ibmiq096DCkLNOFMbYi84JN2JgM92r7aCPPy9cb1OmHxD0roAntE74OARA6fz_mh4soO3RclChd7a_s6aCB9H9H9AmBPMmn2IOhuX3rJOoHaO8z5nFyaBnWoNyH89fjPMYUD13NXojO7sWO5YrrJYacOQKj5v2s5Y51bOXvLRuA7RqZaC71ffHBgnLHKq449-QhNsyqnKf-z16DojD-2c4srXFM0-xjKplPZutL__DhPZOJi3YzHeLyDwR1BXtd3VfA2spBIpZp1l3gsDCOe2BqCB_xOpzCNKmIqrVJJT14p5v1rTBYd1QBBc1AIL25ucRwSs2zBgkEBqE78932dGofddIxRLN_b4DYeSklsrZy9sxhmobaf6t1yk5yHh5J5JRDVHnrk3ocLitsKGQh6fO5hsIOw_ZyJoUeuNhsxRNwFse2MS1B3PMYcdCAOd0I-BMcpPktosdaxrE_H7OaWWJvxox2Bmv8Ph1hFdbUIba3LZeh5lNgWOZ6XOLVMc5ZlcZYhYSJ08HvXbHsA-Xr4JTPCmb-mwSVjAjVbZq1Fl5CyJYXzHE6D-9P-VbYOnAo2-TuAdpj3NDcqsXTXu8f1-J40NMJ",
  "id": "rs_0aa9fe3be4ddf76b016ab451c0da3087d09b8487a1e6d2623d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.1,\"right_yaw\":0.55,\"right_gripper\":1.0},\"note\":\"The pen midpoint is centered laterally but still has substantial clear space below it, so the fingertips are radially short; the yaw tracking also moved opposite the request. I am advancing about 4 cm and returning to the previously reachable 0.55-rad yaw before the second descent.\"}",
  "call_id": "call_QQuEu8FK2kvHPdQOG0CMWNmU",
  "id": "fc_0aa9fe3be4ddf76b016ab451c5283087d0aa64365534db22b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QQuEu8FK2kvHPdQOG0CMWNmU",
  "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]: [-0.1837, 0.881, 0.8001, -0.7223, 0.1879, 0.1741, 0.0636, 0.5896, 1.438, 0.7086, -0.057, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2604 left_y=-0.0783 left_z=0.1805 left_yaw=-0.4537 left_pitch=-0.2136 left_roll=-0.0058 left_gripper=0.0636 right_x=0.3428 right_y=0.1612 right_z=0.0881 right_yaw=0.1323 right_pitch=-0.1677 right_roll=-0.0383 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.5521, 6.9265, 1.5165, 0.0806, -0.0659, 1.033, -0.3897, -5.5316, 8.1162, 1.58, 0.3687, 0.0904, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7b4ee2b6bea10170ce1448e57480f8187c7c0a46ebd2dfedace3457467ed86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8346cb56ba0f8f1efd147b4ce26be4b9f668d0ff8a06072e0e7e46817dbb5f62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f63947b267667132d1270ef1c28c9051ee15da12af8a4b335be2b9f6eb3b412",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.502 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]: [-0.1837, 0.8791, 0.8001, -0.7223, 0.1879, 0.1741, 0.0622, 0.3679, 1.4239, 0.6376, 0.0921, -0.1097, -0.1261, 0.9946]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3518 right_y=0.1602 right_z=0.0852 right_yaw=0.5202 right_pitch=-0.1287 right_roll=-0.0284 right_gripper=0.9946\nstate[joint_eff]: [-0.2803, -1.5521, 6.7487, 1.5311, 0.0317, -0.0562, 1.033, -0.1026, -7.0906, 8.5949, 1.6288, -0.0659, 0.1148, -0.1245]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1837, 0.881, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5896, 1.438, 0.7086, -0.0563, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1804 left_yaw=-0.4537 left_pitch=-0.214 left_roll=-0.0059 left_gripper=0.0622 right_x=0.3429 right_y=0.1612 right_z=0.0883 right_yaw=0.1324 right_pitch=-0.167 right_roll=-0.0379 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.7162, 6.735, 1.5263, 0.0415, -0.0708, 1.033, -0.5675, -5.6821, 8.1162, 1.619, 0.3883, 0.1099, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1837, 0.881, 0.8001, -0.7223, 0.1879, 0.1741, 0.0636, 0.5896, 1.438, 0.7086, -0.057, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2604 left_y=-0.0783 left_z=0.1805 left_yaw=-0.4537 left_pitch=-0.2136 left_roll=-0.0058 left_gripper=0.0636 right_x=0.3428 right_y=0.1612 right_z=0.0881 right_yaw=0.1323 right_pitch=-0.1677 right_roll=-0.0383 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.5521, 6.9265, 1.5165, 0.0806, -0.0659, 1.033, -0.3897, -5.5316, 8.1162, 1.58, 0.3687, 0.0904, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7b4ee2b6bea10170ce1448e57480f8187c7c0a46ebd2dfedace3457467ed86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8346cb56ba0f8f1efd147b4ce26be4b9f668d0ff8a06072e0e7e46817dbb5f62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f63947b267667132d1270ef1c28c9051ee15da12af8a4b335be2b9f6eb3b412",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHK-L9EOQb6cF2-V6vao7Dj6KIeu4gfAsCRxaQMJe00B_uiCVdl-R-nloHLlbxbswRJSwJyvBUR7-V3Acy8I7i53SXE6hegNr1NOcJ886f965vTMYR-3aajv0yycdoTIIw-oXL9OjQwwOWPgJDhL4dabCa9M1clMSGfVNLirQGGIQpfbmMXisUeWDC8RJXoVhGHfHL9o3O3Uda6A1jGfvtUdmbk8Nw6JY_z2xdFmxOsIGIUH4purc_orldkVt6nD0BDzxgfh6tXOLtKGCRKoEoQ0Ms5z7oEZ70nKiOCGWlg74s8-eYtEh_Bq-LId1U2EFQpid4PwzPsAksdeCeSZKSBdDhNSoFfsYkZrKiP3alrq_ANKKY40i6vU6MGGjDLMWFAjEz8zbYnaeWzJpt--qsHicMEyCI6aG4_l8jO07psO0fJpo5MhNTc7yEMb0KfHkBUUlHRNwoOmI4h3woR7ub8yecCEWkgkxbPVK5yyuKNg2kRN5Q0wydRtexV6tZ8tORTGT3T592D64jiGierdVf7A33rkYR8MPE1CPq9Kss5Z8HxgGIUTki52vfDNBratvd4o15weyzuJeVmH3G4iHmHFNMoFaXffzw3c_XFXRvLgtipfLC9yDFmIJDZT3o-7hYl18NkMvnDzBiUAWN1GS2D3Dg3gbqbEVbaHE9j2kijkXmbUDGG775BR8yqEMwTrMn6KGJr5U5nprmrymVfg0kb47ZoSR2LgYUqiQ6jb2AP0W1OvSKP6ccrWNqcFvPccmOnZXPWMyI5iK40o5w2EC21IpW4kT5VBSs5VneZvyzzcRpE3HSB6cDroa5OA61R3RhYQ8BnkAs9hq6nIkT4O-K4dN10iE6HVnd80s5PVVnS6_vdjQYkVrJyCAjaZjufhlBVAo5dGe6HEDk6Zuy9JOx7s641kGwTeBVPWUrgi1yT8zocfpIUHPQlJa0xPNchRN5-hV2pmGszaVvi7KrfXYjNFDFguMlxRAI-FzvhdkcVUMKHv4Te9gwWpAxuk1jQn6VEBhw6nJ3G5gkfhxInQxSvi1JAyLR8YMKK_ew0_GfPxLzkjlYXZIBnWZ2HsYDGtHU77wnJnsStXZvBSadFA3C8HqLLAYyI-hWq9rxjhnCpLGkDuJtKxTJQV73SS9pBTkjJfpJx646mnBuVF5gAulalwi8vApeYUKocyBqsHF9ifwbj0s0HCH93uFrHYVoCm2X-tSkYPBDrm0MJ8mBIZplWqMZdttcuGo4xORVsFOU6NY4jucuRHRthusB18I26bfmHOTKWPNAWcg5oLrQg6eCuCZjD8d5ChR1czyANoDKLLUxQP1sA7-vY4LCiPL7ck7BMkq-DVXIB-z0yN55bhPcCjVqBDZwWHfoH8A_H3RdpkQKuz6bu7JxlS8GdcheItS0idvzTJR_T6nTPgEMlsi3M-tD2E8Tvnq0tzz9oTdxMubuJl4zy2BBYaZqaAWK6xvolqJtby1ZJvFS2NwZLitHVc_JMONhdz9HdI_aL3LJqH4N1eQfmh6alPJkKWLu80DqK1WHEAdrnBjeJ1rDpaL2pZydm1klQsaoYFeeEFEdJ_4ChNa1ybRFVpXFvLRqiURxe8sDPjlIMUnHBXGCGW10mTkpEbY1CXuw5B1GYREWQSuF8fAdmeo6rE1sTnCYxbXKIQ4jqjGDp6DBlBVkUmdSOMqcsEkqk3sACntkRZ_ExADA=",
  "id": "rs_0aa9fe3be4ddf76b016ab451c8167487d0a81c436a18a02206",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.16,\"right_yaw\":0.13,\"right_gripper\":1.0},\"note\":\"The combined translation and yaw request stalled completely, indicating the requested wrist angle was blocking IK. I am holding the currently achieved yaw and raising while advancing, decoupling translation from orientation so the arm can unfold.\"}",
  "call_id": "call_D2tak6u1uuIQai5vY2oBxegC",
  "id": "fc_0aa9fe3be4ddf76b016ab451c92eac87d0ad49cff04d695859",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D2tak6u1uuIQai5vY2oBxegC",
  "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]: [-0.1837, 0.8825, 0.8001, -0.7242, 0.1879, 0.1741, 0.0671, 0.5491, 1.4769, 0.812, -0.1764, 0.3107, 0.2508, 0.9989]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.1798 left_yaw=-0.4539 left_pitch=-0.2169 left_roll=-0.0067 left_gripper=0.0671 right_x=0.3538 right_y=0.1574 right_z=0.0934 right_yaw=0.134 right_pitch=-0.2295 right_roll=-0.0588 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.1829, 6.7624, 1.5556, 0.0464, -0.0659, 1.0281, -1.5521, -7.0085, 9.935, 1.956, 0.3053, 0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8506b5082f3b362d35a5a76ab671f87518f555d019d3e837d90d373f9473272a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbfca9d777f13d51c9f089d9443a9a95adfb361b70121856031692b714e88f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc661be1860156ca85bba00545b2df8c58f0d30a578a0ee9f3bc9be95c11cdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.006 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]: [-0.1837, 0.8787, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5644, 1.4319, 0.6868, -0.0093, 0.1818, 0.1234, 0.9988]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.181 left_yaw=-0.4536 left_pitch=-0.2118 left_roll=-0.0052 left_gripper=0.0622 right_x=0.3379 right_y=0.1804 right_z=0.0846 right_yaw=0.3326 right_pitch=-0.1787 right_roll=-0.0351 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.5111, 6.7897, 1.5995, 0.0708, -0.0611, 1.0281, -1.7709, -5.4632, 8.8, 1.5751, 0.5153, 0.2222, -0.1294]",
      "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]: [-0.1837, 0.881, 0.8001, -0.7223, 0.1879, 0.1741, 0.0636, 0.5896, 1.438, 0.7086, -0.057, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2604 left_y=-0.0783 left_z=0.1805 left_yaw=-0.4537 left_pitch=-0.2136 left_roll=-0.0058 left_gripper=0.0636 right_x=0.3428 right_y=0.1612 right_z=0.0881 right_yaw=0.1323 right_pitch=-0.1677 right_roll=-0.0383 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.5521, 6.9265, 1.5165, 0.0806, -0.0659, 1.033, -0.3897, -5.5316, 8.1162, 1.58, 0.3687, 0.0904, -0.1343]\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 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]: [-0.1837, 0.8825, 0.8001, -0.7242, 0.1879, 0.1741, 0.0671, 0.5491, 1.4769, 0.812, -0.1764, 0.3107, 0.2508, 0.9989]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.1798 left_yaw=-0.4539 left_pitch=-0.2169 left_roll=-0.0067 left_gripper=0.0671 right_x=0.3538 right_y=0.1574 right_z=0.0934 right_yaw=0.134 right_pitch=-0.2295 right_roll=-0.0588 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.1829, 6.7624, 1.5556, 0.0464, -0.0659, 1.0281, -1.5521, -7.0085, 9.935, 1.956, 0.3053, 0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8506b5082f3b362d35a5a76ab671f87518f555d019d3e837d90d373f9473272a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbfca9d777f13d51c9f089d9443a9a95adfb361b70121856031692b714e88f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc661be1860156ca85bba00545b2df8c58f0d30a578a0ee9f3bc9be95c11cdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHQhnjp0K76GvXcfNjG1f9B7ex2wlMxOarRLH6T7kOljUlVrLttXs4qQjn-sdrDDsCRR45wNwWPbZMy8bVy-cvrDcIUp4ZhDve36BdGpgjI_oQ6_C5vo-FCxriPfGy5ckIj5Z_mGvAoBE3rkuBndm8BJPDt4D_D-OzatXeyc4kyw0hF2pLROiKuO-p4YnHczDyS8QadqVAjPL6i2LhfTlbbVDAI49gA83AuXEXvnqDHLw9HcC4ceQ_uk1DapOYFSN5SFg2UrfcycpfU9YxvGDlvarmfNU8xJuZcEKO0Rc8uGRj51elYJi4pe1xwoX2EeRk5y9cgiulDYQTPwO_3p8bahpNKpty-d2C4lUWRizgqTXLmwmBNb64Vz40VllfBr-2sHsnNOzQxkXlCWaJZoKBsa0JL_Za3BBDFKM90uP4D4TU7U8iC2zJ_BklPVDlJCMD5QZmKuBgKfBydmda2HZ6e6MTCvxhj_kb28944vLN3kraccBw5L4TtJOdZooyuipPtgx-3MYvYvNr1hblkvDUn4aC8m6wD8jKlWA7HItzgZa-E7OiEgNNk0rnClz44o0N3QJ1aOyb06JsdMHNULGoBAesW56ne7J9qCMEJy4y989BF6jFjcMakvn2a12e21X-0nx3wQfQe9N0t62tz4PHdeBJEUomhZJPUD3dRH61LmRC-Cmo4410dbAGaWiZ9cA3dcVlT5VR5_jJnxzr12N-XPBVIBnKYKLKzoVtdqeBdTBN9pLpm-7S_AwOjfp1WVs4Z6qDyDxIhBxa8wK00NAGv9HsIveG7CFwAeq1JZXu-Ual1vcxibCd7Yt_YTzA6P8u9TuGvXI_G8qxOtBz_LW352nY2TLiVH-1ydq3vwRvqQCxpNRnKP6POPomDR4n8hPh9Lwcf41hHXYHZK7MFldZ4AvIcSJn_ByZjRWy-2rmmKMjpJyHlttWMt-9s77OdVFGHs59mz0Ek-neaLa88KVij7o8t_sZJ-R1TKdLerNBNTOke_2m1C6YJ8v_iNPqFCJSzCsH0zKwHH-AbfR0Qo4_qTMQZp7SoBHkOzeQL91YK5bZMm8Ayt6pDqHLkhmoTZgchfFZt4IPfJgTQTURIF_8k0R6RRRrXW0OcMFxvlhN-GPGv2B0BVzS0kIkOAr_zk56mIy-m4vfpATmKeL8yM05t6IjLLGSFNXMM7xJ10im1547V0PSc3dfg4htsHBNNpo1JpkwtjbTvO7YJaNcl3aKAi7mSf9n_d1auvvdglblo2VsM02zbLbge4YyQew5vdEaLrmi0drOw8340c6ohJ29JeEVCmPOd8yQ0s7oQisABKEcxmJZ2dNLF0XRQ5rMDRuSxdeu-5d88QOzQI8kZOvociVm2cGvUeIhL2fPRwzn8PdbvN1wUYRtmWIYVll2dVa49xdRSfL8sT6D2n4ergfVjmxRek28T4zZswV1fQD4lOYjv-eS7IQQywGWMKf6BSOHAUyz-6SUfVKueECppYI41UKCLQV85ksQg6bNKN1m_TGntt5S7Wi-L9I4yUtqEAQ6hPqX8VfDmJX9MmbsGO_eK3LHuur9Bxbuildf8wit8-1N5VYQofsSAGzbC2KSNYW8UadebqcKoBvOVcFwwPPEVFQ9c_innWUir3_ol5RHxTm6niSAtVFFM1qPvXaWYFTU_mC27W9CD_Rqg1qIzkwDqQo-PuNPWDptKhaJReciW5PQf7lnPAMm_m3XdURbTxXrkiAM0vzFQQglVMdtaKz7XwRNO6XuP9KyEzYbKRxJt7uFxpxeQ_yay6eXuhlYmQpRAvO0K_F3yylUccHdKNyzfrMPoVonR5htcLRbFRvbZ3DI8eeQv68ohRkEO-W_OdQ_2hCBub6PZ7dq28e8D80rwqGKLLYlSPJcGAzVmIlpBqW6NIQNxqnNHC-l54DiCs-XlAeCP4dJDngb_8R2uCdIlG82LN54LaLF9xfVZYhorgszctu6DOnHmDwymDTJqU4FWE_VcWxQDF-kErI3gM_JhbhdPehH1zgbfDlAMyScslcXZ4ZhITkvOBynm_mQM_WroIfu4BEEtSOgz9Gk_U_Le1MiQVnQf9xrsD8ERfiEpyxRyWXGyX0DZY0_xJovR0_9U2Rs4rntceYleLvcW2KTQSzbV92LPZ-v-mjhjcDDcKgq7C2bakTkxoVdjdzJzG65TuDpRWDCwGeh_EwSvt4X2xjdd59q1STftVSg_Qc948_N-P8hg7yih9tiYPFszim63tp-Q64SO1EjkU2aPatCutnrj7C4UTNO6yi9GVQ_zptpgyw72qFRtEBK8ysDRM99fx7e1HqpF2fVICjM_JjTT9GEtenLIufpQise9vFZY3Q2lfyjlE-AjNnxU2yTd5bOij8otd-6kiBxFvD4urzQDbvgqVyNfMwng01EGaAx-75LPeIiB9MDNv0BS0Oz_1mTQD0QEXcBn5SuFzi45zBSCYTOpwKpyUO-3mIcswhAmoQkw0wSDnG0wHAo2nAvbtmuVI2zx96mSOuEe98UrLuIAaPvYxFLZqWWknAT9Ez2hRK7S8JJhHlOhYdjkgDeDU-CzupmIFEyXXzDDs79Ys_gSOZwUdGknKIfOwWw0pjzRDS2yCiahAutuji_3FDNnkR_0kaEzRjfzYd3IK7urR3-oXEj5_hBMoJ0tQpz1MzkYpiqlIIGFw6fDO197L-XQVt-D2uTaz5XUBFn4kJL0qomttwx-PiIx30KacwTL7MFORo0=",
  "id": "rs_0aa9fe3be4ddf76b016ab451ccd9b887d0a844e48b0be511fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":1.0,\"right_gripper\":1.0},\"note\":\"At the decoupled pose, the pen is about 25 degrees above horizontal in the wrist image; because the jaws close horizontally, the shaft must appear nearly vertical. Based on the observed yaw-to-image rotation, I am commanding a larger positive yaw alone to reach that alignment.\"}",
  "call_id": "call_BVX8P9nPAdpxLawwtjPy71bA",
