adhoc

completed
2026-09-23T21:23:30.006961+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
275.6 s
total steps
316
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 cap is left of center and the pen lies just right of center, with both objects separated enough for one arm each. I’m moving both open grippers to high hover poses aligned approximately with each object’s long axis.
move_to
left_x0.3300left_y-0.2400left_z0.1500left_yaw-0.5000left_gripper1.0000right_x0.3200right_y0.2800right_z0.1500right_yaw0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0227, -0.025, 0.9998, -0.017, 0.7914, 0.6094, -0.3771, -0.0208, -0.0151, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0022 right_z=0.1838 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9993 state[joint_eff]: [-0.4718, -1.5521, 10.4137, 1.7656, -0.0659, 0.0904, -0.0366, -0.7726, -1.2923, 9.812, 1.7802, -0.022, -0.0366, -0.0806] 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":0.33,"left_y":-0.24,"left_z":0.15,"left_yaw":-0.5,"left_gripper":1.0,"right_x":0.32,"right_y":0.28,"right_z":0.15,"right_yaw":0.5,"right_gripper":1.0},"note":"The cap is left of center and the pen lies just right of center, with both objects separated enough for one arm each. I’m moving both open grippers to high hover poses aligned approximately with each object’s long axis."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right wrist view shows the pen shaft crossing the fingertip region but about 2–3 cm to the image-right of the jaw centerline. I’m shifting the right gripper slightly right in the world and descending over the lower part of the shaft, while holding the left arm high over the cap.
move_to
left_x0.3190left_y-0.2230left_z0.1500left_yaw-0.4700left_gripper1.0000right_x0.3200right_y0.2350right_z0.0050right_yaw0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7109, 1.3548, 0.7296, -0.049, -0.2028, -0.1558, 0.9994, 0.807, 1.4307, 0.794, -0.0124, 0.2588, 0.1539, 0.9992] state[eef_state]: left_x=0.319 left_y=-0.223 left_z=0.1235 left_yaw=-0.4682 left_pitch=-0.0874 left_roll=0.0106 left_gripper=0.9994 right_x=0.3121 right_y=0.2657 right_z=0.1306 right_yaw=0.4974 right_pitch=-0.0656 right_roll=-0.03 right_gripper=0.9992 state[joint_eff]: [-0.4308, -5.1897, 10.0581, 2.0586, 0.1783, 0.149, -0.1294, 0.3897, -5.7231, 9.1829, 2.0879, -0.0171, 0.0562, -0.0806] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.223,"left_z":0.15,"left_yaw":-0.47,"left_gripper":1.0,"right_x":0.32,"right_y":0.235,"right_z":0.005,"right_yaw":0.5,"right_gripper":1.0},"note":"The right wrist view shows the pen shaft crossing the fingertip region but about 2–3 cm to the image-right of the jaw centerline. I’m shifting the right gripper slightly right in the world and descending over the lower part of the shaft, while holding the left arm high over the cap."})
tool
executing move_to over 9 steps (0.9s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteAt table height the pen is still noticeably to the right of the right jaw centerline, so closing now risks ejecting it. I’m lifting the right gripper clear before making a second lateral alignment correction.
move_to
left_x0.3190left_y-0.2230left_z0.1500left_yaw-0.4700left_gripper1.0000right_x0.3200right_y0.2350right_z0.0600right_yaw0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7132, 1.3453, 0.7677, -0.1555, -0.2058, -0.1574, 0.9994, 0.7059, 1.7599, 0.4938, 0.572, 0.1783, 0.1055, 0.9993] state[eef_state]: left_x=0.3131 left_y=-0.2184 left_z=0.1234 left_yaw=-0.4654 left_pitch=-0.1439 left_roll=0.0257 left_gripper=0.9994 right_x=0.3133 right_y=0.2306 right_z=-0.0003 right_yaw=0.4886 right_pitch=-0.1225 right_roll=-0.0318 right_gripper=0.9993 state[joint_eff]: [-0.0615, -7.4325, 10.441, 1.5653, -0.0659, -0.0269, -0.0757, -0.4308, -5.9966, 4.2325, 0.8962, 0.1392, -0.1441, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.223,"left_z":0.15,"left_yaw":-0.47,"left_gripper":1.0,"right_x":0.32,"right_y":0.235,"right_z":0.06,"right_yaw":0.5,"right_gripper":1.0},"note":"At table height the pen is still noticeably to the right of the right jaw centerline, so closing now risks ejecting it. I’m lifting the right gripper clear before making a second lateral alignment correction."})
tool
executing move_to over 4 steps (0.4s)
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 noteWith the gripper lifted, the pen reaches the fingertip row about 3 cm to the image-right of the jaw convergence column. I’m translating the right gripper by that amount toward its right, keeping height and yaw fixed.
move_to
left_x0.3190left_y-0.2230left_z0.1500left_yaw-0.4700left_gripper1.0000right_x0.3240right_y0.2050right_z0.0600right_yaw0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7132, 1.3437, 0.8246, -0.2535, -0.2058, -0.157, 0.9994, 0.7002, 1.5761, 0.5896, 0.3378, 0.1661, 0.0937, 0.9993] state[eef_state]: left_x=0.3112 left_y=-0.2167 left_z=0.1303 left_yaw=-0.464 left_pitch=-0.1824 left_roll=0.0359 left_gripper=0.9994 right_x=0.3235 right_y=0.239 right_z=0.0573 right_yaw=0.5005 right_pitch=-0.0798 right_roll=-0.0243 right_gripper=0.9993 state[joint_eff]: [0.2667, -5.3402, 10.4821, 1.6386, -0.0757, -0.0122, -0.0757, -0.5402, -7.0085, 6.735, 1.3846, 0.0464, -0.0659, -0.0806] 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_x":0.319,"left_y":-0.223,"left_z":0.15,"left_yaw":-0.47,"left_gripper":1.0,"right_x":0.324,"right_y":0.205,"right_z":0.06,"right_yaw":0.5,"right_gripper":1.0},"note":"With the gripper lifted, the pen reaches the fingertip row about 3 cm to the image-right of the jaw convergence column. I’m translating the right gripper by that amount toward its right, keeping height and yaw fixed."})
tool
executing move_to over 3 steps (0.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe pen shaft is now centered between the right fingertips at the jaw convergence row. I’m descending straight down to table level without changing the lateral alignment.
move_to
left_x0.3190left_y-0.2230left_z0.1500left_yaw-0.4700left_gripper1.0000right_x0.3190right_y0.2020right_z0.0000right_yaw0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7132, 1.3437, 0.8398, -0.2745, -0.2054, -0.157, 0.9994, 0.6064, 1.5192, 0.5247, 0.2913, 0.1093, 0.0547, 0.9993] state[eef_state]: left_x=0.3112 left_y=-0.2168 left_z=0.133 left_yaw=-0.4641 left_pitch=-0.188 left_roll=0.0371 left_gripper=0.9994 right_x=0.3193 right_y=0.2024 right_z=0.0442 right_yaw=0.4746 right_pitch=-0.1397 right_roll=-0.0288 right_gripper=0.9993 state[joint_eff]: [0.1709, -5.2991, 9.6205, 1.5995, -0.0904, -0.0269, -0.0757, 0.253, -7.4051, 6.2701, 1.9707, -0.1538, -0.1148, -0.0806] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.223,"left_z":0.15,"left_yaw":-0.47,"left_gripper":1.0,"right_x":0.319,"right_y":0.202,"right_z":0.0,"right_yaw":0.5,"right_gripper":1.0},"note":"The pen shaft is now centered between the right fingertips at the jaw convergence row. I’m descending straight down to table level without changing the lateral alignment."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe pen is centered exactly along the right jaw column at table contact. I’m closing the right gripper fully around the shaft while keeping the pose fixed.
move_to
left_x0.3190left_y-0.2230left_z0.1500left_yaw-0.4700left_gripper1.0000right_x0.3160right_y0.2000right_z0.0000right_yaw0.5000right_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]: [-0.7132, 1.3445, 0.8402, -0.2745, -0.2031, -0.157, 0.9994, 0.5907, 1.689, 0.4652, 0.4904, 0.0772, 0.0322, 0.9994] state[eef_state]: left_x=0.3111 left_y=-0.2172 left_z=0.1328 left_yaw=-0.466 left_pitch=-0.1887 left_roll=0.0356 left_gripper=0.9994 right_x=0.3161 right_y=0.1999 right_z=-0.0005 right_yaw=0.498 right_pitch=-0.1722 right_roll=-0.0282 right_gripper=0.9994 state[joint_eff]: [0.1983, -5.4359, 9.7983, 1.5751, -0.0952, -0.0073, -0.0757, -0.253, -6.9265, 6.0239, 0.3883, -0.022, -0.1587, -0.0757] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.223,"left_z":0.15,"left_yaw":-0.47,"left_gripper":1.0,"right_x":0.316,"right_y":0.2,"right_z":0.0,"right_yaw":0.5,"right_gripper":0.0},"note":"The pen is centered exactly along the right jaw column at table contact. I’m closing the right gripper fully around the shaft while keeping the pose fixed."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe right gripper settled at 0.027, which is below the reliable grasp threshold for this rig, so the grasp may be empty despite the visual alignment. I’m lifting 7 cm to verify whether the pen follows before retrying.
move_to
left_x0.3190left_y-0.2230left_z0.1500left_yaw-0.4700left_gripper1.0000right_x0.3170right_y0.2010right_z0.0700right_yaw0.5000right_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]: [-0.7132, 1.3636, 0.8841, -0.3408, -0.2028, -0.1574, 0.9994, 0.5903, 1.6936, 0.4583, 0.5167, 0.0734, 0.0311, 0.0266] state[eef_state]: left_x=0.3104 left_y=-0.2168 left_z=0.1329 left_yaw=-0.464 left_pitch=-0.2291 left_roll=0.0455 left_gripper=0.9994 right_x=0.3169 right_y=0.201 right_z=0.0005 right_yaw=0.5017 right_pitch=-0.1576 right_roll=-0.0252 right_gripper=0.0266 state[joint_eff]: [0.0615, -5.2171, 10.3863, 1.6679, -0.0904, 0.022, -0.0757, -0.2256, -6.8034, 5.5863, 1.3114, 0.0464, -0.0366, 1.1306] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.319,"left_y":-0.223,"left_z":0.15,"left_yaw":-0.47,"left_gripper":1.0,"right_x":0.317,"right_y":0.201,"right_z":0.07,"right_yaw":0.5,"right_gripper":0.0},"note":"The right gripper settled at 0.027, which is below the reliable grasp threshold for this rig, so the grasp may be empty despite the visual alignment. I’m lifting 7 cm to verify whether the pen follows before retrying."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe pen remains collinear with the lifted right gripper and protrudes from its fingertips, indicating the very thin shaft is in fact held despite the borderline reading. I’m moving the pen safely to the right and higher, while refining the left gripper’s yaw to match the cap’s diagonal axis.
move_to
left_x0.3100left_y-0.2160left_z0.1500left_yaw-0.6000left_gripper1.0000right_x0.2800right_y0.3600right_z0.2000right_yaw0.5000right_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]: [-0.7124, 1.3918, 0.9268, -0.4042, -0.2028, -0.157, 0.9994, 0.5903, 1.4532, 0.5571, 0.207, 0.0704, 0.0292, 0.0388] state[eef_state]: left_x=0.31 left_y=-0.216 left_z=0.13 left_yaw=-0.4603 left_pitch=-0.2764 left_roll=0.0582 left_gripper=0.9994 right_x=0.3199 right_y=0.2037 right_z=0.0639 right_yaw=0.5057 right_pitch=-0.1285 right_roll=-0.0221 right_gripper=0.0388 state[joint_eff]: [0.4034, -5.3949, 10.359, 1.6093, -0.0659, 0.0317, -0.0757, 0.0752, -6.2838, 7.9385, 1.58, 0.0513, -0.022, 1.033] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.216,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.28,"right_y":0.36,"right_z":0.2,"right_yaw":0.5,"right_gripper":0.0},"note":"The pen remains collinear with the lifted right gripper and protrudes from its fingertips, indicating the very thin shaft is in fact held despite the borderline reading. I’m moving the pen safely to the right and higher, while refining the left gripper’s yaw to match the cap’s diagonal axis."})
tool
executing move_to over 14 steps (1.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe lifted pen is clearly protruding from and moving with the right jaws, confirming the grasp. The two arms are too close over the center, so I’m parking the pen high on the right side and rotating it straight forward before lowering the left arm onto the centered cap.
move_to
left_x0.3070left_y-0.1960left_z0.1500left_yaw-0.6000left_gripper1.0000right_x0.2500right_y0.0500right_z0.2500right_yaw0.0000right_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]: [-0.6395, 1.3766, 0.9382, -0.4877, -0.1261, -0.0425, 0.9993, 1.0302, 1.6146, 1.2541, -0.4892, 0.4339, 0.3134, 0.0387] state[eef_state]: left_x=0.3073 left_y=-0.1964 left_z=0.1254 left_yaw=-0.5157 left_pitch=-0.3485 left_roll=0.0839 left_gripper=0.9993 right_x=0.284 right_y=0.3358 right_z=0.1726 right_yaw=0.4808 right_pitch=-0.1939 right_roll=-0.0992 right_gripper=0.0387 state[joint_eff]: [-1.0188, -6.4752, 9.8667, 1.6825, 0.4762, 0.0513, -0.0904, 2.3453, -7.8017, 10.7692, 2.5031, -0.2173, 0.3101, 1.0281] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.307,"left_y":-0.196,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.25,"right_y":0.05,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The lifted pen is clearly protruding from and moving with the right jaws, confirming the grasp. The two arms are too close over the center, so I’m parking the pen high on the right side and rotating it straight forward before lowering the left arm onto the centered cap."})
tool
executing move_to over 24 steps (2.4s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe cap is now vertical in the left wrist image and centered precisely on the jaw column, with its lower portion at the convergence row. I’m descending the left gripper straight to table level while keeping the pen parked high and clear.
move_to
left_x0.2970left_y-0.1880left_z0.0000left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.6086, 1.3735, 0.9718, -0.5949, -0.0704, 0.0288, 0.9994, 0.4446, 0.9161, 1.0538, -0.9848, 0.3649, 0.2367, 0.0387] state[eef_state]: left_x=0.2971 left_y=-0.1875 left_z=0.1237 left_yaw=-0.5745 left_pitch=-0.4262 left_roll=0.0851 left_gripper=0.9994 right_x=0.2507 right_y=0.0536 right_z=0.2385 right_yaw=-0.0079 right_pitch=-0.2201 right_roll=-0.108 right_gripper=0.0387 state[joint_eff]: [0.4991, -7.0769, 10.1949, 1.4774, 0.0659, 0.2418, -0.0757, -0.4034, -2.0171, 8.253, 1.5946, 0.232, 0.0024, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":-0.188,"left_z":0.0,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The cap is now vertical in the left wrist image and centered precisely on the jaw column, with its lower portion at the convergence row. I’m descending the left gripper straight to table level while keeping the pen parked high and clear."})
tool
executing move_to over 8 steps (0.8s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteOn descent the cap shifted to the far top of the left wrist image, showing that the high hover was radially short of the fingertips; depth and height were coupled in that view. I’m lifting clear before correcting the left gripper outward, rather than scraping the cap across the table.
move_to
left_x0.2870left_y-0.1820left_z0.0700left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.606, 1.5883, 0.6476, -0.1131, -0.0566, 0.0345, 0.9993, 0.4389, 0.9318, 1.0698, -1.0187, 0.3428, 0.2199, 0.0388] state[eef_state]: left_x=0.2866 left_y=-0.182 left_z=-0.0007 left_yaw=-0.5873 left_pitch=-0.484 left_roll=0.0771 left_gripper=0.9993 right_x=0.2478 right_y=0.0547 right_z=0.2349 right_yaw=0.0101 right_pitch=-0.2586 right_roll=-0.1191 right_gripper=0.0388 state[joint_eff]: [0.1162, -4.506, 4.8479, 0.8913, -0.6081, 0.1685, -0.0757, -0.1162, -1.1829, 9.8393, 1.3455, 0.2759, 0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.287,"left_y":-0.182,"left_z":0.07,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"On descent the cap shifted to the far top of the left wrist image, showing that the high hover was radially short of the fingertips; depth and height were coupled in that view. I’m lifting clear before correcting the left gripper outward, rather than scraping the cap across the table."})
tool
executing move_to over 5 steps (0.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteAt 5 cm height the cap is centered laterally but sits well ahead of the fingertips, consistent with the overhead estimate that it is about 4–5 cm farther out. I’m making that pure outward correction at clearance height so the wrist-image shift can be checked directly.
move_to
left_x0.3350left_y-0.1820left_z0.0700left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.6025, 1.4517, 0.7784, -0.3782, -0.0513, 0.0357, 0.9994, 0.4381, 0.9684, 1.1107, -1.0588, 0.3386, 0.2195, 0.0387] state[eef_state]: left_x=0.2872 left_y=-0.1822 left_z=0.0544 left_yaw=-0.5897 left_pitch=-0.4818 left_roll=0.0724 left_gripper=0.9994 right_x=0.2484 right_y=0.0555 right_z=0.236 right_yaw=0.0087 right_pitch=-0.2925 right_roll=-0.1318 right_gripper=0.0387 state[joint_eff]: [0.0342, -6.9402, 8.841, 1.3846, -0.0415, 0.1197, -0.0757, -0.6222, -1.3197, 8.759, 1.409, 0.2076, -0.0171, 1.0281] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.182,"left_z":0.07,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"At 5 cm height the cap is centered laterally but sits well ahead of the fingertips, consistent with the overhead estimate that it is about 4–5 cm farther out. I’m making that pure outward correction at clearance height so the wrist-image shift can be checked directly."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe outward move coupled into pitch and lateral drift, but the overhead view now places the cap just ahead and slightly right of the left fingertips. I’m finishing the remaining small outward/right correction while descending to table level, keeping the cap’s yaw alignment.
move_to
left_x0.3500left_y-0.2000left_z0.0000left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5117, 1.5768, 0.9112, -0.45, -0.0208, 0.0853, 0.9994, 0.4381, 0.9699, 1.1187, -1.0672, 0.3386, 0.2195, 0.0387] state[eef_state]: left_x=0.3172 left_y=-0.1698 left_z=0.0504 left_yaw=-0.5598 left_pitch=-0.5476 left_roll=0.0668 left_gripper=0.9994 right_x=0.2478 right_y=0.0553 right_z=0.2375 right_yaw=0.0085 right_pitch=-0.2943 right_roll=-0.1326 right_gripper=0.0387 state[joint_eff]: [-0.0889, -6.5846, 9.4017, 1.2332, 0.1734, 0.2125, -0.0757, -0.4444, -1.9214, 8.4171, 1.409, 0.1783, -0.0073, 1.0281] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.0,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The outward move coupled into pitch and lateral drift, but the overhead view now places the cap just ahead and slightly right of the left fingertips. I’m finishing the remaining small outward/right correction while descending to table level, keeping the cap’s yaw alignment."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe combined approach stalled at 5.7 cm instead of descending, and the lateral correction also fell short, indicating an awkward IK path rather than contact. I’m raising slightly and asking for a more modest outward pose with extra rightward correction so the arm can unfold before a separate vertical descent.
move_to
left_x0.3400left_y-0.2100left_z0.1000left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5041, 1.5867, 0.9421, -0.4583, -0.0101, 0.1074, 0.9994, 0.4381, 0.9737, 1.1187, -1.0679, 0.3382, 0.2192, 0.0387] state[eef_state]: left_x=0.3242 left_y=-0.1727 left_z=0.0566 left_yaw=-0.5761 left_pitch=-0.5354 left_roll=0.068 left_gripper=0.9994 right_x=0.2481 right_y=0.0555 right_z=0.2365 right_yaw=0.0084 right_pitch=-0.2986 right_roll=-0.1346 right_gripper=0.0387 state[joint_eff]: [-0.335, -7.1179, 8.4581, 1.3065, 0.0611, 0.1294, -0.0757, -0.4718, -2.2632, 8.4171, 1.3993, 0.1587, -0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.21,"left_z":0.1,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The combined approach stalled at 5.7 cm instead of descending, and the lateral correction also fell short, indicating an awkward IK path rather than contact. I’m raising slightly and asking for a more modest outward pose with extra rightward correction so the arm can unfold before a separate vertical descent."})
tool
executing move_to over 4 steps (0.4s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe left arm did not move at all on the revised target, confirming it is stuck in an awkward low configuration rather than merely short of the cap. Following the controller’s recovery pattern, I’m retreating inward and high to reset the IK before re-approaching.
move_to
left_x0.2500left_y-0.1500left_z0.2000left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5045, 1.5867, 0.9421, -0.4587, -0.0101, 0.1074, 0.9994, 0.4328, 0.9928, 1.1439, -1.0943, 0.3359, 0.2184, 0.0387] state[eef_state]: left_x=0.3241 left_y=-0.1728 left_z=0.0566 left_yaw=-0.5765 left_pitch=-0.5358 left_roll=0.0679 left_gripper=0.9994 right_x=0.2481 right_y=0.0544 right_z=0.2377 right_yaw=0.0027 right_pitch=-0.3178 right_roll=-0.1422 right_gripper=0.0387 state[joint_eff]: [-0.3077, -7.1726, 8.3214, 1.3016, 0.0659, 0.1636, -0.0757, -0.6359, -1.4017, 8.9641, 1.3162, 0.1148, -0.0562, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.15,"left_z":0.2,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The left arm did not move at all on the revised target, confirming it is stuck in an awkward low configuration rather than merely short of the cap. Following the controller’s recovery pattern, I’m retreating inward and high to reset the IK before re-approaching."})
tool
executing move_to over 10 steps (1.0s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe reset succeeded; the cap is again centered in the left wrist view but clearly short of the fingertips. I’m now re-approaching from the healthy high configuration to the overhead-estimated cap pose, keeping the pen safely parked.
move_to
left_x0.3400left_y-0.2100left_z0.1500left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5655, 1.2732, 1.1847, -1.0229, -0.0219, 0.0761, 0.9994, 0.4313, 1.0206, 1.1736, -1.1358, 0.3309, 0.2115, 0.0387] state[eef_state]: left_x=0.2584 left_y=-0.1551 left_z=0.1815 left_yaw=-0.6066 left_pitch=-0.5431 left_roll=0.0635 left_gripper=0.9994 right_x=0.2464 right_y=0.0542 right_z=0.2365 right_yaw=0.0034 right_pitch=-0.3561 right_roll=-0.1603 right_gripper=0.0387 state[joint_eff]: [-0.4581, -5.9282, 9.1145, 1.1306, -0.1294, -0.0904, -0.0757, -0.7863, -1.4564, 9.0188, 1.4335, 0.0952, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.21,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The reset succeeded; the cap is again centered in the left wrist view but clearly short of the fingertips. I’m now re-approaching from the healthy high configuration to the overhead-estimated cap pose, keeping the pen safely parked."})
tool
executing move_to over 7 steps (0.7s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteAt the renewed hover the cap is on the jaw column but fully visible with substantial clear image below, the standard sign that it remains short of the fingertips. I’m advancing the left gripper another 2–3 cm radially at the same height before descending.
move_to
left_x0.3650left_y-0.2100left_z0.1500left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5705, 1.6188, 1.3361, -0.915, -0.0223, 0.0574, 0.9994, 0.4248, 1.0561, 1.2098, -1.1755, 0.3248, 0.2035, 0.0387] state[eef_state]: left_x=0.3193 left_y=-0.1959 left_z=0.1354 left_yaw=-0.6011 left_pitch=-0.6286 left_roll=0.0512 left_gripper=0.9994 right_x=0.2467 right_y=0.0536 right_z=0.2362 right_yaw=0.0002 right_pitch=-0.3943 right_roll=-0.1777 right_gripper=0.0387 state[joint_eff]: [-0.5812, -7.4598, 8.9641, 1.2283, -0.0366, 0.0513, -0.0757, -0.6906, -1.7299, 9.1009, 1.3309, 0.1832, -0.0562, 1.0281] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.21,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"At the renewed hover the cap is on the jaw column but fully visible with substantial clear image below, the standard sign that it remains short of the fingertips. I’m advancing the left gripper another 2–3 cm radially at the same height before descending."})
tool
executing move_to over 4 steps (0.4s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe first advance moved the cap down the wrist image as expected, but it is still entirely visible above the fingertip region with clear space below. I’m making one final 2–3 cm outward advance at height so the cap reaches the grasp point.
move_to
left_x0.3900left_y-0.2100left_z0.1500left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5381, 1.7576, 1.4952, -0.9554, -0.0177, 0.0597, 0.9994, 0.4229, 1.0924, 1.2446, -1.2087, 0.3119, 0.1967, 0.0387] state[eef_state]: left_x=0.3524 left_y=-0.2025 left_z=0.1344 left_yaw=-0.5755 left_pitch=-0.6487 left_roll=0.046 left_gripper=0.9994 right_x=0.2475 right_y=0.0559 right_z=0.2356 right_yaw=0.0071 right_pitch=-0.4312 right_roll=-0.1863 right_gripper=0.0387 state[joint_eff]: [0.1709, -8.9504, 9.0735, 0.8962, 0.0708, 0.2076, -0.0757, -0.8684, -2.2085, 8.7316, 1.16, 0.1832, -0.0415, 1.033] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.21,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The first advance moved the cap down the wrist image as expected, but it is still entirely visible above the fingertip region with clear space below. I’m making one final 2–3 cm outward advance at height so the cap reaches the grasp point."})
tool
executing move_to over 3 steps (0.3s)
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 arm has reached its high-pose radial limit, and the cap’s lower half is now at the approximate jaw convergence row. I’m descending vertically from this aligned pose, without asking for any further outward motion that could stall the IK.
move_to
left_x0.3580left_y-0.2020left_z0.0000left_yaw-0.6000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_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]: [-0.5304, 1.776, 1.5211, -0.9615, -0.0177, 0.0662, 0.9994, 0.4191, 1.0931, 1.2606, -1.2228, 0.3126, 0.1959, 0.0387] state[eef_state]: left_x=0.3584 left_y=-0.2024 left_z=0.1355 left_yaw=-0.5722 left_pitch=-0.6474 left_roll=0.0489 left_gripper=0.9994 right_x=0.2468 right_y=0.0544 right_z=0.2394 right_yaw=0.0032 right_pitch=-0.4299 right_roll=-0.1869 right_gripper=0.0387 state[joint_eff]: [-0.335, -9.2376, 8.9915, 0.9695, 0.0122, 0.2027, -0.0757, -0.5265, -2.5915, 8.1709, 1.2039, 0.1587, -0.0415, 1.033] 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":{"left_x":0.358,"left_y":-0.202,"left_z":0.0,"left_yaw":-0.6,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.0},"note":"The arm has reached its high-pose radial limit, and the cap’s lower half is now at the approximate jaw convergence row. I’m descending vertically from this aligned pose, without asking for any further outward motion that could stall the IK."})
tool
executing move_to over 9 steps (0.9s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe descent stopped 11 cm above the table while effort changed, revealing an orientation singularity: uncommanded pitch had accumulated to about −0.64 rad. I’m explicitly restoring pitch and roll to zero at a high pose for both arms, which should recover a vertical, freely descending gripper.
move_to
left_x0.3500left_y-0.2000left_z0.1600left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5274, 1.7916, 1.441, -0.8597, -0.0158, 0.0738, 0.9994, 0.4152, 1.1099, 1.2816, -1.2427, 0.3096, 0.1928, 0.0387] state[eef_state]: left_x=0.3622 left_y=-0.2036 left_z=0.1111 left_yaw=-0.5761 left_pitch=-0.6414 left_roll=0.0503 left_gripper=0.9994 right_x=0.2471 right_y=0.0541 right_z=0.2404 right_yaw=0.0009 right_pitch=-0.4456 right_roll=-0.193 right_gripper=0.0387 state[joint_eff]: [0.5538, -2.8786, 3.5761, 0.9304, 0.0659, 0.2173, -0.0708, -0.7453, -1.7846, 8.3761, 1.3407, 0.1636, -0.022, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.16,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The descent stopped 11 cm above the table while effort changed, revealing an orientation singularity: uncommanded pitch had accumulated to about −0.64 rad. I’m explicitly restoring pitch and roll to zero at a high pose for both arms, which should recover a vertical, freely descending gripper."})
tool
executing move_to over 22 steps (2.2s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteWith the wrist restored upright, the cap now lies centered on the left jaw column and reaches the fingertip row, exactly the desired pre-grasp view. I’m descending straight to table level with pitch and roll explicitly held at zero.
move_to
left_x0.3460left_y-0.1960left_z0.0000left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4965, 1.3506, 0.7948, -0.0998, 0.0612, 0.0509, 0.9994, 0.4412, 0.7448, 0.8825, -0.8082, 0.3473, 0.2287, 0.0387] state[eef_state]: left_x=0.3461 left_y=-0.1957 left_z=0.1413 left_yaw=-0.5884 left_pitch=-0.0835 left_roll=0.0108 left_gripper=0.9994 right_x=0.2462 right_y=0.0537 right_z=0.2374 right_yaw=0.0181 right_pitch=-0.0654 right_roll=-0.0276 right_gripper=0.0387 state[joint_eff]: [0.5949, -7.1179, 6.9949, 2.0098, 0.1978, -0.0757, -0.0757, 0.6632, -0.9915, 6.7761, 1.9512, 0.3394, 0.1099, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.346,"left_y":-0.196,"left_z":0.0,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"With the wrist restored upright, the cap now lies centered on the left jaw column and reaches the fingertip row, exactly the desired pre-grasp view. I’m descending straight to table level with pitch and roll explicitly held at zero."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteAt table height the cap remains fully visible with clear space below it and is slightly right of center, so it is still just ahead of the actual fingertips. I’m lifting clear before a final small outward/right correction to avoid pushing the rounded cap.
move_to
left_x0.3430left_y-0.1920left_z0.0600left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4908, 1.8072, 0.453, 0.7319, 0.0631, 0.0536, 0.9995, 0.4412, 0.7403, 0.8749, -0.7918, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3434 left_y=-0.1921 left_z=-0.0012 left_yaw=-0.5855 left_pitch=-0.0504 left_roll=0.0149 left_gripper=0.9995 right_x=0.2474 right_y=0.0544 right_z=0.2383 right_yaw=0.0189 right_pitch=-0.0533 right_roll=-0.0222 right_gripper=0.0387 state[joint_eff]: [0.5265, -5.6547, 2.9607, 0.8913, 0.3394, -0.0757, -0.0659, 0.4718, -1.0598, 6.8171, 1.9853, 0.2906, 0.1148, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.343,"left_y":-0.192,"left_z":0.06,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"At table height the cap remains fully visible with clear space below it and is slightly right of center, so it is still just ahead of the actual fingertips. I’m lifting clear before a final small outward/right correction to avoid pushing the rounded cap."})
tool
executing move_to over 4 steps (0.4s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteAfter lifting, the cap’s narrow end reaches the jaw convergence row and its centerline aligns with the left jaws, so the previous apparent depth error was mostly projection. I’m descending vertically at this corrected alignment for the grasp.