  "id": "fc_0aa9fe3be4ddf76b016ab451cf8b4087d082d51dbb00b63b0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BVX8P9nPAdpxLawwtjPy71bA",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8852, 0.8001, -0.7246, 0.1879, 0.1741, 0.0671, 0.2024, 1.5352, 0.8639, -0.2565, -0.3573, -0.4938, 0.9989]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1791 left_yaw=-0.4541 left_pitch=-0.2199 left_roll=-0.0075 left_gripper=0.0671 right_x=0.3601 right_y=0.1406 right_z=0.082 right_yaw=0.7816 right_pitch=-0.2877 right_roll=-0.0418 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.7436, 6.9128, 1.536, 0.0366, -0.0415, 1.0281, -0.2803, -6.4752, 7.6376, 1.1844, -0.4762, -0.1294, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6b8db47ebf7c99289688fa04a8928d70829f735c0410dc45482ad93a5f8bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165404571f59898d86431e0d66e90298381b24993bde5f1392d6e6aacc0ed5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952b13dd72a85006617864e3977fbe23e1ee6c1e5f4ee4b91fc280950c32578d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.702 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]: [-0.1837, 0.881, 0.8001, -0.7227, 0.1879, 0.1741, 0.0622, 0.5896, 1.438, 0.7086, -0.0563, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2603 left_y=-0.0783 left_z=0.1804 left_yaw=-0.4537 left_pitch=-0.214 left_roll=-0.0059 left_gripper=0.0622 right_x=0.3429 right_y=0.1612 right_z=0.0883 right_yaw=0.1324 right_pitch=-0.167 right_roll=-0.0379 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.7162, 6.735, 1.5263, 0.0415, -0.0708, 1.033, -0.5675, -5.6821, 8.1162, 1.619, 0.3883, 0.1099, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1837, 0.8825, 0.8001, -0.7242, 0.1879, 0.1741, 0.0671, 0.5491, 1.4769, 0.812, -0.1764, 0.3107, 0.2508, 0.9989]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.1798 left_yaw=-0.4539 left_pitch=-0.2169 left_roll=-0.0067 left_gripper=0.0671 right_x=0.3538 right_y=0.1574 right_z=0.0934 right_yaw=0.134 right_pitch=-0.2295 right_roll=-0.0588 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.1829, 6.7624, 1.5556, 0.0464, -0.0659, 1.0281, -1.5521, -7.0085, 9.935, 1.956, 0.3053, 0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1837, 0.8852, 0.8001, -0.7246, 0.1879, 0.1741, 0.0671, 0.2024, 1.5352, 0.8639, -0.2565, -0.3573, -0.4938, 0.9989]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1791 left_yaw=-0.4541 left_pitch=-0.2199 left_roll=-0.0075 left_gripper=0.0671 right_x=0.3601 right_y=0.1406 right_z=0.082 right_yaw=0.7816 right_pitch=-0.2877 right_roll=-0.0418 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.7436, 6.9128, 1.536, 0.0366, -0.0415, 1.0281, -0.2803, -6.4752, 7.6376, 1.1844, -0.4762, -0.1294, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6b8db47ebf7c99289688fa04a8928d70829f735c0410dc45482ad93a5f8bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165404571f59898d86431e0d66e90298381b24993bde5f1392d6e6aacc0ed5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952b13dd72a85006617864e3977fbe23e1ee6c1e5f4ee4b91fc280950c32578d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHUIXzqLT6v3I-PSeSsp8fGc1oZnLgppjzLs8RWceQv8nW1ysGz5t1uMkfPbKKH6Te2jwQam6TAKdh9cgH-0C7G097SD3r191N6UtuIueFFTAjewhw1sD8shVgY6FoiNCjhqNOUoGXYa206VyqMqJ7E8gNZR8OU2gHT6BXryKllnNzStgTFtWu4zPaI8Dl7TVXw1iNBPakkerj-7S99EUHBpQ9Y91lZJ3dUhhYOFXSrGrd8bIowDQGno7v4Mg6wo5YG_h2SFgcd5Nq7loKLhTBGv-KwYTHDWJo1ZxzUYEDhmgEBzJgbpvif13sCN6mkd2RDyTGMu5hlltrdQh2f7WLwptFbVnPeeRA6FEI-xMyLEgngHXAEFuv61TS7QVR3go1FPbyjAi96nVcWYh8SMzK_wJmRtzuWdtZCkiWzcrznMUhFkeL_Bzh7JtylcB3lhWPWjvIQB22r6dSMuWjK-p8Jyq6ZpDDHthCdk6SoFxsTzjk7HBzlN9xFGpvTk5kzlBrftiBHFbYYCUrVa8ak_Vnr-TXABssIEUflPZ7xfEDSivtqvl2D_PFj1khUawYa0VCf48tuWMOPmWIkk3WCgvhJEdTZP40haXNk6SIbjVB6C5tMi8AZXGZhtvj05H79P0RTKETkIU5F1cIIufyEe4G3XB-73ROYYRN_idBIFixwnIVM2AllkAoxF67LZbiJ-l9dqIrSK1y_0vdkkPog9fBD3Uw_nI4yPSeiNaU7BWg--C1DyAHx5KsaEQ0EkxH_P7PFW5rwalX5fj3OT3i8RCA0eDhCCr7IVN4PR6VmKl-2bz9tAPKRl9PZyBmqkvjixUTN1rU-AZo6dluwoyJtbqdgkkHAkTeWnpJnltBUslifbAHE5Llvm3Yiie_cu8oQK9vCI36UhR8CHdGxyadY68im1C_e7gFoxlVy3UgeK9AokXQDGa1faO2AbgX2XYAuppnuOZtN1YzT27QKi_nI_CZA45m56c5KtndDywjGUJYOFhWgUyn0MllWWCUFAt8I53hqbyyTGjxmzLO9eyYxJiohw3z8Po8N4xZbB1AUbeNFw9zV6g5n898DEa86ksU08H9qMiidxGRQixsY5-_FXjF4D__tLqz5bNlVT7iPj_U6d_XN0mUYjIjSp-illq18c51idgFJFDXpiFWF4n4ToVG_d7xat5snLFCv8bx_c2XjlRLFSEkAaXEZ19G2Y89fFhgpTPvNHLRv7jBY9pQPPPZZOcyS_GjsfoCujlCbwRugWx-DsgZIlIjtFVdcg0sLY2U73_PTMqX_FfrWw-EJP_GsEWnQ5dybmtdrp24wfp5qTTuRPJ0dVPUra835nQMv_Ozx4Fa85PzypHWqTK1vwOdn2nqEUaejaj0VC5hpMjr8cwnM13yO2HmaVi5WKRIo10aCus7Xh83VXkoHbEkRV9j5mKKrfsDzu2KqDxpuNmlc8YJgY_-RkmEMs1G7AlS7IUVo-7WT7mZQPO4xcTAXM1rMkVy6SfhP6csLaLXTdu98tzFCkdH6MV_Qjb7ZRVXKa3FBR6nlprEdAZITOSDb13Cmlf114_f9mj7vi_osnB8CSAR2K1uGXfiqQCHBCbnrJW-r",
  "id": "rs_0aa9fe3be4ddf76b016ab451d1ffc487d0adc7b6ffc7dc9bcb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.14,\"right_z\":0.0,\"right_yaw\":0.78,\"right_gripper\":1.0},\"note\":\"The larger positive yaw succeeded: the pen is now nearly vertical and centered between the projected jaws. I am advancing slightly and descending to table height so the fingertips straddle the shaft without the previous diagonal ejection.\"}",
  "call_id": "call_SQNUWrBCizRrjwEsdn6PhQOy",
  "id": "fc_0aa9fe3be4ddf76b016ab451d2e8f887d09e2b0862831c6325",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SQNUWrBCizRrjwEsdn6PhQOy",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8856, 0.8001, -0.7265, 0.1879, 0.1741, 0.0671, 0.178, 1.5555, 0.8913, -0.3077, -0.5045, -0.6895, 0.9989]\nstate[eef_state]: left_x=0.2599 left_y=-0.0782 left_z=0.1786 left_yaw=-0.4542 left_pitch=-0.2221 left_roll=-0.0082 left_gripper=0.0671 right_x=0.3509 right_y=0.1535 right_z=0.0867 right_yaw=0.984 right_pitch=-0.2483 right_roll=-0.0544 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.6068, 6.7214, 1.536, 0.022, -0.0415, 1.0281, -0.2256, -6.5846, 7.665, 1.1648, -0.4518, -0.1001, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c93212ff30781d5954f4f7c7a6840f15a10a18723c794038b9364a432c7a596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e798d6217172e3c687878448bb692055f67196c776e244b406c70a116298c25a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524503fee9aae0491a3346c159606ad21c05666a939df27e394d3ee2cdfefdf3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.401 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]: [-0.1837, 0.881, 0.8001, -0.7223, 0.1879, 0.1741, 0.0636, 0.5896, 1.438, 0.7086, -0.057, 0.3481, 0.2806, 0.9988]\nstate[eef_state]: left_x=0.2604 left_y=-0.0783 left_z=0.1805 left_yaw=-0.4537 left_pitch=-0.2136 left_roll=-0.0058 left_gripper=0.0636 right_x=0.3428 right_y=0.1612 right_z=0.0881 right_yaw=0.1323 right_pitch=-0.1677 right_roll=-0.0383 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.5521, 6.9265, 1.5165, 0.0806, -0.0659, 1.033, -0.3897, -5.5316, 8.1162, 1.58, 0.3687, 0.0904, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1837, 0.8852, 0.8001, -0.7246, 0.1879, 0.1741, 0.0671, 0.2024, 1.5352, 0.8639, -0.2565, -0.3573, -0.4938, 0.9989]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1791 left_yaw=-0.4541 left_pitch=-0.2199 left_roll=-0.0075 left_gripper=0.0671 right_x=0.3601 right_y=0.1406 right_z=0.082 right_yaw=0.7816 right_pitch=-0.2877 right_roll=-0.0418 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.7436, 6.9128, 1.536, 0.0366, -0.0415, 1.0281, -0.2803, -6.4752, 7.6376, 1.1844, -0.4762, -0.1294, -0.1294]\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 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]: [-0.1837, 0.8856, 0.8001, -0.7265, 0.1879, 0.1741, 0.0671, 0.178, 1.5555, 0.8913, -0.3077, -0.5045, -0.6895, 0.9989]\nstate[eef_state]: left_x=0.2599 left_y=-0.0782 left_z=0.1786 left_yaw=-0.4542 left_pitch=-0.2221 left_roll=-0.0082 left_gripper=0.0671 right_x=0.3509 right_y=0.1535 right_z=0.0867 right_yaw=0.984 right_pitch=-0.2483 right_roll=-0.0544 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.6068, 6.7214, 1.536, 0.022, -0.0415, 1.0281, -0.2256, -6.5846, 7.665, 1.1648, -0.4518, -0.1001, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c93212ff30781d5954f4f7c7a6840f15a10a18723c794038b9364a432c7a596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e798d6217172e3c687878448bb692055f67196c776e244b406c70a116298c25a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524503fee9aae0491a3346c159606ad21c05666a939df27e394d3ee2cdfefdf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHXs_Mmhe0GGtDe4GomDN66BhHwKja5wmNQ6-NZ1IQTGCg4KPFjZ_ApzUaukJaEK3SIfqCv_GKVjS8OKJa0HlPGbkSxXiUDC3GQmCiFXpAKdNqxUmf395dMg6EXTzTN_DnTJCqSeO8TW30fhMb8u19drnVUrVaxRCbavYX7JcHD9ZXvE4_GHSAR7V99KIiTC2W7i6d1OMJ-ME2fYegaX0h0eXs4680ah0LFH8fIyxDjqyb9VCCsdjVRiA2np5BgMvtELEXhWMaAHlDbpV-jRPuIB4b7Cunyo_bwZXjzctHQmfuESzaozdNE4DqzrfTStFKqDHJFqWU9JUn_69QFcOOkV399PHU2U-UQV6I2Tv5eG1kUo7kLO182uIg1KSoTGpTt5OdMaGiqn3FNwc2Q5X_kZRqKFFfX328AHRZhShnXd-v-QoCC4uUC4vF7vsZYTaU03Pmr9vnIpngtWBzGcCZ8CRvnrMnnV7LXC0LlLiI8r3fKHnjAOJwhzwII66M8ccxpJWXanwB6Nsam-umvEjS87fhDfN8lgPJP3I0zzj_PMd9jjrFfqQiU6WzHGpTV14whMI1-H4YlGr_ePaon15b-AfBSbGTUEL1of7RXHcdFlYiDpsYFyE5D35BUSmPoZae3teKnFAC97KvqjPl-8pFNmR_kIYuULnBmVsH4na9RHS4VAzk-cKWLDe_UnfemwCC1xvGK8xmnkcMC0OxMLnnS1TKIDS_50vKHtAN8NepVOvrjWAqJWH3qEEWreoXOunZth0tPINRoPdH3YBmfzZOijg8FpqfA_6DzcyUURlk53167uNhqZ0FUUWUhJr9D5FiObIuVfay9CYq3HzEklqDBg5JXFSCsDYZOla0gG1V6_e2qSr5sU5gwuJQDfLXWi02Ppe0PMRjMo7XAkMp074ixSwmT0xSaWjtNgYCoLk5iAl82SLssWl3Emv_Mimv8l0oFJpse_ClW9skBv_Zf49R846RvXJJM9v9GnMzGkyQuwY91zslat5iguOQubOGi9gWxP-7MX83R-Tek8x3HTaBjH9OKrlVGrc2feERl3utC1ZbZolOofniVbm7MRQmCKMoR2tEuDS2eyJgWthjoZbMgk0NxqG-THSCs7UrSY4e5KKSyBD8JNMA9sVByozuXWycC9LWwkNz7ku7KAt-9fy4to_YsfeqTLusinahfewS7Lq5LRYVqFrY24YnNZnPYd0baZhpxarVBlc4cjpJ1SmFqBDniSN33ak6y9uENw0yp9ZkfUcWmLqjKgvJiYGVvoJnNyOVhxelyBfBu76-dZSO7geZA-Tcyeybw46p_Zwk6sxgn3-shu-LLv_s9xITBiFXO28K_mLng8A-qH3a-eZVkZKqDthn_VyocvBGqHZsWo5Di9ufZ3iJejiZ0y_HhbA670qra7F3CReAUm4kNj6uQXUWqshoaoh9Bh_u2sfvyLHN7UWl3bMwwayFJlrcDC82d",
  "id": "rs_0aa9fe3be4ddf76b016ab451d5a68087d08f8deb3e2cd3b61c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.15,\"right_z\":0.0,\"right_yaw\":0.98,\"right_gripper\":1.0},\"note\":\"The arm held height because the simultaneous yaw correction continued rotating instead of translating; the pen remains well aligned. I am now fixing yaw at the achieved 0.98 rad and commanding only the forward descent.\"}",
  "call_id": "call_uOV9NXQOFI3Wn6jvlbYjCmTD",
  "id": "fc_0aa9fe3be4ddf76b016ab451d6451887d09f334e27338c47e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uOV9NXQOFI3Wn6jvlbYjCmTD",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8852, 0.8001, -0.7288, 0.1879, 0.1741, 0.0671, 0.165, 1.6398, 0.8967, -0.2184, -0.5209, -0.6987, 0.9989]\nstate[eef_state]: left_x=0.2595 left_y=-0.0781 left_z=0.1784 left_yaw=-0.4543 left_pitch=-0.2239 left_roll=-0.0087 left_gripper=0.0671 right_x=0.3667 right_y=0.1538 right_z=0.0708 right_yaw=0.9858 right_pitch=-0.2316 right_roll=-0.0591 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -1.1692, 6.7624, 1.5604, 0.0122, -0.0464, 1.0281, -1.0872, -2.1675, 4.588, 0.7985, -0.0855, -0.0562, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3753381b5c1ffe854ffbc008932df5286c81eddec804a54d0a498583daab80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4eedd79d74e4e6b0a9e3bc82e55a63b99afcc8417efe26d0d5993deb72b822d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21927dc80d28a664d58094e393cd30ae4c6d2fb6c57df75293d9688952217728",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.753 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]: [-0.1837, 0.8825, 0.8001, -0.7242, 0.1879, 0.1741, 0.0671, 0.5491, 1.4769, 0.812, -0.1764, 0.3107, 0.2508, 0.9989]\nstate[eef_state]: left_x=0.2601 left_y=-0.0782 left_z=0.1798 left_yaw=-0.4539 left_pitch=-0.2169 left_roll=-0.0067 left_gripper=0.0671 right_x=0.3538 right_y=0.1574 right_z=0.0934 right_yaw=0.134 right_pitch=-0.2295 right_roll=-0.0588 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -1.1829, 6.7624, 1.5556, 0.0464, -0.0659, 1.0281, -1.5521, -7.0085, 9.935, 1.956, 0.3053, 0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1837, 0.8856, 0.8001, -0.7265, 0.1879, 0.1741, 0.0671, 0.178, 1.5555, 0.8913, -0.3077, -0.5045, -0.6895, 0.9989]\nstate[eef_state]: left_x=0.2599 left_y=-0.0782 left_z=0.1786 left_yaw=-0.4542 left_pitch=-0.2221 left_roll=-0.0082 left_gripper=0.0671 right_x=0.3509 right_y=0.1535 right_z=0.0867 right_yaw=0.984 right_pitch=-0.2483 right_roll=-0.0544 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.6068, 6.7214, 1.536, 0.022, -0.0415, 1.0281, -0.2256, -6.5846, 7.665, 1.1648, -0.4518, -0.1001, -0.1294]",