move_to
left_x0.3460left_y-0.1900left_z0.0000left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4789, 1.5738, 0.4644, 0.5678, 0.0727, 0.0532, 0.9994, 0.4412, 0.7376, 0.8745, -0.791, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3461 left_y=-0.1901 left_z=0.0566 left_yaw=-0.5814 left_pitch=0.0306 left_roll=0.0174 left_gripper=0.9994 right_x=0.2472 right_y=0.0543 right_z=0.2389 right_yaw=0.019 right_pitch=-0.0506 right_roll=-0.0209 right_gripper=0.0387 state[joint_eff]: [0.2803, -6.2291, 7.4462, 1.7411, 0.2222, -0.0122, -0.0659, 0.7453, -0.6496, 6.6256, 2.0586, 0.3248, 0.1245, 1.033] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.346,"left_y":-0.19,"left_z":0.0,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"After lifting, the cap’s narrow end reaches the jaw convergence row and its centerline aligns with the left jaws, so the previous apparent depth error was mostly projection. I’m descending vertically at this corrected alignment for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe first descent stopped at 2.9 cm, still visibly above the cap and without a contact-effort signature. I’m continuing to the allowed floor with a slightly lower target while holding the now-centered x–y pose.
move_to
left_x0.3380left_y-0.1870left_z-0.0200left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4774, 1.6402, 0.4458, 0.5846, 0.083, 0.0532, 0.9994, 0.4412, 0.7368, 0.8745, -0.7841, 0.3473, 0.2279, 0.0387] state[eef_state]: left_x=0.3378 left_y=-0.1872 left_z=0.0288 left_yaw=-0.5886 left_pitch=-0.0367 left_roll=0.0045 left_gripper=0.9994 right_x=0.248 right_y=0.0546 right_z=0.2404 right_yaw=0.019 right_pitch=-0.0435 right_roll=-0.0183 right_gripper=0.0387 state[joint_eff]: [-0.1299, -6.3248, 5.0667, 2.0049, -0.0366, -0.0464, -0.0708, 0.4718, -0.9368, 6.7077, 1.9365, 0.3541, 0.0952, 1.0281] 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":{"left_x":0.338,"left_y":-0.187,"left_z":-0.02,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The first descent stopped at 2.9 cm, still visibly above the cap and without a contact-effort signature. I’m continuing to the allowed floor with a slightly lower target while holding the now-centered x–y pose."})
tool
executing move_to over 4 steps (0.4s)
step 198
assistant
agent noteA second lower command held at about 3 cm with stable x–y alignment, indicating the fingers are now physically stopped on the cap/table rather than merely tracking slowly. I’m closing the left jaws around the centered cap at this contact height.
move_to
left_x0.3390left_y-0.1880left_z0.0310left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.477, 1.6402, 0.4458, 0.5968, 0.0826, 0.0528, 0.9995, 0.4412, 0.7368, 0.8745, -0.7841, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3394 left_y=-0.1878 left_z=0.0313 left_yaw=-0.5877 left_pitch=-0.0246 left_roll=0.0058 left_gripper=0.9995 right_x=0.248 right_y=0.0547 right_z=0.2403 right_yaw=0.0192 right_pitch=-0.0436 right_roll=-0.0178 right_gripper=0.0387 state[joint_eff]: [0.1299, -6.4889, 5.0803, 2.1123, -0.0415, -0.0415, -0.0708, 0.5675, -0.841, 6.6393, 1.9316, 0.3101, 0.1197, 1.033] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.339,"left_y":-0.188,"left_z":0.031,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"A second lower command held at about 3 cm with stable x–y alignment, indicating the fingers are now physically stopped on the cap/table rather than merely tracking slowly. I’m closing the left jaws around the centered cap at this contact height."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteThe left gripper settled essentially fully closed at 0.009 and the cap remains visible ahead of it, confirming an empty close. I’m opening, lifting, and applying the standard 2 cm outward correction for the one deliberate retry.
move_to
left_x0.3600left_y-0.1880left_z0.0900left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4713, 1.6463, 0.4297, 0.6273, 0.0868, 0.054, 0.0089, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3385 left_y=-0.1857 left_z=0.0297 left_yaw=-0.5861 left_pitch=-0.016 left_roll=0.0053 left_gripper=0.0089 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387 state[joint_eff]: [0.1026, -5.1214, 4.506, 2.0098, 0.2173, 0.0171, 0.5397, 0.5949, -1.0872, 6.735, 1.8779, 0.3004, 0.1197, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.188,"left_z":0.09,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The left gripper settled essentially fully closed at 0.009 and the cap remains visible ahead of it, confirming an empty close. I’m opening, lifting, and applying the standard 2 cm outward correction for the one deliberate retry."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteAfter the outward retry correction, the cap now reaches the fingertip row but sits about 2 cm to the image-right of the jaw column. I’m correcting only that lateral offset at clearance height before the retry descent.
move_to
left_x0.3520left_y-0.2100left_z0.0700left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.437, 1.5166, 0.564, 0.329, 0.1135, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3519 left_y=-0.1825 left_z=0.0675 left_yaw=-0.5786 left_pitch=-0.0482 left_roll=-0.0076 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387 state[joint_eff]: [0.4991, -7.788, 8.7043, 1.8535, 0.1538, 0.0855, -0.0757, 0.6496, -0.9094, 6.8444, 1.8828, 0.315, 0.1294, 1.033] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.352,"left_y":-0.21,"left_z":0.07,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"After the outward retry correction, the cap now reaches the fingertip row but sits about 2 cm to the image-right of the jaw column. I’m correcting only that lateral offset at clearance height before the retry descent."})
tool
executing move_to over 3 steps (0.3s)
step 221
assistant
agent noteThe cap is now centered on the left jaw column, with its lower end just above the convergence point. I’m descending vertically for the second grasp attempt, holding all orientation axes explicitly.
move_to
left_x0.3450left_y-0.2040left_z-0.0100left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5087, 1.5593, 0.5701, 0.3595, 0.0784, 0.0376, 0.9986, 0.4412, 0.7376, 0.8745, -0.7769, 0.3473, 0.2279, 0.0387] state[eef_state]: left_x=0.3451 left_y=-0.2042 left_z=0.0594 left_yaw=-0.6077 left_pitch=-0.0566 left_roll=-0.0077 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2416 right_yaw=0.0191 right_pitch=-0.0376 right_roll=-0.0157 right_gripper=0.0387 state[joint_eff]: [-0.0752, -6.0103, 5.7778, 2.2784, -0.1099, 0.0464, -0.1538, 0.5675, -1.0872, 6.653, 1.8828, 0.3492, 0.105, 1.033] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.204,"left_z":-0.01,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The cap is now centered on the left jaw column, with its lower end just above the convergence point. I’m descending vertically for the second grasp attempt, holding all orientation axes explicitly."})
tool
executing move_to over 5 steps (0.5s)
step 226
assistant
agent noteAt table contact the cap’s centerline remains aligned and its narrow lower section enters the jaw throat. I’m closing for the second grasp attempt while keeping the contact pose fixed.
move_to
left_x0.3480left_y-0.2040left_z-0.0100left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5156, 1.8645, 0.4641, 0.82, 0.0525, 0.0395, 0.9986, 0.4412, 0.7372, 0.8745, -0.7773, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3481 left_y=-0.2038 left_z=-0.0016 left_yaw=-0.5936 left_pitch=-0.0089 left_roll=0.0129 left_gripper=0.9986 right_x=0.2489 right_y=0.0551 right_z=0.2416 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387 state[joint_eff]: [0.1162, -5.4769, 2.3316, 0.7595, 0.2076, -0.1245, -0.1538, 0.6359, -0.8957, 6.653, 1.8535, 0.2955, 0.1148, 1.033] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.348,"left_y":-0.204,"left_z":-0.01,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"At table contact the cap’s centerline remains aligned and its narrow lower section enters the jaw throat. I’m closing for the second grasp attempt while keeping the contact pose fixed."})
tool
executing move_to over 10 steps (1.0s)
step 236
assistant
agent noteThe second close is also empty; the image now makes the failure clear—the jaws reached only the thin clip/stem while the graspable cap body remained about 5 cm farther outward. I’m reopening and moving outward by that remeasured amount at clearance height, rather than repeating the same approach.
move_to
left_x0.4050left_y-0.2060left_z0.0900left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5129, 1.9015, 0.4541, 0.9062, 0.0601, 0.0319, 0.009, 0.4412, 0.7376, 0.8745, -0.7773, 0.3466, 0.2279, 0.0387] state[eef_state]: left_x=0.351 left_y=-0.2057 left_z=-0.0008 left_yaw=-0.5933 left_pitch=0.0306 left_roll=0.0055 left_gripper=0.009 right_x=0.249 right_y=0.0552 right_z=0.2415 right_yaw=0.0198 right_pitch=-0.0381 right_roll=-0.0154 right_gripper=0.0387 state[joint_eff]: [0.3214, -5.5726, 3.9316, 1.6142, 0.1148, 0.022, 0.525, 0.6359, -1.0872, 6.7214, 1.8437, 0.3101, 0.0855, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.206,"left_z":0.09,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The second close is also empty; the image now makes the failure clear—the jaws reached only the thin clip/stem while the graspable cap body remained about 5 cm farther outward. I’m reopening and moving outward by that remeasured amount at clearance height, rather than repeating the same approach."})
tool
executing move_to over 10 steps (1.0s)
step 246
assistant
agent noteThe larger radial correction worked: the cap body now enters the left jaw throat, but it is about 2 cm to the image-right of center. I’m making only that lateral correction at the same clearance height.
move_to
left_x0.3980left_y-0.2300left_z0.0700left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4294, 1.7058, 0.7414, 0.3531, 0.1139, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3984 left_y=-0.2005 left_z=0.0657 left_yaw=-0.5712 left_pitch=-0.036 left_roll=-0.0061 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387 state[joint_eff]: [0.6906, -9.9624, 8.4171, 1.8339, 0.2662, 0.1392, 0.0171, 0.6222, -0.9641, 6.653, 1.9023, 0.2759, 0.1001, 1.0232] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.398,"left_y":-0.23,"left_z":0.07,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The larger radial correction worked: the cap body now enters the left jaw throat, but it is about 2 cm to the image-right of center. I’m making only that lateral correction at the same clearance height."})
tool
executing move_to over 3 steps (0.3s)
step 249
assistant
agent noteThe cap body is now deep in the fingertip region and only about 1 cm right of the jaw centerline. I’m applying that final small lateral adjustment while descending to table level.
move_to
left_x0.3900left_y-0.2400left_z0.0000left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4896, 1.7317, 0.7601, 0.342, 0.0921, 0.0429, 0.9986, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3903 left_y=-0.2223 left_z=0.0594 left_yaw=-0.603 left_pitch=-0.0558 left_roll=-0.0114 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387 state[joint_eff]: [-0.1846, -7.241, 6.4068, 2.1661, -0.0317, 0.0171, -0.1538, 0.6359, -1.0462, 6.8444, 1.8437, 0.2857, 0.149, 1.0379] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.24,"left_z":0.0,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The cap body is now deep in the fingertip region and only about 1 cm right of the jaw centerline. I’m applying that final small lateral adjustment while descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 253
assistant
agent noteThe combined correction again left height unchanged, so I’m separating the motion and commanding a pure vertical descent to the allowed floor from the now-centered x–y pose.
move_to
left_x0.3900left_y-0.2270left_z-0.0200left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5045, 1.7424, 0.7601, 0.3565, 0.078, 0.0341, 0.9986, 0.4408, 0.7383, 0.8745, -0.7776, 0.3458, 0.2279, 0.0387] state[eef_state]: left_x=0.3896 left_y=-0.2267 left_z=0.0576 left_yaw=-0.6013 left_pitch=-0.0529 left_roll=-0.0099 left_gripper=0.9986 right_x=0.249 right_y=0.0552 right_z=0.2412 right_yaw=0.02 right_pitch=-0.0394 right_roll=-0.0154 right_gripper=0.0387 state[joint_eff]: [-0.0068, -7.9248, 6.4205, 2.0928, -0.0562, -0.022, -0.1587, 0.1162, -0.6085, 6.5299, 1.7021, 0.1392, -0.0171, 1.033] 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":0.39,"left_y":-0.227,"left_z":-0.02,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The combined correction again left height unchanged, so I’m separating the motion and commanding a pure vertical descent to the allowed floor from the now-centered x–y pose."})
tool
executing move_to over 6 steps (0.6s)
step 259
assistant
agent noteThe pure descent also stops rigidly at 5.8 cm while the cap is visibly centered between the jaws, so this is contact with the upright cap rather than IK failure. I’m closing around the cap body at this contact height.
move_to
left_x0.3900left_y-0.2270left_z0.0580left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5045, 1.7424, 0.7601, 0.3584, 0.0776, 0.0341, 0.9986, 0.4408, 0.7387, 0.8745, -0.7776, 0.3454, 0.2279, 0.0387] state[eef_state]: left_x=0.3899 left_y=-0.2268 left_z=0.058 left_yaw=-0.6009 left_pitch=-0.051 left_roll=-0.0095 left_gripper=0.9986 right_x=0.249 right_y=0.0553 right_z=0.2411 right_yaw=0.0203 right_pitch=-0.0398 right_roll=-0.0154 right_gripper=0.0387 state[joint_eff]: [0.0752, -7.8154, 6.3658, 2.1514, -0.0464, 0.0073, -0.1538, -0.0205, -0.3624, 6.5846, 1.6728, 0.1148, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.227,"left_z":0.058,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The pure descent also stops rigidly at 5.8 cm while the cap is visibly centered between the jaws, so this is contact with the upright cap rather than IK failure. I’m closing around the cap body at this contact height."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteThe gripper reading is nominally empty, but the cap disappeared from the wrist view exactly as the jaws closed, so I need the definitive lift check. I’m lifting the left gripper well clear to see whether the cap moves with it in the overhead view.
move_to
left_x0.3850left_y-0.2250left_z0.1600left_yaw-0.6000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2510right_y0.0540right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.5049, 1.7695, 0.7177, 0.4305, 0.0769, 0.0277, 0.0079, 0.4412, 0.7376, 0.8719, -0.7769, 0.347, 0.2283, 0.0387] state[eef_state]: left_x=0.3856 left_y=-0.2245 left_z=0.0447 left_yaw=-0.5972 left_pitch=-0.0484 left_roll=-0.0141 left_gripper=0.0079 right_x=0.2489 right_y=0.0551 right_z=0.2404 right_yaw=0.0192 right_pitch=-0.0401 right_roll=-0.0162 right_gripper=0.0387 state[joint_eff]: [-0.335, -9.2923, 5.2581, 1.8779, 0.0464, 0.0562, 0.6032, 0.6085, -1.0735, 6.8581, 1.8437, 0.3199, 0.1343, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.225,"left_z":0.16,"left_yaw":-0.6,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.251,"right_y":0.054,"right_z":0.25,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The gripper reading is nominally empty, but the cap disappeared from the wrist view exactly as the jaws closed, so I need the definitive lift check. I’m lifting the left gripper well clear to see whether the cap moves with it in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 277
assistant
agent noteThe lift confirms the cap stayed on the table, but the pen is securely held near its rear with the writing tip exposed. I’m switching strategy: parking the empty left arm and bringing the pen tip low toward the stationary cap’s opening, using a slight yaw so the tip reaches the cap just beyond the right arm’s lateral limit.
move_to
left_x0.2500left_y-0.0500left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2200right_y0.3800right_z0.0500right_yaw0.2000right_pitch0.0000right_roll0.0000right_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]: [-0.5045, 1.5284, 0.8711, 0.0368, 0.075, 0.0238, 0.0066, 0.4412, 0.7376, 0.8711, -0.7769, 0.3473, 0.2279, 0.0387] state[eef_state]: left_x=0.3804 left_y=-0.2211 left_z=0.1306 left_yaw=-0.5931 left_pitch=-0.0477 left_roll=-0.016 left_gripper=0.0066 right_x=0.2489 right_y=0.055 right_z=0.2401 right_yaw=0.0191 right_pitch=-0.0407 right_roll=-0.0171 right_gripper=0.0387 state[joint_eff]: [-0.335, -8.5538, 9.9897, 1.9365, -0.0757, 0.0611, 0.6716, 0.6359, -1.1009, 7.1453, 1.8926, 0.3346, 0.105, 1.0281] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.25,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.22,"right_y":0.38,"right_z":0.05,"right_yaw":0.2,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The lift confirms the cap stayed on the table, but the pen is securely held near its rear with the writing tip exposed. I’m switching strategy: parking the empty left arm and bringing the pen tip low toward the stationary cap’s opening, using a slight yaw so the tip reaches the cap just beyond the right arm’s lateral limit."})
tool
executing move_to over 28 steps (2.8s)
step 305
assistant
agent noteThe right wrist view now shows both the exposed pen tip and the cap: the cap opening is about 3 cm to the right and 5 cm baseward of the tip, so the tip has overshot it. I’m moving the held pen baseward and right by those offsets while maintaining its low height and orientation.
move_to
left_x0.2500left_y-0.0500left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.1700right_y0.3300right_z0.0500right_yaw0.2000right_pitch0.0000right_roll0.0000right_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]: [-0.5045, 0.7475, 0.849, -0.7498, -0.3901, -0.2878, 0.006, 1.3411, 1.9347, 1.0199, -0.1188, 0.8566, 0.8425, 0.0387] state[eef_state]: left_x=0.2533 left_y=-0.059 left_z=0.2352 left_yaw=-0.0369 left_pitch=-0.0219 left_roll=0.0024 left_gripper=0.006 right_x=0.2189 right_y=0.3658 right_z=0.0417 right_yaw=0.2112 right_pitch=-0.0396 right_roll=-0.0492 right_gripper=0.0387 state[joint_eff]: [0.3897, -0.7863, 10.0171, 1.58, -0.3932, -0.0904, 0.6081, 0.7453, -9.0872, 7.0906, 1.3162, 0.5788, 0.1734, 1.0281] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.25,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.17,"right_y":0.33,"right_z":0.05,"right_yaw":0.2,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The right wrist view now shows both the exposed pen tip and the cap: the cap opening is about 3 cm to the right and 5 cm baseward of the tip, so the tip has overshot it. I’m moving the held pen baseward and right by those offsets while maintaining its low height and orientation."})
tool
executing move_to over 4 steps (0.4s)
step 309
assistant
agent noteThe radial correction is nearly exact: the cap’s open end is now only about 1–2 cm right and baseward of the pen tip. I’m making that final small baseward/right alignment so the tip meets the opening.
move_to
left_x0.2500left_y-0.0500left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.1550right_y0.3150right_z0.0500right_yaw0.2000right_pitch0.0000right_roll0.0000right_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]: [-0.5037, 0.7414, 0.8612, -0.7895, -0.3973, -0.2981, 0.006, 1.4605, 1.8309, 0.8619, -0.1555, 0.9001, 0.9737, 0.0386] state[eef_state]: left_x=0.2485 left_y=-0.0548 left_z=0.2347 left_yaw=-0.0244 left_pitch=-0.0388 left_roll=0.0076 left_gripper=0.006 right_x=0.1729 right_y=0.3367 right_z=0.037 right_yaw=0.2366 right_pitch=-0.0368 right_roll=-0.0392 right_gripper=0.0386 state[joint_eff]: [0.2393, -0.3897, 8.9778, 1.619, -0.4029, -0.1001, 0.6081, 0.2667, -9.7983, 5.5453, 0.8376, 0.7204, 0.0855, 1.0281] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.25,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.155,"right_y":0.315,"right_z":0.05,"right_yaw":0.2,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The radial correction is nearly exact: the cap’s open end is now only about 1–2 cm right and baseward of the pen tip. I’m making that final small baseward/right alignment so the tip meets the opening."})
tool
executing move_to over 2 steps (0.2s)
step 311
assistant
agent noteThe pen tip now overlaps the cap’s open end in the wrist view, indicating initial engagement. I’m advancing the pen several centimetres along its shaft at the same low height to press the cap fully onto the tip.
move_to
left_x0.2500left_y-0.0500left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2100right_y0.3300right_z0.0400right_yaw0.2000right_pitch0.0000right_roll0.0000right_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]: [-0.5037, 0.7403, 0.8612, -0.7898, -0.3973, -0.2981, 0.006, 1.4811, 1.813, 0.8417, -0.1768, 0.9226, 1.0294, 0.0386] state[eef_state]: left_x=0.2484 left_y=-0.0547 left_z=0.2349 left_yaw=-0.0244 left_pitch=-0.0381 left_roll=0.0072 left_gripper=0.006 right_x=0.1675 right_y=0.3299 right_z=0.0389 right_yaw=0.2174 right_pitch=-0.0245 right_roll=-0.0218 right_gripper=0.0386 state[joint_eff]: [0.4308, -0.7726, 8.9778, 1.5995, -0.4274, -0.0464, 0.6081, 1.0872, -9.7299, 4.4103, 0.7204, 0.4713, 0.0855, 1.033] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.25,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0,"right_x":0.21,"right_y":0.33,"right_z":0.04,"right_yaw":0.2,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The pen tip now overlaps the cap’s open end in the wrist view, indicating initial engagement. I’m advancing the pen several centimetres along its shaft at the same low height to press the cap fully onto the tip."})
tool
executing move_to over 4 steps (0.4s)
step 315
assistant
agent noteI securely picked up the pen, but could not obtain a reliable grasp on the cap. I then brought the exposed pen tip into contact with the stationary cap, but the final wrist view shows the cap still angled across the tip rather than seated coaxially, so I cannot honestly declare success.
give_up
hindsightAlways command pitch and roll explicitly at 0; leaving them unnamed allowed wrist pitch to drift to about -0.65 rad and caused apparent IK stalls. The pen can be grasped near right_x≈0.32, right_y≈0.20 at yaw≈0.5. For this cap, the left wrist only reached the cap body near left_x≈0.39–0.40, left_y≈-0.22, but the cap/clip geometry gave empty closes; the thin clip can look centered while the graspable body is still several centimetres farther outward. The pen tip can be brought near the stationary cap with the right grasp point around x≈0.17, y≈0.33, z≈0.04, but the cap axis must be aligned before pushing.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5037, 0.7406, 0.8612, -0.7902, -0.3973, -0.2981, 0.006, 1.4818, 1.8091, 0.8333, -0.1802, 0.9195, 1.0332, 0.0386] state[eef_state]: left_x=0.2484 left_y=-0.0547 left_z=0.2347 left_yaw=-0.0244 left_pitch=-0.0388 left_roll=0.0076 left_gripper=0.006 right_x=0.1666 right_y=0.3272 right_z=0.0373 right_yaw=0.2172 right_pitch=-0.0296 right_roll=-0.0254 right_gripper=0.0386 state[joint_eff]: [0.4171, -0.7453, 8.9778, 1.6337, -0.4029, -0.0611, 0.6081, 0.6632, -9.5385, 4.8205, 0.7253, 0.5006, 0.0122, 1.033] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I securely picked up the pen, but could not obtain a reliable grasp on the cap. I then brought the exposed pen tip into contact with the stationary cap, but the final wrist view shows the cap still angled across the tip rather than seated coaxially, so I cannot honestly declare success.","hindsight":"Always command pitch and roll explicitly at 0; leaving them unnamed allowed wrist pitch to drift to about -0.65 rad and caused apparent IK stalls. The pen can be grasped near right_x≈0.32, right_y≈0.20 at yaw≈0.5. For this cap, the left wrist only reached the cap body near left_x≈0.39–0.40, left_y≈-0.22, but the cap/clip geometry gave empty closes; the thin clip can look centered while the graspable body is still several centimetres farther outward. The pen tip can be brought near the stationary cap with the right grasp point around x≈0.17, y≈0.33, z≈0.04, but the cap axis must be aligned before pushing."})
tool
give_up: I securely picked up the pen, but could not obtain a reliable grasp on the cap. I then brought the exposed pen tip into contact with the stationary cap, but the final wrist view shows the cap still angled across the tip rather than seated coaxially, so I cannot honestly declare success.
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 · 15.44 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0227, -0.025, 0.9998, -0.017, 0.7914, 0.6094, -0.3771, -0.0208, -0.0151, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0022 right_z=0.1838 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.5521, 10.4137, 1.7656, -0.0659, 0.0904, -0.0366, -0.7726, -1.2923, 9.812, 1.7802, -0.022, -0.0366, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8604dcdde8a2599ee52ad789fcf0e4ede19ca89fc4cb622367597e21fe63437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5deff9e6c6d6292086c7df88b58ffcee06ce01ff5d39ae96f585dadf965f72d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fccad78720a7bf1be61edb7faf6bd61a2303217b1b533dfce69eaf116b315c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.56 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0866b665f1bf0285016ab4436001f887d0bc48abf756585f82",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtENuWmfJg01m43yrEhpjwBsT1HCNwVdKV3zr8F0JnBKaWR24jIsIb3KgIPZFQ9gppHsv7UVtup87BPaJrsfvc-1Cr_lb9UV5tKiOsRG1eLNpdhREhoDOn4KGQMtxAoplhjUcpdJrQgkx5pvm3dl1Mrj-XKWGkipynAJeIjqW3LVcuBX4S9uhYRLc0SQJP3t0uL8P2SNu8K-V6R_JoORxxNZgVJInphCpHuTsihD-Z2ghiNVqnn-JoXOysgd2upjTC7sIepvyKC3viUjaNRgk3MkKXQ05ztO0EniWZyc_7uH-KQID95PAPXo_dxYeGtgXoVt5Ir3XjFv9gIBz9kO42lzE2X_4o5zU3_4oHMdUnv8PYhrFekLjudBASy6vxz4rUNM2gQpM1NiW485jkwmqhFgIVL1EU6CfFD8RsESBLAmpaComeaFOw8QnO6Wlle5swBKfRVFCvTRPWda1526hlJheGtHHpF6sLcw1aWDIUnCYMt7V6RU58k2VEVcTYYqameINC9ro_16Rti7pYJip3q9mgfKJrBQ8d4JFh11Qw2_GI6ASB2-OG8frJCUi7qyz-PPcXvyIs1KZpxS6BJbApqNEXNsArKI2PvRaGoHbWugoXdU2K9Goro-Uszyd41R9U2WqBiExkCFWDVPIA5IfWNCugclSpdn2_f_RCa60tHKkZkO9GiO1UwtmMTHhJg8EUNYCzbVZmVyYcJ5rToYsjOD51BMiBGeCPveGN_50tOOIzlUfMtfQpUm97W0m6Im5MvIjyjFtl3ts4eNj0E1Xi7uangE_P-mv9dStcQ3TMdIqsIDgDfhlAtL8D6CGt6izvVrsOAVkX2KI6iz2XEHLts8EBXw1sKU_oIvqOK2la4WJUp2E1Q0nCBcq1u1Q0qnhcFE9WqM5J9MH1xAqXVV_bDmN-hneIt9CRGSbJFZwVQIK7MD-9XMA8ELkPOxIfAfIw1_71FJi9k9bveFeDhZ6v9rb7nVBkdZvCy7kopsNGL41RqyB6mGgRgIu3kA3K2ahzt8UPyIkevQMLnBHcuBGbxabmqsN8Fe3EgUXGjc67pBISfyljU1oYMZo0PyK7xfpF6sggyKksDETt5x98aFwRqhI7z6b8J2qhe-jY7a5kdNTsuquubsAIfolYKcVOMJYh1M0Q-gEfzcAhppnGfOdVlhQjCOoJBOUEKetqBCKz4dAp87hZWwiF4X2XhBFT5CWMxd2PEH2fcJsNdDfaLHym_zAmEr0Jv4khiAt4sG8xhBkxEWJY3Mge4ClLk9wwDkdIsan3dndCT_H2q2PPDdH3dwZghVEZs7DK3L7E1tXo30ld93YqvZ1bFoxGcI8-NAFo6Adz0uWTyUpzu2dG3EZ7R6WoFmDCTsF5McT4btmRhP_S25kh9GpdNJ76CzIi-Rqc6TBfwIgp8C-B1HnBSDRENMGPMWJfBZ-V1_P9qgG5F7TMhwZLvxy3F1VPN9qj5aGfogBdKWk6PsrsbInGO8xT6EI-3ziAlrGaHLne8Y7aGgMYmw-zsaZYmIQQdLWHzAM2O_jKxaYDXnm4me8EZRGgxShXnfCMbuB-opyYsyf6sY-7-kmTamghDWOMLmYngwqdq4k8QTssE7G_NkKgNGES97-0wxTlPqOLzJ6qqM5S1dHAO3vPEU45WKvkHIzEE1TdXeypHqFLPpne_8D8LrJFdw2PcCsbhsCQfEGdRj7dpAeMhtFW4EEQ2g9qpx5lgSdFmadZpuU1dN4FCFO0KJG_Uq9yWwalghrSt-fzqNAiFTyhVQoTD9LB9nXn9VIZFgZ5nTvdEhhj0b1_iFa59kH-FVL7iZrkjBO2dxsybOSZPdRtwiW0eC135IMzSvtIhg-HTFo5ByCXwkmkiZOEXfY1o93Ki4xs1Z0fBDa2g96vg6IuQGfccRo3KMAFjNMvEJuJ2biorB_2a0PT92B4Zn2zRYxM1C7VrU7oIR0yJ0QwgK8Xdn_JzNXUDxJ1Oc237xHJFYAXfFjdG05DlsL3PxBn9xJ5h9vSXaCS3g6NXWlgNZrFEcv-48DieZDylGB94kPx3WE4G7d8U5hMwWFXVvBvEqLwOVOQVLD3t3sg5OM04pG81yhec_LabxRKiOcYzFIWEPMt4yp4KSNaAXjgPFoj2k8up8aajr-Do2KNjlj9i9sOYlq-TAWjKilRoRwbnuCgTexTU4ZK8OreKtD258D3LPe3ycPVZwq017dAfz-52F0aqHI2RMuqWsQnoA5HyStlbPpg1LPivOmUhgUng8ZV5Yigm2k57U-4YVs1FGtIYMsFJgRPX6YfZ7rJ-DrpONRGC5CU8QHcI8LkD0WHqWtMk5zY1E4P149OquI0f9NT-TxXzMHQMmyzVyf5-m0iTbbBBekB8DmTGo3EKc6Lu14qYG7i-DJoB3gGyQpq8Re0T0OUF9DLftjlV0ZMQ0IMt879SOhErMJKHRw8ghuefnun_pOXR5kxp5cCgqXywblHWKj-wMsPfATO78wqz3VrpdJOQZmiTLLd2JLV_cjFYYngNtH5ZbByszBGYGVOdpYQksAamm3hA24QQqxECPOOAhnnlmRXhFLotymkunRiJC8ZGUFtBKwFgfHVXZw7Zj2bvh50PIwNMeI4fRF6NPo4lzJasqCajpWLmefRs7efpsXt71Be8KWsDkzVIkwDejuuiocFMcQDfBbMpxDYc5BoY9aJePUskJ9bu9kJElAczpgx4ww4jo3DauLyDpkynxSh3kafAw96NLjr0CxRlelFHhA7i-q8OU_FjevPuVWB8WgKwPLcJr6jCjCAedePV021ZsLd0lNZOtkHfg33sTdj-RioJofVZauHTdNH43CiDZDU9GajAHZt277qC3sUtmYNVURAERRidbjVIbbSAU7AhMhkIWdIP4SvHmxzJdm6JpbLB_Zlp-U-movETzN-y5XWdAupWJZL0Y5yPqw62u0NMsc20VG0jVjbzScU6RZJn7o6JgXJ1pF7uCUYWN5cVuUzxVOTMw3V1lsSRiZrafbibhk9i4F_ANCw1XUwsstSZ4qEAxzBqoC_6CKWmXB_s9XJl2gXExtxyNlcsWd-kcIEA1y90HSCGJl058lY5vO9bXG7xkE6jgi98emVUMTmdHkS4Z2QFYTbdiEKRedm6on3afbl2nLvm7z0z25-zFYOArB4WR2eFDFG7af7QoO273-euQO-upC-TfxpNO-EGpA0k2BRhUCWFS_aZB9Zkk-3ywkbliVgqiSHGQqLICZNejyboQSdHGhZQ-7MaOzj7fsL1p2yn3LIPCpgjjXeMbpz-PgSLrOb8fUTCWPHJCGSl5FJ8RDZb3X1-wlysWSfAHCDCWH593n01n-97ZgBHnN2z6-ornzLdJOmeMoJnOJdxd65TWeqg1eouDCxe5-1tEi_5Gjq3bjKln3i0WC-MqTn5EjiaRtrLPd5J9aAuGzw3REKeRVxE-d-_n5XBTo43-7i5D9GWEL08fzNnSrX8ws8cs5jSocq5OB39RSMLBYJK8USIU2OQtJmT2tmt4-PPJqqhMqpCldSS1cTn6RB4slAOKHrQVgLaPrCXGWPGKJ582-4f4uC4ZjQ3JGgwdoyRVHmu1G6PH_0G88IS_YFbUsauNstnvYu9lI15H3os0HvaMizI2ElorDvKPzGqiNIODfN7CF1HanmReiejxx-qPCbS2OWY1pwy9urtT8xSKFA7pRgy0B2OYOQsQRfnfqDBaWgDCdDhTHEKMG0OqqNnYnOK_pmXdOqtqKz7yWJcsgMGFiAIUsxagtxuZYnYi3paJn0UH0cfAaPKQieTo4I6gCtGvK5XVWHkIi6SrSepjr0EZanE4suQSHkVdRWeKyLkmtt7o37btrX_lKrJtEBbZ362RFQq64EaKjdB5DjmJuGwuOWeXJ3L2Sq2z53G2ATR9Xir5ksDoifmjM8_05_Eo1R7UzHO-hI_zAkFqSDj3RyHJSKBGXhvdrS3p_m1JkU_nFn9B3JMxhxqLZEPVzjOtR3ja3rLNlONYXwSdZxz2frbYvIcCZjHVZWp0Y3zLaqMZYMX7ktlIrv9ErLE0lRIuLRVJZUGHhMJl_uHFhseBOof3wukvjYjB16wWeW1rrjLCYh89anP9SY9C1TK-WahJqisdxIuTuUYuElM0zsfWT59EbJEZLaoCZhf9nVIbfQCBCtqdhZ74d",
  "id": "rs_0866b665f1bf0285016ab44367292487d0baeb70866edba32c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtENueutaz9SAV2iJnbolHzwG3CbRHxU_HjhytKRcMHZH706e181vCG4EavBw3EYwKikF81SI_WkDcu_uqnEZ4O3onEmFEVMZpREmQAcN8QC59-ylVLEdJC9VJllc2yO8BDltQS3_dUJX27BWU-c8umfyj-LuhOFnbrkUwvzqDSdnD5Pad-NuU-VxOrNAVXs1B7l3MQjoErMp3KF_t5wZMniSx9AuYn2kMsRm6ytVanwrO-kSmu8XsHYrR-n7Q_KWjCQEtzIok7Z66tPOf6wuBVks_bhUf7Apv2FG3oxHhUrPTcDhTm7I1CnSdenFqw7_vjg0TqNRXpnhFY5fpiHTGKNoWXDgyNqx9N4wKfEomyWyPdIuTF5PY3axJ4HED8bBaTynTM3JK9XJDdysaZJzyLNrJ-U8_b6aEXoi-SGi4Fg0XocKLSPe1U9li2SR6d8oMfWmPvVgdL4HImU7sQAwyzqz2LqaHLBsY4b4exTR04E9LQf_oyCXN7NgkZkc2cijNhbXRMTCWMqoINyNomVBHf4kgjKaiA7xoX4KFR65rb8qcMTcICPKK-7mkBw6nYmURm9tIho9Zyuaza_pm2CVw4gEvDAgShYEifSpyWiVO8ImZn8HlhrWc7hYQ30pZ87EJlm0nN4ktFJo2j79O6OdULhfXF8nEiCj1kQhSPwYtRpis_aF9bIahgtGp7MLHK08EZgCTVG0xGgEHxAmaq6Rr2EyeQn58twWUB5okSap6Qv4Y2EQ-93z7HE1a1gCzVhdtJA69U5ECam_Fv90W2cdmuVxkfsAq_f75fOEVcWkEPNQSmUN1sz58kUOEjPLWzx3SfACRz1v5fKCpYCXX9I_aKQ0yJysxQO2H3THyUYLUa_y2XmVwQ5W2Gz98hgqIOC-sdvJC6op5OSebg_y4Tl5q9Wn_TDjOz12dV97eG237GNop7MWm4sF13vNXtessxfH1svLUfzZwA7nOdvKbpw7pg_HarbeGU3ysxH3USx9zT3XfI5lyWr_Fpqm01iqsSmp-SuTWz_p4mstsR5vUokUewk8jTEFjikRCDTJgfjU1nOqslslZLp3fwD9hKLONkIEkKPqskQZQQLyhTCtLLSawQ4jLaUGl_ZJI1FKS1C2Rw0cNV2zIxh9jwv7RIfjm7-wrbNuv71JpiKW9Eh86qe4wpD3D0m815cGqlV4AmWtG1yUmVY_WLKjI3bmX6vDUy4NGN4_o55ojP6rzpMfiNSFgCF4GMtRJMPDnS5pGZ4fiFfud0v6hRxj_1jQftjCeuL_jmIXDNJosZxhkXIkCFnBSeTlyRCf0LdMWGgaEDvCNnn3dhVbKAKR6M5RA6zW4palYzSX8BxSx6tBC90ycckUa28cpcMdxL6Xlppk_l9FGVS2vIXrlQGHkFlC9J9PQQm8UgHm_NBJ4Fuv3CQZNoFUEfGfIEGNhjQmkZ_KY06KS1bhWAzoWbxtV1ZFkdzgBxY_2D4DBEZ5y0jgyJ8env_GDoAIDecSwe_yIekmCbvycx4Mq8V8_XQLgJ8cfPeZ6JpC8Hr2Hp0jLLy-WORgXrZkXJH-ff7rppaTTkMmP_peuvLEL9yKIFzVF1CVBGJneQtkoszzEe8n_gBypMC2WgASgcNJ2EZxUsOa83MsQ2jWUXqwLcuhvwWyWJB2xwyVrOzbG1eRN0adAymY5IDzFABcTYfEa4_9U52O8jRM5P2li8OBGn6y1NvPssX54yHTHrDAtoWIPBGBgE78TBuUPzBmLJf992Y94sQqGaKuJQA-GY49j9wxYYlcMh-m75CFgebiPqUrbQCMJQwKW29masKAvIbYUQtsNi6XLXZaA0HXtdczWYOKGIMnsaeGMNQz1QXz1rhe8VducI_r0vawjQY02btz_pjP2PTp8_8VAWn1Nqh0Ul4hBtrq8JNgMOYszJHhBZ9IKVQRJAS5kDgLW7r46mh5a7kIDnkeY1_Ij-HyOmFRDkUCnFX-_DXGAcoxqQ4R74c34GI8samo0ngcCPTUzOPrNKhJ02a67HyBfwUfxxWScNQEr1jxLKOkwnbovepZ2Wsle1CMa7uqHZcTHldJTXLiKnCloznXiaW6YvzDZpAz3PADFj0i07K9vymwMEeoPJ-EwT1E8zj240WxVmEfY46ypPZRx3vZeq5_JNZsPyr63tV93SMFX88ZkmrsHAfzzZbc2dcfe6dToTQeEmlIaJiXTreJNYoxeAdRbwPz3G7IHhjUqXOm6lPuP350D_bG3uMXNf80S5gewHYUMRwql2QSuyCyXPS3gq8KQ4O1L4tjEl6pifMb9hm77mUq8WoI0O2u0zjw0uTyN6JK7sW3Nj1KNkjgpOk6HSsxEmGbyidQzkU=",
  "id": "rs_0866b665f1bf0285016ab4436aafe487d0abeb7cdc4320f82f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.24,\"left_z\":0.15,\"left_yaw\":-0.5,\"left_gripper\":1.0,\"right_x\":0.32,\"right_y\":0.28,\"right_z\":0.15,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"The cap is left of center and the pen lies just right of center, with both objects separated enough for one arm each. I’m moving both open grippers to high hover poses aligned approximately with each object’s long axis.\"}",
  "call_id": "call_wO30uK5owiACsyemBQrVYuAs",
  "id": "fc_0866b665f1bf0285016ab4436d390887d090b36f43bd1bc6cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wO30uK5owiACsyemBQrVYuAs",
  "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]: [-0.7109, 1.3548, 0.7296, -0.049, -0.2028, -0.1558, 0.9994, 0.807, 1.4307, 0.794, -0.0124, 0.2588, 0.1539, 0.9992]\nstate[eef_state]: left_x=0.319 left_y=-0.223 left_z=0.1235 left_yaw=-0.4682 left_pitch=-0.0874 left_roll=0.0106 left_gripper=0.9994 right_x=0.3121 right_y=0.2657 right_z=0.1306 right_yaw=0.4974 right_pitch=-0.0656 right_roll=-0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -5.1897, 10.0581, 2.0586, 0.1783, 0.149, -0.1294, 0.3897, -5.7231, 9.1829, 2.0879, -0.0171, 0.0562, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfac445e31df32172be266124599ed2d5e5c6f35cc3d9dbbde8ee72eeb1c1957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1075ab752f117fa82621ce0b97571a26c791b2ac27ad9f408f9fc449d5bf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9c71800cc4e08cfee9f7d6bc92327c80d15bcc4f6cd5d3bb87cfbaa5f59967",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.918 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]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0227, -0.025, 0.9998, -0.017, 0.7914, 0.6094, -0.3771, -0.0208, -0.0151, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0022 right_z=0.1838 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.5521, 10.4137, 1.7656, -0.0659, 0.0904, -0.0366, -0.7726, -1.2923, 9.812, 1.7802, -0.022, -0.0366, -0.0806]",
      "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]: [-0.7109, 1.3548, 0.7296, -0.049, -0.2028, -0.1558, 0.9994, 0.807, 1.4307, 0.794, -0.0124, 0.2588, 0.1539, 0.9992]\nstate[eef_state]: left_x=0.319 left_y=-0.223 left_z=0.1235 left_yaw=-0.4682 left_pitch=-0.0874 left_roll=0.0106 left_gripper=0.9994 right_x=0.3121 right_y=0.2657 right_z=0.1306 right_yaw=0.4974 right_pitch=-0.0656 right_roll=-0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -5.1897, 10.0581, 2.0586, 0.1783, 0.149, -0.1294, 0.3897, -5.7231, 9.1829, 2.0879, -0.0171, 0.0562, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfac445e31df32172be266124599ed2d5e5c6f35cc3d9dbbde8ee72eeb1c1957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1075ab752f117fa82621ce0b97571a26c791b2ac27ad9f408f9fc449d5bf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9c71800cc4e08cfee9f7d6bc92327c80d15bcc4f6cd5d3bb87cfbaa5f59967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0866b665f1bf0285016ab44371a3b487d0b6eecb190df63064",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEN7-0EsVjQi24Wrz8oAupkRkwVMzDvLilwyrOvxTdK-ubRPGEpwKbXwB-Rx_SAxnsSTbu-eOMByzrkP5mnd77zQkcs65WWnMUEbPgcz8z9K8fKkVizGXKm1zVZNckMhv6FI3lK9CF7JR9pNimRiMaNWJzNK3Lt-vlkli6w2SYkm2msZx81PF3lEIK2EuYQrXSbhNpY7dctvTmovKw3bKCVTjfq6j35-qVY0MwArhEe4Rz884v6OHbTr1vsOi9XulglhGraf2aV-jwREZKJSAj_Xl_JgDLf9_zZA0U-lCLrzLzeEZQOgL3QwlZl6CP86r4SAKjRk3miWM7tmFLgqOQr2aL7LxJABxA-awRvuSt0C3OGJ3_4YUiBs8CWuMJisIKs5u3n6t5suGODE-aOn37fagj-o13uikjmvhz3B_KcgdnCcDN4rp8bohGVCJ_UPid68wV_hkDhFucxR41rVwTpvIFtrW95C55p9qAFRJY2aBf0bDUWn3_28kPKZf0aE5twdW8EzZNDCV5lr1xF9ID30Te2Exp42et50T4DwPMVPcunjjwBF_XfL4BFSr4UXnoBqkYyvURMKIWb-lziqO66glfk4oGCw0NtgIn8dzUaJ0p14rx_MRyk12qFyNlDrOnGigBjMreyUxICjaSPwCBfPTPxSK9mbbOW3aPg6RBAWtnWKtXN0FrVy0O-dD37vFyGx11Qi9zcKYdNmY2s1Bn2-h6p6vf1Sw69TkbKxkZxSVpn1VkM5WCDCeeOTXbImpB95t4CRAdbit-yFZQnUk092i1l_UpyDLDUyZFfu75vDDWLxvyOkx1-OWdn_x4e7MsqttVQQi6oZtdI-BAsMwyzQ0Im3lqOYH9nx1KysnIgP4VWfyTL_orkbefFmJYbOtTVvJtzjgof8jbAjkZqeUehmuDK4RkhbAlNvyjMSQvg_3d9uc9zDvak-Jkjt3IY_spiRBdal5tNZjcaambXiO4K6x4BgHdX-983fCsONm5gXW5JKW1Q-AsagEgCIZntJ_YuvbrbEIQP2aInu-QHWKvHdXbQxsEpELq1owZrA8kWp5a_OpsGAww_ZievxjPfTVciV0Mzb_vGdoavzVZDBH3UbCNtOIMBsEY1kaFWLGCkEXgM5Lp4bJ0myvDjRZV9yrlKACqkmIhjopfAFDmS450YC2HhpFXqzN3Df4hsTTIdcTw0N7bZE6OYhmIdxroE--TmT09B0W7hAEB7TArb6a20GV0kCRIzEWedYZzz7e2Foj1tQQrCEUa5Lwf7AxOxDlWhNrhaQlyhDMiLBokBH_xL0oVhhxBbn0MseYBDUreT6ky_Fqa0Nvd4r7bzG544RT0yRC9ZsAzwZsEJlFoc4amhdOk5LWpNWDI3NU-NeLZz4N1opV-WiKXREIE9nRHSDXdynN7XlbJduq4wzz6gwZzjMgbaW_zBFoE_npDCR8VOYQwLngTXW-63vfLi5lbbwws4QOZ3Z1z_6B1zAS3fWILU08JtZWJpqLHZqQBkMRtBhsLPuPFxX_IC3vYR_iwjAk1J1UxnRK9rJmK8YRmaTXdkvzpAHyAQqHkf5IocDXp77AZZ5xY1E53jaTdpSKvJnl9oJdssml375-hAxjzmNwcI0uFazJNZH7ZXT8X3TYFAIbzfaPqhRZJKqg7usPOy7ei69RC-cje8nPnY5twgkax4QCQEFfBwCUj4bCto2g5Ff6vLAAOhL0mZhIhoyn9lytGaII65LHh6_hrowjCaI8RQEa-5DhzY_fMs_ctM13CDE_6Ae53gwK5O88tvVv0z7c6y5SFk7vtbuj0EZjMs61R1lwzEi_h6muy9-qXNuMFJFrMPfJ_x5l7iUcN3V5Ng_SY8mYI-FsqzoMhbruIi226UOKxjnYl8IlzdC3nMpFCxvGM6ca3nk52LatPSNNmEyZTmXs6ih886jA3lLzTJaeJAWlAFlFb6Zqr8-ve4G-e5RXZYFjU2eqq5XYRF_qYT9m0uoo9DveBION5XpVivBfZbzQhpzXxBuubXCNu5AOMFdEuQ6cMY1aNzHDxbaxT_pDXuLi4mkxuh_upXNVvXeVxf2oGiKQb5C0iPkti6FCtXqWrcnYQPP9OBU0bUVUJiTOUpbVt_avru_jWCUFjhWlQxknnk9Ev-YBk4FjyDSWsj2nSzoZmOtBCb1-rjVs_KW61FmbfbMRwP7Tldat4EeW4Vaj3SnR1S4fDUoKVEsi2EyNtx_TxpcXZIsvCs8RYNTs7clyGkMo76cKBoCidW24cd1v-bTMU4HMbFtkLdbcfn3yyPQC0WbADzntXtJkqHX5xwuIjhDUJ7GsWHicFrKCDlxqbOjyhTgseuV5a_l_tkaDDv-dxnznshbDDMQPs-PWYBFGiURAlXSa382q-NeUc_KbS1Rnix8aW_-oZkuFNLCu-TcvX_vFIXRgCtbQ4ZHy3paK5ZyuwCinVbBx3Ue_Ybb9lu2I0MlciBx9QsNFKlW0RCR4YBAyyzUc8hJRQRD_cj85aZdCwLTx4lMgyZ4OtcBmwYcTKma3HJwCAUQmMXRgeucqRqNgDPwg8kfY7tdxTPgykA9dFn2zZ7UZCrPCCCJgWMkVufKG8rChzqMTzdaLcP9DTjEk1Vt3ik6ps1Vj1wDtcuqPG75o6FjH5n3qUB9b8cTR3dPu7zmL4RbSlEk8W7WfsFZM5ChwkbjfirvDpRs-uCZtFt3ZvVTRnCCQfoABV6HeR1nllFiilKDSIFjoNpQpgPkdC_eUai953XoDsFD",
  "id": "rs_0866b665f1bf0285016ab443772b7c87d0a03d8cf90a9b5aa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.223,\"left_z\":0.15,\"left_yaw\":-0.47,\"left_gripper\":1.0,\"right_x\":0.32,\"right_y\":0.235,\"right_z\":0.005,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"The right wrist view shows the pen shaft crossing the fingertip region but about 2–3 cm to the image-right of the jaw centerline. I’m shifting the right gripper slightly right in the world and descending over the lower part of the shaft, while holding the left arm high over the cap.\"}",
  "call_id": "call_NqdUVVbeFBsUUoLulCF6xC7h",
  "id": "fc_0866b665f1bf0285016ab4437a06c487d09faed2e975355460",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NqdUVVbeFBsUUoLulCF6xC7h",
  "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]: [-0.7132, 1.3453, 0.7677, -0.1555, -0.2058, -0.1574, 0.9994, 0.7059, 1.7599, 0.4938, 0.572, 0.1783, 0.1055, 0.9993]\nstate[eef_state]: left_x=0.3131 left_y=-0.2184 left_z=0.1234 left_yaw=-0.4654 left_pitch=-0.1439 left_roll=0.0257 left_gripper=0.9994 right_x=0.3133 right_y=0.2306 right_z=-0.0003 right_yaw=0.4886 right_pitch=-0.1225 right_roll=-0.0318 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.4325, 10.441, 1.5653, -0.0659, -0.0269, -0.0757, -0.4308, -5.9966, 4.2325, 0.8962, 0.1392, -0.1441, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d74c5fca0dad46809ea281a81353900f8ff671e6a6a26f6ff8448d97fa9a336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a92908f6dd256561cfa09206da7a1de15005e5e0caae3ec786599eddb25ec9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585eaa357897f5b6822b1375c9c609b49646ee82702e23e5edf90f5bf5c85a42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.843 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 13 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]: [-0.7109, 1.3548, 0.7296, -0.049, -0.2028, -0.1558, 0.9994, 0.807, 1.4307, 0.794, -0.0124, 0.2588, 0.1539, 0.9992]\nstate[eef_state]: left_x=0.319 left_y=-0.223 left_z=0.1235 left_yaw=-0.4682 left_pitch=-0.0874 left_roll=0.0106 left_gripper=0.9994 right_x=0.3121 right_y=0.2657 right_z=0.1306 right_yaw=0.4974 right_pitch=-0.0656 right_roll=-0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -5.1897, 10.0581, 2.0586, 0.1783, 0.149, -0.1294, 0.3897, -5.7231, 9.1829, 2.0879, -0.0171, 0.0562, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3453, 0.7677, -0.1555, -0.2058, -0.1574, 0.9994, 0.7059, 1.7599, 0.4938, 0.572, 0.1783, 0.1055, 0.9993]\nstate[eef_state]: left_x=0.3131 left_y=-0.2184 left_z=0.1234 left_yaw=-0.4654 left_pitch=-0.1439 left_roll=0.0257 left_gripper=0.9994 right_x=0.3133 right_y=0.2306 right_z=-0.0003 right_yaw=0.4886 right_pitch=-0.1225 right_roll=-0.0318 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.4325, 10.441, 1.5653, -0.0659, -0.0269, -0.0757, -0.4308, -5.9966, 4.2325, 0.8962, 0.1392, -0.1441, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d74c5fca0dad46809ea281a81353900f8ff671e6a6a26f6ff8448d97fa9a336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a92908f6dd256561cfa09206da7a1de15005e5e0caae3ec786599eddb25ec9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585eaa357897f5b6822b1375c9c609b49646ee82702e23e5edf90f5bf5c85a42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEOCBWIsuL3hQo9BxCa34RL-ArGRDr__HuRzm06qUeOszINfnQe7TYMMNv3w1DZuWqPRweeOZzW-7sA5LJzopCwDWv-IP77vhQdh5p8CyoTVa2ppTRACCe1H4AOXJGZgXW6SbRP6l6OruG-DnOvm2FU03V9FUo-WYPySJ10JqPC8_jTJ67-p7wYBsUkB8Grafp9ln3wEx1KfVu6LnkDjcpRS7SK6R39zN0fSAzrHTJAyS1lHcfaQvuePe5050yWHUgzvd_08Tkgx0V1FyV4obIwwk-ljOffZ00q-Yz1PxXNOqGLbTcvcgiPjU6v1PwLp1AjwDk3b73XDejWTsdHB_UGJdwbypvXJ9un6xRVoB9mvJNUjFVY7gjAP9X87dKD0wCtu4vCtQSNUKyF-OTSKXLsEnt7gqPJcxlKcJA2238Eua7BC5dsI20ImapdWEym5EoF-RLF90VyR-OA8Z_R7zbaM6KQp4a27tzvysBhAwU71yNWiSjGlleoylfC3r3VMg4zfB-ZbLtj-4sJUaaQrZYl_qet2hMHT78gzlmaFBoygvbrhRTgxb2pabdsBnifukDXG4ezK4kkGF_2dDgGfYb3ww8EpdaSC5vqyjv6LJwqJJyvyXkWXYbqVQq16ePun9q5WnYTpiFu_Ic1Gu3zWiaarvMKgZQS77E8RMFUSgWSE0mxZ93s57gA15oDQJ89MjZOHc8DKAUFJovNgS26T2vXYoajEghRl92RGCTBY3yV4lA7jaH7bXJJex9auchAAwOUQQWwJ1kg091_xjZLaMKlTaNqHLCT7f2pD03OvEhFdh_-dWmMEs7lEHXi4LkWN2wDLHF3h2tIHRyUW9RGHxL0ddgEU_SdmrE4_sM9fNmY0dGIwKxLjzJsQz8FDNzj7rDkJtCmf9oyILBHtl1WGKxpAwCggvGf2MOxtR3ea56N2Gbr9DgLxYWq-8gpSHSwgsdN87hiaWtPIkQTyMheEy0hjUdhV3EYjkdRAkSPSojrcK9MtDIH7O1Jez-1dE3ulgAGt0MdaIGnO7S8paHQhFT5F31n-b5FLS_m0KT0Wtzd2uWTgdMoglGMbFytnmhIVG49ApTz_IcsVyh_wS8pr-XFsZjWkgHYE5-QSv_Z6egHd0Lvf-HA42PsgQcfh2-OYgHAlqc6BDs0YLmD6on2ol0Rh7ATT_45LIkR2HNCGAVuA4ZRceN0aF_dqAdIM-FUQKmIbQFoAlHcmsMyWb0OJet_mTqHBjxapdxYN0C0owQjvlMxO4lYkYqBW6gdBQUiSIIHsRODyuYByUemhHxUuNOABkhSU0PL7dCS0p1FDlRlaoX7fjEjsDUAuxdsBIawScj5ZXb1-avKD9rCBfrJDWaaX2h15PGx2ky3m6T0D52Gv4M49K4HCQdYt7RJM3EgMOwfWYLsYMewacmV6hpCYBzKHGQi5KR3oKXUURzkbNH6XfqcMvh8n3Y6Z4_vo0jnhQaLbwPX5IHSsnDpRHzxIpBtEnWbGf_ua06oEWiGDmp8fE4cqGnBNEa2A-aJ5KoappVE7z6nw5gG5Oc6MAF08YOeI97P-DOBW9XOtajjmvMmePZzw2gI8XRFgWcQ9lOFNyChOyUnUPLEb9OlRBXWDUuLbqbHbh51D8s7Hz5S0qxUpFME077iR2doJ4KTpNAfLJ9Jxe1_exI3l_Q7Kr3qLSi2BLRbctRQ7UX7o98fObueYOuaagkv3DXLJd4ok5cF5Yb8bbmQQCzqAPz7aiBivsjcG5qzCmcKq47Mfs_bHQOKxgjbQY49LUCjRRMb36yd1SlJ2dLkd1-qYeQ-vsKUOq0EIeZHz3FNDzwsJgaMzuByhh5a3fcGSMNZG4FRObjd-4KRyp8gvoyjZwSegGbC4y_1BM9FnhYTWMrzRX37WZ2qG-VuLeL0X58l0b_2dAKH-_m9-stOaTBuFT4yFjDN2b1nnRaxi-vO-GWvvhPqg14gLX2XlGMGmgptPMYCdTu2GKNwrQAmvHiGaLFPxQFF5Qz-ToTOuz2BFxWBcYvzE9DrBOwBfZmvziLFvBE6neCWwoFW19rTe-IJB2oMLAxd08ffTPOj_NOv5MPxlodtpaARhXiL9Hl9HAXbMPIpSt_Xu2W9zPLU_-F1fJNjbZxzzBpZeqzNbw5C4xT70ccR-d6pdSLVMGXlr1OHwQoj0fkxgzhdLx7mfHD8kE6IRzShtRXF4cR4Z63S6aCOZUOZTPXa9fWuqk0wHTspHtbvHCTfpgAsR73aAZvAoTgwoErJjTplKQGSg0l6sXVvOj_aKWnNV2Kx0hDN6t0s6HI7KR7F8BhKmC0cTNFQi7L6t1Hoc6jGhxmqLk8U1LtVPo5P7UjS7Byf3NS2iOL4IFCMwIp5r_YN5RvySgzLs1Hamx7pq4cm9oVn138-6MsT3biVtKkBIL9SeDfRLZAqgHanPKn6H7l9-ZNjYUllXeF39qRkGIrQfCLBlViEEVudj3HjU6n5LOUKFHlS1UxLAj1QAbuhz3ESqMJsTJZots6Ek_I85P1qKpelZayP3RF0rleg-6PHPqZ17wOCWdgSN1_vHdbCwSgVfaRty7N4RiRFhdm5p7U8BBOCdHSshzws6bztuDwo1EQkUnufthoJQ47Lp96tsuo7I4fDnE6yY_KItDmDqqsiyUn_IzamG-JYfjF5mdqWUJ3nccleGMivz5EwSNCZ-XxkB7B67_9DGerPCy52jvPm0N5L71fF1VVmgyeDsqSew2zHSWA784vYb_dYXBHDb3qV6hXGJe1HSKyJsGGQ6_-sOGhplu54yk2HsRn6pHEyNbBYdsTuwnLwAoVAN5W0nKC-I-dWrJr1zVIVplkroljcQtY8UfiN3tdFeF9XsqpLsr-opaRswQCRAsY-OBjtjE_dft_N40ZKWnnVnpZsKd38wd_kb1CuRdr0Kwtf0w2mB_r8m2mPKLgi0xmtdFJOcuHI1HR0SUUk-4i7__7G8Ei3MW3rffX3Bw_sj4rMwoNZfn-FJZDEpN4psBX7e0QrkdQidJ8ORG7WX-Ucbi9BooSuTrp3cxiM9pspndDtYA3qwLZxHKR5NXosYTHnwPEcNNkBOy2DqneS8JXy9RyzLIlEYgN-X8ddAIZjqDBH_u5w8Kkq_2REigwNQt7dzmQ6dw3NV4X3vtuzUe7dWIxCMgZoHsy6MB3iOx6-30mAAzFd_VGOYvV3VxGxHaYx27cdqtHkw5SxOFOxagTgJE1D7U54MhW-Ej5zAoPQgo5uMkMzHO8CUw4wD8gyh24kXJCCPb0fDhzPbBhI6ZIcdPQTZj_RrnIl4zG3Ftk9AtWWYDuqwt7GN0H9CUKdlgQ0h37tDg6mnwgv8r-WRQg8vGce3NAejRtCZsvc1XpCZP3NpCQZldaQ=",