      "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]: [-0.1837, 0.8852, 0.8001, -0.7288, 0.1879, 0.1741, 0.0671, 0.165, 1.6398, 0.8967, -0.2184, -0.5209, -0.6987, 0.9989]\nstate[eef_state]: left_x=0.2595 left_y=-0.0781 left_z=0.1784 left_yaw=-0.4543 left_pitch=-0.2239 left_roll=-0.0087 left_gripper=0.0671 right_x=0.3667 right_y=0.1538 right_z=0.0708 right_yaw=0.9858 right_pitch=-0.2316 right_roll=-0.0591 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -1.1692, 6.7624, 1.5604, 0.0122, -0.0464, 1.0281, -1.0872, -2.1675, 4.588, 0.7985, -0.0855, -0.0562, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3753381b5c1ffe854ffbc008932df5286c81eddec804a54d0a498583daab80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4eedd79d74e4e6b0a9e3bc82e55a63b99afcc8417efe26d0d5993deb72b822d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21927dc80d28a664d58094e393cd30ae4c6d2fb6c57df75293d9688952217728",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFHapuS5HdK1QnUujPLrK2NEY0BoBdVHJDFxTc1lzLNGE0Ah_QvmPQSMcNrDh-Vu85jNnrnnd1k5OaG-pn1pW11pHYTagg1gNt7tGwmI_QJbe02JOcU_KZJldhF2UY6pBcqmbITgdE6v5qssTSi2CZSokk7mhXwuiAvp3PRT7uqRNKGSZnkdc_L24jQ6cCA7OTUFubdsyw1h8cDcDhHWKM_qLObuGF5Ettv6fvrQ3XQMLqIOYgkK02uBQE97-_Nkkg4TpFmqMsrjHrXNa_4wxe7o2lPZipDNiVRnj0s7yb506FVMXkCoOasJO6Ac46vQz8DPFOa8xP9nmxxAyEYwV-j8SlLiuw0S_UV-CsnM61isUhQDfp1dM5S8ukZkZzj82S8Z91itQHHIgRRSPWpyBvSZPJ6QDzrHcOrf1zsR1qHo2FBNxuEVmrj8On3SuxTbIEgJl4W0VwIONYVZRUARSQWzGFqn0q5DwpvauHZ-c5W8zRRVSls2Z7AhdOJ7uOlTTIeFURDH77Kgw19pIE6mBsoojutNI7F0dCUecmvOFL79CnCFVLynhxr8h_WK4P2VDTHhtkFZ0jJwifQEl-TifKsS0wh9KVDeev7m7qVvcS1juyUFuZXYRvSxCgqvWK2YgCEKgUBl_6HWxA9YTeMUbvaQ6J-yITf0suuA4fDRmwjYsT4PvNUyx-RNaOLTctUa9BcNqmcrH-PeW1r0WIWEBrJWGDNMA-951rKJiS7LKqvUO_AXOunileVbvwezYpVkAyCRBrzmuGeAyl_1RyB08RxHl7MOBSMkPNwfPVuY_T1Vlbypxo5Alshw4Ai0g6m0NwPiJe12seXvuGOGK8-UX11u4qb25zEw0t9uBRNVoi3t-pmNq8w1W6mHMqUfgsrfvcCDIpWJI4rAcejFheTWrEg-vYK_QArl-vQ66L2pgE7tb3AYNZlDZl2S4aX0OyUVoXzGC-TZhdncor7lJ8oCsxdRWI6wrPhL0vXvfU2GrA5em9sCPb2CGti0Oh3byfC46GAAhkzYvr5JFLJA_495s6xYNCcP5muZVkfmbfM0POdukg0t8i9p6RzJaDIMUTp-3V8dJyPjUZi8qnI2LHtliVg0fJ18dqaN2S-HFhxulX_dv2S28NMg07Dbos46a61yQzApmhNjOdGAjcHgsevaqKorR8075t5Y82OzauVxeb5el6j9Z3wB8BmsMDaF0_S2v1f9-nLTAithnJpWO2j4SjZDDZfsbIojWkRxGE32eF2LYv4Yw46t44inKUKSXc8FohvJfTSl5GGk_xaf6V8MDi0aBbD8AQBV7Xa61WTGPdd-0irzkFqRewbCkeFWt-GD9QlqIN8mCfgJ83ZkdhXgldOEpg==",
  "id": "rs_0aa9fe3be4ddf76b016ab451d8f44887d083c844a41faf3d07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.15,\"right_z\":-0.01,\"right_yaw\":0.986,\"right_gripper\":1.0},\"note\":\"With yaw fixed, the arm is now advancing and lowering while the pen stays centered and vertical in the wrist view. I am continuing the same motion to table contact, allowing the fingers to settle around the shaft.\"}",
  "call_id": "call_BIeNxCVhrQS28V0qfdyNwPZY",
  "id": "fc_0aa9fe3be4ddf76b016ab451d9459c87d0abb82cec971cbad5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BIeNxCVhrQS28V0qfdyNwPZY",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 0.8894, 0.7998, -0.7296, 0.1879, 0.1741, 0.0671, 0.1406, 1.9385, 0.9367, 0.0299, -0.5457, -0.7303, 0.9989]\nstate[eef_state]: left_x=0.2596 left_y=-0.0781 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4046 right_y=0.1535 right_z=0.0018 right_yaw=0.9977 right_pitch=-0.2241 right_roll=-0.0601 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.9214, 6.8581, 1.4579, 0.022, -0.0464, 1.0281, -0.7043, -6.653, 5.2855, 0.9451, 0.1148, -0.0269, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda38fd6e46eedc85684d0808fb1d4bf83bedb38d645b0c03b638d6e3f1ced1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df06e2bec8808eb6f8c61f17e1cef1125ff333bfbfc486fb3c4df030e81e3e06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1d4b5985811081d4a2c9daac9ff746184a818d3e323e6d8fbbdd023dbf54882",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.572 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]: [-0.1837, 0.8852, 0.8001, -0.7246, 0.1879, 0.1741, 0.0671, 0.2024, 1.5352, 0.8639, -0.2565, -0.3573, -0.4938, 0.9989]\nstate[eef_state]: left_x=0.2602 left_y=-0.0783 left_z=0.1791 left_yaw=-0.4541 left_pitch=-0.2199 left_roll=-0.0075 left_gripper=0.0671 right_x=0.3601 right_y=0.1406 right_z=0.082 right_yaw=0.7816 right_pitch=-0.2877 right_roll=-0.0418 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -1.7436, 6.9128, 1.536, 0.0366, -0.0415, 1.0281, -0.2803, -6.4752, 7.6376, 1.1844, -0.4762, -0.1294, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1837, 0.8852, 0.8001, -0.7288, 0.1879, 0.1741, 0.0671, 0.165, 1.6398, 0.8967, -0.2184, -0.5209, -0.6987, 0.9989]\nstate[eef_state]: left_x=0.2595 left_y=-0.0781 left_z=0.1784 left_yaw=-0.4543 left_pitch=-0.2239 left_roll=-0.0087 left_gripper=0.0671 right_x=0.3667 right_y=0.1538 right_z=0.0708 right_yaw=0.9858 right_pitch=-0.2316 right_roll=-0.0591 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -1.1692, 6.7624, 1.5604, 0.0122, -0.0464, 1.0281, -1.0872, -2.1675, 4.588, 0.7985, -0.0855, -0.0562, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1837, 0.8894, 0.7998, -0.7296, 0.1879, 0.1741, 0.0671, 0.1406, 1.9385, 0.9367, 0.0299, -0.5457, -0.7303, 0.9989]\nstate[eef_state]: left_x=0.2596 left_y=-0.0781 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4046 right_y=0.1535 right_z=0.0018 right_yaw=0.9977 right_pitch=-0.2241 right_roll=-0.0601 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.9214, 6.8581, 1.4579, 0.022, -0.0464, 1.0281, -0.7043, -6.653, 5.2855, 0.9451, 0.1148, -0.0269, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda38fd6e46eedc85684d0808fb1d4bf83bedb38d645b0c03b638d6e3f1ced1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df06e2bec8808eb6f8c61f17e1cef1125ff333bfbfc486fb3c4df030e81e3e06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1d4b5985811081d4a2c9daac9ff746184a818d3e323e6d8fbbdd023dbf54882",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHdmQcuU6JOgKX4EC2FwIkavkTNu3JJAog24JV4Kksw4LD26VuYX9ZiPKmMA_sQP46NxpxtYWLc-wQOZaXbz83sTtYT5Sc8IQGFoxB-Jrbqmt8v7ImSCHEW5EdXu8w8i-suks6HMJwAh6IFFZLuE9cRVkuEinskr8eP68GGOzVR35LEASrShn4h4oXhevMWSsJamavRLa-z9ClVrsHISvK3JgWxCTpBJHOXGTxBnDUkqgSyUaE0TA-UoZg0Ny3x4GEqOc_VqnV8mO5LAh4NvZ_k9MG8yH9CoHZM889Zh63IYxsyYPD08XLWORa3Pk81BlSsOJLOfaTpfu_7kb0SHUarWHonoQBBJ3SAKudLJbM1yH0ypnvh5LDfy_Biv7wwAuqZhs6xulSeTfFnV9taXB3rlsIGW4PZNu7vJndvFo_A2enRmPBsc7PKW3bPIbl_VS2LEjc3EtdEYuScu0h8gNB8C211C1_0Qy62rbTyi_xT3upe9BPlXjjCvCtIhco0BrceU7J0QMAmdRWjY8-iQOWHuZMG7vlNrjutS_4ukPqKfQBHthviKxCsmvkAKRyFr4387KtSi6DGnpvn6CRkFBPnECxquLg3lmalHEd9TrH4Mmqf5_bZhoYOSiKCG9CP81Ye0VarpvR2bQwluZqvZR-2RVp4QqhD_H2D1_DDnlsH5HTu1l93JVuVissBxPkKwlgwwjG0tuxfrJZIAJrHSK1mcSdVbvViRqq453faDf-9wsG01iICf7PKOSiji_gMEViD3V2RFNpXLvAgXW5eCTO_Tvz6dGO1R_twSUZj72e0kTfP1mlDNtlbsqb7yjR9VvpUy8hC95nYtqNdtdNIX12L6NspbYowRm6bDN8vESCN1xB92FVt8DGTHpicUUyb8rxd-mnVDMr07ly_uB_O36SjLw0BK1t1IUF1KOng5ccbZ5eHFpstMwu-haC-7Xq9o5Y6PbKTiexaqGnvJMrNNnZ305ulDtmOqcyx7QjDTDB2sflfdslSxg7ilXnZjmAw5A6i42FwHRMFuiaBLFoGcKSMDoRsOfzmak-aAIe_Hk9YPWVJCpBdeFba2jUAJ98X4tBBv1VQBviLvv4sFV6nhu8CW5YTH0zaIntE0T3_a0Mwe925QarqSKLsicIoypCpny6GpKv4lP6DQQHrAQbTiMzDqX5RqpmDdPpC4vpVWz_vknX1ew7LYIYeJGcRUmymEsZTSxBm3B0_xDhKzPcGRqbU27nDX-r9TA7-WNIWl7MCExV9-eWJCpqCSQlRVftA-xnk53pfC_wYNQi05r7quW77rpd4C9GmMjZjUZIPiujLjzs=",
  "id": "rs_0aa9fe3be4ddf76b016ab451dbe23487d0ac4be4c6aadd91be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right grasp point has reached table height, with the pen shaft running nearly vertical through the centre of the jaw gap. I am closing for the second grasp attempt at this corrected orientation.\"}",
  "call_id": "call_uRKnrPUieTJsOgPv2dIEkAcO",
  "id": "fc_0aa9fe3be4ddf76b016ab451dc1ee887d09347f534155cf0d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uRKnrPUieTJsOgPv2dIEkAcO",
  "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]: [-0.1837, 0.8894, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.9591, 0.947, 0.0765, -0.5613, -0.7303, 0.0422]\nstate[eef_state]: left_x=0.2597 left_y=-0.0781 left_z=0.1771 left_yaw=-0.4546 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.0671 right_x=0.4134 right_y=0.1563 right_z=0.0038 right_yaw=1.0008 right_pitch=-0.1908 right_roll=-0.0797 right_gripper=0.0422\nstate[joint_eff]: [-0.212, -1.388, 6.7077, 1.5458, 0.0415, -0.0806, 1.0232, -0.3214, -7.4735, 5.3402, 1.0769, -0.0611, -0.0269, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460ae2c5cdbf7a531173f8371d50eebf136de9b7a80f3da7e085201a388ff30e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7354958b6f1756572455c459b9c8cc088edf36a2f79a748042ba35e33f1e64c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5bf28d4500deec61fafd38c68822c7ce868c65c3bc7205d59761d3e0b648e44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 13.58 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]: [-0.1837, 0.8856, 0.8001, -0.7265, 0.1879, 0.1741, 0.0671, 0.178, 1.5555, 0.8913, -0.3077, -0.5045, -0.6895, 0.9989]\nstate[eef_state]: left_x=0.2599 left_y=-0.0782 left_z=0.1786 left_yaw=-0.4542 left_pitch=-0.2221 left_roll=-0.0082 left_gripper=0.0671 right_x=0.3509 right_y=0.1535 right_z=0.0867 right_yaw=0.984 right_pitch=-0.2483 right_roll=-0.0544 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.6068, 6.7214, 1.536, 0.022, -0.0415, 1.0281, -0.2256, -6.5846, 7.665, 1.1648, -0.4518, -0.1001, -0.1294]",
      "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]: [-0.1837, 0.8894, 0.7998, -0.7296, 0.1879, 0.1741, 0.0671, 0.1406, 1.9385, 0.9367, 0.0299, -0.5457, -0.7303, 0.9989]\nstate[eef_state]: left_x=0.2596 left_y=-0.0781 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4046 right_y=0.1535 right_z=0.0018 right_yaw=0.9977 right_pitch=-0.2241 right_roll=-0.0601 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.9214, 6.8581, 1.4579, 0.022, -0.0464, 1.0281, -0.7043, -6.653, 5.2855, 0.9451, 0.1148, -0.0269, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1837, 0.8894, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.9591, 0.947, 0.0765, -0.5613, -0.7303, 0.0422]\nstate[eef_state]: left_x=0.2597 left_y=-0.0781 left_z=0.1771 left_yaw=-0.4546 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.0671 right_x=0.4134 right_y=0.1563 right_z=0.0038 right_yaw=1.0008 right_pitch=-0.1908 right_roll=-0.0797 right_gripper=0.0422\nstate[joint_eff]: [-0.212, -1.388, 6.7077, 1.5458, 0.0415, -0.0806, 1.0232, -0.3214, -7.4735, 5.3402, 1.0769, -0.0611, -0.0269, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460ae2c5cdbf7a531173f8371d50eebf136de9b7a80f3da7e085201a388ff30e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7354958b6f1756572455c459b9c8cc088edf36a2f79a748042ba35e33f1e64c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5bf28d4500deec61fafd38c68822c7ce868c65c3bc7205d59761d3e0b648e44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHgQu7BE5AdcA0YqdnC3uuttjgXwzVsO7HysLU9L85rXu8MCOUxVp5k2C6U1_9Tjnw8CKSzMueM1FwNUE6YX2nh8fWQFGMggpyPmryt_B9Ko6Bx2nQJciwjxyc_zPxxrNzuLj7jWMoCg-_8phuzOL2YCYtQkSC9YN5kwhe6eocqLZVrIyTHySrdu-lMHXJXJRWd1siwWrZ-jbicTHvn0DcA_LtsPsMijjsFf-2zAWJZxt4TXmESrsEAdCfhORtb6h03SgCKbE7q6ueKiDvrCISn4KOaU0whfr8uUQfRLdCRsfC1kqjYbXWYxQhJ7I5BPB1qB8aoNzDmfmKWyYCaDIdbrej3V1NnvnA9b0_IRezbW6_8c0GR5QwJABDgJ06IdYEz1jM1U_IGzVnyZxGW9jc3yMINTEVNcCJXkdPbzMkEeD96SzkZydistoPvkg1f2ymSPBu1p1dd56b0gIglnGKwVLgINUvNWNeYkFuDIF4i242ugr7kQNdEhMgNuukeeTp9Ifj9zkqIxAukaBVUEbEcjAD7-v896M83Y4lHIK_ETiDsFF4P6gqWCU4b02UTsdJtRLxE6uF8vGBr4f9NGpwDzokwy_GXvd71DQ3dTvJYqe-vH8D8bhmxcTJsXmM4FWqi0FvEWsX3bDEboj89oXTinMp7VMxdFFYlRqgjM_Ok_GuuDgrb-S0XuNiBeZRdSixY3fKwb6zkZ0C0k2OcpzcGFYkDCUTsEuMFMyiPtfu637jeLZixakSrd9obA4MhWTt6aXbu2Osmm3PO8FIK66Gx6QTiCN0-TetkE9wwszlYLXKNxfd0ZoyJwmr6j-jV4qwkXQJ9hSFQPvmPgz5fWBj9GnAh6etHNpuwjfPBFpRLNlWM3bveAqQM3VBvip_Aqi0fybGcyRxDYc783CGukwm37GCgReJVmt13a6mHBPPA0JHUipwY95so1f9kgPllGBLu5yt0p1dQnX7wsSLLbKHIZeETaP3AMJlzZye6Ss0DUHlwZoUGc2VKJBZdvaMfMDQilMkrhtgspZ6ewkg3DVHiemFULLeFxjT6j9E293spqXVkl4FL-eFyQB7rcKkLUnihFxMwtx0L1MbUihX859s5Byptz-rn_AGIGcOtikRcumRi8V0zs8xCr9rFxjYqBMoVFSk_zKsA2ZIS46-To0abz0mEgKIvdYm3mAjYC78kFZQywvH6RiO55miX4gcQggsVus9QYJQoUxNkV9rTxWFvHGljGPtunJ_nzJxwjTFDqqq8JpSQsAny7WGVa2x5p0o4SLBYQWoGCxhwqxmp5zd95EetCi3CT4KKdL8gr0nTYZxY32eUOOW1EYqGps48EjzXole1TXyTyrDnMDQooDWS-7seMCTk6w7OrsHidC-w5D0JMDoQ5rVgbRXXn6qOif380zM0c7dNybvBA1jwwfccft8Sm1KL24UOJ2GMgYOsclJ1NVc2PlqHrnpBRtJ3HfPkkMeL3XmuEyRQ5ir0G75bhNGL-zC5UP_DhWRZ0OB4O56SSziWU8skEGsSqorFACa7IGztNJY15fMcXG-8S0FNEA==",
  "id": "rs_0aa9fe3be4ddf76b016ab451df64cc87d08ad1e67bd8133411",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper settled at 0.042, above the empty threshold, and the pen remains centered with its shaft extending from the jaws. I am lifting it to confirm the pen is securely held before bringing the cap over.\"}",
  "call_id": "call_95AlcTsuT9g8NiUC6yySmmVS",
  "id": "fc_0aa9fe3be4ddf76b016ab451e036d487d0ae7cef74905da49f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_95AlcTsuT9g8NiUC6yySmmVS",