  "id": "rs_0866b665f1bf0285016ab4437d0b6c87d089c63d9e2d7e49c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.223,\"left_z\":0.15,\"left_yaw\":-0.47,\"left_gripper\":1.0,\"right_x\":0.32,\"right_y\":0.235,\"right_z\":0.06,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"At table height the pen is still noticeably to the right of the right jaw centerline, so closing now risks ejecting it. I’m lifting the right gripper clear before making a second lateral alignment correction.\"}",
  "call_id": "call_mHs12vYEr210BePUdTfYSntp",
  "id": "fc_0866b665f1bf0285016ab44380dbc487d0a97bffe9911ee225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mHs12vYEr210BePUdTfYSntp",
  "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]: [-0.7132, 1.3437, 0.8246, -0.2535, -0.2058, -0.157, 0.9994, 0.7002, 1.5761, 0.5896, 0.3378, 0.1661, 0.0937, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2167 left_z=0.1303 left_yaw=-0.464 left_pitch=-0.1824 left_roll=0.0359 left_gripper=0.9994 right_x=0.3235 right_y=0.239 right_z=0.0573 right_yaw=0.5005 right_pitch=-0.0798 right_roll=-0.0243 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.3402, 10.4821, 1.6386, -0.0757, -0.0122, -0.0757, -0.5402, -7.0085, 6.735, 1.3846, 0.0464, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce026aa7020d8b6baaf5e19617e09dbfef26965f9d89b673bcf335a763e4dab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624b1378eb85696d546f153b1d53c3ed9a68d2d2f7fe1c4b7beda1d8f575abf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05ad9468775cfbbc60083954af73a83af527713a6c9945743ccf12f0c3a01fb",
      "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 · 8.565 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 13 changed as sent

message 17 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6025, -0.3801, -0.0227, -0.025, 0.9998, -0.017, 0.7914, 0.6094, -0.3771, -0.0208, -0.0151, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0022 right_z=0.1838 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.5521, 10.4137, 1.7656, -0.0659, 0.0904, -0.0366, -0.7726, -1.2923, 9.812, 1.7802, -0.022, -0.0366, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3453, 0.7677, -0.1555, -0.2058, -0.1574, 0.9994, 0.7059, 1.7599, 0.4938, 0.572, 0.1783, 0.1055, 0.9993]\nstate[eef_state]: left_x=0.3131 left_y=-0.2184 left_z=0.1234 left_yaw=-0.4654 left_pitch=-0.1439 left_roll=0.0257 left_gripper=0.9994 right_x=0.3133 right_y=0.2306 right_z=-0.0003 right_yaw=0.4886 right_pitch=-0.1225 right_roll=-0.0318 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.4325, 10.441, 1.5653, -0.0659, -0.0269, -0.0757, -0.4308, -5.9966, 4.2325, 0.8962, 0.1392, -0.1441, -0.0757]\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 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3437, 0.8246, -0.2535, -0.2058, -0.157, 0.9994, 0.7002, 1.5761, 0.5896, 0.3378, 0.1661, 0.0937, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2167 left_z=0.1303 left_yaw=-0.464 left_pitch=-0.1824 left_roll=0.0359 left_gripper=0.9994 right_x=0.3235 right_y=0.239 right_z=0.0573 right_yaw=0.5005 right_pitch=-0.0798 right_roll=-0.0243 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.3402, 10.4821, 1.6386, -0.0757, -0.0122, -0.0757, -0.5402, -7.0085, 6.735, 1.3846, 0.0464, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce026aa7020d8b6baaf5e19617e09dbfef26965f9d89b673bcf335a763e4dab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624b1378eb85696d546f153b1d53c3ed9a68d2d2f7fe1c4b7beda1d8f575abf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05ad9468775cfbbc60083954af73a83af527713a6c9945743ccf12f0c3a01fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOFJkeoMCO5m8tve4rKI4hUCV0N0qBTKx489MxY9UjL7imQRf3VxA71WwHx6BdOxIYDHB6M4V3UkePynppwJPOGMsC3j1QWcK2ON09WKifH_OxrRoePON21dLoDUue_xoKs84omjBOJ9jmrT247Ldyy-GWGcCUuqFutGa6HikRB0bmPTq4MWjre-oDTDGoHw5bWesSJS38WGEs7T85rDl4CeHgJn9Aep1DypUVdAdn6XcakArzypiXZOL_eHWS8WhOLWR8CVM7rUmAcbdzbqoc9C5mhz3HGM6BJsyKxMumFn7M9BgWWzv6ZAiNTaWj4spomlA2vz_4W9WbVzN-yAk1jX404F6JysgJ3zuS_qmsxmGfQtBCX5x8gnCNoXdPvGVAIFWIYmq6SQkaMkRXStI_mwDP2S3BwgjqG-DhRPO7UjD3hApU-Dr8WOHt6-mMprfrhUuTYEsGtNv2LCXKvW83-WvNX-E5whOPXF4BssH3XhvXhrenRwnaBIj9awqj44kWrE5BnmPA4RLb0VskOwUGBy0jQ9_f32cqguASF1AcWLeTfNkQSXjRoIrwW4RZP4hYrOKO-Qo7rzwDCdTM7uCbJtNFfvltOMkmX0cCKgNmyScXoWbitVr2epxJaDVswTk1eVb12RsIaapCrNmC9MpQTRG6cLxupVCX822XeZI1i5UJ5P2QxiAsqZ_ycGDKoa-405nwtKvREJ_JXdpzMbkGKy_exQ39aHTxjaTXybAsAcI6iyTY9DyzfJOuSUVKF1Mgq5qv7lJ3Fl40njiS7XE3mGdh8fnw7CUKNAJe7oQm29Es9GmF95mOh-3HNvzEtTpgU7Pp6vFHSuXpLioOvWLGi7rPIZYldCYUYTnm_ggbbJzi9cx3mvJLXuTSapRiCxkaWJetywMMaYpt9tfBwB2AGXIfqH7uZvvgd5kbf3vIPSZ9f0E_mYoj-SuOozXozJ4Oyjbptjm63sBsfduhOTcoCzsUB_pZQY963xOtf1HpaRboVrYa3cDi2DCkL2GGy5JgERPWF2RDGTTTF4zYH3-lfKF9LT_v9CUsJY1dNTyyCu_YM8cTIk080wfKHmID9lLii5ANvgKsLb1AtF_d1KV1lOQ90Bymn6isXmHnvfOJEql58Hy4aBXvy8MEhB4GdYLzboNym6N3GqruccC9EsBb1M_0ChIsN17La3jO_OTpgS34YRJ_0D8JZVNxMrwxY4CXCgrGCF89BzJ9WzteHPDBhqtG_dAqPGEQYT1okohYHjCVYSvn_uSxfiPUkO-kUkc5ToQDzcmubVrsceYmIC4aqp8CaBKNhYLiZOnH3t0IXbG1r7CCmr4c6Zzry8z4qLsOo_XKklPeyvSpvD0gtyhf3kmXY28rGr7hYx1gMXN125AripGMWiZgAwfR7e1oGiQbYB75bN9LR2VKLrGRnH6jMLfQgvb85CmS8jdyAemwsGve1oYDjV9mjN4hFgPOyexkD",
  "id": "rs_0866b665f1bf0285016ab44383766c87d0ac27f4cdefd18254",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.223,\"left_z\":0.15,\"left_yaw\":-0.47,\"left_gripper\":1.0,\"right_x\":0.324,\"right_y\":0.205,\"right_z\":0.06,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"With the gripper lifted, the pen reaches the fingertip row about 3 cm to the image-right of the jaw convergence column. I’m translating the right gripper by that amount toward its right, keeping height and yaw fixed.\"}",
  "call_id": "call_XQnUX9byQZ6peHR8I2bld6lV",
  "id": "fc_0866b665f1bf0285016ab443840f9087d0a2dd102b4009bccb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XQnUX9byQZ6peHR8I2bld6lV",
  "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]: [-0.7132, 1.3437, 0.8398, -0.2745, -0.2054, -0.157, 0.9994, 0.6064, 1.5192, 0.5247, 0.2913, 0.1093, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2168 left_z=0.133 left_yaw=-0.4641 left_pitch=-0.188 left_roll=0.0371 left_gripper=0.9994 right_x=0.3193 right_y=0.2024 right_z=0.0442 right_yaw=0.4746 right_pitch=-0.1397 right_roll=-0.0288 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2991, 9.6205, 1.5995, -0.0904, -0.0269, -0.0757, 0.253, -7.4051, 6.2701, 1.9707, -0.1538, -0.1148, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41735f550bae850183716a0222a04cd1555c88aa925eabdbda7d13271bc71821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e8ee9f9be28a57dd393820a7cf275c9a72f9e965b602dead53f5d6755944f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a25af9e771d5923b92c36f5090f12eeff1bfd7d3f4b33a66be2aa4886b477f6",
      "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 5 attempt 0 · /responses · status 200 · 2.511 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 17 changed as sent

message 21 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]: [-0.7109, 1.3548, 0.7296, -0.049, -0.2028, -0.1558, 0.9994, 0.807, 1.4307, 0.794, -0.0124, 0.2588, 0.1539, 0.9992]\nstate[eef_state]: left_x=0.319 left_y=-0.223 left_z=0.1235 left_yaw=-0.4682 left_pitch=-0.0874 left_roll=0.0106 left_gripper=0.9994 right_x=0.3121 right_y=0.2657 right_z=0.1306 right_yaw=0.4974 right_pitch=-0.0656 right_roll=-0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -5.1897, 10.0581, 2.0586, 0.1783, 0.149, -0.1294, 0.3897, -5.7231, 9.1829, 2.0879, -0.0171, 0.0562, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3437, 0.8246, -0.2535, -0.2058, -0.157, 0.9994, 0.7002, 1.5761, 0.5896, 0.3378, 0.1661, 0.0937, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2167 left_z=0.1303 left_yaw=-0.464 left_pitch=-0.1824 left_roll=0.0359 left_gripper=0.9994 right_x=0.3235 right_y=0.239 right_z=0.0573 right_yaw=0.5005 right_pitch=-0.0798 right_roll=-0.0243 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.3402, 10.4821, 1.6386, -0.0757, -0.0122, -0.0757, -0.5402, -7.0085, 6.735, 1.3846, 0.0464, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3437, 0.8398, -0.2745, -0.2054, -0.157, 0.9994, 0.6064, 1.5192, 0.5247, 0.2913, 0.1093, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2168 left_z=0.133 left_yaw=-0.4641 left_pitch=-0.188 left_roll=0.0371 left_gripper=0.9994 right_x=0.3193 right_y=0.2024 right_z=0.0442 right_yaw=0.4746 right_pitch=-0.1397 right_roll=-0.0288 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2991, 9.6205, 1.5995, -0.0904, -0.0269, -0.0757, 0.253, -7.4051, 6.2701, 1.9707, -0.1538, -0.1148, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41735f550bae850183716a0222a04cd1555c88aa925eabdbda7d13271bc71821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e8ee9f9be28a57dd393820a7cf275c9a72f9e965b602dead53f5d6755944f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a25af9e771d5923b92c36f5090f12eeff1bfd7d3f4b33a66be2aa4886b477f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOO4mQrOfJyKahpC8FlgiSgs4nw2imeaoqFo8OSEMKbjnfgQNmVc1IiXfeB2wiTXNKHhOEcAJivVEB9GtfHy31Rs7tJSpOZ0LQo6tYBHsbo8bi2YQCjjCZgWDFwr-WaRsG_LAlP8XMpf1V4V5cMQ3X7X0wwyRgcr4qMEE83vVb6QL1fWc5-nvnuB9LxSc0kLR72OfTE-jYpxgFBBtWQzN1S7zdYMqwO-atu1Rd4mktXGsGU5Ozyf-gftahCQzZl_o2sgM5cguQu6RGekdZtaXFWdj4K3DKWWVUI0098imi-pbzbPlr9gDs6BtQdDPgSgkNyFAaegoK5wil8F-EPFGKwYQXelMPueRX4HDmW6eaLFjR3fC8UEB0CySsm5Kiw4qBcOgeO4SWoQEmWydnPXjDsoZPcqIN6N8Y2x99k9GEXjLRglAkfCoq_CJXXDCcmZPEMPXUPG5h5SoqZB_k_F_3NBTfmpjPhdBUaYtLZ7jF3738wCM0t7Mv_P0ynt42AU20RHtkjLswuW5d3TciYVYXaHx4SVdYlYh-QMUzFvoxbo4YMZ7BQxa3Y74dSdGolrbJkPZUpjSZniQ9fae_y09IG6qSffPz2vb14H-BflVFyoESOcY8-YGUaj8rMESdCcJiFQ-GIV4RWL6EqCXqvvb5clH8yCVZw-K7hADe0pcjXqCoKuwPEwot6HXF394V6m_8A7_2Ebl9eXKcQuxzo9YPPIgFjEXbvk6AezpTCBLWtkW00UQzGuZ_Wv7xngvsumb67hhw2CucE-ymZw0Z0a_Xv_oCapJmh9zUdYGyba2W2NIYVDCfFwGshwE6K9fTZCFX7Z7c87eaB6cHMHPNh6JT27Zc9RJqBx3ppCjaH1MNtYZBlJyZlE6UfaF_-sM8BxTQFKkfc9Ak30BEd4fAFkX72rCOOb_gBsmIun7XzHVi8F3JKbh7jjdmVZ13wfhlr7_f6leca6e2x_RZadgmQpmOIscT3InbmaZgAAkyye4NzTy0crzrghrTC2c364mS7GHga8LZL1UWysZxWVqe_MaxXNtKGeU8dwhcUFIzVzXxJ1odiHDwHNBWnko4Ijpd-6d9BISw2LtFWgUdwUPEviIJ4lgyo0qx8-6zFxsSiIBcuaL_L_OJkhieWHgZbZYLq60LILT8L3pKXqeNn3svJJFiI3htVhzDrfswEsWuKBZkZSuIBuxjUnJ5H-CF7U0rVwcAHr4YTjjFMHjo7fTKX8eHG3lDyVKvTk3il8z5dL9O-z4jn0iHRe1yYM8s5-L3Foj8iwp4C1TNZ9ZoSoPUjrixmAg1ZZUen7Pf6pHNIsj-8E8OCUPTWRtruQHAU0AIvjQNZ",
  "id": "rs_0866b665f1bf0285016ab4438c711487d09df6fc8db9d82903",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.223,\"left_z\":0.15,\"left_yaw\":-0.47,\"left_gripper\":1.0,\"right_x\":0.319,\"right_y\":0.202,\"right_z\":0.0,\"right_yaw\":0.5,\"right_gripper\":1.0},\"note\":\"The pen shaft is now centered between the right fingertips at the jaw convergence row. I’m descending straight down to table level without changing the lateral alignment.\"}",
  "call_id": "call_iEZZsRvOjfwHbt2QMA9x1Kp7",
  "id": "fc_0866b665f1bf0285016ab4438cbe4887d090957833cb6d40db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iEZZsRvOjfwHbt2QMA9x1Kp7",
  "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]: [-0.7132, 1.3445, 0.8402, -0.2745, -0.2031, -0.157, 0.9994, 0.5907, 1.689, 0.4652, 0.4904, 0.0772, 0.0322, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=-0.2172 left_z=0.1328 left_yaw=-0.466 left_pitch=-0.1887 left_roll=0.0356 left_gripper=0.9994 right_x=0.3161 right_y=0.1999 right_z=-0.0005 right_yaw=0.498 right_pitch=-0.1722 right_roll=-0.0282 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.4359, 9.7983, 1.5751, -0.0952, -0.0073, -0.0757, -0.253, -6.9265, 6.0239, 0.3883, -0.022, -0.1587, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5bbddf82bf944f19ccf39e931de8eac4651ff63e82cf1aa4d9170becd7b9ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669e74b9e202c602375dd151bfa9a88ba72e14b17f4e9ce5b8168c588ac7e8c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ae72f00c59c3c985ca249142e692e927f5589b9820cbf0e62a71a668fb3048",
      "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 · 5.45 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3453, 0.7677, -0.1555, -0.2058, -0.1574, 0.9994, 0.7059, 1.7599, 0.4938, 0.572, 0.1783, 0.1055, 0.9993]\nstate[eef_state]: left_x=0.3131 left_y=-0.2184 left_z=0.1234 left_yaw=-0.4654 left_pitch=-0.1439 left_roll=0.0257 left_gripper=0.9994 right_x=0.3133 right_y=0.2306 right_z=-0.0003 right_yaw=0.4886 right_pitch=-0.1225 right_roll=-0.0318 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.4325, 10.441, 1.5653, -0.0659, -0.0269, -0.0757, -0.4308, -5.9966, 4.2325, 0.8962, 0.1392, -0.1441, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3437, 0.8398, -0.2745, -0.2054, -0.157, 0.9994, 0.6064, 1.5192, 0.5247, 0.2913, 0.1093, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2168 left_z=0.133 left_yaw=-0.4641 left_pitch=-0.188 left_roll=0.0371 left_gripper=0.9994 right_x=0.3193 right_y=0.2024 right_z=0.0442 right_yaw=0.4746 right_pitch=-0.1397 right_roll=-0.0288 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2991, 9.6205, 1.5995, -0.0904, -0.0269, -0.0757, 0.253, -7.4051, 6.2701, 1.9707, -0.1538, -0.1148, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3445, 0.8402, -0.2745, -0.2031, -0.157, 0.9994, 0.5907, 1.689, 0.4652, 0.4904, 0.0772, 0.0322, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=-0.2172 left_z=0.1328 left_yaw=-0.466 left_pitch=-0.1887 left_roll=0.0356 left_gripper=0.9994 right_x=0.3161 right_y=0.1999 right_z=-0.0005 right_yaw=0.498 right_pitch=-0.1722 right_roll=-0.0282 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.4359, 9.7983, 1.5751, -0.0952, -0.0073, -0.0757, -0.253, -6.9265, 6.0239, 0.3883, -0.022, -0.1587, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5bbddf82bf944f19ccf39e931de8eac4651ff63e82cf1aa4d9170becd7b9ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669e74b9e202c602375dd151bfa9a88ba72e14b17f4e9ce5b8168c588ac7e8c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ae72f00c59c3c985ca249142e692e927f5589b9820cbf0e62a71a668fb3048",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOQqlAirS1BrFPLN7b3pELC_QnGXA3SJZQ8HGbQLT8xr9Qb6-Yok4iJ6uWq97i7K_at09zYQRjB-S-l3AcsZ2BN3BxmZu3uM7TniErF56DEqG6STTyKvbXedMFMJEYML3TgacTkse3S9ejdhFtiOeARn_FG79ABEyhfcBLfENdT4Jkmup7K1IGk3awN2L7Xd8CN2srlN40E1DnJJsaq_U6lCBtkq1JZHXVYwi_Ix8eCPdwhKiyl7sesJW2dahBaqoHtAO-LKuLfqzPygRotr6p39iwCbIIfi3OsWnxnOuVIpk3OPyDZ_NRaYaIiKxqgwoWy_sj4K4bQrs6dBup9-ppbxm4t3slDCB_gsEs2YZNHDBw1_mmcYwu_GiI2Y-lI6ly00EwvjMAYvig0K-8r8_uort7HQI094hCkZ5qythHwN1iggEtT-tM-QSAIhrmPw7RhAFbWgrRQ5QwMh7vGtNbnYBsHgGsbpv2LXIYHT0J-qALEDg2kB8QL_QNxGCy4augIBijeEMLb3AO50Um8x1jSWTmuvJ0naDCRkOHZ6s0Z8-9KrPjBnH8Iy0YfCbOyjto9Zx9gP6f6tEWcTuq8fNtrP2ZtOse5MyN0p2j6BL7jY8ogfxIlmRQHhdCk68zQjTAzUfI_VfuZehmo1mCXxHovWIp2X4euHtT_PItixPCWYZdBN2kLavD_mpwxhR-xTfXoa2wcghDA1uRFPHolSoPWxnD7FYK4j2fK2X4CG940_qLngMmjSWSF-Ir4fALsaLApqYuFSQpqesqLB2_1E3JQVYC2ojYKI2S9pdXgZNgzMxGact1ARhvSwF7rn3ctyFQvL1COuhuJCL6ewkEd8gMdFvDaAipXDtXGkWnCib2uG5u3kVS2PdPXGsRgUMbuSmhUYPo2uWGYEt0ssFSfH5wxiqJIEqus3pmcKi_j_8RUGyZ8g-H8y6RnHJoMANBI3ONdILaJhTfjVc2QCgn_syIqE06xPg-EmuaPIydI3RvxhluVHES5iaMnmu0aoHVDFXn6rhvc8H9nS5r3GwgbO-bV-UcsfnNMrnNTFqreSNCP3UihUWq8oK_s7t8RKWFJGXZiD5ms8f6ylLY5SNLdt1obeOC4LID5EI--bgqqiZInR9t6l4-a0TMyPMzaTblfZEo-9C56sitRxOJvVJeuTt937dW38lFT2RuxyLD3XQ9SGPGNLpXQggo68Wzj8BcTVABj",
  "id": "rs_0866b665f1bf0285016ab4438fcd3887d0a713e52322629194",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.223,\"left_z\":0.15,\"left_yaw\":-0.47,\"left_gripper\":1.0,\"right_x\":0.316,\"right_y\":0.2,\"right_z\":0.0,\"right_yaw\":0.5,\"right_gripper\":0.0},\"note\":\"The pen is centered exactly along the right jaw column at table contact. I’m closing the right gripper fully around the shaft while keeping the pose fixed.\"}",
  "call_id": "call_E6ubY0r12OP4IMUo3JvJE5RB",
  "id": "fc_0866b665f1bf0285016ab4438fe45c87d08f998d52b7226bf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E6ubY0r12OP4IMUo3JvJE5RB",
  "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]: [-0.7132, 1.3636, 0.8841, -0.3408, -0.2028, -0.1574, 0.9994, 0.5903, 1.6936, 0.4583, 0.5167, 0.0734, 0.0311, 0.0266]\nstate[eef_state]: left_x=0.3104 left_y=-0.2168 left_z=0.1329 left_yaw=-0.464 left_pitch=-0.2291 left_roll=0.0455 left_gripper=0.9994 right_x=0.3169 right_y=0.201 right_z=0.0005 right_yaw=0.5017 right_pitch=-0.1576 right_roll=-0.0252 right_gripper=0.0266\nstate[joint_eff]: [0.0615, -5.2171, 10.3863, 1.6679, -0.0904, 0.022, -0.0757, -0.2256, -6.8034, 5.5863, 1.3114, 0.0464, -0.0366, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7382e457a1363df0fd8ac724edaad2b3968ee26049f7fd74b16bca3935cc6c71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2779f33a86aec6ecc90c5b1c61488fc224dfc6933eabab304097896b88f1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd706821bd119276060a647e660a6305a387de994e356cd7ba1db0331f1fd89d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 8.737 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3437, 0.8246, -0.2535, -0.2058, -0.157, 0.9994, 0.7002, 1.5761, 0.5896, 0.3378, 0.1661, 0.0937, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2167 left_z=0.1303 left_yaw=-0.464 left_pitch=-0.1824 left_roll=0.0359 left_gripper=0.9994 right_x=0.3235 right_y=0.239 right_z=0.0573 right_yaw=0.5005 right_pitch=-0.0798 right_roll=-0.0243 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.3402, 10.4821, 1.6386, -0.0757, -0.0122, -0.0757, -0.5402, -7.0085, 6.735, 1.3846, 0.0464, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3445, 0.8402, -0.2745, -0.2031, -0.157, 0.9994, 0.5907, 1.689, 0.4652, 0.4904, 0.0772, 0.0322, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=-0.2172 left_z=0.1328 left_yaw=-0.466 left_pitch=-0.1887 left_roll=0.0356 left_gripper=0.9994 right_x=0.3161 right_y=0.1999 right_z=-0.0005 right_yaw=0.498 right_pitch=-0.1722 right_roll=-0.0282 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.4359, 9.7983, 1.5751, -0.0952, -0.0073, -0.0757, -0.253, -6.9265, 6.0239, 0.3883, -0.022, -0.1587, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3636, 0.8841, -0.3408, -0.2028, -0.1574, 0.9994, 0.5903, 1.6936, 0.4583, 0.5167, 0.0734, 0.0311, 0.0266]\nstate[eef_state]: left_x=0.3104 left_y=-0.2168 left_z=0.1329 left_yaw=-0.464 left_pitch=-0.2291 left_roll=0.0455 left_gripper=0.9994 right_x=0.3169 right_y=0.201 right_z=0.0005 right_yaw=0.5017 right_pitch=-0.1576 right_roll=-0.0252 right_gripper=0.0266\nstate[joint_eff]: [0.0615, -5.2171, 10.3863, 1.6679, -0.0904, 0.022, -0.0757, -0.2256, -6.8034, 5.5863, 1.3114, 0.0464, -0.0366, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7382e457a1363df0fd8ac724edaad2b3968ee26049f7fd74b16bca3935cc6c71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2779f33a86aec6ecc90c5b1c61488fc224dfc6933eabab304097896b88f1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd706821bd119276060a647e660a6305a387de994e356cd7ba1db0331f1fd89d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEOXLKM0skeO5Ar_SWfOW8e8k19bJ_RpyBVpvOk-j6plS3_XI8qCuluE0jCHHAVVhL-9eQqGJRT2Tkx7lb5ucYJA6gNmQUe___xk2LZzBHbkTuYXurs4R9Dn5C6WMooXfu8yRIWyijeYuHt2frH7TsHyodRUPvMIfzYBCIAxEahX_fZr005M6YAFQSFBPSVKqJ2pVk72P0Pj32Lrou5J74iIIDs0w77La23THF5rymsQrbjRuIaGni4Lnw1ghRnEKXCqmVcxNVBpZ64yKyl95JJU7tBXUk7JhBjyiwC2MY8TrqnkBLXh0dkoaUn9M4bgPXj5nKgvkySx-w3PecWD1v-JYXCsY9-6ngfRfWeG9QhrbRX7g31LTPWKGFsd1_THmkAj2EXfG996oOQ49Gopb2n1vAAP_vugZgmjECaHpJH3SURVSUOrCirT7YWS0H63AqlazzS0pqgYzH-KXTR_JSykG4suQAgil1ST3vdqUjO1NBmbiYnZPr-qsZXb0iEiIZIOmsQL0X6oFCw0fNWt2G0cy-eJGp95kuD_FG1U4IxjbpYtYINQykA7gb9JXF4Ab54sC_fbxKcpH-D32alLA0UGShz38G-dkMa281rtwMU912pIW6Fwzu57iLSCpQHkCCPiR96jKsBK-obZ0PfFgk7g4-TcWHHlWTfxHAqzNDthOvDw5xWIVpXKKn7bCrN76nlDewl_0fVaEooymWRu-d7CIvI_2hgmScjStQ-KBtHLqoIgxMYYcoPDCXXjMIuPhDPdYaCkQxLu4nTAEF6O9fIiO9wEmZ8pWWc-Byc7rbG-_CL9ACdkEuj4HvspG0KlNR-tEijSommhd-nt_Omh7xUHkvYE9K46k3eNIkFY6P61vgXGXjDT8qJvj_n9WUVI-6R-EyKpDKg10WS5OkPAAey85Ai5qKXb6JtbGS_QdiN8tuh9Q8kUSjCC6tsy0WSseQNfUg_N5absAmdFdi1n9BO_5b59k1nFW1TtFRDHhfGAqfXzQevTVDGZs8dB6dS_H1xasmsG77HckhqH675FYYMAMoTP77fuoAsEjnn2kHDcFD0E1lMGbAQ4tFKkNQbTu3sTfYviCyAZsyCsInd0YVRD5Vj1v8YIbmjGEn7TnzvopU-CAT79Vta3CS_Kivp4PPtbnOP4mYPYA35EPxCN-LeKRkfFudvqEFh84iYtk1RLGxEuhlrjl8FcXjCzBS7iaNgfEdtCbKyMLNdHwmkDbjBsFx_IjnB8RQkTIAjWG_qEeDKP20foltLP9UcOK7h7MbdTqw4P7R8gzYeFkEQXqGnN_XTgQtYImQaTMzbmr92y9U9Al8gyp2-FB9qMPFUPWhrQ6S3_SfV7ExYK5dV3N6SBAbinoZni6QuOwqNZ3bE4nVVuQ75vewCB8YdQQhrLBtc3v9-Mi93tYTJxLVs0mGg80q0vv9ujeM2ib7qVAvZbtK5r30zjJzq10-1v66GovL-3eLuprrmigKVZQ_dl36kWUuTFk0XvxyhgaCHNSXV80--sWhgQJnYRSCzhElB_BZEoUVUA6f9WE6sN2nGk-kLTQdsV2JJ0g2ngfalL2k4c5lgHZeL_NYdiPqzJRgKZNHFko9ZIjP5WEElNjKhkcFmtPwMDYWmlafBRxUvxli_9mu8HsLfXMzI0xfls8u6IEM4JMNonvNkw6iI7yhmCi3b08TBqh__Dv2v6gY8bUREDm6aWRsmw-8dHHDdKiDikR5tziATN-ih3eZOMnzK10okS-CdmtTssZODKz3NHA8bE29PhdeE8dRTcAZyNqWxeVR20xBg4iIMFehGVlZdeaxdczIxe2VEvRJR7xOiuG9XdWqHsUHCNqY4jTAvYQN7VUl4mZHawSxbm6GdVlefaSYxAtMJ6OKL9CyVRRARxyBumVaCjZyq65yVHE7ROxrnINJ2i432UEmf99K8RybMdX_8z7WA7gvzINOHjrRE8Lzh6zb9nPd_JfxAbtflhfUjyBgk-2D9de9efdjZ9nSL9id5LFV6mhm2em5JflCmnggF3BeN5wbZAfFZ6dNcrpbErHT-7zI5XGYwEFS8YRhpix6N3AJpIYFQ6unMcBE3hJH6VwJS6KY5udBU-dlcOmnPK880OXFHbccyqIngvCgnoqwgA3bYNrKvLuDCr0zecJQ0jFlVjICaJO9dLPrlxsGaCtNJ4LAR5qA6Q3hy4vPdiR0y5DdotJDIrAUjwHPK13atK8_mvjrtbdVoE2uv3Y1H1-dFjrb7nF2pA-Fo0oGh0vIFCHHmnnl5Q-T2H3ogYli9q_kvi2dCv2FqpkkJ5hQm_5_qacbd3NHPwXelkA8_Cxk6oFrJHPmef6CzhLAcewZgFNUJNbRnj3EOh49Oxr4DRv9QolfJ2vv6qQkVR9PCVJuQdTIR_TZCCkMFnQpi6iop8OV6k03OYdzU-5K3oqJsHiQtywdSkB1Cqxv1F0sf8x0yR2vaCdtqn_3NH67Yq1YaeLXqFpGNtpMlh9VxhVpIsOezJoqhe68q1y56ph__Yvut7g5yOcToOXZv8Skf8AIf_0WZNV2FMRocf7-v003yUOuCVcekh7uxEjsu-5S6GC2NyRHK1AlldU_lGFRfEphOac6w88HzD9IFm77hgjpdnTBnlmueHDA3hT1xaehV7lYcYWmTcGOE1z4b3IN64dd53C-yXo9h3OYFfVjpb4ak_3QPh82qlmiEalQOJf48xVSNi6lQwrZDuGN97o0NIlroro8i7uzdRsjx0th748WjolgD_Sp85diTD5gYVEUDxDQfF7lIkYMyuhRqeB4DtECk3pN2NzqlA-RgNuIuT_VC4GlQf0bh7hT82NtFOq58YZ5ERZefiEd4loCucTt2w1KdClS9aOCSk0KUIBjaVI5cL22nzQ86qfpjdC4WwpPiOE1E8vI0PAHHlauUktKgqhwyWPp_B4fJln2xaDIAmtajQrn0W_PjlTkq1veWMFjZiw8qa6vuqpgHlERT2vF2F8L78sjz7C-PAMrh2ibsUVLdezbqVPV5yYWcygvxAVfEVt6BYug==",
  "id": "rs_0866b665f1bf0285016ab44392cdf887d08ebeb651e9d71eb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.319,\"left_y\":-0.223,\"left_z\":0.15,\"left_yaw\":-0.47,\"left_gripper\":1.0,\"right_x\":0.317,\"right_y\":0.201,\"right_z\":0.07,\"right_yaw\":0.5,\"right_gripper\":0.0},\"note\":\"The right gripper settled at 0.027, which is below the reliable grasp threshold for this rig, so the grasp may be empty despite the visual alignment. I’m lifting 7 cm to verify whether the pen follows before retrying.\"}",
  "call_id": "call_UmbIdgQWE36LEGo91QaDWPsD",
  "id": "fc_0866b665f1bf0285016ab44396023487d08126b9f96e72f1a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UmbIdgQWE36LEGo91QaDWPsD",
  "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]: [-0.7124, 1.3918, 0.9268, -0.4042, -0.2028, -0.157, 0.9994, 0.5903, 1.4532, 0.5571, 0.207, 0.0704, 0.0292, 0.0388]\nstate[eef_state]: left_x=0.31 left_y=-0.216 left_z=0.13 left_yaw=-0.4603 left_pitch=-0.2764 left_roll=0.0582 left_gripper=0.9994 right_x=0.3199 right_y=0.2037 right_z=0.0639 right_yaw=0.5057 right_pitch=-0.1285 right_roll=-0.0221 right_gripper=0.0388\nstate[joint_eff]: [0.4034, -5.3949, 10.359, 1.6093, -0.0659, 0.0317, -0.0757, 0.0752, -6.2838, 7.9385, 1.58, 0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7b26ec6c8d107ccf3b2bcd4891b788a1790dacaf8d7d573228b2b3bc278527",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2e6342fcdfe7545b153cf7834a6083d38868c4c35a5e1513e5865df86d4629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d526976b62d744601127529be1d3eb63fb303c5cb3a8091a110020dd56a2dc3",
      "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 · 8.081 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3437, 0.8398, -0.2745, -0.2054, -0.157, 0.9994, 0.6064, 1.5192, 0.5247, 0.2913, 0.1093, 0.0547, 0.9993]\nstate[eef_state]: left_x=0.3112 left_y=-0.2168 left_z=0.133 left_yaw=-0.4641 left_pitch=-0.188 left_roll=0.0371 left_gripper=0.9994 right_x=0.3193 right_y=0.2024 right_z=0.0442 right_yaw=0.4746 right_pitch=-0.1397 right_roll=-0.0288 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -5.2991, 9.6205, 1.5995, -0.0904, -0.0269, -0.0757, 0.253, -7.4051, 6.2701, 1.9707, -0.1538, -0.1148, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3636, 0.8841, -0.3408, -0.2028, -0.1574, 0.9994, 0.5903, 1.6936, 0.4583, 0.5167, 0.0734, 0.0311, 0.0266]\nstate[eef_state]: left_x=0.3104 left_y=-0.2168 left_z=0.1329 left_yaw=-0.464 left_pitch=-0.2291 left_roll=0.0455 left_gripper=0.9994 right_x=0.3169 right_y=0.201 right_z=0.0005 right_yaw=0.5017 right_pitch=-0.1576 right_roll=-0.0252 right_gripper=0.0266\nstate[joint_eff]: [0.0615, -5.2171, 10.3863, 1.6679, -0.0904, 0.022, -0.0757, -0.2256, -6.8034, 5.5863, 1.3114, 0.0464, -0.0366, 1.1306]\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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7124, 1.3918, 0.9268, -0.4042, -0.2028, -0.157, 0.9994, 0.5903, 1.4532, 0.5571, 0.207, 0.0704, 0.0292, 0.0388]\nstate[eef_state]: left_x=0.31 left_y=-0.216 left_z=0.13 left_yaw=-0.4603 left_pitch=-0.2764 left_roll=0.0582 left_gripper=0.9994 right_x=0.3199 right_y=0.2037 right_z=0.0639 right_yaw=0.5057 right_pitch=-0.1285 right_roll=-0.0221 right_gripper=0.0388\nstate[joint_eff]: [0.4034, -5.3949, 10.359, 1.6093, -0.0659, 0.0317, -0.0757, 0.0752, -6.2838, 7.9385, 1.58, 0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7b26ec6c8d107ccf3b2bcd4891b788a1790dacaf8d7d573228b2b3bc278527",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2e6342fcdfe7545b153cf7834a6083d38868c4c35a5e1513e5865df86d4629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d526976b62d744601127529be1d3eb63fb303c5cb3a8091a110020dd56a2dc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEOg7S4t5vf8TjY1WM948QWYH1DOXU32dw3ndIjkbHUeGFIh8ueb7i1kU63EJZtyzwny4Yq5MYu1c16_6B8penTSq27ijz7z19zGkJPC-jdaMSHRhLWK2loncgjdP-DPtY0_OT5kcLAYnZ1vWp_QGcbsGwWWrcwt7-BnsG1OI9WFTWwFsgCcnbcTpvDbDO7Z1W1YHgCqtHPai0CamBMm_mKiSSlvADTaK0kLy75MO1i8gTlCg2UpOqrmB3PwCCQDi_HCBaFY1gZIppIJCBMmfQCMb5wD-QcdYOYfC3m2gqTbCbb4XytJPbtqS9kgz_99yccactubmFXMpZtmpH5mVqjaMOA63mqnV0StDpvk9db6YbKI6xlJp5fAsP2KXoG46u7pKFNQkpZ08x11D0saf9rR8AArtBdw5LhIJ5j3jMz6pmktS3kzw21yDy5M30OVqgJGuFYmCGijVsizJhT3mo011rDepl2_xIm_tJaOvKJTpU_JX8EQIg2fx69gV0zmYHV3JtM2oyUF_5Tn6Mpqvd5t-dY8535oQTnuJP8gpcnWRE039LBLgIBTUBENfrXW_v39tCzEARQqWN98eZJg4CShdgj2hrcPRl40ujYrtGdBtfWu2mFVfBzPhOX-ruy8K1oA5JUYnqs8exUEF8Tppng5LhYOLhEmtX0yCcGgVp9-2D2FHAx9Oalzq5FgwY2U9_4fqI_Ah39y98GWijZA9b7XuJodhigZXGeaGYrQzVLc8sCFnmcEv36U7Xtx4uK_jQhn58Ey2IHL95dXZj0-oAsxg6lUT5fcXcz3YBC50hZGPlCPYhCwztgq5NBF9nsoGV_7aGLmB_--HK4_CxFtB9hIuRfUHJOstncWysrNsecMLZEMWF44dyROWAoMc0QV_qwPf6gfEoaDPxD2MnT9E9yH1NJ5YCJOMm_49ZCMO_ZY78zeil5xR4JPOI92qKtZ4L4LeE_KwidZyjHAlC92uK5G5sVjgnp1g2OOMJvjMu0VwIH_BUzIFi8F1w4Mv60nQqX6XRR6bi-plzNIYOZBUH6GTFLwhwIncz9GZBBNxVbyqBik6X5g7eUuErSQI06OIoAgBEfYSnTKo5Z_awG1KBf1uxquQouEmbL7ktprTXR1ubuyYZ-vW_EW5wIhRs5Uw1HUNLGb1BVri-ZRr37rYVf1tVh_1Zk8rGQb9e0gmNoI42vCa8t0B4HKTB2LFU1xFiGXJxY0XvlTL8-SXMIgbln3XV2PsOArEqIZ_pXTAg4N-cZxlrxTtOwHtNHDNr6MXbPPowajEn3tVue8kiHSy2eq-hj1EZ8rBkQItYsopY8RpGmM4FnSDA-kDxCSfZHGtnOeE89yoenvB5bQwlwcLgnzAiSGOEXusU45P3b2Z52ufGW89j-Z2qTh8vgFGtztW1p5A4vabjziwt3vA542mdI9rPGvQ-lpZDIUW897o00vQ_bd1Yih8vCYpmA7XU9TsXAStxiCMlIUVXp3Ak-FkrZ1NaoR1MtdJGTAUvUDgjkSP1C7HGrJtR0HN6-b58PQjBK2NdhJjpqwQe0OpNOt_-pSL0fRGnUUgmvBH3YNwpua5w07aPZtdMIaHKZLsWqEdkH_enLOfFJM-dvQWB9qXZ92JKKOX3QMhyvm3KWjaLo7Hf1l18A2_9G4IM_C5_MOoQbER-KwxImMq_QThILfX8WAae8VtqpQb648TXE8Z-CBKEGulWAtrDFwIHGJfJ7Rq63h6EqplRzTmpqRdVSEKsl6VDUFJxb3FDHBdr4kRbw2434Ib57dIVGvJnFR_p6zKC-dcEMGE2YE75FP21qTB0_PaPlRJIHhqoYhpf9vWvgAO4n6WIkjni0yj4WubwWXlJD6mX2pUh_UgUrm84HlPyNrnCkcM__CujRxXY1A12NehEBLgZYsyTZoZFEPu6swsDntPpZznkakEI7jT2Qas5VbgVn9U-gXqnWroVslIDRVfDmURpP6lT9Ct3R2BHoNMDS0Tag1esgPpWn0SnhoRdkjgon3MWq-r660wEROYeZIjCIWOxd7-l98wYYwPUkNS5UhSE4li5VFI7aX6mBOPqQc0jwqtqVHPcOIbCCteVMqg6ZQKIX_TjVeT1KBMy6uhr4rrDVLigqoDR6A7Eu9k9ft2IgiPQ0yb7lUr_swrpqJ_uBnaa3XAzBj8DadvysF_fYIem5Ek75z7Vnes6Kgm8E5CPOHM84xBUtnOojrYGFCA0j6Y2ORwPiwIJ4RtmfyvKemFR6FVGdFWVkM3Gv_Ikt7Ssgc3YGLs9Xvtx8XyB6mzq8Ai2XOxEbqNOs8cksZFzugKsXM5rsjZrCG9-ZpEUQR-KofUjVU0GxVc1E7fNicwqQZqxFTYJI_EN-nMNGkzSfHj70P-Plhk8-SEn9cTTbDWBbWXI-uMdo_WBC4boAAHAVzyLwPQ2VA_0q7Mi5zNOHOkHLyUMFj6a_313oeC_k1wenJ2VteKYd8QXg9sJrZJ6lfYJPj4uO7CqissGbT0kPsduVWY1BmA217YP_bnqhNac2SubgD2MbawHpKqug6cmMvowawJ2MRQxSxEPT3Sxmff2nShi25VFbdnBO_ED0-SNhNGOdAKpn4fPZ62oTV-NKU55vsmG1524lg2K8N3_kK0PHxI0XsaN_qkY9h8rOXu6WvnRQ1xO93YNSsrS5Et01uG_hCSlV6kvOgBAAbZx84rJY44vCjyEZd9kmnBHaoUGmrDQc8Z8aLNxph-0ux0P1X4v912Tig3v1r-SEjc2-8u12z1VgiXmEshR9mlNpNhZdByecMSE5tIWMzqGz2WzQ0ozUkenNvG-4AJur4MW0SwrOzam_WysDs-OiDSvxltuz4-Hn5X5h7sAMfuTj2EWPOFeezXYwUHaV_1wq989y_xqtcsisRH9vrPMCP0OI_67wSavPsEDceckEDXTcelaWkoc8My-7pqP-vWqQ7buNNXWZ94HGcx_vnDE4VIAxpN6t1RieDuyKPxeZKBAA7HHbD1WSUW_TNKPfbNr6rbmPX8sjBmcp_p8jgyH6sKw79ZUfFpl116ove6sv3jt_XD_xxXzL6p4gH87Y6SIRKAAoyvy8D5c3SKD13ZhewL1G9Fazr7zxZ0FtgX1abxgcTfSRPowyMhXictttYHqOhXZH5eYxaxr23Bd7DIpNyJoWsCyhnGETniT-hgqRK0BsH-Qo8e_FyRJL_7ArGmvzE0DjDLnGf0JhbB9vRedV6SBmU4sLWVxxUnziX2r4GmK8BcfQp8FM0o9oRi5QxJD51WzRQw0plRdIKh2D07BEEKRsIDTADidpOSxPDJf2JcpiU_3gz_NdpnxXLbLByTArNyuMWgKtbSHDUjFfyIGxRgHBMASH7k7qY3GZ5VSR_gcj9NTsRKa4ZOZAoCDG9aMezMSHtaW_8MhJu-T0DCrron2u0WIG3Pl6lSheXwS4XhrxTJpLAnD1SRe-RbigTTgxvu3nqOPEDBOknaypWizRIrTcPBzDeQcxfBr1F9T503hSr9RiYcQEHRbCjNMYEUu_4yZKyPJxJcxVwHPAVoZ_9_0wwkDZtIJJexj1drTUsLq2P096NKzFVx0BNqzYz3BYEQxwIbK90kyXdQ_DAZrCinYcrVU8YwgiD89G24u03CnFsjXlzD1_uuk2L4c5oqyecyADLtilCqtC4G21phirtD5SISSttRgVQMyLtbpnOFHgzT8sARhFBy3BPRDuS4CgxGIT0c54WdLsn_TLsaT2pDk2PXyxZOtIGQga8CTNGAkewAvFXQy6St9mx-HU4zShjvljU62shoo7prq3l4HchrkSoULjfXktzYsV0BPdF4o4cSqIEfhtgs2JF8UgKEGmPY1k2NzJ_XfLDLTGIuyZ3uT6mldwQcW_EgVBW5dqbuKafWWw6yfAWiEGyuYtXAh1JcYuvw59octRZXiHwDQLUBbPnXKnsdf3UIW3AVEvaLxcGCs6WqIpsBAmEwrdLtnjNOaDn",
  "id": "rs_0866b665f1bf0285016ab443989d3087d08ec8be7043f1fb1a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOgCJTW_IYuYkCdGrfdp1JrfrADkX5RxGtxSgNPwv0DR70QobP3-WzSzTwSSTQJdVQSTFVOAvg46pEU6_1tcdYlCLbfzAcnyo-i5HnAv5E5yHeOp9PrIxUDN8yhlPKGVboc17J7Hy2qcqAuvxUwphYkaoI_4qPh3a0NDP4g-jYPwnuzGwynQy8C_mVW3mjulOKISMQ9iDKEm16ebx4NdbXX8clW0aXXu1h5YXP5e1Iv6J-yoDhsILOzz-KkUQbNGF2PcODek-QEoCQd_F__ofM6JsUsmvM_MDTeKGPjKagRI04I1Vr_3_0S0dTzu5jgQNZf84yGdMGThIkse7rBbiS5kFRJ804Os98tjF37SNB8UyY9kgZ5ZOWBwaTB-mUoY9vyjea3ZVpXHZn7DXeQOHqxrXU6SApYQLTEU0Sa8aoDkCf02MSfU4wY3512gHNHScms6Qkyr7P1lkLBFWWBBNmfMXh5xHF7nb7IStoE_SWvgwMrYpdkKiNeIG23e3km-NCsqtXIK8WuhGnE0ss6zD9FoUjDMuo9TO9V6alN5xmrQPKpqTsRrZvpH-VFbO32ARCKGvi3pVJG3nWImvvi7CBkCtw-0tl7l2TadT5mb4s80ztGkkbLec38xqzaPeWbJHTeAWXe1NxJNhHM8DF0pDcYeCzhiRGb7XDOtkx3M0YbaCdTgpMEZaeNNpvHglcuVGODnXgN9T-BaS7d-OemIrrsEfILE8QjPIu1LKhOPs93rHH4W97ptJmUB4HTLCzg0I0bTfkxQqqBsxmax4SaxvPvA6RbSX6_byGCI0GwqUrCwgcMWQ50VQutV7rIV41pd_lhPBRnahpmiMcWE5f818gY_38reBwXODlJQc28UBfwzV8TmLrn3BGzdVlwfOwzmMP46Q4bFWAEu0COlEPeiQN_jwvfTKb_nfd6zbVNgb83EAV8KcgzSoaMjMPet3uTUCxuau-3DyWcoNu1m1322n2TAO2rdt2XdGPUxcAodW1lbd3jCAJT-w1KrNtAatFJvGpFrqAJ1_0ggSPdEuYxqrHPC-5Iz6KBC27N9lu99Fu3NrVvCf9ebm3n8CydypZ-5BGBWgKmyl0IWF7WMEcrrua65NQoEDxD7C--1cXQvbIG0o3hpPizmFOvOiOLcMD2p-HsySxEFhPSBddxVQvtZQEr0nHb_ivEEuqDIeAzxh6jwDyDOhMmFLRUqWz4S9B29y-5JCL2vcGE-c0Sy0rfuEtKg1c5ey7N_uJDosTLvKa2uwlZV5Nw-nTVfvB4Oz_vLuKA8C3kTVUvjYt-8IWZBbO57iqp2UutfQLGUVd1hBa9QqIbCTa5Q_0NRjkQcxc58fSWGtQqzmciDOJM0wnpu-xd5yEFQmmNT3IPTSUjYmbBsFl0pFBAWIXwwMTDJYKOFxwX3NbClqV7ZtPpFUR72uiv7bB-uQ-HovV2j3PA8xjL_aV2HTighPqVR_p14a2ldTqyHsCUigcvqMAXRWK1BPU0AW-Zvfs1z6pG-TW_nHezLKwzFbzQODKEeOJQY5nvHxfQ7Rsev4bCUA38y5HPCnTE3Bp4fRpaKQ4bVGh_TRIdz3PHRN5D0h5UrMycVcoe-jkqENphcgwu8UuOPj8GNqIzZ2e1q7W3g3pOWGSlJBP8UTS47L161VdZJsrtZtLZ07fDYO0cnP0eDj6jGEYE5vnytkoXyuZymtNMI17sSRAyBJ1_Dh0B98dQ88IADdwqCezP1DeOIyHTtznxaWSBwwjgav5qT4nERevR_ZadTwnYHb_v_qqnM5n1k9onKGNm2TF9syaZ6gwOmR8NFsGT10BiyocrRMENRuW56ALtU_94jdhFOjTeBoz6SbS55NRQYR-V",
  "id": "rs_0866b665f1bf0285016ab4439dd66487d0bf6d8e7f0bf4a68e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.216,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.28,\"right_y\":0.36,\"right_z\":0.2,\"right_yaw\":0.5,\"right_gripper\":0.0},\"note\":\"The pen remains collinear with the lifted right gripper and protrudes from its fingertips, indicating the very thin shaft is in fact held despite the borderline reading. I’m moving the pen safely to the right and higher, while refining the left gripper’s yaw to match the cap’s diagonal axis.\"}",
  "call_id": "call_cRTnHmzNFOQ5icrUuRADZh6Z",
  "id": "fc_0866b665f1bf0285016ab4439f13c887d08400457a03282056",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cRTnHmzNFOQ5icrUuRADZh6Z",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-0.6395, 1.3766, 0.9382, -0.4877, -0.1261, -0.0425, 0.9993, 1.0302, 1.6146, 1.2541, -0.4892, 0.4339, 0.3134, 0.0387]\nstate[eef_state]: left_x=0.3073 left_y=-0.1964 left_z=0.1254 left_yaw=-0.5157 left_pitch=-0.3485 left_roll=0.0839 left_gripper=0.9993 right_x=0.284 right_y=0.3358 right_z=0.1726 right_yaw=0.4808 right_pitch=-0.1939 right_roll=-0.0992 right_gripper=0.0387\nstate[joint_eff]: [-1.0188, -6.4752, 9.8667, 1.6825, 0.4762, 0.0513, -0.0904, 2.3453, -7.8017, 10.7692, 2.5031, -0.2173, 0.3101, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84603a3ef373b7b159212e1942b0bc2afb28e7bcbc0bfb866c9ef63ebe69d0ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451719622039e36f5e262327931820af0151a51b98d0cb693078cac45b76b68c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8410b6cc5af37e2245efea6a8012266870e64433d9a5b1a30a2f41808de6cc4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.175 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 38 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3445, 0.8402, -0.2745, -0.2031, -0.157, 0.9994, 0.5907, 1.689, 0.4652, 0.4904, 0.0772, 0.0322, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=-0.2172 left_z=0.1328 left_yaw=-0.466 left_pitch=-0.1887 left_roll=0.0356 left_gripper=0.9994 right_x=0.3161 right_y=0.1999 right_z=-0.0005 right_yaw=0.498 right_pitch=-0.1722 right_roll=-0.0282 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.4359, 9.7983, 1.5751, -0.0952, -0.0073, -0.0757, -0.253, -6.9265, 6.0239, 0.3883, -0.022, -0.1587, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7124, 1.3918, 0.9268, -0.4042, -0.2028, -0.157, 0.9994, 0.5903, 1.4532, 0.5571, 0.207, 0.0704, 0.0292, 0.0388]\nstate[eef_state]: left_x=0.31 left_y=-0.216 left_z=0.13 left_yaw=-0.4603 left_pitch=-0.2764 left_roll=0.0582 left_gripper=0.9994 right_x=0.3199 right_y=0.2037 right_z=0.0639 right_yaw=0.5057 right_pitch=-0.1285 right_roll=-0.0221 right_gripper=0.0388\nstate[joint_eff]: [0.4034, -5.3949, 10.359, 1.6093, -0.0659, 0.0317, -0.0757, 0.0752, -6.2838, 7.9385, 1.58, 0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6395, 1.3766, 0.9382, -0.4877, -0.1261, -0.0425, 0.9993, 1.0302, 1.6146, 1.2541, -0.4892, 0.4339, 0.3134, 0.0387]\nstate[eef_state]: left_x=0.3073 left_y=-0.1964 left_z=0.1254 left_yaw=-0.5157 left_pitch=-0.3485 left_roll=0.0839 left_gripper=0.9993 right_x=0.284 right_y=0.3358 right_z=0.1726 right_yaw=0.4808 right_pitch=-0.1939 right_roll=-0.0992 right_gripper=0.0387\nstate[joint_eff]: [-1.0188, -6.4752, 9.8667, 1.6825, 0.4762, 0.0513, -0.0904, 2.3453, -7.8017, 10.7692, 2.5031, -0.2173, 0.3101, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84603a3ef373b7b159212e1942b0bc2afb28e7bcbc0bfb866c9ef63ebe69d0ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451719622039e36f5e262327931820af0151a51b98d0cb693078cac45b76b68c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8410b6cc5af37e2245efea6a8012266870e64433d9a5b1a30a2f41808de6cc4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEOpnC28nLg29P4yloRGH0V2zjfYrjfQEJPkE0zXKJ7XfALi3IDIOAVWqAJkndJEB5PmdsiltZyeP0E2k6huCje9nTiU3n-lu2VkhgUp1LXj4FBzUclMtjwm9xE81357cZ5OdREwU6IcVLDGnFdUUVyy8oTxgcm_Hvopgpw863qPByoK9d1KU_3lwMk0PZqM0zvLDIObJF0eNTdTwLnrWKrFhQTmwIMDjRfDKtfIlJpSdARrXN2diZn-EHkyiXTKboKk_u9kzqJhixPSMjqPIEahLWLdkf9iJI5m558EWB3dveE98ndSrHQgfUxotjRb0dIYE7BHnIewmTPtS8JlXgygIOfVc6s7OrglQgA3ackJpiry-gXWhdHTrFybNl1zXEFUAFTEAk0QpoBUdso5LagArKeKQEWu7x0T0J2VtLxL46GIUI7gUqauaEBxe_B8-kStPD9vflsa8l9b2F6LddWEn-b-LA-ZndB-Hu-1XEl0TZ7jge-sfFy5XgECF7Iul6u1j9C147PZWEQlF8oRaMBoYXzUhNjjGJ9bQfwLoAbl0CdTL1j_zAU8FWLTaFWnn-Nhcz34B-Z-uIxmSsMh0G4VNyxqh7JDp-xG5Oy9QQZoWmfHgOAu66bcEkIbvqNCGpgL2G9HzztswmzUB8bUjCx5arcf3Y9GPzZ0N102rZ-oxQADqD3f664GhVOQo3nS1am64iVNA_wYYJuXLfmGmpVbind5WwgG_0aDwPtyhv0jPaGDMxrag4SYGThZ7A0HfU4UemgHnabx7PVc3nI8mFAgh4ZTfmAbNQbbRdWlwHZBbKQTeRt1Etq9xgBG2CKzmJz0WGGpH8-E5KQJNJlgoPUIXcnN2ZKe5GCTfvczrHR9Un0uU23ZpAremvxnd-hvRICgusCcv6OZkpFtJevYKCnir2WreEDhqVR_7D5lM5hxPpkJFVZ2pHj33STFr6BclXZjLBJ-KWC30v1VK_lfjmXsvb91ne1UoraDM7M3OzSfxwu7XC9gx-lwr-vj3GAnEBIzCrJ1ZSQqVBHnSzWOXCsxqPIbRwkShMJzC73uYVWN2VuRfh3V2CyckeungxLZKt-g0H2iffcZ7ojn-WRYKredoyvTvxw9jyxf0eQQ3ZK8K8l7k-8iRSNeTMcPYYtw28xfSyN6EXfmGxjJGKJyu39C8r9MxQi1x5iYAlGDfSZjjRCfL1HVa6FGBKVnwM-f1--XY3SJmB8R8JQ8FYPy9J2rx6MD9U2GZAgji5malrAc3kMmNal2Xn5-5jCC7BrnK0_OrB8FseuyoCwXV5PiL9g0kSQ-8Ma3rrNguYoML9lb174lcNx6Npn5RSF_88_9QtxDVPp60jPqSsffJWtSNrURUzlmtTkZP75DlWPFVPbGU5rcb5yh1qIcbyvXpeb6j6qwX6OxPtjHVMBXmcPQtfIH3wC7WP0L6CeuzqkG_7qzjvtE521N3JypORezeUm9oRp3BBRoGcvcj4zp59LFMBETh3xj6yNT0QDyfu79eAVmyrVNO9vU-vRphphyUtRTxpqbrzJC_yQV-JiAB8kXkXfk80PiA_B-taA5jI5zRbSPibWWOFweAByBROi-efoY4jjDXJfctp--yQYRgCwaRTvx5ajQdTkQZJUXUBvPO1uk117SyELb42ptohEji-mserZJwGOmLG-x3BhvCPB6VaW2aBr-jp_d3z4sYb9bL-rpPOv85JceQjKLddtzYaYZ6xDKyVjyj9S-qH-uh_VKo7jIVmze9YH0ODz5av_woY7kPrH_yY1nFIj9pC0ZPeEs8j-Gc7f9I7zyiIr_JoMzbuw31wjqFeBeCgkCSLKEIEcihSma4RHDydxQ3vXGEc-QBgshgujVw_Gmzm9259sdHUS1unAp6JvICFr3kb1-uLPDiDz4GHAjTFTqBbdyiK64MIO8oObXND00D_EhxoplD6YBqUWnLS5id8AsmE-qehmZc2OO6BWCeQ1fFzAeHCmWOtGpskYpFXh_FWAunhU_1ZglLvl1Om-w2FcXP9lhNjHossJZc8Eu7if7L_oMoPHtlv3n5egT38Q3aQxKZlzWRjeIpc04z0kq0WfdxFTCEMAm3mmIn_1Q3uygH_t3FLMfGsq2xH83xW5c6HYS4RFA2F39Jn0E5IXZvhUTRFdNaW33DuT2HO1bds1mZIqW7v2S5De2toxuJPDNvXd76_QT52CMN8jWJORUFwstIYxKwfZTSCBuFt-2RGyuwzwRPsrTVihCTnQnjv4G_QpfMbVOT9PikRo8z1ig6Ah0-yYijujtmRxFU4MfqNdGFblEelrjG_pcyFQGuxktFCaAkTrAO2BcS-jRcd9XTXd60bkjif2YhPX8UNlBa9mUnXhSBKZNrxVNH0o1fcIFi6hawrkAAv_RY8CM1qSwVTbHRjfDXbS8HW3lGS7i37ML5I-NYlPIMbDAT4xST2AJc0u3iUagLlxz5lEXdkQ5d6T4ez1yxPdXVPQpa_cm8btRzOOVzb9yVsa7m5tY2DB6DZ_wyM3iqDrjXBwsJ4YlHR84eRbGzRlenJfjCxx7gA8eerdBJMF-5zhWqYg89evnuawbW9S5i_MZxcMk_juGKqWeMKO0haZFLKM165-lrxhdAmEfXxadGTnu8NfhAlZHo1vn_7SZN2WO4Zhkuszuz91jwxsIhdfl5Ccw3cTiYhcDDjnzz5iH5GGpdSVNhMl4ZSfa8FjON9_xCsY-y6WDIysadAlI5L2PB9xjS4Cb48WctnYhG01G1WghKEVQvKuWDZtZhddMehVuRgJL8SFHY58u9Q9r8edRVY5ojEyhgdv3ZdNjN0ZY9Xt-K4ukrSzjUUA4JGzVap-TL5ReZM2AnZKAVaVUbeH41k2XDu1qu31WZuqQc6-LtDd3-p1870iN1EJkC2TP3rR6aDFObQfQBJ1_HYOSLTgv168An5vyn5Pa9Lmz_JP54FADaWea2bPUHMCtFzQ5n4Y3yDPNJyOUnjT_z6v-ef_LmT4MtB73HJ9qvvG3fou2KmqUUPIW6uHjTH6jNPHOtxUf_PqwK3WEA8kKRGH2OWRsyxSGp48ZqxGlajuJregbriY_WDliKoSlP7vlfoRh10QWIrXN18eGqcAgXW4ZUD9plNgpLAh6ksIK61Z2zg5v_LvJjcRAHXsktK3F0WcvWipK57zbelwWFJr2TjHr2byUNyOAoJT55os0nOIQ0j49U87gllJSE1bVcWZkSMaUMUC6cWovdCtkLcomV_1RWw_a1CcwhiIlD-PyDp3XQQzVZCGJHD4re4Ce8C8z7GVt_0hTasoOT8aIiCoa2n1it8TnqdW89c5HfHZYPduaKr3lvaNjcVQeND33mJwpsMxQZKmIlIw82FEsa1a0dJA6t0bDkdLMKVPxY1-BTm13IlfPlehf6Pe21FLLGGx5jwMHZxoFJeaX1xq-8aT-E0_2gc4YHU9q51954_zkvX3PMv8aYXfUEcBUqI6ZqYpQ3AagkDi-n_sWyDvrodHQZV47_b9omZ690c-CvQCi88dsFY88etpJ9n6Ed-4rrxcXA2rSrlcmVPMFVwWW6j2MYuE7RD1Lx7dVQiEsEWO99j3kduFopuRbcgTqqkbg1Iq4qXGGf2P7LTFArF3q3eA6jjBoUOZrxUnyOk7boeZ_X9X7nkFfGCqX-QeypGl7XiCesPYrIgv7NablE5Qsd4KPtsWn8uY6TsA=",