  "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]: [-0.1837, 0.8898, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.734, 1.2221, -0.4461, -0.5583, -0.7383, 0.0431]\nstate[eef_state]: left_x=0.2597 left_y=-0.0782 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4148 right_y=0.156 right_z=0.125 right_yaw=1.0065 right_pitch=-0.2075 right_roll=-0.0698 right_gripper=0.0431\nstate[joint_eff]: [-0.1846, -1.6068, 6.7624, 1.4725, 0.022, -0.0366, 1.0281, -0.3624, -11.2205, 9.0462, 1.1453, -0.3492, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4b53a258e1a50584d52ee77ee046498e0c7257a5cb2e9eb42c41315d1aabd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3773b7d2eae7a7017e1c79538da192e8e15480d46db8e0c1f06d8d7e2f87e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23b91327fca4d12693758e264d7422c3bb5d2c8bc0706867f07b2e507d2d18d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.516 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]: [-0.1837, 0.8852, 0.8001, -0.7288, 0.1879, 0.1741, 0.0671, 0.165, 1.6398, 0.8967, -0.2184, -0.5209, -0.6987, 0.9989]\nstate[eef_state]: left_x=0.2595 left_y=-0.0781 left_z=0.1784 left_yaw=-0.4543 left_pitch=-0.2239 left_roll=-0.0087 left_gripper=0.0671 right_x=0.3667 right_y=0.1538 right_z=0.0708 right_yaw=0.9858 right_pitch=-0.2316 right_roll=-0.0591 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -1.1692, 6.7624, 1.5604, 0.0122, -0.0464, 1.0281, -1.0872, -2.1675, 4.588, 0.7985, -0.0855, -0.0562, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1837, 0.8894, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.9591, 0.947, 0.0765, -0.5613, -0.7303, 0.0422]\nstate[eef_state]: left_x=0.2597 left_y=-0.0781 left_z=0.1771 left_yaw=-0.4546 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.0671 right_x=0.4134 right_y=0.1563 right_z=0.0038 right_yaw=1.0008 right_pitch=-0.1908 right_roll=-0.0797 right_gripper=0.0422\nstate[joint_eff]: [-0.212, -1.388, 6.7077, 1.5458, 0.0415, -0.0806, 1.0232, -0.3214, -7.4735, 5.3402, 1.0769, -0.0611, -0.0269, 1.0085]\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]: [-0.1837, 0.8898, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.734, 1.2221, -0.4461, -0.5583, -0.7383, 0.0431]\nstate[eef_state]: left_x=0.2597 left_y=-0.0782 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4148 right_y=0.156 right_z=0.125 right_yaw=1.0065 right_pitch=-0.2075 right_roll=-0.0698 right_gripper=0.0431\nstate[joint_eff]: [-0.1846, -1.6068, 6.7624, 1.4725, 0.022, -0.0366, 1.0281, -0.3624, -11.2205, 9.0462, 1.1453, -0.3492, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4b53a258e1a50584d52ee77ee046498e0c7257a5cb2e9eb42c41315d1aabd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3773b7d2eae7a7017e1c79538da192e8e15480d46db8e0c1f06d8d7e2f87e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23b91327fca4d12693758e264d7422c3bb5d2c8bc0706867f07b2e507d2d18d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHvzrZ1kzEugx64ynHTX-_1kUPUDCBYn06t_nVJCngsSLifyYkqKM-ylRcOT1Qim-N-cQW9KCJ2wIEj4RuwIlRHgOElnX2DqHF4rRYh8OvZFsSCIAS7qwb8rP5_tS6j6La6NuXOfxQSjJyYTEY1JrlMLN9YzKnNM9ZB1r0WNpeMMYydFk-CQNBPc9rLKOIJ137kyAMgZGWojIL264GUHo_JG5kacXzqDfBF4d5OiahpAN6lUoB0VfpISol3zBO0Y0OG-_d7yIgOmm8Fw2RWlc_i8WkuQRnQxZGPnhBuNw0lXeZtAa3_qDn_YNN1M-P92fKKG39N-iaHisOKpsUnCh1P15CUWpXiS09g4tYQ3b5c0bKfNzLLZBvZgvnecee0NTqvUXNy9wYDZdqwr4cJRQgLcMecDE2AhhbzuInvlyZTpWsGCF5B7GMuICB7vAMh3RzvBVVF1PdYQVAciOc99qbC8TlNlSYlg7ysw9B4cXI-h_DChHsRuZT3N2UX0R5303721Xj_7MUICFLnEbkELYN92FkuRR574av2ktw9l5PLie-Pi8jokfpN6t8B-LxV_9kzB8Zzx6RYk6ZtMclyr2Bl_JlUmMO9An1zMFJK77n-Ia-iA12_tqUKSAhKnS_Bui4ouRHK64tYIdq9rEzpuEQbod-hLURULglVk9bO4dFLpOaAU7y6zAXmeoiKzWGFh3y8a0cpDUbKiDtHQBTfDx6rzfpsH-EavghAnMe9vUQ4qSOYtHxDcsvA2a8afrnbeNpeoKRTFK5xnv631Cc6W-pYCnM6EZGEt3f0XLkxqcNNAVw8wPoz-QohwKjFbZXkDZ4fdZ29uuOSWBuWwXTGMpqve9AMfUUasLPCDqWHufZ0RJ35DyS96diWQikzjz2TIn1nTQ-vaLEy0IqN8ZzrDFuMhsGpCdp9CeSYnZ0xlwUdOn9-IEseQ9tK0u-gNNXTJhJJX-M_coRrYSTy_AqaLY-OI8W1tG_k6kMU0wrXx5SGtFdypLgVUGSc-0626kIhH2ywwD8NmSyNBwYWMPWSZeSrKtTpAqgKkRtHlhJwPV5BDnTJ22mPkHNGWuvqatBUFC3To-fDgwsS9xQNjSTc-w-sFq7z_wIqrP-LTV4q278l39rhsiwpjYWsN8pccwl41vopcozPpHy0jJgZs87Kd-kepVGuftRyElaTSwqQJLe3UOZ-KQ2Akkz4p5KhDJgrUd-AxTNnpptZE0x04-ih_BjWLk52yR46PBaX8aoZWByHV3ZSnwDBOJ4WpF5-RRiYFk0XsKgLqP6lYDFJqTs64Nz42e4ysRGNbteJ5E3NEt77eQrl-B_kqTuB2ej57JotjhwZQwUJXh8ANWXmIzJF9stw_1X49sbYMoSuOrTFwcsDehZx8EPBg06HhHWzOioXLDhHmPLcrwVEEmA6v7f1HRIIpsOTeHzLM1FcgJj0ILCe0uZT4C_cCnTphH25qzFyyseLGpLa64pqip6FEnrdd8WP2tIL4chUeI9PSFx2Ej3qQZ59iymCalHG-D1MFwlCHt4-o22H-cZvpoSCY7nskpPKmv5QGCFcdrOyCjpfYf93XxibsWb2nuV_HnvSRjuWUMre_uBFemmE_CwVGYJ_YVy0b7wNdL6GKCsYwngX2D2SOTJwsq_3z9BfyckVL31DfdFHCZRmtzdARXv4BARtDL8JE3cLve1FZWDfycblVr4NABaHQZOFJOm3Y_axfFvWb1omHfywv75NC_WGtVwRIWvCVtYrk7fYMrEml-C9Y0GtIZJ757xhbXaKEHMc4XrBNMJYCZWzS2cyKs9MpWEoyToqigQJXS_x5ly-Kn-tElKd7d7FNjd4d0nP0bG_rpf6TXJ72uNE_FC1khwOf8zaG1j4b_6ppYLB_g0XjF44lyiKgbll12M2CCCfq1iMyuCoFWUXHH1b3wOmuQjvFzcqgTFUO2qXMFuY8onPj1Av1IK8yjvNOIbmJ6tmhGk9qvwqss1awI89iyTET3CSohExJfuN3TneAyOjtWcCdFXuzDd9d6_RCw2SxtArAZ9U6epmxVe_0DTEH4MtGHTWTCc-YLGA4tZ8ofeq6I3TsjtDb9isPTOknCf8-ykWla5lUYHU6_w1tJNcfTwDeFveuJ7eQGnIocej8DqJyff14no8fXY0XQBlBv5z2GN4rFuWbGRhY0ZwBG_LS9DLu5VMLyQENoTZS04Ta98KB1KT4pP-0USB_mmxE-sxnGJWNXVBiNFys2y_YbACCIh8p54Xz-lxAB_22kMBJAA014QKmnJWp0m65wTkvX6nsAnEgcMjq3aX8F7cwm13QRiRGFJxFwm8yywW533-0WOU1WleTAANO_GhOKRLgb2fIfUEt8Ok_RtdaiK8ulk3cBg5TqZ38nf8VhFqPj3XfsjupuOqD_BSUwHt6QVInMzLtq5R7DmP2ToxzaPumpntxK6N8tTNhL8q93zl-aeQUMEoYdyzMbEdAb-w7Ybq1EiLS3wdQcuFKvyrFeUpvd6LE6CTrXvQJyyZGUD0R0qv4dqthEfiNy_ro_yfcGBvqpqRSKMZ_rBtHVvkZAq1CNmLSrniHbIBE263bvCXe91X2V9BtpN7nFUywgaJ_HffF-g9C87gTuoikb6nqZ6Y4rDXaI-FM_vtSu5Hb7PEMT9POboE2zr50l8XSDxZlBOr3M6DlZBRV_sx_KD6Pz_XhkmTYLf28h-IYaddjDVb1uhaqv8HLSVnMXI3XKfjHMzaAHvuHw6bsfFClnzz2lbG0ADPo-2C6hrvEWAMxjrmjrmMc2VhMuabaHwbaObNDL6rCPyrExOzn3mZCg2B5blbeYu_clMyKRFqNmNdRTJUUlI7YwP28-z9MTzEuak_CSFRSNx5N6-PImjEq_qFeX1i9VeryjFIlapLINe26A5NonsPQjLvzQhFb4ZMhPhBXqB316oAPYQShvdZ1XOtp2V0DtlNrMshmVsYhiVJMxbrvdJAhlGzAouYb3b61VMqTWMeBXTeuwFxG9JFxq_d5G8rcrBb63aUG-3XJoTnLzTuOraauVK4Ztq25hoqS8ftfAFRdUE4BSfPIYK0fxBJFZu7z-_hDQSWPX4nNLG1hMrGuqtSnKbLzvlZaXUwhghIDrfU89Tv7Ao5vZYmf_Ey2mTxh1uXjAAszGTcFmSNAF-MhUNoC4lbj3ZT0xnGbw5lO1BCOWOZqBYUxuGeAVAtFt1SplBNBIB0JVI_w4eK0TxjMpM5fZfLabKg10p8Dk2E1UFz9_apZaJUZiPZg-HQrcrKyAtGe2ts42vbhnEa4QS_1i2VP2Prq2FZquqK2Y8ES2VTBOCXYuN3fju1i4-LC0zhQSL99RDd2PjOstgFv_-FtmeNyCmTQALxL_HkG3PTttZPkFLPWPdPlH0D7TmfdNzZXRcy__QkvmIYRUue8mThNnZrQJENsKW9YFJvJPG495OCBZhY6Krt7fkH1FuNdGBU8QW5cHKn79_6LfkRpulQOzXurq6tIFzJt7-gmh_boOWQz67giZvQLakUh5IgRzKtHBlnz34Ahk7DP_jRDPfJxvBo09hZUH4032o4VOHRhVNxJb8Mr0S6hu8xNzNYlOLRmtJpK1EMCcPIxJKd0ZRCVyqu7gZDZrwsRqzodjkgLlaF7IqwEmENxgwzf5yA2AMXzF797Qzft4rnCkItstomyilU6zk8-w3rvFvEe6FlUi5OJFXpvRcK0p0iC8PhD9fUcYU6si0chWcPeVhNsw2BOnJVei5aJJrRLbR9ObQnObEI9PDNFG3R1-VOUl98IvC4_lk0O0KGfAinmNjraDDxXD6ie2dTtAfevQS9Ma-WA3Wt6tzd4hK24WVpD_iU4tZiaoECKKs0u-7FqVFuBUUhpAIcKeLxiu7G2U09rnB-GtfdPoJVnQQ7bVRteNpK448ZZW_VXf5NgD9OnVNHs86bN7LvFTrfLgUCsnKvb0b6tSJguUdKwjnY1Gvy1tIJniovMpkGaf_Vkd89IHta9DEMCVPUCPVZmA7qTCsUSIrF3efaJKGthSkzgIsIWFVcK0fbeBV3ISo1XWgn9iCrk8dDA83EPP1oFTUxfwBTDLcD-AnoRHSVKZtwUc7v1c8CseVccpRePmFooTwu5oQWfG2sn_1R_sIaVuV7E43khtDYoOmfJHBMxezjS2eEv4hhf7pl0CFL1YXh-SpRg7UzVTm8mKgrQ97sxb-OXGCdi4-v1rMJCoEV2RmpDedRf0H7hfW1nNBUBmFlDoltp5e4nXMXHg4upI3BIDYRQecpK05wrjsIX9qMFtz-mSeU6IGOw8Z-2SceOI3XV12pKn6784bUAQ==",
  "id": "rs_0aa9fe3be4ddf76b016ab451e3522487d08ee8edb1c18dcff6",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHv6lnf-kXj8pS2s_jaXrA0_fChF82OQg7EuYChk_2EBkcBkCnQcA0iO64xXFnC6Joqafi4kLtaRD-5LGLuAnVgtNfvPnDn1DyoRGY6gG4BHQAqIJyj9vsYBCJr8WnThDX--sdA0TSPhnjJ45OHqu3XOAcFxjN992Qt-fd3oqzsnwazWrA_0JloLAMf69wfKvcxMqIcRXQ7dj_NVOib4jzlArWpc2Su9nOgxjDAxcjFm7y5qspOujkmqCPw-j2iQqtu3cc-EiNUFCbOeliLCfLSMfvvDSI-z60pWKeOS2MFA8yHa68pOMkzAqY3HjAC0jxumyzObJXNI-dMl_mU-ZFMCOE2SzLnUZTMDWIwhgaJXOYPrlnzgbd_0QUIq8A_MZ6HetSB36w6YkCT_hDKsqJ3qsrstqaa972vKPAkUew54f8eCYgSb9578CJpF4gM1JH6XOzXavQsbSGRTTOtHlDuipfSJmGgHXW-QciGpAK4BVXHTPeYm1yY6iLx0WxfmkgueGrni4NkpABtkCmr-TkjmQQmuWhanoEMTGMh5hMpC_CeVy278sEhV5aHfd-8KDuIKHiEGSIRNPq2F6UmTEkRBhaa8tp9ag9Jsh2z9ff7emqcYcbW16SLqCUhEusvC4o9R60SBHTBgUFX4BFYz6wyF1tH37KeZybIpYJdh6ojqPeKf9uefTCkuOErxez2O7BPVXlbsOfnE-W_50FSS4dLe6cFRNimDRY0KK-lqpANvH6Yuv4n8A2KiFVvgVRX6WsinSAkMhkbHMJLCuEXAGAskg9O7SeG3Mo7aEYAUNiH2tBVAESht0IiMy7SpghqaBhwmBYQufxF7vN1HOQ7DOgvhrz5ibv6Ux6Ed7EUgoXYz5AmJwka5TCzQpsraCGW1u8w9kDOIlcvmVA5G7Rfh4WekquydGJTd6FZevU0z-RPc8UmtSIYO4TVtraiEGm20PL--JR6RzvyH2go0aMmw9EZ9ObVdt4f42KZzUeHNClXNZ2z95MHMGqKmcg0yTj9EX11ZjmZWEKA1kCx2D5Fv8sN4gxdTzB7Fx4Hvhhq4tomjef9srm5JH5_6bpSrxECHKYvpvPq2VlUsbOwoJjZ_owtVGWwOBinevDXvlIdrOKiwgQC0yAABVyTcrpgW2VvZMl5DAWY7h4BM47xmgryBAmtINYybofOdSAiLBcIWDOQ1dMgOzm-Xa9RHfogtotr1G2et9qdVUtDxtMO22bpv9xAoYh7ogTC3IVoMI76hT2yCSPRE_RwID3Dtv8_X_vyzNZxLmOI7OBKmt7_1xKdnBhZEK1OlHIUBESKSC5hSR0sBAkRMoS-VEsNwyZB-ITewF5F-91OVf2a3Ae8TTgtCWCnFfF4kxNaTYt1_IB0KoBQZugRI5L-3J1Z5Mk3pazd4y6TfdAKMoJWgOVcATMBIAxCDQu3DchTy0Rz3-KhDT6aYrI4Z59oAD_28hhYuBMFzBSd4fH7CDoBeB4i5hQWJQEkmgXkuDrezesPklCkopboyJPg_FjEzmWMh6RrEC_UeLOOjsS04E8GFbSG3c9maHYGBZhU3qpbv3VZjltHGnYtymmBiP0EfdErUVd2WjW0H7XLZmTdkxaVYt2xvJgrjmXTiWbD-km6xBxRf3NROByFTyJohoE000kt6wWlFl5xwbbN-rjsYdDaAvgoSH4DaIsCMSMT77bAwqWdEOfooVoc9er2AzX-_toIrKM0wouzTRtku47Fd_t-MKXrSM1RIxhViSjf8FM_2foFpIPvIgvVmZJ7LW-XQukis-WI7RD_YXFZBjNMIYkbfs6r9zC3GrPzEk6S2S6Bz-pvsHp0nMsFc-Op4eC9XpcZfww6EC6bekZkXeOoRTchEYo8qWmnhdQmVrTMxSi8lqYc1JWDhLDX-P0eXLzGBYmmQo-SY96PK7ZVoywLvV1XIspA_8MEVY6tE4z0ETGNuiaaToCkmpgMqoHOcYUZg0tgbjul90COz1yA89G17oNqLs9FKuKl_hJecnG6r77FbM5w4kFfB9atjyioaA3RNsp52VGkbT8UZFpUNIY6qFHOqtN2cAR25WDKEBYyIOtifm4UixsZJJxS2KvZrBO_V5qEo6gv8o7wqRAQzJoT86fVYecv9HnBmHqL7P0r0Go5P_HCtrYXfruObgXNa3cGrQAoCG_wOkvkO7qc0Efh0sjXWQ6SDhLeP9-ynTZThp7p2kp6dtkKZEuGi9NGBcc17oDJMUsWMVTz7Rk6SX__UHSi259o5f_cYw7557II5LazJjo2gA7dq2rX7TDEAqcMfKg-H6kP7V-fX3TCzSdJf6Y9RWR3ztC6On6rSr7DYgLoCb68QgVtfPBDgET8ZG-OFIgHGTltDTTvoBdhBMWRdgL0Q24UkCtroFmFDUAugvnzGRT1CayRQbxqAfaHWRttx-Vk6BQOnuFaifRZ-yCVuyMLjj63RjcnTZemF_wczf553gTfsoEE4kipltzLH17dGSbLggmnPwuGF1VodOjyObRdNhEhNCHeRnCwKwuwx-cwGW4w2-OjIsbSO6qUU1q7h8cggI8ejLATd8pjzlf9o9p33Ouf7k0Pkd_4mQDWXW5wI29_WzYFRh8SrS-1aER0N-PfJBemGr6w3M8jzcxhsk5p2lOKB4iKIJWJcQ3MZPhgF3ODUgIlcFQ9sM_Itr5SDN5PtegjwJ-0dO3os0wBwK1OMHRLBzQtjTib3A6P4T18_fR2aThqHcgAqIEEnbOviYdAeA-8-bNU4ejJRQkjVAbp9rs3pLxD6oxJnNIsNLl3C1Q7bLEr2hVxf7bkZxyAJ42GG-CBbH7qEzZESgRz3w8z7PEr1qKkaqAxs0Ed8DuaiPv9fpM9hRjWnfaCFxli6tKWcgwSHMRKbheGdgLVu7YDs5gGx6PqeWpSHYhCkyVyfKq5gZ7OatJTe94AdRsmJh24JztCTYK8sm2jG7GIHl-uc6ElrqIQWVGsdesq1O6mfTbKqhrDGE25qBxklenaWeiM30_BGmVFKBTlfuyogvMXqbrpQBYXlVj-kfHi8gQ0VK4IRQHemae3XHAbddaDS-CCXOKJIiZs4r2h7tx1IHSl1FbP-_AL6mW5P1gSsjCCPJstPsxFIB6kPJ5SuIo09PeY3p8jo_ZNvNizRUL-6Cb4JbfLrpCfe4RhrP449D__nM9CJuTqhWXOOgrCO96tPGnLh8PCAXNOcNcGGP2B988n5LW6H4qdrNi-3QZWy5h4UH-OeFz78c3QgJAvFkw6N_SzyMuW11IV9yPp51z6eNzyLUL-AFSS1uQeg3Dp09yUUXY9v_8lwTmV9qhki1-dmEq9ZOu8AzeoGz8Ad-YP0juSHrjob8BBFMDX2lBP_D8KofijS3K1vamJFtF0RR-1Jnp3o39DXKVW46k2uxk-bSjZF3kh3-MRdVt_LfHuWkTyL5hjE3YAF2V7hjDaNg0el7_K6su-WuT9DEnrl64l-x9xiCwqgf7a4px0K4K0OZT45aVTJqc1ZDE7DCIuIGHd0vMLpCuM5H3yUJ6eC6z-XSHQDQUajdi6z0j_7FvzN-WbXpu_T4a201KOdZZGpBjQb9hyEZmqYB9046A25sfMctSsoKGt2kop44o09Bh4JjylqSjQUcyMtM_39eMPtd3NYvdjyo99kB-K3RB-JqfF4sciUxpAGqgydX_kK43R4hsDwS6jBxrecw22Um30tCnQkyyN_0e9t5fVZQGDvpotFT21siqN7VCYWAqv3KsAX7bUFIXTGZDzWzrQdKX_t75yNNlYHyqZ2RCPq9dVQM0iLFtmH8ODdpBzbyVK76triFtziE0m1ZVBfQtFG9MaedN1EfCZQrXSfP2jR074lchnjgzVeiXl_60SW3ioC_WA7WmY4pAWOZdLGB3DNVDsnc4sQTliXPopl8iLEMrFQOX6dqkuLgWh5gCk-Awh3nGzcchz_9Et9ahAtHhKs-H_3r0vAE9-vjyEzYYgRP7_",
  "id": "rs_0aa9fe3be4ddf76b016ab451e8897487d0bd277b2be44a992c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHvSF0IoMlXtXRQrm2NYRsa7KRLoSg117s5PsqKS-NRkFj6JCTiUhA2E9xRpP9S08jjERHe4XIsEEFPVSTPC1t18KfCSj0FUMorf0vb5Q28vWF_RXBSt3YQujcEWCgq6f7dWgCSZg-7-2yJ95lY8ZXfQU1KL5vfLP9V3UJBjtYWk9KFrGJtFJ7sRt6TJGvGcrqpN-6rE2hbYRNvszYvfRwLOkdUQIjJzRk9POubWv-Uhrk_GDvvpSav9TCzFyGWWStr6YI4zOM-rxoTjY9A5I4Ozhdz__yT4v50Jz0ybCQoQwe1K5q7QnXyjZKeF6LF-7s8jypqhoxU7Sn_8ogXmu9W8GDgcTLpfeJQ3ipdHB13CJeuDyFmgPfUIWh81PVKCfUx0kVQYZC8XGr4QpOO3jRC8Uswe1RF3zEXRl7wkbwa29TQhuX0tonvHeQLY2uFDlxDk5sWwy-So89-0rfX9i8HJCBtdM7yhW9crNXQkP5mncfm2hPmy5tKtBT5Vk1JKdEwTk1nucJGw9T0wpyeQe81PCwzxtqVsvBCAxTb4z0DZbuyZHvhI7cjHlwZZR8e76ID3BPzPxiaQ6Lu8H2L83_vvH0K_LfHFHkLcTM9vdL2z5fBAJxVUb-Pq-qnOV57zNKnVugue3SuR3ABtvT9Lqyl8Vr9sbfRYS0r4YtUzsxNEmyVo8us3Vbt91gIRFZ4KeJFoQlZJWcJAjUVRVQEqhnMJAlSbBIug2hZm5E43_HgdF8j9_I5jXAlLlIisMCGSU5GbbcaMr2nqYTTbGIS8_wfp28BTviPtrBHH-__iHaNrhrIHwX6yZrOTUWz-2d-GuQxh_OdeeBDMYNI8x7i4AoZs6l6rQwX5wJAQMWuhYhmBbznNtoacoRkBFOB8WHW4bqfk6u_bFzElzVMVewkZgPPBUf_JStaY6M56ZAvZDwMoxvLR-ifPVpD98LjQg-UCS1MX7sF-fdqnq2KqD4Y9yCYDLDDEfuPWN39KsylOF5LDGvi6t2RpBjxJc0UPknD_pPHXRzkpMII-_8o4ecJ9h2j_BBq4eF5eNqPIXMve0ehk19_ZMF22TDYu51OXV6GYqW7jmM5V7RsaBtPLxNqJQAGK4KFXrwaNMXEIkZBqZz7fgOJ5kp4pLkqXspG_vu9ukbWfVKWzO59J9I427s8g2iQpOrwkm-cbbWKhlnHUggx0JKUwlR2RBHuUDRsZGMvSr_SAB9US5kK0tSsONCxgbg7cw==",
  "id": "rs_0aa9fe3be4ddf76b016ab451ee11f487d0833581d70132bc76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":1.0,\"left_z\":0.2},\"note\":\"Both objects lifted with nonempty gripper readings; the pen tip projects forward from the right jaws, while the cap opening is at the left grasp point and its closed end projects forward. I am rotating the cap to match the pen's approximately 1.0-rad axis while keeping it high and away from the pen.\"}",
  "call_id": "call_BOAskieYGoWmymKkAi45IjB0",
  "id": "fc_0aa9fe3be4ddf76b016ab451ee496087d082663c4fce938a14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BOAskieYGoWmymKkAi45IjB0",