  "id": "rs_0866b665f1bf0285016ab443a3e76487d0b7d5b8a38f184d42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.307,\"left_y\":-0.196,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.25,\"right_y\":0.05,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The lifted pen is clearly protruding from and moving with the right jaws, confirming the grasp. The two arms are too close over the center, so I’m parking the pen high on the right side and rotating it straight forward before lowering the left arm onto the centered cap.\"}",
  "call_id": "call_ys35UeVcoaDBg0piM8SQf2rh",
  "id": "fc_0866b665f1bf0285016ab443a88bc487d09f50b5bad491432e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ys35UeVcoaDBg0piM8SQf2rh",
  "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]: [-0.6086, 1.3735, 0.9718, -0.5949, -0.0704, 0.0288, 0.9994, 0.4446, 0.9161, 1.0538, -0.9848, 0.3649, 0.2367, 0.0387]\nstate[eef_state]: left_x=0.2971 left_y=-0.1875 left_z=0.1237 left_yaw=-0.5745 left_pitch=-0.4262 left_roll=0.0851 left_gripper=0.9994 right_x=0.2507 right_y=0.0536 right_z=0.2385 right_yaw=-0.0079 right_pitch=-0.2201 right_roll=-0.108 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.0769, 10.1949, 1.4774, 0.0659, 0.2418, -0.0757, -0.4034, -2.0171, 8.253, 1.5946, 0.232, 0.0024, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7de2460986075117c58a4af63c1867451eb705ebbcdc7122d7d03350796e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a3e33c93d15cf5262adb3dbef4c7ade49fccb77acb06eee933bd1feeccc4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a597dce678caffb1ce6d201abb9183595748f104cea2f93022772ab9a77f02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 8.583 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 38 changed as sent

message 42 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.3636, 0.8841, -0.3408, -0.2028, -0.1574, 0.9994, 0.5903, 1.6936, 0.4583, 0.5167, 0.0734, 0.0311, 0.0266]\nstate[eef_state]: left_x=0.3104 left_y=-0.2168 left_z=0.1329 left_yaw=-0.464 left_pitch=-0.2291 left_roll=0.0455 left_gripper=0.9994 right_x=0.3169 right_y=0.201 right_z=0.0005 right_yaw=0.5017 right_pitch=-0.1576 right_roll=-0.0252 right_gripper=0.0266\nstate[joint_eff]: [0.0615, -5.2171, 10.3863, 1.6679, -0.0904, 0.022, -0.0757, -0.2256, -6.8034, 5.5863, 1.3114, 0.0464, -0.0366, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6395, 1.3766, 0.9382, -0.4877, -0.1261, -0.0425, 0.9993, 1.0302, 1.6146, 1.2541, -0.4892, 0.4339, 0.3134, 0.0387]\nstate[eef_state]: left_x=0.3073 left_y=-0.1964 left_z=0.1254 left_yaw=-0.5157 left_pitch=-0.3485 left_roll=0.0839 left_gripper=0.9993 right_x=0.284 right_y=0.3358 right_z=0.1726 right_yaw=0.4808 right_pitch=-0.1939 right_roll=-0.0992 right_gripper=0.0387\nstate[joint_eff]: [-1.0188, -6.4752, 9.8667, 1.6825, 0.4762, 0.0513, -0.0904, 2.3453, -7.8017, 10.7692, 2.5031, -0.2173, 0.3101, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 1.3735, 0.9718, -0.5949, -0.0704, 0.0288, 0.9994, 0.4446, 0.9161, 1.0538, -0.9848, 0.3649, 0.2367, 0.0387]\nstate[eef_state]: left_x=0.2971 left_y=-0.1875 left_z=0.1237 left_yaw=-0.5745 left_pitch=-0.4262 left_roll=0.0851 left_gripper=0.9994 right_x=0.2507 right_y=0.0536 right_z=0.2385 right_yaw=-0.0079 right_pitch=-0.2201 right_roll=-0.108 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.0769, 10.1949, 1.4774, 0.0659, 0.2418, -0.0757, -0.4034, -2.0171, 8.253, 1.5946, 0.232, 0.0024, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7de2460986075117c58a4af63c1867451eb705ebbcdc7122d7d03350796e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a3e33c93d15cf5262adb3dbef4c7ade49fccb77acb06eee933bd1feeccc4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a597dce678caffb1ce6d201abb9183595748f104cea2f93022772ab9a77f02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOvF_0wItiM262S9moz8GtIAExV42RIvMORoz6ZYNZM7gRrXMwYGQE8ZoFseqaveCrw0mf2bfNkqZFaxco06Zrh387VzJkTdXN4Gn1bkGgUfZJN7cK0xl7LOjl0kfIDLIYa8tToqZGNf8BQNebyUO5LjEMiVrhPzHZcLFvC3-7ZO7b9Dadu2DC06uvKFVMLFxuGEaUiHK9tleh15EJthknVkuuJ7tg4-LoxRU8tKoDU-ruvF5Ra1goUAPZXrT7ueDpbuYZRb7X5v4uTyRuZdx7ZiL5bllqmVYcpfTsK6PTr-LRj10N7W7OLZn2pHYSrMNHylBMKoJR65-IIcGomFFVSCdOxIA4JuwEFe5-z3xnQi8LV0YDwK26sI3xchZNUUwZt9WvnF7NWQgH1yTmTovFtYUaOmHZ0bGbiz1salLPcai8Z5psiwPSQcNtmbzZl2_ZMMWJtO5xfYEKK41DULjB_QqZpR7S-bHvcOJt0e01hLePfMaFwhdtzC4Ogo5c4kina9da7PrZiOZsPwzwORlXJA1t__cmdsZF0myM7aDghcj1co6IWQuVFynSCsAUfdqH7yY3yhPVy44xB6ct7LptW2cfuWbINYma7_G2YYMTZa7whGUX3gWX_hFi3JwWRgf54WtH93Oe7r0J-BkzJ3pkO-cUKbS-QUy-KVica52mTIW8F_ZPYJ2pWF6-7SS25tG3qJuILxSVctGhSri4WUXgWeSLnnQjCin3LIoVsubw_c2r76wg37plWR9z0Tx6jUTh0D9ZNGLzZBy6lKAIjL18ALexMS9Ts-sluTBbNkkseBvRvCm3dd-p75tj7t2RUXnn8KAqroOtzWLmEig__WN2Vjwzt9c3Gya51AVdldjIoi4ekF-jauCb9AlL3fYQbxBIltAJPLt4RbktfrpjNS51wCQWBeZqxblCeDNMbUdjDcGfKqzgNDVmZl7PxmYQKwMetus5UHG5nIGxs4TPlEEH_ULEfqjtwyGVB-qPx6hQWFuFjjIReZ_WvAAH5_HE6w8VSO1x3LebAJ3Xjg80sLYL2Urf7dX8aj0Frp4LOwG5Esf8lGlx9BJuDnQItyYd4i5ji7xxsZfhqiCCTDhVUOummQ__fZz_4Tam2JR8nQghYFQG9sEQtdFkXE56wWICwaaM7U9oB5qJbEdDNKWr3ssBTsENak9xZm_67BBZ-WPW89DoVc0pUdGa0RvgQzZsMxtXSL7CyZxEwm89CSNV0KK8b-EtwaAs7fBPqh1uZ39__eMIatVoedwxU-fw9X6bx4QDtcdwMHa1QIaY5ShfzwVQvL5qThuKvK3DpePXFTIcX2PCnLL7joJ9OBPtoOpw8cPbrol3gkrnn9DH58wRHU-v9POK2IRbvZWo8aDR_TM1WzMGdR9a9p8rXAs26ilS6cgbYyfU9c2p2nDMJoP8v7Fwm42gO21sSCb5M-KO5oK_O9YZrwiCtoZZePfHU2Y_8cFvd8PJ6bwHcRBG3mXz8E4tDqw==",
  "id": "rs_0866b665f1bf0285016ab443ad084c87d0b5f82c24e3a14a26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":-0.188,\"left_z\":0.0,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The cap is now vertical in the left wrist image and centered precisely on the jaw column, with its lower portion at the convergence row. I’m descending the left gripper straight to table level while keeping the pen parked high and clear.\"}",
  "call_id": "call_LmFlmj9NN6KDX0OUMR8IciT6",
  "id": "fc_0866b665f1bf0285016ab443adb80c87d08a2accf2a5bf7612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LmFlmj9NN6KDX0OUMR8IciT6",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.606, 1.5883, 0.6476, -0.1131, -0.0566, 0.0345, 0.9993, 0.4389, 0.9318, 1.0698, -1.0187, 0.3428, 0.2199, 0.0388]\nstate[eef_state]: left_x=0.2866 left_y=-0.182 left_z=-0.0007 left_yaw=-0.5873 left_pitch=-0.484 left_roll=0.0771 left_gripper=0.9993 right_x=0.2478 right_y=0.0547 right_z=0.2349 right_yaw=0.0101 right_pitch=-0.2586 right_roll=-0.1191 right_gripper=0.0388\nstate[joint_eff]: [0.1162, -4.506, 4.8479, 0.8913, -0.6081, 0.1685, -0.0757, -0.1162, -1.1829, 9.8393, 1.3455, 0.2759, 0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0bcd6ee25673b9093fe2e8f86f01f6e43355c13b126413fe9666ac6a67754c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65921d779f21899733f7e691b88dd8e0c16a2293b3958bbd3a4f50b32d163d37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b131b6e461eed196ba9113afcf7e792f21ca7a08b4c187617143f6247b9dff",
      "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 · 4.16 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 42 changed as sent

message 46 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7124, 1.3918, 0.9268, -0.4042, -0.2028, -0.157, 0.9994, 0.5903, 1.4532, 0.5571, 0.207, 0.0704, 0.0292, 0.0388]\nstate[eef_state]: left_x=0.31 left_y=-0.216 left_z=0.13 left_yaw=-0.4603 left_pitch=-0.2764 left_roll=0.0582 left_gripper=0.9994 right_x=0.3199 right_y=0.2037 right_z=0.0639 right_yaw=0.5057 right_pitch=-0.1285 right_roll=-0.0221 right_gripper=0.0388\nstate[joint_eff]: [0.4034, -5.3949, 10.359, 1.6093, -0.0659, 0.0317, -0.0757, 0.0752, -6.2838, 7.9385, 1.58, 0.0513, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 1.3735, 0.9718, -0.5949, -0.0704, 0.0288, 0.9994, 0.4446, 0.9161, 1.0538, -0.9848, 0.3649, 0.2367, 0.0387]\nstate[eef_state]: left_x=0.2971 left_y=-0.1875 left_z=0.1237 left_yaw=-0.5745 left_pitch=-0.4262 left_roll=0.0851 left_gripper=0.9994 right_x=0.2507 right_y=0.0536 right_z=0.2385 right_yaw=-0.0079 right_pitch=-0.2201 right_roll=-0.108 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.0769, 10.1949, 1.4774, 0.0659, 0.2418, -0.0757, -0.4034, -2.0171, 8.253, 1.5946, 0.232, 0.0024, 1.0379]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.606, 1.5883, 0.6476, -0.1131, -0.0566, 0.0345, 0.9993, 0.4389, 0.9318, 1.0698, -1.0187, 0.3428, 0.2199, 0.0388]\nstate[eef_state]: left_x=0.2866 left_y=-0.182 left_z=-0.0007 left_yaw=-0.5873 left_pitch=-0.484 left_roll=0.0771 left_gripper=0.9993 right_x=0.2478 right_y=0.0547 right_z=0.2349 right_yaw=0.0101 right_pitch=-0.2586 right_roll=-0.1191 right_gripper=0.0388\nstate[joint_eff]: [0.1162, -4.506, 4.8479, 0.8913, -0.6081, 0.1685, -0.0757, -0.1162, -1.1829, 9.8393, 1.3455, 0.2759, 0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0bcd6ee25673b9093fe2e8f86f01f6e43355c13b126413fe9666ac6a67754c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65921d779f21899733f7e691b88dd8e0c16a2293b3958bbd3a4f50b32d163d37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b131b6e461eed196ba9113afcf7e792f21ca7a08b4c187617143f6247b9dff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO4I27NsEK_lzbfMtqJ0nk48qITA91w48-ZVcq_wkm19nv_K8vJW00TzdViwN72fyXCtxxO5HZi3Se07zykRse4vCNudRj5MVHEhx__jD1zQXacDv6AUN17YX-a2C3K9iBUyn4197bxoC9jdHdFHkSZ9RB483x-6lQLutMoBCUOZRqA1xw9snRa6H_1v_whrpvZi-i3K4cYs36s9BrJQ_J1QnmYm_iBmmBc-rILmjYChJ6t06WsvVQbfFPPD5lBhYZYN6h03F7uKUa169T4YVSgNlWHcdZ1um4af8uUK6zzv2E63wUYz08DHs2xgDDEvX7YUVIk4lRYBW3XiHxGfujhHVEd8HiitlZzdXcu5nklL-ANe5-mQoxDxUA8TwVhEqzh9uGP-3MaFH6qF3KFrIFNMPfsnBbLWRuzZb0fcCDFR8epnSHum-Qu1rzuqpTQm5U1jIxWjeus-Dl1mbhpU38zn2H9Ls1oaHo8BxXBYHKmk-YuvuC-PTV9KoxibnrVSERd-nExBGRyIX8rGNpKwEtCAotvrYyQDDMcB3zqCzyGZzPg0fEUkTKTBnJCPXxi54hdYxIp3mcx6fpbCGtmaGDgtjYtVHI_z7XzOBLD4JVqCwCTxlQEiOM4ioyKkPy6EhfMH0h9MxHf3loj_vjgn6YyFGg4tiNIgRd6OL3MwNa6VBL3OjXfT_MNqzA_HncVMnlWZ7No4S5n4aVJtohL-KkUbDKnGGWerLMARI0_UzEPiVpWJuYWS7VtBPzORf8FYTfLNps6FFaM8-dnLF8k3ljbeTa7_pdk8w3f9ZRCDINuQW9WjsRteFBao6TFba1onl6rQqJKbas_-tQDJYc6MQmj5qCsBeTWD-pybvojnr3xJDBM7SeqyD8lFPSLJl8bv3oCLMzIxGJlBEfcMSKtLuaY8T5QghYp7kKltCB3masQzLnoJsqv8oMNn3pUxLegCXnzaPUOFQWy-79dPJLghDy9jucRJLEPBTEZhV812j1JuxKe9wR7N7uQv254iVDSZPyH1YMHVxgFxmbKo7Th66VRfJGHYbecoPdsDzmOA6p6JZdZ0t7vucQ6bJxgLIV2IbJ1fwnmT3vWHZQNEINh_aawxz3lWsnnAU-v5n_Kg2TEDuiNB7BWKfCEoNjeVCEoASzeMAFA2nWOwxYhLpzAJZbQpEtt8blffAm0LYEbmbfRvm15Yf4jcPsq5I80EF2TAzY6wsQRz-SlXXZBMxT6Tvf0ZbBWe2KX4CIZX-eapt5oKWTNfaZdkxXH4tMy3me4R-LrlhxojqoYnh28wRiQ1_xCHhx5CxBmQlzwF-7sx4QKM_H2tr5xWRClg1melKFPtC02WccQLj-DnUsY_CGE3sFdmXt3lAmkPWHDZ6Ewatb5kfhjX4yNhzRJuBMkt4JUZP1yBseBOR3YuwFwO3q9lRZT-znj80hT4D--yJfgAWLJIQAGg5ek0WLP-FqCSlaut7LA9BvVWFEeB0zE80MucGDIvPVRTSZClEUloE19HXmvXst-7HVQvidVSNFDO620nwyFPt5N1T76mEgC3Aj6umQDBQpWYaa9tI7_GvtZzn1NOhnc1wzONKsLWXzhiicAKkV5qwT2LN8uFPR08-xfSXJ5pZGu5Z8PK0w9TpqeM25gXCMIYb-9xYW40_kivZoJGu2nvLrsqhDULLQpDIfnFlQCqj6nteTexHmEGx0SG797TCtg8AZrFqcN-NKqRrkNBBPU_MPuqZWWLvtTL4B9tL8h5CCXo1auFVJZPX8kkSPYDllesy-V_pf38zyS2qsXwZ3fL76RIO2ssdmsRRSBzEazfVn8lJiS4djacUEIKlg_Ov7KPXaKtyItmvrHo-hkEbCGorajoPZJKELwTlYWC94B6MyKuaQxyiBS9Vnx0EXRMWdp60INip9PBr5NGjH473BL0apDxEhftRlEIl7mOGqlwVo8NdgZQoFsKeMVDY4QKkhrrGoTGwUuv0QkBdW1JQef9kqWi_WypXQbHVs9psMN_9lXmK_ZAQCL41Y8tpG_MRziIvwpSKIPvA3OJDxOYFWwFrz6EgbeF-FpVKArGEviS3EbwziTU9orh1-_d6ScRxJeJzihkiPlJSP5_1GsP2nwr-OyJTE-0agkq0hUYMbg9STW3FZdqy-9pMk8XNolxFzRZBilpciKyoD-l03HRAFaNpJZZTbzzhLoFd3bPNOzdHcJP80yVIT8V6JbBpSxS6Dvu9LLpPJ3clF3iV1X_neJ3FtZ0pjQ-_zKgsYbMSFXBoYvW8JvyZwIfrHPjV53ckYi3-4qyoiL93LHw5zboZpL5cGfA-Upax400nS9OiWnh11E38GNBmlPKkGhJXeWAeAldIf02diEfXKvkmNhw_dUtKr9OCwgv0UoTp1xoRLR07uynONw58izbUadocYvd0pQ4Ne_tSRUapren_nl-ufW11gJ59zjis-ii0y2rs_s8KTl0Ebag5b9E6_BtazMMzpaE1tXSL-JB-zQSMPi8GLJAyb0BOC6YQPEfQdk8UCAmsRIA2LeDLlgrT3IAHoabW1isDjHNXvcCrMNygB-1nwHRQfUTVs8RkpJL2IrqduxmTMpykNR3cSTLVubpw1kTPE0X0pPxCRV5GFsC9N-qgkNsux4WdBBGoGhP4CX4dl9u1CrIOH47wHe-E4JJyTFaF87fYjSNJ49vOMInpjdhxopelM9C8Nsytnsuy2bUkJyzVfvZp9PvMHk33YSeDZvHGYXcjWPCquhF4GTQUgzhWMowucj0WbIYTkFyvAUwI5QVLpk4DinflvVjlahahtTTeG42AXseAKvaN6KnYMupvziDRUrxk_HPK-zYd0_RBbTRVHxHOon7SBm5AaiV1dv7WhD45MukZW8SJn0oVij2gwu6FqTyjy50kyQ3peGIJwagR8tpTd1m4ja2Y_AShXpPLLSfvDAMn6MKA5mSjck4UTKJWHKDcETcUc-D1KARsOfGAEEZRQI3X83J1RJJYPbHm5011xTulba6ET5gECBEdqrdXD-vi9HDukrhDFirqK3CwkhOq2xvLudOF1ghQoefnSNwdTzlrnxfY6Ya7PjYQJN4_llQBoYM1TuisOl1ijTkDnaCwUlifX9KE4e_vhHKeBSdN6S0bEV3pXrqFHN5yr2awNnkEzL8AWKm_XzRHBqIiZPf3W5b9qOL9mPoKZcr7fjUtVneVDTXR0f5npa50lebiM84EjpZEU4N6FP1ssAzh4btpBfGiZMcbhGzZToIVAUt1FYvA0WjwMFIHGfKzVWq7F5EGytY_Qc4Hm0BAoifK1r3KEIOBZo5hUR0ge0DBVYZcv8ZC9syI7bRZw1rGGkPK3HcgdAOCsxr6HGzKXew0kSs3Rfwqvhc0RIWtISko4v_Abjm1_yx8YmVV9hqxK7j48lHljDMsZBj_6mhZjDRSNIfkFX02g1lKikhtDsOnQoVks0srb5wTbHzYS-4GIOeuZNwlIctADvYcIa38EFSkh5494ZToBDRxPAoZ1VPpTCQUcSbI8cNBMrobiQc5ErBwYE265D4zqi54dLiXbDCugl_NJwjtY-oDZzdCaXguxPkGIoR_g7kJUWQ4orPl5J-2M-SbONeyucoUXO14eIzIdPtWzjFnMDUGF8YrmTlTiMgHPB9t2vnycVELJpy7pSsZu4G0prS1-U2JY3CTzuSm2dwBm6XF9n5MDZtiiCqZJha5Qgn17HmQVSPmF4_7DEovuhRLar6ADh74TiaE71rmeHdRZ7a7Nl9gbWLFQJhWM6cBqHH5xpRK96HMVoop200odL_eJ868SWlpU13l2tW2H7Swce0-M5uLvbKW4LN8fTPCpQxYZ3nxhKBxDy80fboC65uirbcMkfGvCLMgQ_Vt5L0AMX04PbD7CsGkYRx2QKz9Q4r5vQsRgYUuLC6WCAlk7usApE0JlNopSzcifQR8Ou2ZZrds9VGNJn8P2ZeSvPNNjrupAxMVSA1FC4B1x4E9FVm9qjcYcZvN_tei-SwQQqcToG07zPkeNsflS6O3zg4tUMVuRKS3YpzyPb4MfDzpDdTUgAnNH98UjM0pakN29VNFQGVREn9TKyo024WeH9bHO_DXWfDA-IieEajh-LkSJJlXzH54wWkuA_un2MZ7hq_QdoCdxggLSUSMQ51dW6KjjkUwWZOexskUATJh5t7DQVQa5sdFtsNsQhYnVfS9-U1aIfe7B8w_sZcX6IWP4=",
  "id": "rs_0866b665f1bf0285016ab443b1580087d0be361267ecc8a886",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO40NjOUl_VeZnZwdsofEK-d2azmrYggdkAS3s3LAIQXqRmH0ot6SBN1GAtJBZFG4T7DvZU0cMmO2U-IOPq7UdKu3xbpntUNZDUjkG8F2uM04qOJu6e7hH7mRdSXobCJ1zYqgCgmpfFvv7xArTx0OPsTasn-eDIgqCr3iwV5Vqbuqnscfgv1Lv8rdUqnQxvfH5DRT3EPjyS7v1landW11fvW9OFr4DqyIP2g4YNjWEEuApQw-f4rT8P4RZidzicVER2nanPWDepJSizH0XRj8WZmbTopt6gKDxWJ-AcvBf3E5cL7RV39t2bhoOwMCNXhePhiwOCBh7GvSjBbtBSoGnQjJkxtg-796QlYtjpBFhfwqLGN9DHYczhRVgUN40xC0UjKjzhnCam570PfRUZ1KEqkE0pB4O9997tbh-3XCRMmyNx6lVOXTMfJ2MqsHtGhzHYktMC2kwbKGT7yWriWXCiyqTh6nrEfrsS6YC4FzJBioz5FHpXGazLE1JMQBOdrtx0WD24u6dYsuwCRMSp7aXIqyclxThsy44WxCs2FPtLrS-lsZVnaJ0ujE_BYGIVF1GwV2eNvwU9dIkmtcvhdyUQCNnktrsrLTzPm5inwkzWnMb_bnaAZVqFK0UbAC4OYqks0NBk64Xiaq1PziFb8YfbpQOd9EUAuI9gilUn6FJj6iV0zHdrOlyLr_0FUiu4596Oq__mPlM6p5JWe9Lk7tNv6XkaSH-RquIUg-Iwv9K-qSETZQ3Mip4VviJ6Flrr3v5usog5Dc3TaRunpz6sD9Hz1RmrnUAHfIfr_AW1Vg_VFVWM_kGWdTepLHdNmXqjhWeOasc_bZf3YkFqQasV9wuwVbuYjNVKvSpdWWXKETdFanDu1VR1pRDGy84xcmNl8RaJIoLtdfEo80yQcRD3mgT97Cl8TfkcieU5aCS_NNautslWprHYYQ9jHj65avJoZgloaqiSrzO30E5anGfjlmJ-jj4kVx974ZxnmEYEQ-1MQI4KJ1uDtm50DVDCRffrFdV6i5owQgNTbL9jX6j1KlmjlUHwobfpx2mUMzcbHAIAyYmpSoKImST32hpZef1UvKriIGXOFj1k9JXB3GtaLFZfpa6_0Y-i2fKaRvZ8DxAyKvXsgdDgrH3zVQfp8tpyuizdd7LjIp-Df0ugk-d3UBp4af8p98UHdxrrtQucPYkWx126g90Awt1zHfeZ0S3UQl_Vdt10j3kmgIHUqmJDwIa9mjgkWVda_6tGZQEjjpGOm_Gx_Yd1izTuCJwTQrzpqrUOak-Nz2VpJT0Q8XjjHHwXgWEteEOJxpIcwD7VX7rcWhQzaYS2Se2Kn-JT1QJNtkGWZku5bLDpYxApfKQgHmV0BT-BTE9ybc0ogMnEYlcy0szAxD0XiKDKaBYH7d4jhB_03jS2xqocstFjvWDDT0BzwOL2o_Usi6QXvDmTZx7LSYc=",
  "id": "rs_0866b665f1bf0285016ab443b6cd0c87d0ae9052ba3de2e2c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.287,\"left_y\":-0.182,\"left_z\":0.07,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"On descent the cap shifted to the far top of the left wrist image, showing that the high hover was radially short of the fingertips; depth and height were coupled in that view. I’m lifting clear before correcting the left gripper outward, rather than scraping the cap across the table.\"}",
  "call_id": "call_4x4ycxEiRq4NSmhD2M57m0Ug",
  "id": "fc_0866b665f1bf0285016ab443b74db487d0b258a52a7744f583",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4x4ycxEiRq4NSmhD2M57m0Ug",
  "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]: [-0.6025, 1.4517, 0.7784, -0.3782, -0.0513, 0.0357, 0.9994, 0.4381, 0.9684, 1.1107, -1.0588, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.2872 left_y=-0.1822 left_z=0.0544 left_yaw=-0.5897 left_pitch=-0.4818 left_roll=0.0724 left_gripper=0.9994 right_x=0.2484 right_y=0.0555 right_z=0.236 right_yaw=0.0087 right_pitch=-0.2925 right_roll=-0.1318 right_gripper=0.0387\nstate[joint_eff]: [0.0342, -6.9402, 8.841, 1.3846, -0.0415, 0.1197, -0.0757, -0.6222, -1.3197, 8.759, 1.409, 0.2076, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759d8c101abcdeceab55fce080403b189171c40a72227708b72ce4dd9c25d989",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc31714958e704f7f08ffaee8470b63d2fbc078b085a9b955148ddf1b4c39fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b03c64994a3b6aec0d6180a8fb881d0ffb82b01df780de71fa675582778fb8",
      "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 12 attempt 0 · /responses · status 200 · 8.032 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 51 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6395, 1.3766, 0.9382, -0.4877, -0.1261, -0.0425, 0.9993, 1.0302, 1.6146, 1.2541, -0.4892, 0.4339, 0.3134, 0.0387]\nstate[eef_state]: left_x=0.3073 left_y=-0.1964 left_z=0.1254 left_yaw=-0.5157 left_pitch=-0.3485 left_roll=0.0839 left_gripper=0.9993 right_x=0.284 right_y=0.3358 right_z=0.1726 right_yaw=0.4808 right_pitch=-0.1939 right_roll=-0.0992 right_gripper=0.0387\nstate[joint_eff]: [-1.0188, -6.4752, 9.8667, 1.6825, 0.4762, 0.0513, -0.0904, 2.3453, -7.8017, 10.7692, 2.5031, -0.2173, 0.3101, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.606, 1.5883, 0.6476, -0.1131, -0.0566, 0.0345, 0.9993, 0.4389, 0.9318, 1.0698, -1.0187, 0.3428, 0.2199, 0.0388]\nstate[eef_state]: left_x=0.2866 left_y=-0.182 left_z=-0.0007 left_yaw=-0.5873 left_pitch=-0.484 left_roll=0.0771 left_gripper=0.9993 right_x=0.2478 right_y=0.0547 right_z=0.2349 right_yaw=0.0101 right_pitch=-0.2586 right_roll=-0.1191 right_gripper=0.0388\nstate[joint_eff]: [0.1162, -4.506, 4.8479, 0.8913, -0.6081, 0.1685, -0.0757, -0.1162, -1.1829, 9.8393, 1.3455, 0.2759, 0.0464, 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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.4517, 0.7784, -0.3782, -0.0513, 0.0357, 0.9994, 0.4381, 0.9684, 1.1107, -1.0588, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.2872 left_y=-0.1822 left_z=0.0544 left_yaw=-0.5897 left_pitch=-0.4818 left_roll=0.0724 left_gripper=0.9994 right_x=0.2484 right_y=0.0555 right_z=0.236 right_yaw=0.0087 right_pitch=-0.2925 right_roll=-0.1318 right_gripper=0.0387\nstate[joint_eff]: [0.0342, -6.9402, 8.841, 1.3846, -0.0415, 0.1197, -0.0757, -0.6222, -1.3197, 8.759, 1.409, 0.2076, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759d8c101abcdeceab55fce080403b189171c40a72227708b72ce4dd9c25d989",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc31714958e704f7f08ffaee8470b63d2fbc078b085a9b955148ddf1b4c39fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b03c64994a3b6aec0d6180a8fb881d0ffb82b01df780de71fa675582778fb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEO9lHwSf9KISew5uHbNgYI6opi_XWdHm_TzHy9hV-zQWqcnclDsfRHhpu7VeartNOdoXCrTfT9F0RGzdWGE1UpvFbOU3Zo1iM2wWJhel6U8ohA-NTO83cpW6dbrLvg7GPo8HKk5UsCLtQoPrPt8K2VklnYeDuyV6A25kldK8YUmRuJHAu-ClpeOV7jSLnqnAVvm5MM-VbxxDSAdY7E9VPPfalH6HHA-_vV9LATdUl90VpMX23n8rDztSzmreTQzkL4oaqnJp4zc8jIM042aKIaTz17U066tM-_UbVwUl3ejfCN-7v85AiIQsOLWiNZ7mZKEBDanetRx_GTu_4JgGO6Q8_Zdg2-SEDjYuXElzJw9y1WQO_8oxWJ3RhUOhXOoVtsIclkADWdYTgAV-BvtlYkCleZNB96dW3BJrqncAmZAXwK_VYC-YTi-DnxJ-OGngdL2gSTULbCo42LsV5O1H8GLFaidV51QxdZ09KfTzfPY78yI24Gph1g0ocT5ckfm3_DCk0PVvMpUzhr1bBJoxJDClisJwIPYXxJQgE39o2rRSXwfOotU2K2XQ4u49jQ-szt6cC_MnzEYUq2LXO4aNIaFbSQtwkqZG6ocuhRrE4QVpRrFFK51OgrLRssjs02hcnOdESCMzoAANl2FsHY5dNPEsO2fKYolkGhWAWSo9glNOO545Gw6VKqnJ9ecMDU1d1AlBsteCaL1MoRNe4x9bhofTlO0O_lUHbapx4i4lxK1SODdG1LQe-EU9OKqBNplO7pMfAMpytiDIYQf8ZqNp4lAfD8jURZfIyDeYzmjHrvT-gjKTzkWelv357N3IS3leoTlOAeQ6i_Ic1FccrrvkoHmzz-rjXhcak65hGem83t4UpMLAcBK4C47tbgKYJ0Dw_Ww3UPhgl9N6UpTd0VEadaHfmRclu8FuCyj5VBLjXfsxAnfrn975vl6ETUT4LZs_D3-WGZGMjkSd5DOhM8cbxDuX01i4INvaC1pFazJyEfKAeFJckxjxgMf2zMsC9P63s0l45QBG-47feupKE44D8nA7CuJBdc11Bjc-px0kwgt9LiP6-LIBsuYbcpIfQakEN5KMW7vgGdqwUrH6_yHXwnXtW8BbMySzRpFoyt9k6EOfdSNc7n683YpT0r1MW_jFdUzA5xrQfeukINOufOjZhba9jMbXpg-hEc8ht2YTIRpRudwhwL4UwVusjeakNQrGE2fLG6i_XA2C4X0WLOrN2dp3em-bP-1wG3EUxE9l0MmR270ngBOXxTAh6tXmZS0R8j5Na682DIjGgVXLPX-58blxL6Kdg9u9X6Xa2wE_vrIztbpZhToZDntItYI1ultpgL4eFlcFOuh8kEToF96fLzcSlpykOO4baFz7pekPBYbZcM3q9x5d01krTjBavVgPPOppnVTYTWm5Tr1UXD9yXYGp9WOF1m0cPz0GCZx3IVZuGYeJYiRRNDn1F5CrU36T-paw9HBK72ucbKVgzEGP8ZWClAF432f5lm6AIYQP72BOc7oW0MepIYomTicHny9zuWL_OmcIvlM_5v2vR9ZJvurinwYoSIv_54TUeVTAVNwhICs54910-QERzI9vhyraoJ9AmQGGvhlPHahSWhoW0p6kP2DRnWKfsJXKOjVvl1H2dUQfiX1XWHUHLKAcMeJSILoKQ8nZzU5dfpH7A-lnpzcl30i7utsKpeQfDD0mfYfID0ICWdUh1QsL89HCqR4IXkhiCDeLoyRS4G4_5JMh4h4aiszpxX1EzNU6vNjfX2Wa4N8TGaCIT9w6ecZOg8hjFvIJe_CK3Go0YIVwKRIfzzHRTM7nEg_OSwPobN_4snBcWnptFYsNBdTQEAFVKFcRYIKL0Hs2KjtArVZb8NAiw5Di6Y3Cx5cbrmhMJhMxy71qOYMdpHlSDolBGFOOWdNa60VtThJe0Iqr2LbOnnNezTOWv-pitpzb6nutBCHGK1szclHWCD4VNCb4NplMl8onsPoi-4QpKFNgx5uJCTejIR97t-uvW-IMa66M055QUMmyIGiOmvYjbSiVO-ZohkEhmzWqMtX97TSJ3VhL2MiZKqe2O0S1EAHajb2izvB7eBPMfv4L56qSSMit06bpZtk49uHqZyLH64zfXF5jRiiI2rzbJGcJVhFSCs4XVuR38HVl6s=",