  "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]: [-0.7673, 1.5604, 1.3624, -1.4174, -0.7219, -1.5562, 0.0677, 0.1387, 1.7298, 1.2186, -0.4622, -0.5545, -0.7383, 0.0476]\nstate[eef_state]: left_x=0.2707 left_y=-0.0939 left_z=0.1844 left_yaw=0.7956 left_pitch=-0.2782 left_roll=0.0621 left_gripper=0.0677 right_x=0.4113 right_y=0.1549 right_z=0.1232 right_yaw=1.0064 right_pitch=-0.2198 right_roll=-0.0599 right_gripper=0.0476\nstate[joint_eff]: [0.4718, -6.735, 7.2957, -0.1636, -0.6178, -0.1197, 0.9402, -0.335, -8.3077, 6.7214, 1.3993, -0.359, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e71ea1e92c743e670dbefdef7888e090d2c55a0a72357ded44a9a8af0ade139",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5729dc51c71e3c2fefea362bc6d6d17e919d1acfee0d78f726624136789b5b14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f669c89b8641cda8f3cada1e0e0d29ed729ddeadbb7a3c87473237bb3e0d2e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 5.91 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 127 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]: [-0.1837, 0.8894, 0.7998, -0.7296, 0.1879, 0.1741, 0.0671, 0.1406, 1.9385, 0.9367, 0.0299, -0.5457, -0.7303, 0.9989]\nstate[eef_state]: left_x=0.2596 left_y=-0.0781 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4046 right_y=0.1535 right_z=0.0018 right_yaw=0.9977 right_pitch=-0.2241 right_roll=-0.0601 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.9214, 6.8581, 1.4579, 0.022, -0.0464, 1.0281, -0.7043, -6.653, 5.2855, 0.9451, 0.1148, -0.0269, -0.1294]\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]: [-0.1837, 0.8898, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.734, 1.2221, -0.4461, -0.5583, -0.7383, 0.0431]\nstate[eef_state]: left_x=0.2597 left_y=-0.0782 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4148 right_y=0.156 right_z=0.125 right_yaw=1.0065 right_pitch=-0.2075 right_roll=-0.0698 right_gripper=0.0431\nstate[joint_eff]: [-0.1846, -1.6068, 6.7624, 1.4725, 0.022, -0.0366, 1.0281, -0.3624, -11.2205, 9.0462, 1.1453, -0.3492, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7673, 1.5604, 1.3624, -1.4174, -0.7219, -1.5562, 0.0677, 0.1387, 1.7298, 1.2186, -0.4622, -0.5545, -0.7383, 0.0476]\nstate[eef_state]: left_x=0.2707 left_y=-0.0939 left_z=0.1844 left_yaw=0.7956 left_pitch=-0.2782 left_roll=0.0621 left_gripper=0.0677 right_x=0.4113 right_y=0.1549 right_z=0.1232 right_yaw=1.0064 right_pitch=-0.2198 right_roll=-0.0599 right_gripper=0.0476\nstate[joint_eff]: [0.4718, -6.735, 7.2957, -0.1636, -0.6178, -0.1197, 0.9402, -0.335, -8.3077, 6.7214, 1.3993, -0.359, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e71ea1e92c743e670dbefdef7888e090d2c55a0a72357ded44a9a8af0ade139",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5729dc51c71e3c2fefea362bc6d6d17e919d1acfee0d78f726624136789b5b14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f669c89b8641cda8f3cada1e0e0d29ed729ddeadbb7a3c87473237bb3e0d2e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFHyIqbLlcF4nbShfmDw6M7yZ4I3c8P0hf45MaNRp7Y3EaLit97Gx-FLJItfrFzbeJEffY1yWraCZfwY33O_lE3HwnjODzfHGADnyARcoql_n8IyWX_LqRUU2_Kc8XYFfY5TDN1bfZPsMKsBFQl84TtD5hhiTVKYPLetyXQbQyA6DDnlRGerJRePx8my6BnQ5kyRNOt6P8wMGQ7-F_GbrJ0jdg94cIwqOePr8MJEHqjSAFC4yWVsiWQ1kgj1D-8-UBECR99RMlHuTN2D_nO2uhRzaj4kU0t6M4C-IWABfCzxG9k_vtro4PMxyCCq3VrqzwDxYnFgtBCb2cIE_PN08ulAlzoyht6oqbSuS36kSbjt9TDl5-07sPP0DnhKkUiV59MrSar1W1bPcoMRVspnN7Jg1L-kkfY2UcJ0cnqOk45MjxKQW4r5y1K7mXGqba998ylmpB3YnxzP09VgrnID9tKVwYUDpi2N3UqIM6xaQuPheH3Ih9PVeOpLXT6q4avFcKYNR3plvvG1BohkEsg4JaBmZGdTV_sQ4Acs-g2MzL0vlMNBKkKQrF2EoDu5ZqXhZKRwif8vOQH3tW1QhRqVhsjYHA6Gur5UIWUhhq9WrSBJKVxUieRVWanxxHZz776o-lXdGODKC221kC1GsT6Ev2EwPbshpidEmqh3NOylYrZ6zm-9907CSFG9S22K5H_0hIrp3BTdrteCxlVFHNrVDFUcrRsj-lsZbNigCMLxBCfYIbtbOr1977Vq5pl43UMHVorhXuC0ovVbUx6SfOGi2l-y4qOhMt8dJdJ9yvlNZUliMpgX_-F0dRd7zBLcCDSVlhRCrEiuQ3VKGl9tG-SeJ9sl4bu61l9oPkVASfH-E2OnFQd18mkbogid52RBD3KVM8rTcobUF2vJ4ESMLvt1QgpATnmAfysu8YYsGR85axylh5mcE0-YRljmyG6Xoja6ohsK6nwP7rMjbSalD83LrCZx3ZqjzCmLzfC5AiXpCJ8teM7lLE83FVu4JJ9tmqPa0KnIGaulC1VDQXNrjq_0SlGZjzfwhRlHCNE98f1oFy6t-H0FI9wGXwd3kpTaLUoH1rJHHJLosn0wcuHv71d0DCedVzPKBgmy7RyriJ9N4kaygDIU_gnI5gpy7sL4wBjLokZida53_iWVV7n5pyl96Eb-tc2aGnOsLCX1v-TqNZiUpJBi9Jc43vajwRUP5HhLIGU354Vuod_zsQ0H4Kge3S5OmyJPdZ19bdgnvpx4oNUF96JJ9WuRo0TxTt4VVskmK2yP3eymP_Lv19Rfuvu0r3fzyJzuR-cOl2UAwlqMb0QRex8kWsEw8h7la27jxw0d_hOmQqTGLFX1EDrBNSRK_99m77UGiEx3Rx1mhbKEvZbn-ieDqLaZ4OJvN4tpTgcfrTwfbgCP4fb5OBEZCMamezlznrKbTcHeDlKbv2JVCwmgI8o=",
  "id": "rs_0aa9fe3be4ddf76b016ab451f1696487d0a2ec7553b0f7c73a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":1.2,\"left_z\":0.2},\"note\":\"The left wrist reached 0.80 rad and the cap stayed secure, but it is still about 0.2 rad off the pen axis. I am completing that small rotational alignment before translating the two grippers close together.\"}",
  "call_id": "call_TZ21HczZeRdpdhCeY50Up2dn",
  "id": "fc_0aa9fe3be4ddf76b016ab451f21a2087d0811362ac39818ec1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TZ21HczZeRdpdhCeY50Up2dn",
  "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]: [-0.6865, 1.7336, 1.4765, -1.5558, -0.6907, -1.8565, 0.0677, 0.1387, 1.7298, 1.2182, -0.4648, -0.551, -0.7383, 0.0505]\nstate[eef_state]: left_x=0.2788 left_y=-0.0783 left_z=0.1683 left_yaw=1.107 left_pitch=-0.2761 left_roll=0.0638 left_gripper=0.0677 right_x=0.411 right_y=0.1544 right_z=0.1224 right_yaw=1.0046 right_pitch=-0.2239 right_roll=-0.0594 right_gripper=0.0505\nstate[joint_eff]: [0.2803, -8.0752, 6.3385, -0.4518, -0.2857, -0.0024, 0.9744, -0.3487, -8.5265, 6.4479, 1.2234, -0.315, -0.0073, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bab279e1e9470a457f3b2c73bf72938924a955f887653ad56dfa9468e9f7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a2ce6e07a9bca218a1c13b551b858ef9679e477d7ddd00ef5962205db6cb77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647975423fbd416f66ca5612b98eb2f7a8e0a65acdc3cc398477c06b9be6e3ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.273 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 127 changed as sent

message 131 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]: [-0.1837, 0.8894, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.9591, 0.947, 0.0765, -0.5613, -0.7303, 0.0422]\nstate[eef_state]: left_x=0.2597 left_y=-0.0781 left_z=0.1771 left_yaw=-0.4546 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.0671 right_x=0.4134 right_y=0.1563 right_z=0.0038 right_yaw=1.0008 right_pitch=-0.1908 right_roll=-0.0797 right_gripper=0.0422\nstate[joint_eff]: [-0.212, -1.388, 6.7077, 1.5458, 0.0415, -0.0806, 1.0232, -0.3214, -7.4735, 5.3402, 1.0769, -0.0611, -0.0269, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7673, 1.5604, 1.3624, -1.4174, -0.7219, -1.5562, 0.0677, 0.1387, 1.7298, 1.2186, -0.4622, -0.5545, -0.7383, 0.0476]\nstate[eef_state]: left_x=0.2707 left_y=-0.0939 left_z=0.1844 left_yaw=0.7956 left_pitch=-0.2782 left_roll=0.0621 left_gripper=0.0677 right_x=0.4113 right_y=0.1549 right_z=0.1232 right_yaw=1.0064 right_pitch=-0.2198 right_roll=-0.0599 right_gripper=0.0476\nstate[joint_eff]: [0.4718, -6.735, 7.2957, -0.1636, -0.6178, -0.1197, 0.9402, -0.335, -8.3077, 6.7214, 1.3993, -0.359, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6865, 1.7336, 1.4765, -1.5558, -0.6907, -1.8565, 0.0677, 0.1387, 1.7298, 1.2182, -0.4648, -0.551, -0.7383, 0.0505]\nstate[eef_state]: left_x=0.2788 left_y=-0.0783 left_z=0.1683 left_yaw=1.107 left_pitch=-0.2761 left_roll=0.0638 left_gripper=0.0677 right_x=0.411 right_y=0.1544 right_z=0.1224 right_yaw=1.0046 right_pitch=-0.2239 right_roll=-0.0594 right_gripper=0.0505\nstate[joint_eff]: [0.2803, -8.0752, 6.3385, -0.4518, -0.2857, -0.0024, 0.9744, -0.3487, -8.5265, 6.4479, 1.2234, -0.315, -0.0073, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bab279e1e9470a457f3b2c73bf72938924a955f887653ad56dfa9468e9f7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a2ce6e07a9bca218a1c13b551b858ef9679e477d7ddd00ef5962205db6cb77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647975423fbd416f66ca5612b98eb2f7a8e0a65acdc3cc398477c06b9be6e3ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFH464Nqs9Xe4PJmqxsZ7NNo3VPzay0SToXsgJU-zLiYPtD9-086ZhRemY__agtCpQWomU9KBthAtXivyN9K2H3lijTNU9Hcv1hQr-i0g9VTzCACyVR8wGf0ur6QSRFG7y9PbAqiCDWVeWfS00oZolMMsS0uCzuezgcYPWQ16aRcA36hU71bvQAuOVAD2T_sE_rok4NTagZ9ve0uRNg0OLsLZfujyGIF8STO-36LQASkCk_pF2p7cMunHexxLjANQltTqmmit-C03lhlS-zKtuhZ49s7y_rxFpCvGC0oFi5sAi0LtQYqKeGU8dA1uYl9o0P2tzaJLIgr-U2tXBaU2HsJMhET5mWVubkGw0tMKg_Z8UCnPtj7sTxaxPY48IjMyGGw0XkYjDBqg4WrdjuqKqw0tuuSmu97d5D7w9yzQhI92P4DI4NjFawoJ8X625Rq5rWwNF4bFz-nK8UEeV_AH-bBQqOt8XRk_sRFYZkBp9o0kW0lElgifXr3Nd0bXeqvIzZXppqcPGkCu5UNQDw1C77yk2f7aW17JMdF_qCkbfF6Gnr9ruOMEM71hYpfP418xUniA2beowr9ZIWRbRT_z00wqXkk2-T4c8nARI8uOtPtu2FEA6FojTFBP7h6wbtINS46OxMcnBukKCFhQUA9wzzf-tzPpMeoctLUU7AG03ujS5tHCYr7X71yE4mmZggGLyz5mhM6uuvrf9s5PCybEXl2cdOf8KktJgCoHG2MiQsg1Fq4UScMnxHKfwuZdanowaODHbkjhH065uXsOXVaSBXpKZWSc37FlpWsui2ZSbOab44l7AtIQTIt90bkoNKAFIHO2BY2DNuiDBHN-S9-oLnlufpGmh7CG3AUtDR4ZusAxx_qmJj6ykO06T_zPGlds4rsJtnru_gactY4iuAyAJD5TSmDbVAqpGf_DtUT2oL8HNlMBggAHYMeC36FOVEKz_cx39GZ5jh0El9PZ_mys41yh5SKO9LeEAuq8yBPylvu5xapulkmrb4dQtHAxfQPk1pUXRh3gwCEXnA6S8iK1KOCxg_TOopg0RJaasOgt93xwESzrFgqvKiEIhL-nmZ325gsT4aVlzwr0fOPGuLfPLwEqtP0tPPKHn5XEiPnDdHIx4hPhGKJEDouZBuUquFc-vH8dD141frHU-3dzsU2dj9zrLT4jiEdpfjFfU0LslBmijTP7c-DdR93KQyyyn0a5TvpBuxcwXSNalcZG5yK_jUgflBY6kXCenKx8NzEONfbnxaO3VknFFcEFGUOBduoPhKIFA_AGycwk_2BbTuM6fl50c_rYugKn1dcl-bsNrWJpMJ0x9GL8NXh4stMb5UNBnnB9kR-G_mgZPdZAmJ1VUX9D1ZqJVpxW4h_lPPXTxdVQMa6VPdPOXQ-Z1FXWsaNuTb5zOA6vuYk3-Inlzva3Y0j6hF8p5zZ1WI7u_LmTg8-yn1HgXdI5OB8mjTpSx86OHQRNka2wvvmyZPtfXI2A3hIPXr_cdGXPKoJs7GUudPYWlTkKwnbaOMJ1_dte-GBMdzu9JkfMwKpSmku_qmKsfhzCJMjkZbRxspJYmlk-N6sAC7HcyKo7WBcUrCYCmOEjZHZBru_F3r-dUIu-QNDhqAJFA8GarSGbPJ912DPoJRgbcU_GMH_Eqa86niRogZffz0BQL240WOhpfiC7M2gKYsog6Fa9d-iyQ70kAnVOuODgVHxHf7uq71YuxouG__nQrRGXWxTzjO6mlcVyd7JdBbe2yNRPqtxKR4i44unobvYs1-oI19yIMrdxjwp39-Py5G3e44mKw33fVr6zCLF9G4yY2cEVV-R6X9kuHujiO1h-y4UERw-fHuo8--ZR1CoVn-wzyMje6ILZvwLlmuiOgtbHFZodScm0DCod-gW8SHDFBC6dQmxNIb0aS4O0RzhZvm5AJ8B-EQEkHjTikLOjiElEDZp4aepRmzs6SntoJkOY_xk3Pzf0oV6c0fZZN7BJXZYT8PWe1OiGBCTW3u2_gpkNiTgWQBB-tzwEPf3ykIj5vi4XO8_H3GsdBYFTqIYD4x-6eMQANeMHyRvSC9pSBCrfTXX_ML6-XGFCtrEEzQ_qlJDShanhXfkoo9Ed9MDYkNSCZB-_66awa5e-ZSSFLwZrTgAF-aIxvp_u2QkIO-mfsSXwBCtI8sNXMOw4NVtzxh2FzzDKMmsa_aQoRwlZyy_RtSMS2lqIbibzfwkGts1C7TpUfZ-2vBObDlL2NH25ZdQnstm3IpwuifE0B-XHXoXhVVjH68LnYcsRn-XkJ6Flq4WtPV8QIiW6M7JTn46eEBwOroycwQnIa3oxrnsDHoiX85kRH22byO1R0sOkui9APTko_TXIf3he6wlA9Vws5zLkUwwYZX1PJFvvY91nlB-Diqu9bu8Pq9iA9lfeuMO_QqhM2Ew28TgspfxXFfXVM8FWIwr952WLqstHmrBTAQI2OXa_18HVD1GLjcT8SXU3ZQlODNwn-8gXfE_LCLDHmV-FBF2Vmky8HaF8eV3C6i02GWjj2rPaqKvIB2xS2L8-J7oa8lHt57ikB4seD6vpdYuHVelKORYDlTYIbikucJQxr9Ru8OfsXFxDBcaUwJXoV6tipzH0Uui3LCVAgo9vuol",
  "id": "rs_0aa9fe3be4ddf76b016ab451f4d37c87d0b0066e252776640e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.37,\"left_z\":0.15,\"left_yaw\":1.1},\"note\":\"The cap and pen axes now agree within about 0.1 rad. Using the visible exposed pen length, I am moving the cap opening to a point roughly 13 cm beyond the right grasp point along the pen axis, at matching height but with a small clearance.\"}",
  "call_id": "call_EHf7urLojeGgYovoQbHoCVnP",
  "id": "fc_0aa9fe3be4ddf76b016ab451f7b26087d087b15db0fd52111f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EHf7urLojeGgYovoQbHoCVnP",
  "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]: [-0.7692, 2.5496, 2.3169, -1.5707, -0.6647, -1.9114, 0.0707, 0.1387, 1.7309, 1.2152, -0.4644, -0.5507, -0.738, 0.0511]\nstate[eef_state]: left_x=0.3964 left_y=-0.2272 left_z=0.058 left_yaw=1.0603 left_pitch=-0.3013 left_roll=0.023 left_gripper=0.0707 right_x=0.4103 right_y=0.1542 right_z=0.1209 right_yaw=1.0048 right_pitch=-0.2266 right_roll=-0.0564 right_gripper=0.0511\nstate[joint_eff]: [-0.6222, -11.9043, 7.4325, -0.1294, -0.4664, 0.0122, 0.8327, -0.3624, -8.5812, 6.6803, 1.1844, -0.3346, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8958ff85925ac0f60de204969d139d4fbb01ab51b2acc3675ed0e179ad9376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0545803a5532b83cd9162ac379553f701cfeac8f4fdd21176bac7ecb79a6eea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de3f4bcaa46a4469f3918f3eaba7d708fa3973b8bfe706ab42a74d0b5127ac5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.644 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 131 changed as sent

message 135 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]: [-0.1837, 0.8898, 0.7998, -0.7292, 0.1879, 0.1741, 0.0671, 0.1387, 1.734, 1.2221, -0.4461, -0.5583, -0.7383, 0.0431]\nstate[eef_state]: left_x=0.2597 left_y=-0.0782 left_z=0.177 left_yaw=-0.4547 left_pitch=-0.2291 left_roll=-0.0102 left_gripper=0.0671 right_x=0.4148 right_y=0.156 right_z=0.125 right_yaw=1.0065 right_pitch=-0.2075 right_roll=-0.0698 right_gripper=0.0431\nstate[joint_eff]: [-0.1846, -1.6068, 6.7624, 1.4725, 0.022, -0.0366, 1.0281, -0.3624, -11.2205, 9.0462, 1.1453, -0.3492, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6865, 1.7336, 1.4765, -1.5558, -0.6907, -1.8565, 0.0677, 0.1387, 1.7298, 1.2182, -0.4648, -0.551, -0.7383, 0.0505]\nstate[eef_state]: left_x=0.2788 left_y=-0.0783 left_z=0.1683 left_yaw=1.107 left_pitch=-0.2761 left_roll=0.0638 left_gripper=0.0677 right_x=0.411 right_y=0.1544 right_z=0.1224 right_yaw=1.0046 right_pitch=-0.2239 right_roll=-0.0594 right_gripper=0.0505\nstate[joint_eff]: [0.2803, -8.0752, 6.3385, -0.4518, -0.2857, -0.0024, 0.9744, -0.3487, -8.5265, 6.4479, 1.2234, -0.315, -0.0073, 0.989]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7692, 2.5496, 2.3169, -1.5707, -0.6647, -1.9114, 0.0707, 0.1387, 1.7309, 1.2152, -0.4644, -0.5507, -0.738, 0.0511]\nstate[eef_state]: left_x=0.3964 left_y=-0.2272 left_z=0.058 left_yaw=1.0603 left_pitch=-0.3013 left_roll=0.023 left_gripper=0.0707 right_x=0.4103 right_y=0.1542 right_z=0.1209 right_yaw=1.0048 right_pitch=-0.2266 right_roll=-0.0564 right_gripper=0.0511\nstate[joint_eff]: [-0.6222, -11.9043, 7.4325, -0.1294, -0.4664, 0.0122, 0.8327, -0.3624, -8.5812, 6.6803, 1.1844, -0.3346, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8958ff85925ac0f60de204969d139d4fbb01ab51b2acc3675ed0e179ad9376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0545803a5532b83cd9162ac379553f701cfeac8f4fdd21176bac7ecb79a6eea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de3f4bcaa46a4469f3918f3eaba7d708fa3973b8bfe706ab42a74d0b5127ac5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFICM0yXu3UyYRdKHcuHF1E3tHwazM5LxN8zSskGm6Duao1eANVaSDBnOQQostjoUl9Ue2Vf8Vu2r1gEIcWMzQL_FWrVaLurogvjg2xZv_LbkXFx-naUyUeLIrS61avW4XR2YDGuqHqUrZxaxcmvBMzs7uRQ1Nge4eerT6JnlIounTQ5rfl0mcP_lPEVQLpKYrNxy8XtR_4rY0_LFU5E6ASiXI48DAnaA_YUn3ozLbtd6tA5Lj9bu_80PAwqHI7aTlzDa0uL8XokSbCWQPn1NGJ8gSTuMjsVT6kILI5spI3bAT3OAx7-V-AWwfg_dlAd7XjsL-3c5xSYLHcTsAKEY_hW7YcE9apHvcbhfIcZlKgN0cprTR7-swKvNiY3TAr739OU6ZiI-QDgpvDWf9dnyK_FE_E1yScFw7Eud90LIOFOjr8tAEJv5rhpgmD_0Cts18-k5CpwWcLjVk88MRNo6_JyzwIg3SiLSN2Xet8a5uRdTeabInGr0EKiNZdRY86VJG4lQMfBP4DVDK-GWX2o_v2AUXCPZC0JWQKaaCPoAv7Q9erxnSbFkf8iStHTfWFx4wxRjlIJp3AYJ_qhbZy7TTha_yRmqt7o8aZTk-OGbY_PSe50QISDrtZpKhP1-_dJr7MFn-9ANeUs7fFHgXBSRauE0XA160oEqBd0LvghBFszhv3ur1Xnw-9_6WoLn-CdNBJBNC7eMsjDQWtVSeRGwWvp4yPcnBhVu0Uzi1IdLqKk1VjokuW3G0IW4qzOrrOseWwhN9zmZ6QK2elrf843ndaNpIZPuim5UV8bxa6dLhq4VM1Bqyr-q-FtTAODQ8AdvcuLYXXIvocx2IqoU2Z_JReIjckGQbFSJNszzC6dBQKm0E-ZB9fN5luWGr6eAkX9Xc-uIh5zT9kPmXV8NPyA1UPuZpEuUvPcUfBjunWzAyWh9yim9UrX_grUjxjs2YMPOGkj5EBaoM9vtpWpkbBTLKRb-LN8eu8tcHRmAINropszztWp5ntRbeVJ19x5sRP5ce0R3W4s6y4LBOop8v3adG4H1k1LB_hIyOli5JNCMbCusZkdh1FjdUTlIOXebdlKqasJB9dYMT_lYhulC-R4GyVW5IRKztfFPLudUoFMjjHYEOWwR1fsT1e8FoKQd2uXquoNzDv709-P9Hsw3w_9NPy_4sOUMsWF8gwpMdme10puSeIf0XO-ALb9mUiCbDTR6MBdjsGIkR-kirS9MqWNh05LSKmufY3rgcbo-3HNC2AWaa7pGi38nQzI59qoWfGAH-eSOCp04ujrpT2BnEi173Yv68CCUR_fdUKUmaYIFQDr8ZxQO2Gt0mV6kNEPSi9PriRu4ECmnjz1hb6NewlZWOdZDyEgGtGaPqVXYs0rI2FLoXGAld91tkBmmLT37mHboZ4RFlxkmoV8Ir-1tajQPAHGZw1qtiMTCyc-dMo4Hw-GPNJuFewxifoui0NNCVjQe1U9eYDH8MO2kZsf9Xf1kQN2ylaRABIbBG9ftMr530xKvW8-ciFjNys4HPLVsA90L3Pmb5kioj3mVltN_TXxsbhluz0vl1-SDo6I0aNCe43VTNNkMvnlakgqEvuNafUTvvduXcrFxyidX0s5fLpLih_qJfvq2GiQ5KDb6i1LlY7uZaU7_qI8qgt7igivRjR1ku7hUElSDMO_Kd-LQ--6VBFBM3O7-ljJ1I_mvSL1jRblE9IXjFV_1p2zAlWiz-i2BUpfbI3txUGcgcIAtqxXHWQpSi_Zh_HFbhdjwbtwZtGyJxhrOVDJZ-pd987J0UcKlfep8BY1bm5ITPsVXU1jEMlPFwDztZ9Y4y1oskX4MVBeUznsJNNzsgtlXAfLdYuysHa-im7OHJPNTvtEDchnRCkbbSacZrN7ZcwrBtW0Vu6CGmz9Z9GMBBOdZ4-hfSMAHAnicOBX-_v-2sN5po7CvO5cUDAtYD77l_Xw9Qs06j6oX5Bz4IVJFeAcF0LlT9dIS8ybZDK3CadmH-rfBIT6xzYhmePu62PhhbFfeX932t8AbDQjL0HUfuGiQ2mOsBYG90qxz9B1ti42ZkaNiGL9RYiBw6pSncYbgM4J8L7FXY8WxGvkvYEiyTSl7xnn5gKxk_X9kOFyt0AgdlMjKo45BpQJV4E6cbLeR81c9q0UBgV784FGwbo5GR1N9kGdkuySXHbToE6WwAva0ZYLNWMjfqNkVa7cdYewHqMDWV0FIl9e-xiVS13ZAmc4ZcMe1FpiPZ5YGHbAmfeFMzkr-eCIxUl7RPkfVDMgGZMk4P0oB9qwiyXk6khKX1vpTcRP2EzhQTR_MwsKsjhaZFK9FgtGFLXoRg3SNLoSpcDNQjf5lzTkH7Adyrx009ILDEyqIkLzo5DJmmQCsIjrcwGpwKp8s8wtf5EXj70rkQaedCmTC2dAqEKx-TE6j21i8T-s0jkiC-gYLrvyEfJ032RoK-7jHjKqT8smSYwJ4gADeYoRvFRoUn9Z656Z7yV8daLxH2Dz4kntTUkhSeptz3p2vGfMnRYlm2vmdlCxdf6OYQIf_NttuWof4wequjcroNatIaF-xWaHJq2Kb58-OCQU0Y5xOU4BrcNg813DXmefBSwTWuGjlVp33IHC5sh00ycSqsfirES2CDu3HtblhEhHnGaQxzW4FcVw48ea1SD7YKi8duf-OyLzeUN6j5pWUkbe4hUeOKjWyMupHu4eFNzVD9MpZl58KMcMFMAh9Ioi_v4Y7u79C2k=",
  "id": "rs_0aa9fe3be4ddf76b016ab451fcca2c87d08f7a67871f7308c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.2,\"left_yaw\":1.1},\"note\":\"The long diagonal approach exceeded the left arm's practical reach and sagged to 6 cm, leaving the grippers too close without aligning the objects. I am immediately retreating the cap arm high and outward; then I will bring the pen inward to a shared, reachable meeting area.\"}",
  "call_id": "call_6k1xphSwim9RaStNWD9lKJX2",
  "id": "fc_0aa9fe3be4ddf76b016ab451ffaeb087d095a195060e5cdf16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6k1xphSwim9RaStNWD9lKJX2",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.8553, 1.647, -1.5566, -0.6552, -1.8702, 0.0713, 0.1387, 1.7309, 1.2133, -0.4637, -0.551, -0.7383, 0.0512]\nstate[eef_state]: left_x=0.3077 left_y=-0.1047 left_z=0.1675 left_yaw=1.1196 left_pitch=-0.3202 left_roll=0.0136 left_gripper=0.0713 right_x=0.4099 right_y=0.1542 right_z=0.1203 right_yaw=1.0055 right_pitch=-0.2271 right_roll=-0.0556 right_gripper=0.0512\nstate[joint_eff]: [0.3077, -10.5641, 5.4769, -0.0024, -0.6667, 0.1294, 0.5055, -0.3897, -8.6359, 6.7897, 1.2283, -0.2711, -0.0757, 1.0281]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fd8c37385357dcf4d346f3fce6464d666937ec7e136a3208ec4caf66742740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103a69d21e24df2c08370de865aeb5388cc0fdd02546ecd5b2609726c8cad241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d98e482039590c8f6c5d9a9859fa44ec3f8484bdcc6966d6b37262c2eecab2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 10.68 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7673, 1.5604, 1.3624, -1.4174, -0.7219, -1.5562, 0.0677, 0.1387, 1.7298, 1.2186, -0.4622, -0.5545, -0.7383, 0.0476]\nstate[eef_state]: left_x=0.2707 left_y=-0.0939 left_z=0.1844 left_yaw=0.7956 left_pitch=-0.2782 left_roll=0.0621 left_gripper=0.0677 right_x=0.4113 right_y=0.1549 right_z=0.1232 right_yaw=1.0064 right_pitch=-0.2198 right_roll=-0.0599 right_gripper=0.0476\nstate[joint_eff]: [0.4718, -6.735, 7.2957, -0.1636, -0.6178, -0.1197, 0.9402, -0.335, -8.3077, 6.7214, 1.3993, -0.359, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7692, 2.5496, 2.3169, -1.5707, -0.6647, -1.9114, 0.0707, 0.1387, 1.7309, 1.2152, -0.4644, -0.5507, -0.738, 0.0511]\nstate[eef_state]: left_x=0.3964 left_y=-0.2272 left_z=0.058 left_yaw=1.0603 left_pitch=-0.3013 left_roll=0.023 left_gripper=0.0707 right_x=0.4103 right_y=0.1542 right_z=0.1209 right_yaw=1.0048 right_pitch=-0.2266 right_roll=-0.0564 right_gripper=0.0511\nstate[joint_eff]: [-0.6222, -11.9043, 7.4325, -0.1294, -0.4664, 0.0122, 0.8327, -0.3624, -8.5812, 6.6803, 1.1844, -0.3346, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.8553, 1.647, -1.5566, -0.6552, -1.8702, 0.0713, 0.1387, 1.7309, 1.2133, -0.4637, -0.551, -0.7383, 0.0512]\nstate[eef_state]: left_x=0.3077 left_y=-0.1047 left_z=0.1675 left_yaw=1.1196 left_pitch=-0.3202 left_roll=0.0136 left_gripper=0.0713 right_x=0.4099 right_y=0.1542 right_z=0.1203 right_yaw=1.0055 right_pitch=-0.2271 right_roll=-0.0556 right_gripper=0.0512\nstate[joint_eff]: [0.3077, -10.5641, 5.4769, -0.0024, -0.6667, 0.1294, 0.5055, -0.3897, -8.6359, 6.7897, 1.2283, -0.2711, -0.0757, 1.0281]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fd8c37385357dcf4d346f3fce6464d666937ec7e136a3208ec4caf66742740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103a69d21e24df2c08370de865aeb5388cc0fdd02546ecd5b2609726c8cad241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d98e482039590c8f6c5d9a9859fa44ec3f8484bdcc6966d6b37262c2eecab2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFIIy8W4lnDojh5FSqaBw3BejvuCYJE8GkXKWS8Xixac4VrVHriIrLvJNjC-Mpi2wWruJJvjZi_Kl09T6BV_q8JQ6rtjeE32lNREQoKP3gdPrMgvthXvkSTgfoWvWONZcXAVP3m4wW3-nY0gq7JNjududmO1TfIvsfFC6rU59FHp3ae8wCRVTyqwhHR0HAHv_AZqNukBfSa3q40Bgaz0bPx81f7pldhlOCpG6yYjSiEFdcgmkdgVU8p5rt3JX_WPfBY6uHrIN41N_W9BC6g31-R7ATJBAetl7REgrDOTgCzI-5imzPzK_5v_bmqVUwAz3o_eJwkG6kdn9mEiRqVGYP3Z8ePzmA33LZQiI5j8yuwBrG5Nu4ulc6IxOgyGUhg1skSy71CnFfkb7VIh2GiW4uzR2Vmy806pIA294WI0cMHOSPMIklXFLaVT9BZ-zI01kdnmKAnmze9rjMeAIaQ5bIenh43l4jUgqgkQPLticYCNvw8Uh0YjcTVccJs6_0xy45B0Z3TrJk13_cfreDkXLH5rrmqfHPs02JvLBnmr34MEm4PbJZ7WdNt8G8MdPS-VGrtR1QcozPOcWivtbCF--_ZbYxYS3nj2MkEM7dMmRODh5aaSUjQVK5mNHDBknnKobjReH4B9QWIjK_6SLDeHfryqKMtFo9Gx-0Y-LQFFqk0Nume6zh9rB0bXqA1m6EiwNP6fkjIRpmfACwIzbzqtQfjgdWVrd99NgVuj74CcsD7GuJ6HlGCAUULPGe5I3qzub0LlL2r6jHpBYm5atoI--nlyW1IRrXpsHGTcyyxvkItQuivh7mLloqLEhD7ftBNv3ltaurci_sHz4oPMKE6zxYG8ZHXOgOalgiui_FprUrXI8Bcgq6-0eFs0H-1zD0RUa55Gyw-Knu_AE0K5Mp4Vy2Xg0eNqckksiUMP2WfvP15VCZ5DKz0GlIXK70mWzOdf-BB_h_dbLV04PV-G6upXLVIVGeBDnPAZTiiHgUUXqFMAu_02FZuF5xFLI-0IIYyjd3zKAJj0C6mx9peyDeHq5u6M4_DuZq4JdL78tVT68_Aypq5qhtaGeBn4M2B-bCaX8RWBpIyCB-XWsL1Rbiio1LlAOJcuxRB7mGXQOaz5rNMR96CXz9CcBsFSLTOTpdcVIjIBK22VsaVmA7z7QzfvYFr4j7M55Ud4z0ZKmHMLT8ApidPW72Waaq3jvFO-ihVPjDDOlycD-y5h2bigCoomSuoZmMa6ZE-7gbQVGoRR1Oc6Vkdn2GhervQelQ_GQeXP1r0iDLlpDPqUv08OKMQROFWoh-eQQtPBEeW2stuzAG6ONUJFLyJVEpzUvMMo4XoERYUrEuKjgyEYaLLUuiZX7VK5rZRlk0zXwNqT334zvCXkxTFtctI6kU2jO9elyrwg2tIp4DOvtWMrVESP2awpLpnQ_vl6b059cN69x6dEwie_MnOemSg_8NdnRXIwkNGZh_nAHtSkuPlpHqyfKNffADSJ41JiCmMmnX1wJIbxTngNm67ToqKJ68_rQhcV-CI5E5cuZDZiGp8apZ1gecMp5LIb5g==",
  "id": "rs_0aa9fe3be4ddf76b016ab45206e22087d08df779e7afc490bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.3,\"right_z\":0.18,\"right_yaw\":1.0},\"note\":\"The cap arm is clear again and both grasps remain secure. I am moving the pen inward and slightly back to put its tip near left-frame x≈0.39, y≈−0.24, where the left arm can reach without full extension.\"}",
  "call_id": "call_ymUG8GHifA63JByOLuTsv7Wq",
  "id": "fc_0aa9fe3be4ddf76b016ab45207a8e887d09e7c835ef66ecac6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ymUG8GHifA63JByOLuTsv7Wq",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6662, 1.8618, 1.6333, -1.5574, -0.6468, -1.8614, 0.0724, 0.6205, 1.5902, 1.1999, -0.495, -0.2356, -0.3302, 0.0526]\nstate[eef_state]: left_x=0.3059 left_y=-0.1005 left_z=0.1619 left_yaw=1.1348 left_pitch=-0.3237 left_roll=0.0429 left_gripper=0.0724 right_x=0.3219 right_y=0.2851 right_z=0.1512 right_yaw=1.0026 right_pitch=-0.2919 right_roll=-0.0384 right_gripper=0.0526\nstate[joint_eff]: [-0.9641, -9.2239, 6.5162, -0.0269, -0.4811, -0.1294, 0.7937, 2.4274, -9.6889, 10.2906, 1.4969, -0.442, -0.1783, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb572b10ac576a43f47e471cb5e95b2001d0e34201a4b82f691a5d62d18db1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a75e0f9a1dfc53bd311124d3b0b945cff576f59762c5f8fe6b08da637eb752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbd899e1bca6ca6745e0886d4870fb13966ff991f4900064078baaa81f7d74a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 7.305 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6865, 1.7336, 1.4765, -1.5558, -0.6907, -1.8565, 0.0677, 0.1387, 1.7298, 1.2182, -0.4648, -0.551, -0.7383, 0.0505]\nstate[eef_state]: left_x=0.2788 left_y=-0.0783 left_z=0.1683 left_yaw=1.107 left_pitch=-0.2761 left_roll=0.0638 left_gripper=0.0677 right_x=0.411 right_y=0.1544 right_z=0.1224 right_yaw=1.0046 right_pitch=-0.2239 right_roll=-0.0594 right_gripper=0.0505\nstate[joint_eff]: [0.2803, -8.0752, 6.3385, -0.4518, -0.2857, -0.0024, 0.9744, -0.3487, -8.5265, 6.4479, 1.2234, -0.315, -0.0073, 0.989]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.8553, 1.647, -1.5566, -0.6552, -1.8702, 0.0713, 0.1387, 1.7309, 1.2133, -0.4637, -0.551, -0.7383, 0.0512]\nstate[eef_state]: left_x=0.3077 left_y=-0.1047 left_z=0.1675 left_yaw=1.1196 left_pitch=-0.3202 left_roll=0.0136 left_gripper=0.0713 right_x=0.4099 right_y=0.1542 right_z=0.1203 right_yaw=1.0055 right_pitch=-0.2271 right_roll=-0.0556 right_gripper=0.0512\nstate[joint_eff]: [0.3077, -10.5641, 5.4769, -0.0024, -0.6667, 0.1294, 0.5055, -0.3897, -8.6359, 6.7897, 1.2283, -0.2711, -0.0757, 1.0281]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6662, 1.8618, 1.6333, -1.5574, -0.6468, -1.8614, 0.0724, 0.6205, 1.5902, 1.1999, -0.495, -0.2356, -0.3302, 0.0526]\nstate[eef_state]: left_x=0.3059 left_y=-0.1005 left_z=0.1619 left_yaw=1.1348 left_pitch=-0.3237 left_roll=0.0429 left_gripper=0.0724 right_x=0.3219 right_y=0.2851 right_z=0.1512 right_yaw=1.0026 right_pitch=-0.2919 right_roll=-0.0384 right_gripper=0.0526\nstate[joint_eff]: [-0.9641, -9.2239, 6.5162, -0.0269, -0.4811, -0.1294, 0.7937, 2.4274, -9.6889, 10.2906, 1.4969, -0.442, -0.1783, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb572b10ac576a43f47e471cb5e95b2001d0e34201a4b82f691a5d62d18db1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a75e0f9a1dfc53bd311124d3b0b945cff576f59762c5f8fe6b08da637eb752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbd899e1bca6ca6745e0886d4870fb13966ff991f4900064078baaa81f7d74a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIUmhXCCmpaFQfUr0ogQQBWMTqF2G134WKHmXqH8HI9xzU7xnfCMIo94ALaKU4PjDRsqJL0h1oKo6OHpUOl5ETaac0BgtLqof3iIbMtfOmCMbqUpszMHTakof3przr6R9buWB4yCEEn2siPcpqpIupAITF_NcpuhQR0rjhLCYaChpKBPs0TzD9IV3kDbZFPCz58lWSFIOKkpdQUwu8btA0f60txr9ir7Z4sqxZzJihZAzKVFWde1V3GOryhZVXkHZaVRS4ZadQigdn8BxLELNhqmyPF0h7v8Tue3D97Vd5NPjH6XCBmqoZ5b11IMkRIMtNHrFokm3_yyIfmdnFxpve9IIpGcQPN0QdJ1Ro3J5tjWCugS4_WpkWLJltKpIjsf9Tuj5jbNK_QRHgYvisOoOEO9hu7GSoOEGHPcJ-j3eVmyc1pJSW81qMdaqdZiLv6h0qlfZXWByTkouMQivcF4BrdsEWjek-x4XN4kjSbSTKFlmAjQAhvGuEvigOp1q8JKfZezm7yrVE95rJfKk7do0GqDR4jTmsizWHphw-Mvtft0yvxvGJnMmWMfVMPaU0YiZQgtLnTRwrkzi2xcTb74DFJ204WRjn9jW6aRSVnvZnlVrD6-Vms0F4ULp_UUPvoF4QMiLEJkWdSrJI-vOAsnNHtrATef1Vs3hHYl4_iriaiFHEKj3HL6Cxpdt6b4qHrrWj4k45Dq3NJwbZhcIPsJTk42sHwd7dnA-2j3ZDa3-sbFXduDif8xMwZr6lmWrhpEKdCEf_XjkzsX-fdQ3SzTex-xdTmMIytxnbdtd9uhOy-IrG-ipWipNCLeD2UjilnRs6jhJ9_QGT0N6xM1BXE6sJQrPSd_vHwIzt3aN0BhfT93UujBRZXPpFysRG3zLTEo4cQVJAbLgIIvEVOm3kFvotzYdTeKr-CjEA56wfhMu3SSYxT3_VjJQX7VAWy23S25edIwxkcobFf_tW9GvBKq4Vt2Dzzm_6vLkeB3b0XL8KTar5cfoVmVFhaN3UcLln-OappV5uB37SELOHzfirHvbf6B-3mIJrkRfXPm0oq5MAsOgc-OxA-JOTCh3n2_9NFlUt8xUVdcDnJ2RhxQocCGELZW14kWC-OF1JW-jb9RJROWNs1PKnFYQtBn-5sssq8FRoi2mHkgFCjS5wD7HgoTskSF0GmesfpWgKw4SZjrWtWUBDogf5QvX3-AR22of_fw2Hj-gp03xkYFgeeRjqnmxkGs0skBSI0Obno7jKUq58t2VLKmvcVG9Y9JLy4XgOxKqzq6Gl1FnG56JneUzt-vYHyHFZVxGxO_Q7qLn2APwYfRjpYV2JshJMAawWifd0gtMMPAokcK7QmRcbBunL9DbzBE9IZU752DpS3ibg4x_e1TqC3-sY_D3RCQ7KzIWMkN2ntwenRmpJ4evhHBsheYdsJ_FOntzvOlrQnJxOZklZuLJCbmMSgvjRWna8GqKp6YpKpL9U6yCAvxmi3qPsRKE7D7XIojqJ9bYQDDnCAWnz0xckJmQ6AISipWeTho6XRyF4ojGB0R1dzgj9qkOLXWObTd3j8TktsPxrlHoGNk3qy1lAKu5WfJQodzzFHoWvs2KgfDUtamjhDyZawDWuLLmx0Ntw4n43y1rqsyPjT6fR7yLwj4CLp1GpQ3Toe1aTZYPE1vjX_5dyFXIiwAD-dFpxdnNhcdo6E4236FrKpSCrL2Qd1e8-iDv0U7odmQJcNjeo-Ht2eSoE-3SfO5mwxUX9AgIGy48nWrfZbBPy4mtTOFXiGa4yxUQ-haAtomue1LsWHIoLU4d-SYHrX9ucDcMs_WaX7tWEm8GhN_QuSWE6urpDvkcit3sbUsqFgUYRKNSJp",