  "id": "rs_0866b665f1bf0285016ab443b9f2d487d0bb0daa939419865e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.182,\"left_z\":0.07,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"At 5 cm height the cap is centered laterally but sits well ahead of the fingertips, consistent with the overhead estimate that it is about 4–5 cm farther out. I’m making that pure outward correction at clearance height so the wrist-image shift can be checked directly.\"}",
  "call_id": "call_TxEKUTRGFsx4LLewx3GOJ0il",
  "id": "fc_0866b665f1bf0285016ab443bc072087d09b4adc2a8210e25a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TxEKUTRGFsx4LLewx3GOJ0il",
  "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]: [-0.5117, 1.5768, 0.9112, -0.45, -0.0208, 0.0853, 0.9994, 0.4381, 0.9699, 1.1187, -1.0672, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.3172 left_y=-0.1698 left_z=0.0504 left_yaw=-0.5598 left_pitch=-0.5476 left_roll=0.0668 left_gripper=0.9994 right_x=0.2478 right_y=0.0553 right_z=0.2375 right_yaw=0.0085 right_pitch=-0.2943 right_roll=-0.1326 right_gripper=0.0387\nstate[joint_eff]: [-0.0889, -6.5846, 9.4017, 1.2332, 0.1734, 0.2125, -0.0757, -0.4444, -1.9214, 8.4171, 1.409, 0.1783, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc038b2d5f87bc609cbb4e0c1011b4f8d4dc570213cb68b62a4dfcfa3e48eec8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c281886d4c286938229e6a96f1c5a88fd78ce08fc4dde85b9dc65d3a79b6f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b487c9e4d64dcd9cddb733a0c0b42ecb1ba0b5d41b1eb958dcc7bd382e93df",
      "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 · 5.033 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 51 changed as sent

message 55 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6086, 1.3735, 0.9718, -0.5949, -0.0704, 0.0288, 0.9994, 0.4446, 0.9161, 1.0538, -0.9848, 0.3649, 0.2367, 0.0387]\nstate[eef_state]: left_x=0.2971 left_y=-0.1875 left_z=0.1237 left_yaw=-0.5745 left_pitch=-0.4262 left_roll=0.0851 left_gripper=0.9994 right_x=0.2507 right_y=0.0536 right_z=0.2385 right_yaw=-0.0079 right_pitch=-0.2201 right_roll=-0.108 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.0769, 10.1949, 1.4774, 0.0659, 0.2418, -0.0757, -0.4034, -2.0171, 8.253, 1.5946, 0.232, 0.0024, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.4517, 0.7784, -0.3782, -0.0513, 0.0357, 0.9994, 0.4381, 0.9684, 1.1107, -1.0588, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.2872 left_y=-0.1822 left_z=0.0544 left_yaw=-0.5897 left_pitch=-0.4818 left_roll=0.0724 left_gripper=0.9994 right_x=0.2484 right_y=0.0555 right_z=0.236 right_yaw=0.0087 right_pitch=-0.2925 right_roll=-0.1318 right_gripper=0.0387\nstate[joint_eff]: [0.0342, -6.9402, 8.841, 1.3846, -0.0415, 0.1197, -0.0757, -0.6222, -1.3197, 8.759, 1.409, 0.2076, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.5768, 0.9112, -0.45, -0.0208, 0.0853, 0.9994, 0.4381, 0.9699, 1.1187, -1.0672, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.3172 left_y=-0.1698 left_z=0.0504 left_yaw=-0.5598 left_pitch=-0.5476 left_roll=0.0668 left_gripper=0.9994 right_x=0.2478 right_y=0.0553 right_z=0.2375 right_yaw=0.0085 right_pitch=-0.2943 right_roll=-0.1326 right_gripper=0.0387\nstate[joint_eff]: [-0.0889, -6.5846, 9.4017, 1.2332, 0.1734, 0.2125, -0.0757, -0.4444, -1.9214, 8.4171, 1.409, 0.1783, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc038b2d5f87bc609cbb4e0c1011b4f8d4dc570213cb68b62a4dfcfa3e48eec8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c281886d4c286938229e6a96f1c5a88fd78ce08fc4dde85b9dc65d3a79b6f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b487c9e4d64dcd9cddb733a0c0b42ecb1ba0b5d41b1eb958dcc7bd382e93df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPFlSbCLPuFfnmGjE3-ynLMwcbM3NAPbcRwximiDV0nGqpFJ0GBQOJ6VY3VC-ooqdgCcrEHA4CJO4Hr695xvsHvN_fzulrSXqRtSi43rGNYj-WuHePwfEaIJKUw8XdzQwlHPfpLvfWCh0nsODJc4w9vqNPMx8PQIncZ-3EwopIK9i-jZ9lduWzaRAKm2tLZU8D3EUp7qPL6A2gtLuR9PDNOv5pEICDrV2DPh8wHOFGYMHYZQnqIl3fYpFkg6On5KWg1jK2HKVM8wdt3m08CF9RCFdun0NNbs6X0EpKDZzmCGJNKM5Px6P1eEhW75FlUXE5-8w5F04qgKUtFPtRPl6CrLXCRO7Kt7SKYk2WU_Thtiid2PVsVhQrT1qq_vgL_rkr4oQ7FG53EZJdvXCLtgwIxf2mZySLFwRiXNn4ajkgCiENimtV_2G2xxSW8JI3YxOCdnoG9q_3St6kmvIt1YymtKUx0_8VyuCtAO_75VJffF-fHOX0-5AwbD4DXQZwUJl2EV6ldxUhaIvWuTIxjTBUsDC7UoCeaYvbX5x5w_rGiC-sdTwWntK0tMPegL5VN8Nf67ZYywkwTBdigH6HG0b3UT0LmHyuIsmvGCiWt3IlJKzcF7KF9FG41VGZ7CiuVeYEA9dNT0vqEzGNEkrIlyU8dfP32lpTxsHUxP55D44OKdu1c5wLjAM57LocYdh821kw_mldI9x5UsRnZAcGo2GoI1V5udIOZ12oiPlI0HA8W9bx6DBIvaVrl-U4G-yu19mtHKb_yjiUM_9Lsv-R8coWbz5gZm70nbzN5dJcJZTp13hb12tgsZKl4k5CXFmERzgRh04grbv2jbvOm5NEi3n5cn7EjKWzMkoq3P4CTonXUkEF3X4t7a1Hz5YyZo_FB3METr5aJcrVbXKkS30QvlhuYphwAmdpLWKLDTPHwZJRw89ydCQ2wN0ZM7GcllzcphBw7275c9rl5dWjr2RiEFKsKX8k58zmaLbFaA7s0JCA7iKrDEAzgT4kLSquKiyJb0XLxD0A8ZWLi18dCRJNMJRHSkDrdKQ-SR3VjRqi-2DjUvudpyW7M9RRBtlCJkBYNTmxBG7plCWIr_K2rEY8C9MPzCuB6VU0us7PmBW6wtqPN4p0WvjBFQ4EsjSgxMAhWq30gi5SWfiIUFowWsvRT4EzGWpVqX-4bvYggu1-HD6vHCPNZmZBBwFLVE98ZhNIPjo4879IGxrBJH0g1zyVYYwaMwdXXXUsWnJ5SaDdzmZ9Xc4NJuvUyS076DMBd--BqcxNI002p6qQm_P_yUnyaaWeJ8MNAZiHPsOkVWoBSx3XkOdqlfchseIyeS9HKnbYNvmINb9SCVwSuFeUpUWbLf2DfAgN0SvDTJqsN4pboie0DBgxRnbDcqIH0_ruD2BbYvvoaHo70sIk6Gc3MSbOHkJeBNl_hkxI0nNjbpEY-DP-rACOfnn0dH6fxcdFmh5uXDekto2Dw0suFPf9Ukp2sNV2zkyWXbIYuLOjPoz2hrmd4BGpFirxuyZ_P1zXsN_-cf0VAkdvdWNObdNKZLowm9GSfH2iL4_UvxvOdiGbpUkCVgRrso-Of2bqtXX-7tcgH9_oqxayvXFAXexYI-ZqObbHJLQ2vZu5X6GWVX3_G2vaUSuCpwK2WP52_a3HH0LA0V3IjCiB1IAObZkop3OXUL75Jc0EPCMEUyR3h0iaTP6SWUOvmyjWWjs3ECreY9i3_zdcDZdDZ0XM61SnqRQgRRUGnccj3mouN--1ABKQ8GwhgxAhQ-_F2wi6ZNltI-SAtTrkoyibrkvr0D_ywhjfn31ClsWLlJS-qCTPS3obLX4Uq6o5SnqPNfurkPMq1cNmPp3hHVoJrQRPJ1RkQAsfRPUNJl1Xn_4xnVEBcLWlHkvm8HuIf7O7zEONVZ0CusfO1Vi0O09JAho8bKxiD69igQ-azRCtLqf2FHaEykewKGMCq0bTw4AJihuzIFslm-EacPPFDIlep1BBDwzgX1EwNfrsmzE23r93P3uDcqHmYlsyFoOlKWRq4RhdqmqILOCjku8zuQzydx5PYcaJp4-fB3vsAKnDG3VbcmHZUPE81stiB3zSY34nQNH8ZJHDVcB66IcJQacPRJqYnJd8oJtZ_SY0V2mOjcLPWZmwBc5HEJ0xBllys6NOXqqaKVWVITE7Ysqlh0ao_ijoPqh8q8KgOjvOOIqEpAgj8zg9cqLDoJ-kxXNEgX0Sc6rvv2A2DdgLKq6uz9RQY6c13Zbx-tcV6RI9MmmlnJfaDenFhNb_8m1NIHfgi2SLZtdrnKpuB125W-Ynw-wqowJ8-3zE8Hb2EwjfljDRHzQSLdrf1_aSEXQ8BAe0V0kk5uqkwN63YxoyvqWyx10K2rSsDLpUNwxM-6Gl4ePAAI8SX_AuJku_7r2deDUjv4hp8B_p5-e7o2uSE_fbdq6d5qnBCVEMLQN74V5PUfRcq5-xp8TTQUpeLWpkdoJzTyydAoUxUN5_ib20ZjURvlVZ7Te4lbEJxfsDX8SHwrysC4dahPPtofXrebCwq_v_M-9ZpIciWVITcJUV-0QS59XfrOObOE2R28OYBQnpcCrIKaS7wM-s38vYq2ssS5g1ELO1j2RcBzaBU22eoqbl__tbMNFFd7sAaDJW8crjok8LDLfZxMFcYPLyVXcIHvy9o4ubOxoBeKrZnYND-cVS0d1VnoaKHDzc8f9jXAOkQfBBogz5OkKdAFBMVhISNUijW3xUNd6bFjYgImS3DlOfns9NGpcYg3flJM2iyPxSmL_WXKFP5iJsgufSO3i-rbWUDqRtb5dQgB9OxOSC-5pjMcY9DSX4ca87SkCIuLusxB79puC8xQRK3RfyA7WakwNWitd4oP9KF1A0guMFcXAEkmzF-YABVChhddCD1u02VwUDZuI2g6WXUjtb6R4VpXMvimvi1930GrSAdXapHttgr4SD1tOCcJlOUAxFLwnHGy_u81Gw743Snrrb9A5Yi5zasCAWBnyWth8F4BdWBthKh-r7-GOcMDfqhMeJ58oW1WEtjCw_1QqSwViW5n506tK1U6eTCKBS-YfiGd7qScydzbcJ_wKYsMALkmVeY7_cMIlrt3ERu1I9ZEwnd-TBX6ymENGo4C2vWs784Zbgn3I2esTpDCKOH0G2hP8EQbt_tCxh1ED-gm39Mfy9gePgSQrlDzHjxK5zd9D52qOzyXahpKjBCQAZ9ug7neZzMYZFazmC4q0v8BoyTq5ddGFy-6sbEMt78ttkCScXp3DZc8V5aRW-Vbiz4kTK8UQXSqSx6JNumf5jFK3R8srq8En92W5e6t0irtQYcD46kjsxRIQex8oZ9bmQJ0K7x234BDa11y3IZhcSm5fM_lbSRHDmu6ddRVr7U20yI9Q8t68rc2A1WZ2_YuQBLa-wCMbTp16w2bLsliQTNz_Mru7Ubs393csKAgeTWpCvNl3ORQpdG9OujNPYtb8BoEGSLPEuIG46wsL0yb3EFtqu30lVTkpgHY9tC2P6KVQaIxWWzIKRYVhPaDYwLWEYCCVUfOLsUXRF3_BMMs_wFT4MTQG0C5V3UGkA4XhQrvW0RF5gEAIVKx96MmTR3aelc3As0M3GPqwT4TlDQ6oGj4EJFYG7hJS4vuVBEHmKd0tyBIRWzOTsP5TVZTcrJfSWtC1eC9VBEB6LcMKgoRNKSFA3QijzPO617ppLpt62PufEvBrZUKSwLkhvPoMRM_4N2DRnEO3r9XoEyOCv661cdd1wpiajX3hdMRHGx9xyxt0d1VN-ADX22-iUvh5usrD_EyTd3hCi12dl8VJ-qKX_6MHdIDK4tRafpKafEgyN9_H5KGh0_cnh_CpJ3",
  "id": "rs_0866b665f1bf0285016ab443bf487887d0a93772cbf2b0ab29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.0,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The outward move coupled into pitch and lateral drift, but the overhead view now places the cap just ahead and slightly right of the left fingertips. I’m finishing the remaining small outward/right correction while descending to table level, keeping the cap’s yaw alignment.\"}",
  "call_id": "call_qpzKaflbYe1G41gT96wUuQnb",
  "id": "fc_0866b665f1bf0285016ab443c4321887d099b1e2998de98caa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qpzKaflbYe1G41gT96wUuQnb",
  "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]: [-0.5041, 1.5867, 0.9421, -0.4583, -0.0101, 0.1074, 0.9994, 0.4381, 0.9737, 1.1187, -1.0679, 0.3382, 0.2192, 0.0387]\nstate[eef_state]: left_x=0.3242 left_y=-0.1727 left_z=0.0566 left_yaw=-0.5761 left_pitch=-0.5354 left_roll=0.068 left_gripper=0.9994 right_x=0.2481 right_y=0.0555 right_z=0.2365 right_yaw=0.0084 right_pitch=-0.2986 right_roll=-0.1346 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -7.1179, 8.4581, 1.3065, 0.0611, 0.1294, -0.0757, -0.4718, -2.2632, 8.4171, 1.3993, 0.1587, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d665f3020940af410dffa87511878f7a2c4ac49cffa245075ac6fb1246fc70c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb46e189467a2226ecbb7d6b9229963011579e93e82b42188e6f6e948f3be34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed1405617bc6f543b86a4bfd0a370f4c51191bed1fb5f7e8ed9354b299aa2d57",
      "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 · 3.483 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.606, 1.5883, 0.6476, -0.1131, -0.0566, 0.0345, 0.9993, 0.4389, 0.9318, 1.0698, -1.0187, 0.3428, 0.2199, 0.0388]\nstate[eef_state]: left_x=0.2866 left_y=-0.182 left_z=-0.0007 left_yaw=-0.5873 left_pitch=-0.484 left_roll=0.0771 left_gripper=0.9993 right_x=0.2478 right_y=0.0547 right_z=0.2349 right_yaw=0.0101 right_pitch=-0.2586 right_roll=-0.1191 right_gripper=0.0388\nstate[joint_eff]: [0.1162, -4.506, 4.8479, 0.8913, -0.6081, 0.1685, -0.0757, -0.1162, -1.1829, 9.8393, 1.3455, 0.2759, 0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.5768, 0.9112, -0.45, -0.0208, 0.0853, 0.9994, 0.4381, 0.9699, 1.1187, -1.0672, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.3172 left_y=-0.1698 left_z=0.0504 left_yaw=-0.5598 left_pitch=-0.5476 left_roll=0.0668 left_gripper=0.9994 right_x=0.2478 right_y=0.0553 right_z=0.2375 right_yaw=0.0085 right_pitch=-0.2943 right_roll=-0.1326 right_gripper=0.0387\nstate[joint_eff]: [-0.0889, -6.5846, 9.4017, 1.2332, 0.1734, 0.2125, -0.0757, -0.4444, -1.9214, 8.4171, 1.409, 0.1783, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5041, 1.5867, 0.9421, -0.4583, -0.0101, 0.1074, 0.9994, 0.4381, 0.9737, 1.1187, -1.0679, 0.3382, 0.2192, 0.0387]\nstate[eef_state]: left_x=0.3242 left_y=-0.1727 left_z=0.0566 left_yaw=-0.5761 left_pitch=-0.5354 left_roll=0.068 left_gripper=0.9994 right_x=0.2481 right_y=0.0555 right_z=0.2365 right_yaw=0.0084 right_pitch=-0.2986 right_roll=-0.1346 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -7.1179, 8.4581, 1.3065, 0.0611, 0.1294, -0.0757, -0.4718, -2.2632, 8.4171, 1.3993, 0.1587, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d665f3020940af410dffa87511878f7a2c4ac49cffa245075ac6fb1246fc70c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb46e189467a2226ecbb7d6b9229963011579e93e82b42188e6f6e948f3be34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed1405617bc6f543b86a4bfd0a370f4c51191bed1fb5f7e8ed9354b299aa2d57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPKoWWin8vLLzTqCw5eyk5cr7KWiI0RVMM55DNZyyOHJbm8VxS6L1GdeyySTgO2FRgIXccfCoUDikZg4TGJy8544g0zHHW2S3aH4LIO-3HJ-Y9m_z0qRmcHHLesqgefCLfIkwOdmPGIrK5ejaaCK-PJpogXpQx5LI_22nfsYUycgfEV6J2zB579_AYP-0e_xCBOPHcaEsh_EfYcF2aj2MYO5lWwvGbOoewB1Bw1wF52P53UmX9E1W8GOWCfTed2_E5RTUD5d0KSTDn0IFHcqZiLdoTCGf-oDHGgsGW9czkzHrBz-2CD0C-H3-PeVgJ_wxYcFzmUzrqKCUinD0BQruid4SyjpSkND_eg3UR_aEtO3oKWvjuLwrVGBAVD0ov1wyDtIkTCI2doHAomxIUoJBvvxYbXc-mUBnqf-4rwGUlI3QREyApKE3O3T42hqNwj1sXPGwAJSurMsrsUiA93w3VNvoTT-YsK3EpTmaeBJ6Vo_F68o8S7e2eRYM388hnkimg0S2e9bDlxXgu5F6AgkW5dnQpw1dlm3zERw_kTE2IqLuuXVc1-dCaXO71JHuPiddzHmLMIAVIbQxQslr7nEMzMMEcUGxGVCpb0RrPGACVyPA_ypsHdKd3jVuhwKmwn20-Mt7XLx7i_vtr-KvK4fYotKFCH3iUzYAWES7JYjsv2kbXidFhb4qwxCfcy15BTkroHFFog2UULOIUBoaJr4nqYcT92euahZhHAVfnokGk57-ASSc0bvFmjUbyFoEXGr2LvpQy_VhwbauWVAd-SGy_cTIH3zh_3mL-xyYu8X_1bJE5GbNHxfwBAG5cYbGniV_3T5IUzxwZS0TLudjJeFwnlP6qyHX5fljzDiNrI8pf5SxSFrKiQp3po-IEKCkYVJgUge7lS_XAmtBMe_UvWY814D_wV_Ki29PJp1Lk4q6LDLL-Wp3TQrmQ9PluokXpKYziCFra2nj_Ede2PWd16BgTwQJs0JfS5vREn9y5uS33fFtuhmobcv-lQoZWRj5-X00L1nTSr_57EV8vocNkHQenYrR2fQNdpNUtccScAhx-ppAVnmB64l_qNllT9qCfoNxRMHo2FvV-kDKIl7eoNnxHYMAliKRd0xoVmVHi7KK6hjHaiVnnxUzhJtn-6mv6IYLmuPzeqJXLUL7TA-d867yxeD7zJbs6OsQMA-aIz5xRVkdNezr5ojPgQ1RwK2xaLWHb6wl2FDMiNgW3rIinlFxGubmgmDZkM-GLprvl-WOjRUl0spB3pJpE9cgyZdSW48EXPgMpyokp6jhcpYZAfCf9FObKIYkdywqokwi1LL8HsggT4Lc7-ztG_z1Jw932kaYk9YquvM6NiIXK2IDpbL5iMhEjlry6bHd57864eCjFom3wLkN-cwhMs2zkD8SfvAj5pOhcrzNW8BEizEPxnCoLwUeQbmj39B9mkvQvYBONIp7juVpImAvC9afvInYPBWSmnTQjTXGWyeMeTMUBkC88v1B8p_0HeB_uc_42XUG3Kviat9DyFb3bJyeVWeKB8Sx3XTS6nTTApUM5w97ZzY5wsHJfErEbAbRshk18mlU4l5zQkjyOyGMBYzyhd7x6TEFWWjgAHWhJo7u1z8TaFSCQHlnHf0mvA4HzJCkqKR12LfmapwWTH50E9ZW-EoI3RZy1qPib7zQ66L1Ce8Si2Xxz4iyD8slI99-UhmZkdQGY4XM-8Q5c4quXwuyyVe0OcdhugsW2rb_KDUwPa0WuCK-2k1TI8z5FitnaxD3wiEwkriFKoc2oM4H0-vXZfGFC5VuTV0Eci4eGnO8-M4OCJkDx99cuWczGGILNiUtP-akgELKKZ22smVVrKLBiAcr80zrHMNn4BVJTkXC6QuXA879LvsDNNgKJDlGynC9v9UtW7heazyX2vqQ6jjqHMibtK-0eRJExQeRMA4wVK85nqEqNwlcnUZdAnxOzYV-eFRjP4bWXdHCIRl64ISsw06dj-lyU1LrmuG2Z20Sgfz_pNRflaIHEfJlzQQZP4gsw52PL5Xzd_KajnA3yrKHphiDaStdTd3yiFuBmSw-mbYlUQ40u9oizjLsd3YO-noeQtHMjCcSYZMxvEjeKjZ3aTCwp3D27Itq1JBO9KyG0YLj5iy926a4sSq51Q1KWQSZwl7ZPjef8qt_44wIvQmlo-It7YqvvR",
  "id": "rs_0866b665f1bf0285016ab443c7602087d0916fbce379c69815",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.21,\"left_z\":0.1,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The combined approach stalled at 5.7 cm instead of descending, and the lateral correction also fell short, indicating an awkward IK path rather than contact. I’m raising slightly and asking for a more modest outward pose with extra rightward correction so the arm can unfold before a separate vertical descent.\"}",
  "call_id": "call_TVpYqMa0gHJhUu1Yhz31Zm1r",
  "id": "fc_0866b665f1bf0285016ab443c9606487d09a4c155550bb6a4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TVpYqMa0gHJhUu1Yhz31Zm1r",
  "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]: [-0.5045, 1.5867, 0.9421, -0.4587, -0.0101, 0.1074, 0.9994, 0.4328, 0.9928, 1.1439, -1.0943, 0.3359, 0.2184, 0.0387]\nstate[eef_state]: left_x=0.3241 left_y=-0.1728 left_z=0.0566 left_yaw=-0.5765 left_pitch=-0.5358 left_roll=0.0679 left_gripper=0.9994 right_x=0.2481 right_y=0.0544 right_z=0.2377 right_yaw=0.0027 right_pitch=-0.3178 right_roll=-0.1422 right_gripper=0.0387\nstate[joint_eff]: [-0.3077, -7.1726, 8.3214, 1.3016, 0.0659, 0.1636, -0.0757, -0.6359, -1.4017, 8.9641, 1.3162, 0.1148, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c01b4e05cee2c91a8f8093995d33114d1c179fa53290c5ed9d6a5d9c16aa84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11293b9b401917a3135fd42f5eb76167467ed939a8857020a8afd3fd2123d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0788f01d228bedda6ed3f9c37c514fa0247dad83a6a208e52b97b4cce494a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.166 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6025, 1.4517, 0.7784, -0.3782, -0.0513, 0.0357, 0.9994, 0.4381, 0.9684, 1.1107, -1.0588, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.2872 left_y=-0.1822 left_z=0.0544 left_yaw=-0.5897 left_pitch=-0.4818 left_roll=0.0724 left_gripper=0.9994 right_x=0.2484 right_y=0.0555 right_z=0.236 right_yaw=0.0087 right_pitch=-0.2925 right_roll=-0.1318 right_gripper=0.0387\nstate[joint_eff]: [0.0342, -6.9402, 8.841, 1.3846, -0.0415, 0.1197, -0.0757, -0.6222, -1.3197, 8.759, 1.409, 0.2076, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5041, 1.5867, 0.9421, -0.4583, -0.0101, 0.1074, 0.9994, 0.4381, 0.9737, 1.1187, -1.0679, 0.3382, 0.2192, 0.0387]\nstate[eef_state]: left_x=0.3242 left_y=-0.1727 left_z=0.0566 left_yaw=-0.5761 left_pitch=-0.5354 left_roll=0.068 left_gripper=0.9994 right_x=0.2481 right_y=0.0555 right_z=0.2365 right_yaw=0.0084 right_pitch=-0.2986 right_roll=-0.1346 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -7.1179, 8.4581, 1.3065, 0.0611, 0.1294, -0.0757, -0.4718, -2.2632, 8.4171, 1.3993, 0.1587, -0.0366, 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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 1.5867, 0.9421, -0.4587, -0.0101, 0.1074, 0.9994, 0.4328, 0.9928, 1.1439, -1.0943, 0.3359, 0.2184, 0.0387]\nstate[eef_state]: left_x=0.3241 left_y=-0.1728 left_z=0.0566 left_yaw=-0.5765 left_pitch=-0.5358 left_roll=0.0679 left_gripper=0.9994 right_x=0.2481 right_y=0.0544 right_z=0.2377 right_yaw=0.0027 right_pitch=-0.3178 right_roll=-0.1422 right_gripper=0.0387\nstate[joint_eff]: [-0.3077, -7.1726, 8.3214, 1.3016, 0.0659, 0.1636, -0.0757, -0.6359, -1.4017, 8.9641, 1.3162, 0.1148, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c01b4e05cee2c91a8f8093995d33114d1c179fa53290c5ed9d6a5d9c16aa84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11293b9b401917a3135fd42f5eb76167467ed939a8857020a8afd3fd2123d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0788f01d228bedda6ed3f9c37c514fa0247dad83a6a208e52b97b4cce494a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPOOfOJs7QYJd1IfUo-RRdvmPgkgNXnenfKoqaI03OFKaJ-6kFOeTd4u-CNZJBmF0yeNYRIxZXlxo6BvfmE8N-wwOTi2Hl5Yqukj5kONh6df2vvWNzoceQ23uBR0QdxvpjceTgcf2Dp7Kr_WrAZPuhf8KDti8CJqZ0WxAeaH4SN5S2gZZKCHKZb4Z8yRwSzOWEvzcW_5UgFL--cqoXSZaB9fGRiIFko29MldCW0lI0I7HyV0yCtBL19hpURC4JryIn3hvv1_VfH3298NIm_E6erJ6so0p3WHMJmpPG8HBl7SuyGKudOxBjVuzSaPmlQCtEysGaaCIBEhWOYj17_mnGdHmalZJSmeAmj4a4sVfdQ6rvsW9tIlsEnPN_LvRKD8z7B44NUIugHBwkvj4btwmNcEJ-5MXDq7ps6t1BlBxjY_DPotBR4HUJzYtmBS-chki_lq9i26xYS-TkW9nykEIWEf-uRrNhOY4CTiFWTRZz3LUD3GCTzVIQLDsUUlAyH_W1E_M7kRry2UuRzLtEelMKVZOaEltlPvinSRwDGOrez1rjtdqfY9Napul58sj9A_Fu5NqVpaJDCelXvKG_Fp9fKyxHwsmKzhluhO0avJeWBKueGmuJhxwjhvZ0explMETe2g0vzYora0sCTwstP_rP2kzIP78qqyeeajkmtILiwtg6eJZEC9leGEAiEV9mNa5uI9LeOLulLdw1ys_guo-o_pWqses-eVsU8ZrvkDiSvO5PeBPmQHk7BDOTjiVu8RaEs1NdtIpikpW8b3p1NegAXHTbalUYjZV152leD2OHi4X1HYEApMpsYfpWuuTL3A-I60MvXabtjiwpYfVFtdXtS_ZKODVB9SfYzoatdb8fzMvKoG7YVEq9ZsrM7m1Lt2-VK69u9NKwfN4fz_vCCy6yTGmdPqhAdFbnEhqPACgJdYG-rj4KGdoY9B_yJaN6B8GA467Fwz4n5YOKPPprp9JEyfCqiVdcZoE6AfrCsdvW9Gz1CGGTx_ZNj-LssW3d05-MlhgaU5DLdqoXKMlpqIGHO_t8fgjkWhJ2cvFNRbBaUAt3J1PgsbV0Z90UWT4Xeayte_en7waO7IBTIwcpNLd4AUeKn1kcfw15JwTXYD1-gGwPT4RVx5Z_7QD3p4kEgdqs7p_l-ebf9OPpUfroRyEUNsYWNIPOQyTCgc6bO_DRuU9G3o3B9wkxiieRSIIVcQUH8vnlBoiPPm_n1KgETjnxUPGRr0tLNRntDzBx6li7UFetZ_3TH_DvXuAone1Df3PRl9Eu3_3MiTYqQDKyg8DSwGwPbGW7eVWU8yLmKx_PfnOuZ0NX1Jv2pLKo6Di4pO-R_RTBUcwCD8jsyFW7LYNXQFIdAo6C8H7ZHnVv6w_pkGH5Y7YpKeJkdPK1a9BsKgOHe7w865GDkBh6IPXhlriMAt1Og4ejjd1FLisGuyMFfpjpBqMPYDKYz8kBXgoy2WjsPWzPGNxP-v0t8Y1RKBJbx-3pblHod4XQWexTLFuFVn_hGnaM5cn32j5FegYE1sx8Lv67pT0jjDebjOklD02pVwN-nzDa0ny-cRNpXvdmUP2vuqPJzRYyj2W3HKLTACTw57sgsvsMxvoDBUVB2TX85P_VrR6kIh8YYnAC1OpYBDGRDf8qrmjn_tzi7Bdn8kK6TD7gl-wYK0H3762gnVMvS3-StyJxt6p33e7-vmM-cG7bZvk1C6HkSBAgipuR2JRDv0REnIVcORk4h4-2m2KP0UFCOfQxJdFY8F5-cY8c1AnX9tyr1XLFcc5d_qwPfNCby",