  "id": "rs_0aa9fe3be4ddf76b016ab45211c21487d092df5d279f09b7a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.26,\"left_z\":0.18,\"left_yaw\":1.1},\"note\":\"The pen is now in the shared workspace, and its exposed tip is estimated at left-frame x≈0.39, y≈−0.26, z≈0.15. I am bringing the cap opening to that point with matched axis and a slightly high command to compensate for sag.\"}",
  "call_id": "call_i1NC61XIYO1IJzKhtbnnusEB",
  "id": "fc_0aa9fe3be4ddf76b016ab4521354a887d0847b944483302c85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i1NC61XIYO1IJzKhtbnnusEB",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 2.2471, 2.0686, -1.7016, -0.6273, -1.8843, 0.0748, 0.5339, 1.6077, 1.1851, -0.5701, -0.0463, -0.1852, 0.0525]\nstate[eef_state]: left_x=0.355 left_y=-0.1542 left_z=0.1307 left_yaw=1.1603 left_pitch=-0.3169 left_roll=0.1288 left_gripper=0.0748 right_x=0.3491 right_y=0.22 right_z=0.1237 right_yaw=0.6757 right_pitch=-0.4322 right_roll=-0.0728 right_gripper=0.0525\nstate[joint_eff]: [-3.9316, -6.7624, 8.0479, 1.0134, -0.5153, 0.0415, 0.7497, 6.9128, -8.8137, 7.7607, 1.9951, -2.0049, -1.5604, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33a227c39e9ec0a14523f68f375985ae697a074b04efa1df78290ea16cd4fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a942a339799e4fab6393f35c0d7e814dbaa777fd5f8a2afa31e8047c48de9571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328b0c997156c8238db1649480c19947bc922c6ff57910b2f6d0a445b93e20d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.586 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7692, 2.5496, 2.3169, -1.5707, -0.6647, -1.9114, 0.0707, 0.1387, 1.7309, 1.2152, -0.4644, -0.5507, -0.738, 0.0511]\nstate[eef_state]: left_x=0.3964 left_y=-0.2272 left_z=0.058 left_yaw=1.0603 left_pitch=-0.3013 left_roll=0.023 left_gripper=0.0707 right_x=0.4103 right_y=0.1542 right_z=0.1209 right_yaw=1.0048 right_pitch=-0.2266 right_roll=-0.0564 right_gripper=0.0511\nstate[joint_eff]: [-0.6222, -11.9043, 7.4325, -0.1294, -0.4664, 0.0122, 0.8327, -0.3624, -8.5812, 6.6803, 1.1844, -0.3346, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6662, 1.8618, 1.6333, -1.5574, -0.6468, -1.8614, 0.0724, 0.6205, 1.5902, 1.1999, -0.495, -0.2356, -0.3302, 0.0526]\nstate[eef_state]: left_x=0.3059 left_y=-0.1005 left_z=0.1619 left_yaw=1.1348 left_pitch=-0.3237 left_roll=0.0429 left_gripper=0.0724 right_x=0.3219 right_y=0.2851 right_z=0.1512 right_yaw=1.0026 right_pitch=-0.2919 right_roll=-0.0384 right_gripper=0.0526\nstate[joint_eff]: [-0.9641, -9.2239, 6.5162, -0.0269, -0.4811, -0.1294, 0.7937, 2.4274, -9.6889, 10.2906, 1.4969, -0.442, -0.1783, 0.9206]\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 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 2.2471, 2.0686, -1.7016, -0.6273, -1.8843, 0.0748, 0.5339, 1.6077, 1.1851, -0.5701, -0.0463, -0.1852, 0.0525]\nstate[eef_state]: left_x=0.355 left_y=-0.1542 left_z=0.1307 left_yaw=1.1603 left_pitch=-0.3169 left_roll=0.1288 left_gripper=0.0748 right_x=0.3491 right_y=0.22 right_z=0.1237 right_yaw=0.6757 right_pitch=-0.4322 right_roll=-0.0728 right_gripper=0.0525\nstate[joint_eff]: [-3.9316, -6.7624, 8.0479, 1.0134, -0.5153, 0.0415, 0.7497, 6.9128, -8.8137, 7.7607, 1.9951, -2.0049, -1.5604, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33a227c39e9ec0a14523f68f375985ae697a074b04efa1df78290ea16cd4fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a942a339799e4fab6393f35c0d7e814dbaa777fd5f8a2afa31e8047c48de9571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328b0c997156c8238db1649480c19947bc922c6ff57910b2f6d0a445b93e20d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIdgDZvO6RgbWPGMcW_6o_n_D5Uc2_3Xlw_z84LAk-iaV1WjTOAg6AigZypyYc7rgY9GwNZu7yH3SAO9LzsyZ6TgN3pSMGYvVMh2hqx2_ME04iXIo-281l52bmDqr6mjqy3xaCOmBg2BkI_cPcN1IHw28zU19EnTjRq3EnY8yuTybNzDsMm3G-ZShhAUW0G32c0R7BHaG7NBtrfpqUHievRZmJV15zaisYx-f2oSXI69FTq8H3OShrkAev0e0E9YSt4tln0qETP6pJXt_Xo5ACxWk-QScTq0v2SzlAxLwhA6lVt15xbASjhuWDw8ix7bbETuD6VCYbNJRyq35jbgonHOGoYnFOwL54iXhD-0qGHO02-xbhsfz3robQZOetKlG0RjTFCRBRjAaPRw1Ksstd2eb-x7H7LDEt3P3h5KCVUSJEssZGWoiOKiB5FIfGL_d2YN0KgeqhZ7hH759QiB23hpnsVd-YgrWKrmB-3xmrP9jM91vlCJCA2d8goPggtgY3SaH44v8BsOADD7IAHQsR1Icd0lWVgd3Ozo8kG4tO0K7VBkaniHXVsMScywyDShBXG-lAl-PpTAatZNdCdH95OXAYBW0tpUB7B6KyDrvEKeB6v2Hxcco4emJakRCPm-jcOPM6P9EM8RziAb5maf3SWo3ul1EfrYGviAZAunHF8-G-PrPtOnjvnP2K_4O-Q-31hL3gFdBTfF_Zq5HwdBlsB5wNxekScxlmEeqotad9DuAzCsRoQvcamTaYBRVeUSsgfMOpuN3nEKcM8Q5pbj3HYRxDgmiOz2wbt0nfGnt5OwGCBCDBfSzfOkON440lGbNnVmRO1K0Dy5fZzccWlvPFvN_8tvS8unG_EBpQLbKBij0Vz-uhyWjEWfQP4afJZlGqUSY8McD-7lN7NiG-GBZ9bvoK_c1Antsox2pJHnbU95lBUvFC-c34xqrobLkMVOqHgmIKuGauC1pyMSBsxEqIX47vMJU9EU8ahTsHspGJd2CV6HAqnWOQhgcOZGVjqb6-ti4WuANrSnycEV5rMdjkM_jIliK09bXv2DDSlGXIucbsTxK4CbPgyibr-n7XcJdTJwjRRGRTfL4SnBzCa0cKQD2395o7sVhq_Xw459KDtaSdPyBaUfDCl2ZTeIYIQR2iVTwgutcpvO0u4vNK9u-XbWM7phYr8ZVPT7NPXhaoRwtJOJJm3c6CM48Ol9lJ4fkE_tfHYr8s_KTS3G_5mSQim_pMflJKLhn-xI4BN9CORCDZf_UXz13Bp6zQG_qV1JcWIWBX-oZksuqZyV1e82AwxJGRkHDGjZApYmZHw_RlJOZzidUe7yDnU30n5G9N0MTfNQ4uF6uCD8FlDO9hGYdbPAhbXKADkd1yJshqjdg7wuOTuHYa0SMb7L_rvKl4y0lE-ZCwaNOqhVIZmAYEpt_gnjVDV7p7b0mYgGZy8NLvT9973wUtaiKdcHVXbOn9uh8X1yd2nDmomkjS1XpGJTP4xG_CtVXnXm9kLL7a30uTeEYVFSrgOGDxQgSCPBPflwbA-_lXOSzRiCFPn_3OEnbc23D3PPwrzd1JK2NDFnuRABcXy0neQbTNsTVxwDJgK_Wa9uiC6A4WkPW68ShAw3Gd3LxrlbxpJNBS4yYmJ64DxKrzIXPvBpgOFN9DPoOnUmIHEjwaFy7jlUBXiboTu72MgXxDwtXH2_CiSaMkbCireVBcCHQrMPcBT_JKGP2Qr8z_grda8ylCCgxZ6N8KOrNADrb_5VENGSNmDfNvvBp8UPcsu-gtwv2iar7Rgx3WTZAbb2bapNG_KtZbLKmv0b2sWnUWlowXb_qmCfDMI8hRClO88sR4aG83ctPA8QoxciDbbM3BEIbyJJ-MBKsZw8NnN6GMsmruN8JK1ssEWKQYVDBlomS89YtsNzecdEQ2myi7N0mj_HIi_WAdOazjcJxguKiHTQmvBjyQgyZ8fcvZFv7cdu8VXfHVTFEdMqDR8cOduIfKuJHWMnK7pgut-3Tyr_--XrXyC5AVs9I0FuifKHQ8TXtFMfhEbYt7o7Fdet0HrYBM_OT2a_hQ8ni3a5x8SHmnY0E6iFFW_2IR9lsM793KL7J_s4MW27waUO7Loxt9BQq9VSeVAR3A1MVdv834uasUQXghNFDQ-zRziW4-KMUflRltQFAz3AFzq4QGfI57nyTxAjJ96Y9H7lpuGVjJi6PtaheTad47G64ly6V7PufaBdQBxRgSqa-C0qHudRdrjmDhFbZQv76wyGKydftUfOEY74Rfr-5ql66E0inhjE4VBRyuXR2E1PizaegSesTHH9GXtgVWqiN7VkrSiU3e3cUfgYp0g_rMVaodoi06eEFSiyXdPFNNIMogHkFVq1bGhKmBgsAucbu8_AnggRtoFqfzdiqSWkw54KvoRJmBjz0oeJy1OIvhJ4d8JVSF00aIwyvtR3CPSDiVsgArv00nZNgWlHJ5qaE_ioh2N1XnYy88cMZXMQ_fQYfTWdSpiYBcQrhiZpNIrxs8lQOviO3WNytvsYxOcBlAjtWMaJag_YS933ZyAoV-CLD9C-c-sUNUgCOux6YNBw9IO1peg3uAD4Gmqi4HtsK4V4nxqCb31-rTPbHntfYElmTjJQ2UN0a1VV7oxLcxIdU2CIaZ-7pmyecCNDe3tg4kkKgRVn8fdNrKgp7U_ct9i8KMjyo0cGEmp7pOemye29yKSvB-VUT3WIDZw8AMZAPyCUn3rXjwd2PyrPsMON9QeBWHimrP74Ol_EAw-q6yJ-Ak5Ywox-HIReiSGUUpBL5OEpUZkO1vHQJ95_2yEnfrArYqpq0Dq0qLol97SARh917_2ps6VYf-Kc91Qgk9eUGBiSq1JZNwMWHBTcp7A5om_6tsQ79pY0W0C9TACh3gGcap8FnBUcPPB_A==",
  "id": "rs_0aa9fe3be4ddf76b016ab45217bb0487d0aea8c66c1059890f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.35,\"left_yaw\":1.1},\"note\":\"The equal-height approach caused the forearms to interfere before the cap reached the tip, and the uncommanded right pose shifted under contact. I am lifting and retreating the left arm well above the pen to clear the arm bodies before making a vertical final approach.\"}",
  "call_id": "call_qmkNEt0WFiEsxMHvmB91skjz",
  "id": "fc_0aa9fe3be4ddf76b016ab4521b3fec87d0893b7d1df97fa91a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qmkNEt0WFiEsxMHvmB91skjz",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.5436, 1.5745, -1.5585, -0.6582, -1.4052, 0.0772, 0.5362, 1.6188, 1.1648, -0.5907, -0.0425, -0.1905, 0.0532]\nstate[eef_state]: left_x=0.2868 left_y=0.0168 left_z=0.234 left_yaw=1.1074 left_pitch=-0.3423 left_roll=0.0667 left_gripper=0.0772 right_x=0.3408 right_y=0.2154 right_z=0.1091 right_yaw=0.6812 right_pitch=-0.4842 right_roll=-0.0712 right_gripper=0.0532\nstate[joint_eff]: [0.1436, -7.0222, 6.0239, 0.2515, -0.6764, 0.2564, 0.8278, -0.5265, -8.4034, 8.0752, 1.3846, -0.1099, -0.0073, 0.862]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5effd74339c2d2ad5f06e8a5d84868ac4f77c5c7a1e201b9bad9d29fb27e7fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3303cdbfe1a6b00ea0e5b81abfb5a8ba5395ef15646e4f6ed9bcb5c7cd8c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70712c784b804b46ea474e0b0d15d1701b4e5f4ae555589b300865f99a9de116",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.943 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6773, 1.8553, 1.647, -1.5566, -0.6552, -1.8702, 0.0713, 0.1387, 1.7309, 1.2133, -0.4637, -0.551, -0.7383, 0.0512]\nstate[eef_state]: left_x=0.3077 left_y=-0.1047 left_z=0.1675 left_yaw=1.1196 left_pitch=-0.3202 left_roll=0.0136 left_gripper=0.0713 right_x=0.4099 right_y=0.1542 right_z=0.1203 right_yaw=1.0055 right_pitch=-0.2271 right_roll=-0.0556 right_gripper=0.0512\nstate[joint_eff]: [0.3077, -10.5641, 5.4769, -0.0024, -0.6667, 0.1294, 0.5055, -0.3897, -8.6359, 6.7897, 1.2283, -0.2711, -0.0757, 1.0281]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 2.2471, 2.0686, -1.7016, -0.6273, -1.8843, 0.0748, 0.5339, 1.6077, 1.1851, -0.5701, -0.0463, -0.1852, 0.0525]\nstate[eef_state]: left_x=0.355 left_y=-0.1542 left_z=0.1307 left_yaw=1.1603 left_pitch=-0.3169 left_roll=0.1288 left_gripper=0.0748 right_x=0.3491 right_y=0.22 right_z=0.1237 right_yaw=0.6757 right_pitch=-0.4322 right_roll=-0.0728 right_gripper=0.0525\nstate[joint_eff]: [-3.9316, -6.7624, 8.0479, 1.0134, -0.5153, 0.0415, 0.7497, 6.9128, -8.8137, 7.7607, 1.9951, -2.0049, -1.5604, 0.9841]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.5436, 1.5745, -1.5585, -0.6582, -1.4052, 0.0772, 0.5362, 1.6188, 1.1648, -0.5907, -0.0425, -0.1905, 0.0532]\nstate[eef_state]: left_x=0.2868 left_y=0.0168 left_z=0.234 left_yaw=1.1074 left_pitch=-0.3423 left_roll=0.0667 left_gripper=0.0772 right_x=0.3408 right_y=0.2154 right_z=0.1091 right_yaw=0.6812 right_pitch=-0.4842 right_roll=-0.0712 right_gripper=0.0532\nstate[joint_eff]: [0.1436, -7.0222, 6.0239, 0.2515, -0.6764, 0.2564, 0.8278, -0.5265, -8.4034, 8.0752, 1.3846, -0.1099, -0.0073, 0.862]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5effd74339c2d2ad5f06e8a5d84868ac4f77c5c7a1e201b9bad9d29fb27e7fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3303cdbfe1a6b00ea0e5b81abfb5a8ba5395ef15646e4f6ed9bcb5c7cd8c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70712c784b804b46ea474e0b0d15d1701b4e5f4ae555589b300865f99a9de116",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFIjdd_IR7GdgfJuhFyP0u__5wO_qto_nUNOXJ8v9yAwdVa9lfNC5EV0TXTKtFMYF3g5kAS1W_WMk06Yt4CobuFtnNXDDCmlbvXd9yx29odYeYARd_n5MUb2oVkRm4kGfrsd4d1MlHX0fmbC-8m6xATM0vrcTlGw0pMb831d0JTOtyfNBifoAHVFFNpkJ8760Ahn-DKhR5-A9T3c5e22gTMtBfydtDby63OFXyvrSS5BSoq6QHjvMpR7CeiR8BHCQbdMgQ0SfAbcjFfaFFjs6YKO65OwJSFqMf-v1VvRJHtb7LOC3p5Jf0bIfK2vhDcf_JDd17423B1xPyqP6dbp3UN-J9fXUMr7BLql8dWUPu-NQpCU5Wr9Aqy5XpJCGGMPvfDm0XcrgrPgT0JFxy94hCZeGlLf8kHImxRat3EQt_pBuOfi6sEFJJYkyA8xbxv8z-y3dgIuXGx7txbIbZh7sBIJNufKQPRALCqZR5XDVAmhukFPRNBKV8uasK-OUWn1BksKKxpg5eBI89tSEGg9UUY3PssDY6g480P20xMX8bx2oxB7GMGqJihprfTU8PqIDjKqUO8Vq4WazLC1Ui_lNzEPMhWzDogadTzr6ic5FZvelRdoyXgQVYTnN5YTkpTy4UTn_9THAr3qYiCSLZWhtIvn2m8-gxPsqcvbLgHi1EjZ4o2D844WpeovH3b194fSqX7cybR5XIFskMdEz4rup7Z95bCQEmClqhZj6xYb1o0n87E2A79DA5IfQKZ6lq7jLoSkrzR3deWcTrKxKdRODQT6Yy1S0r7HaKOrybb5lILPuFO3KmQmMmdqc93fJhmTyYBNkN2vNISkJFpvbm9wofiac40ObggVMsMY37_Rt7Bbn7tulQWPkqWyiRYedpdVODRKVI5T-vQfm2nXjtvMi3mrGS1zr4YuYEcfR7O5hAT6dIWW9cnbRgfWmbR5IUEADiCVCPJOho30fkq9GwAz7Y6uzrv4h8LK53ofsUzk90xojQINS8ZK1zv401QzLgXJWPJgx-bnUDdDMbNrrkkOsKSGbIqTDqF2osPkaAJ4-tsPQG9WRsNNEBRh58iQP_GbzJudIlTIDEORW6AUqOhwch7cz2lBPPyXqdw2jQi9-O4feJD8bpCa_dkBwz7RrYtXAerqFZq9_8PevhYohnCES3YcwUk7F2XRCVDrMc2QMfAcJ7fdwFGCqmEBt92QfFNYs1cSPo-wX7MkwQq7OwByisBbWEgcEW8FKrdWc7VXWEnzDRBRDdiFvawO3WBcToxlhbC9TkmCtNSrEr7pxXPcC9VNfVPs0UVH2hfciI7JNwaUNFBW2hLoGdq5HvF4NOx8Lt_RfgFZbDnwWtfbdj1l-RwgCYMMeonwLk4PhjBTuazPxSbkZyVOlnoFY395J83ZbzvcHm8jKDpVZL-miQe3hj3z8zPyKMcsl8SGEiavllvtQCOVAqom_iQlqR7AGBcf2fFdLDfpeVZVkipxJBXjjTF23bh9CxAcx4O0iL1mPBRqVAhZBs4p4qW3pfIsYAgQosaKHm-XxXbIDi_Ee2SkUheNulDCZTDaYLkM0gQAlNIly4yAZtUYtwTuTECp_dEU0bgSC8j5AS4zC5VV-QTUnm3XATpDDgRaLdH0caGq0zuj8sNJIFFlOnYkilBzr1YI1cFwY_68OEHtO9s0IBMHYcpR-RVNyBfFYlheydEkd4XVIz3H31K0VFgZyhNsKY1ZgVfikGkCnyr12w1AYoJ1Nuug-cqTv12oU0M5fVt4Q6OqUyLvCG4M4oPODB2edbxH4DhmfacCsyVBcERQc8EU_3lj0Qz3m3gNvglDWb4odYNRSIeoON35zf8McvdwemXVb9IaNQ2mqd49a8M6O1bSxdj9Sw==",
  "id": "rs_0aa9fe3be4ddf76b016ab45220b84c87d0a3d318b530747ad4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.33,\"right_z\":0.2,\"right_yaw\":0.68},\"note\":\"The arms are clear again; the pen remains secure but shifted during the interference. I am repositioning the pen farther inward and back at its achieved 0.68-rad axis, placing its tip in an easier left-arm workspace before the high approach.\"}",
  "call_id": "call_KBjXsIMh7Ocz2Tz6D1CvFKmA",
  "id": "fc_0aa9fe3be4ddf76b016ab45222603487d09ee9e6d08978fa94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KBjXsIMh7Ocz2Tz6D1CvFKmA",
  "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]: [-0.3416, 1.5494, 1.5742, -1.5551, -0.6468, -1.3972, 0.0792, 0.9035, 1.726, 1.615, -0.9512, 0.12, 0.0883, 0.0548]\nstate[eef_state]: left_x=0.2876 left_y=0.0145 left_z=0.2313 left_yaw=1.1016 left_pitch=-0.3543 left_roll=0.0732 left_gripper=0.0792 right_x=0.2802 right_y=0.3273 right_z=0.1911 right_yaw=0.7249 right_pitch=-0.4907 right_roll=-0.074 right_gripper=0.0548\nstate[joint_eff]: [0.0205, -6.5162, 5.5316, 0.3394, -0.4908, -0.1245, 0.6569, 0.3077, -7.8017, 8.2393, 1.072, 0.1685, 0.2125, 0.9255]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2882dc64d88e8b6f5e2ad14d9435d7fcba7dc1b8669006a3cc6962618bb585c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5e8df6d128a584b22f2eca26bd0bde3744929b7559e75e02c4bbfae8d03602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf134f65f5a6f4a39fa3ea8249f931f51c1cbb29029c2736a6240c55906f0b04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 17.4 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6662, 1.8618, 1.6333, -1.5574, -0.6468, -1.8614, 0.0724, 0.6205, 1.5902, 1.1999, -0.495, -0.2356, -0.3302, 0.0526]\nstate[eef_state]: left_x=0.3059 left_y=-0.1005 left_z=0.1619 left_yaw=1.1348 left_pitch=-0.3237 left_roll=0.0429 left_gripper=0.0724 right_x=0.3219 right_y=0.2851 right_z=0.1512 right_yaw=1.0026 right_pitch=-0.2919 right_roll=-0.0384 right_gripper=0.0526\nstate[joint_eff]: [-0.9641, -9.2239, 6.5162, -0.0269, -0.4811, -0.1294, 0.7937, 2.4274, -9.6889, 10.2906, 1.4969, -0.442, -0.1783, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3405, 1.5436, 1.5745, -1.5585, -0.6582, -1.4052, 0.0772, 0.5362, 1.6188, 1.1648, -0.5907, -0.0425, -0.1905, 0.0532]\nstate[eef_state]: left_x=0.2868 left_y=0.0168 left_z=0.234 left_yaw=1.1074 left_pitch=-0.3423 left_roll=0.0667 left_gripper=0.0772 right_x=0.3408 right_y=0.2154 right_z=0.1091 right_yaw=0.6812 right_pitch=-0.4842 right_roll=-0.0712 right_gripper=0.0532\nstate[joint_eff]: [0.1436, -7.0222, 6.0239, 0.2515, -0.6764, 0.2564, 0.8278, -0.5265, -8.4034, 8.0752, 1.3846, -0.1099, -0.0073, 0.862]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.3416, 1.5494, 1.5742, -1.5551, -0.6468, -1.3972, 0.0792, 0.9035, 1.726, 1.615, -0.9512, 0.12, 0.0883, 0.0548]\nstate[eef_state]: left_x=0.2876 left_y=0.0145 left_z=0.2313 left_yaw=1.1016 left_pitch=-0.3543 left_roll=0.0732 left_gripper=0.0792 right_x=0.2802 right_y=0.3273 right_z=0.1911 right_yaw=0.7249 right_pitch=-0.4907 right_roll=-0.074 right_gripper=0.0548\nstate[joint_eff]: [0.0205, -6.5162, 5.5316, 0.3394, -0.4908, -0.1245, 0.6569, 0.3077, -7.8017, 8.2393, 1.072, 0.1685, 0.2125, 0.9255]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2882dc64d88e8b6f5e2ad14d9435d7fcba7dc1b8669006a3cc6962618bb585c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5e8df6d128a584b22f2eca26bd0bde3744929b7559e75e02c4bbfae8d03602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf134f65f5a6f4a39fa3ea8249f931f51c1cbb29029c2736a6240c55906f0b04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFIoDB2XuKiiF48wO8eIInStTAs-X1dEkpVkGyah2lFFZoC2Cf6Qjlmh3lcFxIPgO_ZkaUryKwytXdpBjw9RLyXsa3CpU7QQPUn2Y-RGYSwCVHrzNTMtURlVZoY1ulLG56tV7GaGzc8FCpbHlR5aSJ8-L10JTtMCNfuSGJ_caKoXa4SPRL3HWknJBjYQp6Szp_uSgdbsl1T3EmVALXEE7Rhvkeglbxoljv1PC3LbDI85LpkhT0DifiPdhhJuQkvEvTWjDtQAcnrsFpLX9V6GyIaJJTib8_l4BaY82S46NGPg6uHarpeBoAAuoMPkI9PinCTG_l6gqJdNrPl9NDKwWP1ArXrdsIqr4-0klFjao-MC7JZ4qidmEmHaWZGEFQTevqKg7sO-87TKwHJaTsUi6e324y9KAbr78XywML6XAqIg_-wPNL-kIaqnZ1Ui6vfSoXoqjifbpx-9wTECxg4CvSVjARJ8ivb7i_g9ckXL9uoyVnPFalxv9vFgWzK7zNtQrU-F9VDer7NrWZumrq_6l9wa6-7J_pkoRJ-_4SX4DTiGU0fdYhoJJ3HGgX4BTwDynbDWxMPn_RcTdzDyUw4yEnMpB6Ej_in30TDJQ8RLGeJpi5NihFjUpSBiI9FYJcyhyYq-FnzJAF6Iab4LKrVqwhnn5cVZcgAetwDj6bvrvs9eXSVM_oVmOm7d_XZ_jaHqdGIxNoDhsIwmX1sENnom36nzz1b-FHeVJit0GpDQ7NbAUZY3hVlAEzmp0J8aQdyA7_loTTytKVobdw7Xb_n91GQ60wLrNxxxEzKCQibemItuMqnVHwXWsmxt5yG-0og1Kc4LIyMrlMpx633iYJP-_GhshzxFmltoK3Yr3n7nH3kb1ilvgK-ChCTXdekupdHj9dqIwmuBHaALAZbqBMFHDaCycEiEz3t8LgryD8DOtS8x-L6M-G-C998jIVgovEQJ0JLcTZW53KudkI765aav36QayEQrLE5GfWUQFsssUCQzmIqPMFEyERsR1V8u3Q76FwBEkllj8_IqZ3VVFfI85eKWmpNxUsW_cHus6mXMK2e0u585aL6crClTvcRiiaU8c4W-qiPw8VT4FSTmtkqV91rp56lHJXBiYOA3QZjjm5FlqgoCiboXsmYP0MxykVYkgAI-zwz66_kyt1SzgN7olR0r-Og3Vn5yKPbUt14KSof8gNwIJ7kjHbf4dF7Q4cm6O-CrNLGTLg3aLIOC-KrcEhtpc6nfvEUG6S_YLhv1E0NCdHLijcFlS3utQV5UpVbKs68YEIAxg8tBw_EkB9ditMsXqfexQTZvVZU6cLxEHR66WSEaNNZpsKRvJcpv_5ndbTnKzg3p0dPPW5eqmUYz0_sjnldGWbz9FsVAyqrFWoQbtEtlR1hIxZaPve2iv-O9dNHWMsnYsNlVaBe5zdn-qDW_ewA5kQObXj28TIWkjBddoYPyULTbQ2GPuK5o_-m5ABmxkVMMvT-OOI_isXw5yK_DMEvMXyanx84fUgCZKWoDsSL1serS-U5OJJb7NZkYbe_-ZRmZIHlzt2VChJ2uIVmGv7AGBFurgZmz4oBLHmfsHSEvy3RZ5KSc2O1mAS0a2xa3lJ-d84XLD0ijqWRqFFHGgpu_nYINineM_YpMoP8RosnjiLZ_mzD-nNKbM-CWwhke",
  "id": "rs_0aa9fe3be4ddf76b016ab45226484487d0a3aa08b27fee370d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.24,\"left_z\":0.32,\"left_yaw\":0.73},\"note\":\"The pen tip is now estimated near left-frame x=0.38, y=−0.24, z=0.19 with a 0.72-rad axis. I am positioning the cap directly above that tip at z=0.32 and matching the axis, using vertical separation to avoid forearm contact.\"}",
  "call_id": "call_VpDHKIamrNQc1PyRXrCclMhN",
  "id": "fc_0aa9fe3be4ddf76b016ab45227227087d09df806ab3a276e0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VpDHKIamrNQc1PyRXrCclMhN",
  "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]: [-0.6361, 2.0098, 2.0987, -1.581, -0.6201, -1.3926, 0.0818, 0.897, 1.7359, 1.6016, -1.018, 0.123, 0.0933, 0.0556]\nstate[eef_state]: left_x=0.3749 left_y=-0.1448 left_z=0.2195 left_yaw=0.787 left_pitch=-0.3756 left_roll=0.0317 left_gripper=0.0818 right_x=0.2724 right_y=0.3122 right_z=0.175 right_yaw=0.7026 right_pitch=-0.5785 right_roll=-0.0939 right_gripper=0.0556\nstate[joint_eff]: [-5.8735, -8.1846, 7.5419, 0.5495, -0.6911, 0.2955, 0.5543, 0.3214, -9.2376, 7.4872, 1.7753, -0.0269, -0.0708, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57f062bc59221a0b5bb923c80d6ae4e5cdea8b96d3ca61ee1636bc1703b485c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4678bb8e57d6d8e9bc897d43939249e981599273123181c8546514f5b857cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b4ec8655c5e3d08390ad60ba004fbeeb56c7311610daeceb7d52410b8c955d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 8.397 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6907, 2.2471, 2.0686, -1.7016, -0.6273, -1.8843, 0.0748, 0.5339, 1.6077, 1.1851, -0.5701, -0.0463, -0.1852, 0.0525]\nstate[eef_state]: left_x=0.355 left_y=-0.1542 left_z=0.1307 left_yaw=1.1603 left_pitch=-0.3169 left_roll=0.1288 left_gripper=0.0748 right_x=0.3491 right_y=0.22 right_z=0.1237 right_yaw=0.6757 right_pitch=-0.4322 right_roll=-0.0728 right_gripper=0.0525\nstate[joint_eff]: [-3.9316, -6.7624, 8.0479, 1.0134, -0.5153, 0.0415, 0.7497, 6.9128, -8.8137, 7.7607, 1.9951, -2.0049, -1.5604, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3416, 1.5494, 1.5742, -1.5551, -0.6468, -1.3972, 0.0792, 0.9035, 1.726, 1.615, -0.9512, 0.12, 0.0883, 0.0548]\nstate[eef_state]: left_x=0.2876 left_y=0.0145 left_z=0.2313 left_yaw=1.1016 left_pitch=-0.3543 left_roll=0.0732 left_gripper=0.0792 right_x=0.2802 right_y=0.3273 right_z=0.1911 right_yaw=0.7249 right_pitch=-0.4907 right_roll=-0.074 right_gripper=0.0548\nstate[joint_eff]: [0.0205, -6.5162, 5.5316, 0.3394, -0.4908, -0.1245, 0.6569, 0.3077, -7.8017, 8.2393, 1.072, 0.1685, 0.2125, 0.9255]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6361, 2.0098, 2.0987, -1.581, -0.6201, -1.3926, 0.0818, 0.897, 1.7359, 1.6016, -1.018, 0.123, 0.0933, 0.0556]\nstate[eef_state]: left_x=0.3749 left_y=-0.1448 left_z=0.2195 left_yaw=0.787 left_pitch=-0.3756 left_roll=0.0317 left_gripper=0.0818 right_x=0.2724 right_y=0.3122 right_z=0.175 right_yaw=0.7026 right_pitch=-0.5785 right_roll=-0.0939 right_gripper=0.0556\nstate[joint_eff]: [-5.8735, -8.1846, 7.5419, 0.5495, -0.6911, 0.2955, 0.5543, 0.3214, -9.2376, 7.4872, 1.7753, -0.0269, -0.0708, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57f062bc59221a0b5bb923c80d6ae4e5cdea8b96d3ca61ee1636bc1703b485c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4678bb8e57d6d8e9bc897d43939249e981599273123181c8546514f5b857cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b4ec8655c5e3d08390ad60ba004fbeeb56c7311610daeceb7d52410b8c955d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0aa9fe3be4ddf76b016ab4522c28e487d08a4896758074b826",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFI7owVQqNYAMQiSDLpMXE6QKoUGT2svcToklpPGPCAfr86usBiSM238pK8C_RVxMMhMAWlsllzXDLOQ5wnFql4tNidf8M5WtwC4_hlI82-J1CQvyOZmTV263jtv3AVcemryNM1hiUKXUETmPm_oJK09L2Yof-rp9PWT3gUDd15D_8BrBQAi0o1FMkRht4q1DWwqt1v6SW1qBC1eSDWkY5HsptbdUvKvrw-GaPVLjNhTIu8Yr-9YRVCz27g6KFbICc0MWawqDh6ycblzi0D54Q9UG_yseB9RF8lDUzstW8lEAqCzi6xP7SUP0pFHQx2r-mnRwMRtCbqv5X6CZ9RJH0sK9ggWwGeB5WBWumylPqJz_dFfz_9zB2uFuN7zWRFE-06K6CmGinNIfhMbik8Ty1ubZZjzO6HmdUUeYK1i2SzAACLXXvIL7_DkdCN6apS6YwRfmAtn33Gy6vyU1Tc4rbP83C3rtC-3DvlBIZkc3jJl7tNqddbjBBHUmpDuU_Vxy3d21z9FOugsohqetiKnSRZ1t7W6Kp2drKuXNEQSWS8YkpGdoYf1OyNBZ52LAIgr3cLKRoPoSZPQxRCNbeG4_byRpSnvm0cUasMm3c23MILc0SdGgrFSHgadOIZrwv5pqbd4utiwhEPfxP_jvoVE5McRpADuE-kCe0npfEhqYUkhM7dafn11qzzBZfuZDmljpKON00SMm4TQ0S8stKgEvzYy243kGE6qioznJOLhryAtWkYhbASbeusAu2UkI5buDPzyflj-tDY2kJUuz5Q_Cfsbfi0WDL2VLI5bmgDRFCYUbepDTtOybMzzT9aN3AxAVgwC8RjIHEhCAv-y06vircBOchaIQjFG56oINIDtQCHn0Zlbo6s1WB6T5P8_6liDW9mIXemnlSQeNTFgTE9fK0LQhRmVUlIUXZhGklmay0kUKUjw7oWbeDqpXT2NTeP0_YRTDM4MjeChBqZHI2Ckikq7wfTxP0UtjJ6bXzOmCmkcAp8K3u_NQiPn4FtK0Gi07fhe3wTE-tX-dHfvtZmCS0wL5rWq9RPbLeHdkFAz8yoqpQKGuq7LrMvYZ8p0Y-h4d1ULDCoFTvjRqpO477YSobBCL3FFB7RjGebnVTV0hklTzifK-IuMF88xCDAIqT7-p1YkgzX0xLVeaBrCgdHxx4V41lfGJWI3EiIHzw1OAx0xT_yfutFgLA1uNMeDwWeW4dgFo141F6MqlUw3KCNqVgE_I16g9U12QKdyrn-CHpJrcZ9yHdrPcg-eKGqQnjgguxUk9nv7iR2yWk_c-BbZ93K6HMcyZ_hRU-AG12vEkozngDJDH9U7acCAWYqptyqvjDwt_svUpArejOZV2aupt7HiU3YIOo2i_kbB_Gak5eLf7V4wsO5FYCQ-NgADi48MJxOuJ7JT0CYcPkPD4XOm20y49VgoxpALYes6-c_eVxm3lXlohzP67c2n-VqNWwW4gwxsP37oDiAJwMtkmmZkVoTH5x9dmfEFO_6eHBS1YZPzOI2_SfmgElczvj449TDFJLy2hlP6xJU2bExwIO8ndGXSGUaXdXCLisMBLM9_HNplTsumXOgFTaRxoc47TieJO1_WKBg6AkkCfSdqh0fDUKbt3I-P7UpxlQRiUZa2aYJ-HQ7Xmef8kigCTopPM8Mlut0LsbHKno0LXbyEyd8nBeur3UotIF8BHiMjhCB0iagZmlN4ZGJl03LOWnVqPBRJnzkK_gWTLiOndXs900kQ6siZq0WeZ8jj62Im6GerRVHeoRsWZnXZGMeJ-_n-eNWBjPoK3Bh-tj0dJmTjskS2k9QtmCPps2VIRDQbsKSqXynaqZCfOmbZ3hX690dQc2fHlfNwLs97JPs0RfpxUGizD05KVSS2amc8Xmxnre_20YbNUqHlq6m62vTv-Fbd0DZAk2xD3AguF2wDcTXpx_u7kNnU0hKb9ERTW7FNQI_TvSq42HBnOY_bVoZb9WKyQXxPei_1kalHnxzUWUt221iACggjq30ReMkVUQ-YPO_efMeBjt6P2AtZFEBVN-p8fDYNU5qjwFUeJJSphhlGTZiICYvyICXOMpSNtp6T94P1YyZiP6RePcEMTTmB2688MsgwjHE7gJjuw3wmNeXm_JE-ueHfQlAX8XKV7asSSUcU2IY1ePXGqPPJm3nwe3FasahNTLJzzs9TJhrqT1P2fQeF9u_P_6IMhTTNNJUpGzLTOIZnT8iy8A_LQUpdUwNMPgy3N__gmqhQF5h40GxDZlnWfT7A1tk1fkatc1l9XWhyNMOnr5gYNCB2ggtKBNsSMm6y_q_X1RmNuSJJzhPGZG8-s-u1Q-zrtkvZAvkZAAQj1KXkDI01Kt6yqPKTnH2edu4wIi4GvQq5jnGw6TEjl4c8K6YSLbfYte8V6MQU44vmbqipQN_y2yUX_H6T4zeULTjmjVJkaDsw3CrRktrPDiB3OxnH3cY55Y2mJ1U6KLqdNDQUbdeoWY1ZfaynddVfAPejLLZvcsHqF8vp7DFdP0cLhBZmffx6L2SCDjvY5fLxNby7jmMc937F2M18buBGygCZ_n_vm7QoYC_6dyFlrUTBXPwC6JAyZg3swbmadlJIy_h4pf_W4o1b44aeNZ2aFV8VLK6Yi7NvUajwtipKfAmo-7lQYuuef7V1ogf9PVEs7r7tTwIBNG9WjF6k5PKeHOqu0FOTRz4IzFsEyoIrsJ6jlx65J79jY9MVszR0A4FA0odu80oimkd1qQjY2QL39C_Kkj40aKrZWxqzvIZEmkuNMPKLuEo2L1TjTteOw7NF4VxE0vpx-Q6CfhjzBEmLgR7OIZcqJ44EMtGuvwSux_LNy2ORiZXo0KON-KlwaGyUhU6_RnBdhcIGeOvQ9DydmTLONCp2BX8ovy5UH2eho3dfwGnkcJewvY3XiZImxQPMKy_kfzE6iD4INl7hsPkEPMV_i0Xbe-PEbh6_u0M7xU86Tdvmg2oz-byoerWjZBGU80ENRcghp-SA9wOepkjsAZ8L3VMw5L1T_uK8w1zJdey7p2-fQ2q_R0vjvMfMqa0A-AUqCg_w1Xa80-YmtyiiKbO-yAEkM6ts6iDdoJ0sdInTfMS62xUTIstHK9ZhKDK7r8nOQ4uHzYQHfonfwrN2gSsNoFshGN1Kl6x-hjInOuwgg5exZWOJBmQmbk4r1PApy7YMt98fVDRTJl8fnF1TdtJ5ni85BI3njtmwGhuTFv0P4NVpWjyWxqI5mnk0Lp4wY2srywjv7d5le0Z8hmNPWitZIpXRGjTfuEjlk32ZiqtCco0nR2u-2QiD23G7eaaBNv3G1Mud9hLNocfKv4mWouj0qxthcwKsKspIuI4HE9D1sn-pfc4rhsGazRc9A8CmznLx2sZfx_LWhOWz19U3VHyH3uLQOc5mYvt-xWBNuvmcy_FMniOv-wKuGUy7jvuTAqdhhL88ujxYyR5sNioPTt_fp2AJOiP3HY88srzgLzSFdngg2JfrbKqxQ-EJ8_bZuAXXKeppnNnpZrZqYTmZAFcoXi3fHTpXYSQ_53TtElTOZlyddLGi6pjMIvYmXresXQDKIaDjIsuFVcBE6-3BQWeU2H-F0BoP700uDOqo7BBqUv1e395u7xbp92eEDj_rghk5MFbbS39klolGztfOB8JIUb9vy8l1pRPGngUVpe9IxJRejhPd3qPsLrA_eT_X9ew-fpeEK8_3Rz_QSnwoSJRs5sDh0jRWN8zK19gh3Qz0q0peMYb1IP01DmT3aDDQE_O_ndljBSDRXQL9haCc_W-8lh_Td0YJLBOYm4rB_402jbGmdFOIHsVQ7YKvYpEatSU9eprpelZIPDmZ3maxnBVfvcydN0f_hABrqalDE3wvBAU9Yg==",
  "id": "rs_0aa9fe3be4ddf76b016ab4523150a887d0b3856dbf8e30b580",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0aa9fe3be4ddf76b016ab45235e79487d09e96cd656ec9c5a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.0,\"right_yaw\":0.7},\"note\":\"The two-arm coaxial approach is blocked by forearm interference, so I am switching to a supported insertion: I will set the pen on the table in its current aligned pose, withdraw its grip, and slide the still-held cap onto the exposed tip. I am lowering the pen now while keeping it clamped.\"}",
  "call_id": "call_rzHedN4CxLPRjACFqovFx1wO",
  "id": "fc_0aa9fe3be4ddf76b016ab4523aab8c87d0976af7de315419c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rzHedN4CxLPRjACFqovFx1wO",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 2.0201, 2.0895, -1.5745, -0.6132, -1.4048, 0.0846, 0.897, 1.8679, 1.0843, -0.408, 0.123, 0.0937, 0.0562]\nstate[eef_state]: left_x=0.376 left_y=-0.1446 left_z=0.2128 left_yaw=0.803 left_pitch=-0.3839 left_roll=0.0369 left_gripper=0.0846 right_x=0.2662 right_y=0.3044 right_z=0.0062 right_yaw=0.6971 right_pitch=-0.617 right_roll=-0.103 right_gripper=0.0562\nstate[joint_eff]: [-0.294, -11.535, 5.0393, 0.398, -0.4713, 0.1197, 0.2711, 0.0205, -7.5556, 5.4906, 1.1209, 0.0366, -0.0513, 0.7937]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0431e66055114909d0a971b5d772f9567471209c3d582d70a53c8d19f4a59b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb98bf729f9c8b361f9025f727a8e638fae9891e142d3e4741009ab1afd0dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4156d578307cc034c6e91092d38a5f62dc829f2da9672725d67120d974da5a3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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