  "id": "rs_0866b665f1bf0285016ab443cc24bc87d08f168ac5bc585d2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.15,\"left_z\":0.2,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The left arm did not move at all on the revised target, confirming it is stuck in an awkward low configuration rather than merely short of the cap. Following the controller’s recovery pattern, I’m retreating inward and high to reset the IK before re-approaching.\"}",
  "call_id": "call_fH089oQ8OrrRB3VpGwpTBZCa",
  "id": "fc_0866b665f1bf0285016ab443cd6f5c87d095bf35c0bcdada05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fH089oQ8OrrRB3VpGwpTBZCa",
  "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]: [-0.5655, 1.2732, 1.1847, -1.0229, -0.0219, 0.0761, 0.9994, 0.4313, 1.0206, 1.1736, -1.1358, 0.3309, 0.2115, 0.0387]\nstate[eef_state]: left_x=0.2584 left_y=-0.1551 left_z=0.1815 left_yaw=-0.6066 left_pitch=-0.5431 left_roll=0.0635 left_gripper=0.9994 right_x=0.2464 right_y=0.0542 right_z=0.2365 right_yaw=0.0034 right_pitch=-0.3561 right_roll=-0.1603 right_gripper=0.0387\nstate[joint_eff]: [-0.4581, -5.9282, 9.1145, 1.1306, -0.1294, -0.0904, -0.0757, -0.7863, -1.4564, 9.0188, 1.4335, 0.0952, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a86f219d8803ae81ce37c8dda292fc32e6ad05aa7837014dfc88ca05c30fc3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5031ca83b334c1dab2aacf9449ec1f1593cd17dac719f8f70a3a8fd501728f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6e3e058f561afb9ec18fb8b9b3e9f35c4410b6aba7b013072cd1b6e280a556",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.49 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.5768, 0.9112, -0.45, -0.0208, 0.0853, 0.9994, 0.4381, 0.9699, 1.1187, -1.0672, 0.3386, 0.2195, 0.0387]\nstate[eef_state]: left_x=0.3172 left_y=-0.1698 left_z=0.0504 left_yaw=-0.5598 left_pitch=-0.5476 left_roll=0.0668 left_gripper=0.9994 right_x=0.2478 right_y=0.0553 right_z=0.2375 right_yaw=0.0085 right_pitch=-0.2943 right_roll=-0.1326 right_gripper=0.0387\nstate[joint_eff]: [-0.0889, -6.5846, 9.4017, 1.2332, 0.1734, 0.2125, -0.0757, -0.4444, -1.9214, 8.4171, 1.409, 0.1783, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 1.5867, 0.9421, -0.4587, -0.0101, 0.1074, 0.9994, 0.4328, 0.9928, 1.1439, -1.0943, 0.3359, 0.2184, 0.0387]\nstate[eef_state]: left_x=0.3241 left_y=-0.1728 left_z=0.0566 left_yaw=-0.5765 left_pitch=-0.5358 left_roll=0.0679 left_gripper=0.9994 right_x=0.2481 right_y=0.0544 right_z=0.2377 right_yaw=0.0027 right_pitch=-0.3178 right_roll=-0.1422 right_gripper=0.0387\nstate[joint_eff]: [-0.3077, -7.1726, 8.3214, 1.3016, 0.0659, 0.1636, -0.0757, -0.6359, -1.4017, 8.9641, 1.3162, 0.1148, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5655, 1.2732, 1.1847, -1.0229, -0.0219, 0.0761, 0.9994, 0.4313, 1.0206, 1.1736, -1.1358, 0.3309, 0.2115, 0.0387]\nstate[eef_state]: left_x=0.2584 left_y=-0.1551 left_z=0.1815 left_yaw=-0.6066 left_pitch=-0.5431 left_roll=0.0635 left_gripper=0.9994 right_x=0.2464 right_y=0.0542 right_z=0.2365 right_yaw=0.0034 right_pitch=-0.3561 right_roll=-0.1603 right_gripper=0.0387\nstate[joint_eff]: [-0.4581, -5.9282, 9.1145, 1.1306, -0.1294, -0.0904, -0.0757, -0.7863, -1.4564, 9.0188, 1.4335, 0.0952, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a86f219d8803ae81ce37c8dda292fc32e6ad05aa7837014dfc88ca05c30fc3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5031ca83b334c1dab2aacf9449ec1f1593cd17dac719f8f70a3a8fd501728f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6e3e058f561afb9ec18fb8b9b3e9f35c4410b6aba7b013072cd1b6e280a556",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPTck5Md4ViJazQ9-_4WoebSUWjGYYhL0UBWhBcvT_VJa4iBQJ79Ta3RWp9pqbpVkBjOPKBbc_YAAzV_csiFis0UWAAol3-o6FODr9x5ta0uqcyTjie-vYO95DTuppf_XsaoEedP0Gt6Yy8wvC0L3-Op0uLg2b9MTsq_6WTFssM9Q79xcmYVUkVLupFYKmSkd5gDD7EXNJk90T_2LgY_-rWNqeCWWdBTFjD9CLwNVkbzryrOxUYcy7GCdApq2fhUIOlQeI3gwqub6FBG5eY17FUOQlnveGGnQ_Fj6cmTXiGwaCXxeh1hWNw7cxd_U8TaUIrrqtzpWBBQDoNax2F4KxCKOvo9zafiP3D-bVkB9Cy4-uR8Svj1MEgp4FCjBe9TtvCva1dDyOluD0LhWelImF2TiqYrFPCOCskbYLoL6RFQh_624TYzE8rY-O5nrwS0mIj308ijEWcCUxgZEzoO9d5Sh1D7YeH5fLT8ToUtsVjZiKVW05eZdosZVcnjLN0WefOxPj_ooKbv2RIOcEpQ6CppBeQSNqtw9Ph0GnHsq6M_AWTHBbRbvnkFMxXiR3pQkmoOnAByBI3yE7FTyefJ-2jwkKTj4fEYByqd3UJl-W7-x9qLKnOLCb-wgPe3lL9SeHaKLBnd2HYzCXOaQ0u49qB7NXHI1wBr3wpdH9NGyDmjvplCuHbiKAUT3PXlNDQOZ_32ETFWPDSHOWiTjSh9PUGPDBb75cZaCIHQ7HOVa8GMxzGcJxvo2mymNqI7-2X8bUNn3n4Y7-KWW8mxTHRvYbdT9a5-CosLCFS4Vx00dsLGrj30pDMNMqLoanPrIqY1yPdMDrP33qWd58Go-fpVJpquT5FyblxTjwzX7OPvj9QXW6eIWJjHhTuF9zt8LUlllxQg_QYNlxgAK-le6Z_z5P-NAv_IuMTsrL2429PLt_tQVrqeyrszQiaNsOnMpaRKh5OtUvFJKqVVcVigMrwz--sDcg6n8Ws_Igvriyb8vD-j1gQvNTvRVzvv25bhbdrHQsvS3CmtGWuiSpW_4_bYLc9YjENswgwQr6U-cJiS4XLkGbbRebhC8dB2AaTWEvKFIl_PkoQGGaF9f2NmzA9H5hdQYKEI_PRHPNCePERaDXDPZhm2_3EB9W-aokYlk5ToOfePJRIFyrdYZ87CdYUd-uoHv5m6mzLA9aRdo_mszYpc7xYkTAuzNG7pUsd2pGssDLp-nvgnFnkSB6uCUbr8z98zzk3JpNJVPIKsyvrvX6z78Nfyi8G7HRjPd2mQhuiA-vhxLkf8uxzJoknw4EJPnK5pcWn_jXTUdHRAaPjtx985sQqbAc6XRDGsHgmWjhEDqvl-kU0cWbqejIGmePwPPjiLgciEOjN2_adknJ-S1is_5NOZUUPdM31BOL3Mq-mTf_lJkqDqpbD1Fm7AbnrdmBXDobKr72CF3YLKGei7tubh8nge9UhdMuDQZOIvjI6VkXZAIgCb_H7bE5jrZ2vfC69oTBZBOVHr6T1IA5_M4wdm5_STWNWDjoqGj1dTglndq_CBFIco9CD-dQgeYPzCqgOgh9oEkLtc6DJk4aPgA7hIaRzOPyl6bmujbcch14ATPr5QlwTo1ukcsWZzH-MOcfXlnsuP8TccYkeEKkH6N58jujJwC3n2TrE7Xs-jsexCqKmnEHll4guOxk8o71qGMPLXeJnuvmUxTJiYHOGpLlEi3EHiabavPKF0SmQuU1cjZy2oNSNaGxglKug_uLRGaceKpyDIJ4pP7rkPHtT8byRkjPcf7moS_fwf5DJpK--3tCK3Sf6GfWs7ms5z03FqgIU6Gr7MhcHOp-O1MIFoVtEyz_C7M0L-_kv8T3P8dbxiB2ZbbgoPREQDvkyt3Rz2QKWB6TNQnJ8KeE4zBnuuGbyHlBRxayA19KrUjvi6XvhmRwGJKC2RL21Z0k8m-Q0ZazogVniG-pzMmRSZjVRCoU20YZLVnftG-CR-HnnF2pqgBRQES5XX9KcdKVNs5c9h5pnUoNIA3aNwe0biZ_sdZmaw_VEq6MeP1MkQs-48JXqzg4fBx3sTV21YlAfZHalMZ0BTM9kxgvWxta4Q9Esob6vo3_GQlFRo9DBY6FxL49mcHRzS1mwtd_VxMwQOn9ehHsfIaNHYw5atCxnEM4ROLssP94bPn5m6nT-1v1ERMc3OENsCgZ-_Wfli9xmbGnuDQ28pZAnjhQy3UdcOO0XftYGcHNGFQkJ566d0cIqhHNsafGXDvPt-kPRh-AoxPdLxyshBZq9B5bnOPF8ulgM7WvqosgF5h7JvkzwEv7T_iHYg7XHUyB9l-NTrum3zpO8R52J99A9oTx4Uv0nWFRcVm6OVW8a1coDty2qwQdn7X44pSsfdRLzBDYzeofaNZyeueVRAAZP2h0rfUXNULiExHIoH8M=",
  "id": "rs_0866b665f1bf0285016ab443d09bec87d0a0ab8205c37b6471",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.21,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The reset succeeded; the cap is again centered in the left wrist view but clearly short of the fingertips. I’m now re-approaching from the healthy high configuration to the overhead-estimated cap pose, keeping the pen safely parked.\"}",
  "call_id": "call_27x16qoGMlxC83n5JP2ovMQE",
  "id": "fc_0866b665f1bf0285016ab443d2a84087d0a2b5cac6c05dd54f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_27x16qoGMlxC83n5JP2ovMQE",
  "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]: [-0.5705, 1.6188, 1.3361, -0.915, -0.0223, 0.0574, 0.9994, 0.4248, 1.0561, 1.2098, -1.1755, 0.3248, 0.2035, 0.0387]\nstate[eef_state]: left_x=0.3193 left_y=-0.1959 left_z=0.1354 left_yaw=-0.6011 left_pitch=-0.6286 left_roll=0.0512 left_gripper=0.9994 right_x=0.2467 right_y=0.0536 right_z=0.2362 right_yaw=0.0002 right_pitch=-0.3943 right_roll=-0.1777 right_gripper=0.0387\nstate[joint_eff]: [-0.5812, -7.4598, 8.9641, 1.2283, -0.0366, 0.0513, -0.0757, -0.6906, -1.7299, 9.1009, 1.3309, 0.1832, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd619b1b89c17361078c88a0933d1a61d9974166f725421989f9e90207a4fc7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9772d028ed2fb5d68ed2195b819ba251af7e480b2547854c0662e12463a366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfde9c3a25fc89f3b1ea9a2969e9b0520b3dc813c8d4d49b258f50bb4f3962e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.394 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5041, 1.5867, 0.9421, -0.4583, -0.0101, 0.1074, 0.9994, 0.4381, 0.9737, 1.1187, -1.0679, 0.3382, 0.2192, 0.0387]\nstate[eef_state]: left_x=0.3242 left_y=-0.1727 left_z=0.0566 left_yaw=-0.5761 left_pitch=-0.5354 left_roll=0.068 left_gripper=0.9994 right_x=0.2481 right_y=0.0555 right_z=0.2365 right_yaw=0.0084 right_pitch=-0.2986 right_roll=-0.1346 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -7.1179, 8.4581, 1.3065, 0.0611, 0.1294, -0.0757, -0.4718, -2.2632, 8.4171, 1.3993, 0.1587, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5655, 1.2732, 1.1847, -1.0229, -0.0219, 0.0761, 0.9994, 0.4313, 1.0206, 1.1736, -1.1358, 0.3309, 0.2115, 0.0387]\nstate[eef_state]: left_x=0.2584 left_y=-0.1551 left_z=0.1815 left_yaw=-0.6066 left_pitch=-0.5431 left_roll=0.0635 left_gripper=0.9994 right_x=0.2464 right_y=0.0542 right_z=0.2365 right_yaw=0.0034 right_pitch=-0.3561 right_roll=-0.1603 right_gripper=0.0387\nstate[joint_eff]: [-0.4581, -5.9282, 9.1145, 1.1306, -0.1294, -0.0904, -0.0757, -0.7863, -1.4564, 9.0188, 1.4335, 0.0952, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5705, 1.6188, 1.3361, -0.915, -0.0223, 0.0574, 0.9994, 0.4248, 1.0561, 1.2098, -1.1755, 0.3248, 0.2035, 0.0387]\nstate[eef_state]: left_x=0.3193 left_y=-0.1959 left_z=0.1354 left_yaw=-0.6011 left_pitch=-0.6286 left_roll=0.0512 left_gripper=0.9994 right_x=0.2467 right_y=0.0536 right_z=0.2362 right_yaw=0.0002 right_pitch=-0.3943 right_roll=-0.1777 right_gripper=0.0387\nstate[joint_eff]: [-0.5812, -7.4598, 8.9641, 1.2283, -0.0366, 0.0513, -0.0757, -0.6906, -1.7299, 9.1009, 1.3309, 0.1832, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd619b1b89c17361078c88a0933d1a61d9974166f725421989f9e90207a4fc7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9772d028ed2fb5d68ed2195b819ba251af7e480b2547854c0662e12463a366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfde9c3a25fc89f3b1ea9a2969e9b0520b3dc813c8d4d49b258f50bb4f3962e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPZ8PAHF417hnIh8aGeGXSsJ1ft6AMVV0UEXROJ4iiZdnhTfbm_rUV0tugpNsphC8NQF5UPPzTS4NN_Oj-37uWr-R6QbLVj0yVoQ5D-U_7SvS_oPOZk7GZnlYS_pSwcsepshrQ7xrKpsaWCoxr8iynI0s-wETCN2SPhx8knGtBXvSildJb0MF05GSoFkHYJaQWOQ4664FWcANrl9BSoiDK4c2GUtk0rD-q2t73TnjeQk5qWCC6G5D38-UeYs5k7Ru0rWJM2WyKsua5l7cWhyPEmriDvPeh0PyrQUX4N-rlfgQJXyJqGqtRT7_ulW1CA3opsf8xkgNrLUW9ZDaUtfTrZxHdJKRf6b9gw2HhYQID-EeVU9l2sjbbhlMMXSerFw7YEVsca38xA3i8ItkM0ALUA2UJSGj_arvYE_mHf7THDzRmeOjfivNo0ofgt44_pA6XuNEcJ2JMLxe0Cmho-PS7voUgBj0P9AyE3Vckeb8rSmFas4VAQLbua6KtbhnA2O-JHu3-eJHnMzZjPrwENiBX_Ju9fEK05tjjIt9tbKQMfijpIRmqxBHu_hwhFfIpmJIJCNTaN54EZ4rMlDLRb1to6Mhsa334VDPDzADjEfA1MfBNiw2Prwiw-Vri7RbLmYX3Hbc0aL_oSiWaD71-_FulPY15kcWQL1MNsk1qeOAbD5k6fbMlC0d3VKz-IJ4dPierkxUOOml41cVRYvfRw1Yrz2qHyCT8Ze1SeNj6AGaFBAu1FIEyFNlCO3zp2aUcdqLDzFAQ6h7QEu6z6-MOZRctAXBNpHyVpMoUqNCqN9WqQCKrAPNU_D46NCCkFPg-IOxXtP4fDzxQP7k7wc4f0CNp4UMRlje5myser4EmITcgi4lp5gE4aSAjsfJVFBHxI8ELIpk-WLqnGLHHy-ETcBUbSyA7mzR5qO_6qtKCzFUtYyMO3wEfBbS7e-T82Di4LAoHRWrg2rCD1cFUovmOBE4fJh4C1JTDoFwugr9p6RO72z_L3DxHOnU_Tv28Q-wDJQv5MgtsyeyuWhPmCFuSs6BtNqiXeI3Zy49HwSvOrnNp_9_YcEyAQRjirf2aheI2gzkVBk9LaQcWjoMlB9JfE2oqGDeOMlrrWzbsWFDVHTEcbWGTZJfl77P0jxNuVY9x2HHe5R_WL053oDNCuTofyHxpBt-URHLDu6cI9p17rOFXCOEZC9dQWXOgnVTSFfF1MKpKiiEXhQtEvhFEXW39bQPSpn9IB5vIXLXSjCHh6hOyegNRaBL88XkAIA1zn7KKkokPq2avhg3-TTrZePjsm_IS_kuPRjmainXiUA0wY7k8Xrqte1Zh59SQ9RjLZGwNVgz8VpMg_KfDpAZhAMEYC3lB9y2GW9A3JTTQNHGnrytb5bilp2pfhddwKoen0SgoUeo4BAp6Vc1orihgYADO02yUivxJXoUka8TLS3AtxJC98ChPNLCdx6Xuhd_Vw_F7_E1h5sQdMsuxM6sZOvtw5S0uyxgQm1m2f4TbBqvb_0Z9kZXfug4ffdvXurB97SbSjsSf8lZs5lQuZXPH6fHHcFrOMh6jZRsE_7gG4s00M7QenJjc1rXcABKPx_kEvcUBPisnZ",
  "id": "rs_0866b665f1bf0285016ab443d7bc2087d08821e9e206424e02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.21,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"At the renewed hover the cap is on the jaw column but fully visible with substantial clear image below, the standard sign that it remains short of the fingertips. I’m advancing the left gripper another 2–3 cm radially at the same height before descending.\"}",
  "call_id": "call_42VDryBh8WTTX0AJp5zuksLC",
  "id": "fc_0866b665f1bf0285016ab443d8d50087d08ac1f708fb39c9d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_42VDryBh8WTTX0AJp5zuksLC",
  "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]: [-0.5381, 1.7576, 1.4952, -0.9554, -0.0177, 0.0597, 0.9994, 0.4229, 1.0924, 1.2446, -1.2087, 0.3119, 0.1967, 0.0387]\nstate[eef_state]: left_x=0.3524 left_y=-0.2025 left_z=0.1344 left_yaw=-0.5755 left_pitch=-0.6487 left_roll=0.046 left_gripper=0.9994 right_x=0.2475 right_y=0.0559 right_z=0.2356 right_yaw=0.0071 right_pitch=-0.4312 right_roll=-0.1863 right_gripper=0.0387\nstate[joint_eff]: [0.1709, -8.9504, 9.0735, 0.8962, 0.0708, 0.2076, -0.0757, -0.8684, -2.2085, 8.7316, 1.16, 0.1832, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825665695be4b9c4363c331c756ffbda207d3a9d0bcd3f17466954ed7abe3e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6218104d9f0c5f0681898c2edb58973276e0086b3d06c5e259959fd1a9e29c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da64dbcd36a14434b11d59c1b35d691193f89e5a0e4765c7c00d7b96339af51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.514 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 1.5867, 0.9421, -0.4587, -0.0101, 0.1074, 0.9994, 0.4328, 0.9928, 1.1439, -1.0943, 0.3359, 0.2184, 0.0387]\nstate[eef_state]: left_x=0.3241 left_y=-0.1728 left_z=0.0566 left_yaw=-0.5765 left_pitch=-0.5358 left_roll=0.0679 left_gripper=0.9994 right_x=0.2481 right_y=0.0544 right_z=0.2377 right_yaw=0.0027 right_pitch=-0.3178 right_roll=-0.1422 right_gripper=0.0387\nstate[joint_eff]: [-0.3077, -7.1726, 8.3214, 1.3016, 0.0659, 0.1636, -0.0757, -0.6359, -1.4017, 8.9641, 1.3162, 0.1148, -0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5705, 1.6188, 1.3361, -0.915, -0.0223, 0.0574, 0.9994, 0.4248, 1.0561, 1.2098, -1.1755, 0.3248, 0.2035, 0.0387]\nstate[eef_state]: left_x=0.3193 left_y=-0.1959 left_z=0.1354 left_yaw=-0.6011 left_pitch=-0.6286 left_roll=0.0512 left_gripper=0.9994 right_x=0.2467 right_y=0.0536 right_z=0.2362 right_yaw=0.0002 right_pitch=-0.3943 right_roll=-0.1777 right_gripper=0.0387\nstate[joint_eff]: [-0.5812, -7.4598, 8.9641, 1.2283, -0.0366, 0.0513, -0.0757, -0.6906, -1.7299, 9.1009, 1.3309, 0.1832, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.7576, 1.4952, -0.9554, -0.0177, 0.0597, 0.9994, 0.4229, 1.0924, 1.2446, -1.2087, 0.3119, 0.1967, 0.0387]\nstate[eef_state]: left_x=0.3524 left_y=-0.2025 left_z=0.1344 left_yaw=-0.5755 left_pitch=-0.6487 left_roll=0.046 left_gripper=0.9994 right_x=0.2475 right_y=0.0559 right_z=0.2356 right_yaw=0.0071 right_pitch=-0.4312 right_roll=-0.1863 right_gripper=0.0387\nstate[joint_eff]: [0.1709, -8.9504, 9.0735, 0.8962, 0.0708, 0.2076, -0.0757, -0.8684, -2.2085, 8.7316, 1.16, 0.1832, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825665695be4b9c4363c331c756ffbda207d3a9d0bcd3f17466954ed7abe3e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6218104d9f0c5f0681898c2edb58973276e0086b3d06c5e259959fd1a9e29c95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da64dbcd36a14434b11d59c1b35d691193f89e5a0e4765c7c00d7b96339af51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPegh6CNEzELE_TYhTdkkTWh8mJk9lPCP-LOzb_gv0IOrVXPPTOwmneQR5a5apWQ5qcUBahcEenI6G8AfHPR2J5JcSFQBgFh0kt8SYjss9kvQTbiEBQd74ykROJ8e4Ahvd3HGyQ0ff6CsBJdKkf0SC8W5T1mtaph9-oSAmbpxReAklZz7-QFvH3zIPi9exh2IlKC2hLTta--l5rrUp0vMamdJdF1VPCEnt4wHQZb_-YnrnNyCQYQB-E51_dVNeq0iBMmIPO5x6Nu8mHjk2PW_pmMzuUVnIQkz87GRGG4VWWAz_EmbpnFV_J_ne8v2xRRKHf4spQURtkuteyYNXr27uY0atZlx0aQKw0i4S6dzUyq5NRNpsgXgOgWa8yt3k__ZkuHWSc7ln5bX_ntZ-iE5QSO6w0_nMrjb7EwPEkIkKz17lUJoCkK024tsWEGurLUZgEauDk_Tk8LswY4fA44qiwm0NEIPHvVQPDPqYbuvuE2SYWGPE1gNHaw9GGN3R6EfhpZZn3NnXTHVi0BMpt4NHqHXztRTagXsDeL2TZpwnGjpSwkJVi2THCtiDDvYGMCJ-KMDr9KtAyEnCdCvHk8te3nmUZEDJO5OTO_wSSSgQIORDDXlEmUz_4SNC0W6aQzr6DKj1mc0Gn7IVL3pMKkEpT3wWEGU4aqoCKcuPpYr5-M-F5NY6Wsb-nZbeDCgiIdg24IzVx7UmzQcVtilLXTEZdRqRKbRXq81JG4nFT2j4zLeUo4W9PI8b82OoRmZ35ETz8Bjj12xcp0OUU6PAqLSvm-wJntMBn0nnw1SoL_rjC7usLT_dYo4Bcqd4Ja6hTfQ_SXKlvw7H4iCEacUD4UTNIWfQn2GXxDqkx6k-gmc_TNHbJCJXAP9Tw5x_pK_g9p6LL2lyic-ppq9wEDyXSHAg62jnw-RXTPpcP2iIquhnd_gfdGhjvWPTBZMc-cExCpKQlW75koNBMCcC9DT7osHr1GhGF0Dx1R2oiNeUiO3gtNWFSgN8RfGZ7UeZ5c3HCG0BKm4QPYOzacxQGujREZBB0qyjnvUUJdg97Q_U0nqbIfx65K3FMlW3M_eTdne-YfNTH-C7qk5uA-aDoYmNbTch4ewpGmgPGHiOtE1o2yy2Vkc0KV836tbhywDZQGuXCH_r02Cr71BvzW8ojwUh8h3XUoG7kgxcbJmz95zpRZQN4GUX0mZo18Sq7fg0x3wqO8R36m0j6BKTEzUxrrRRhksXgwG0RPqbOIhn9LXGFVWTyHCXFEsh26WZbphwqcrDF_Gz_hNmHVm2zgDetzVE38N-651dg9GuvpMI28DjiP8uTfPQ5ALYo0VBUIlW-vMzIL3gATUmCZ9UqlNZdx0TnQBtVixD-uRszDSU6JEg4EN-BINtyI4ihbwG6YHloWlkJnb3qQdisP175BP8QiGrjEuJBaOP89v9AENmoFNKrtfUEfaJJmLc0eik3ymdu9lU5uhW8v-C-7betUBjplPgE_XUQijH4whxMAYgUfgCq6qOIZpcz9RuKsy58AnR_E32bu0BjuBMeuMmHd41OqhC5WBjd-7Mw1ydojrG8LL6ATtcojj76e7TSslUvxVX-V5jfLZp7aLQA5aKWH4_XIWUqRjq8AJ3475OOFarnryvr9ilBuruuArWcMkbMehr_G8R5P-4x",
  "id": "rs_0866b665f1bf0285016ab443db53d887d0bac385127d7f8402",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.21,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The first advance moved the cap down the wrist image as expected, but it is still entirely visible above the fingertip region with clear space below. I’m making one final 2–3 cm outward advance at height so the cap reaches the grasp point.\"}",
  "call_id": "call_v9PfuF8MFsHa1HOmlS1sI2sW",
  "id": "fc_0866b665f1bf0285016ab443dc4a9887d09800c78776f13d4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v9PfuF8MFsHa1HOmlS1sI2sW",
  "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]: [-0.5304, 1.776, 1.5211, -0.9615, -0.0177, 0.0662, 0.9994, 0.4191, 1.0931, 1.2606, -1.2228, 0.3126, 0.1959, 0.0387]\nstate[eef_state]: left_x=0.3584 left_y=-0.2024 left_z=0.1355 left_yaw=-0.5722 left_pitch=-0.6474 left_roll=0.0489 left_gripper=0.9994 right_x=0.2468 right_y=0.0544 right_z=0.2394 right_yaw=0.0032 right_pitch=-0.4299 right_roll=-0.1869 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2376, 8.9915, 0.9695, 0.0122, 0.2027, -0.0757, -0.5265, -2.5915, 8.1709, 1.2039, 0.1587, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4013df89402511a4e0a5663b1523625cbe9d0c4d1878478d7bd63d454d0b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a4cae0157ca47cbb946e10912358f1f5ede04367dbb83f353193df6e1754e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9539dd0b092df319251c3b73987878f76cd855e8307361febabb8e19aafb413b",
      "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 19 attempt 0 · /responses · status 200 · 5.424 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5655, 1.2732, 1.1847, -1.0229, -0.0219, 0.0761, 0.9994, 0.4313, 1.0206, 1.1736, -1.1358, 0.3309, 0.2115, 0.0387]\nstate[eef_state]: left_x=0.2584 left_y=-0.1551 left_z=0.1815 left_yaw=-0.6066 left_pitch=-0.5431 left_roll=0.0635 left_gripper=0.9994 right_x=0.2464 right_y=0.0542 right_z=0.2365 right_yaw=0.0034 right_pitch=-0.3561 right_roll=-0.1603 right_gripper=0.0387\nstate[joint_eff]: [-0.4581, -5.9282, 9.1145, 1.1306, -0.1294, -0.0904, -0.0757, -0.7863, -1.4564, 9.0188, 1.4335, 0.0952, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.7576, 1.4952, -0.9554, -0.0177, 0.0597, 0.9994, 0.4229, 1.0924, 1.2446, -1.2087, 0.3119, 0.1967, 0.0387]\nstate[eef_state]: left_x=0.3524 left_y=-0.2025 left_z=0.1344 left_yaw=-0.5755 left_pitch=-0.6487 left_roll=0.046 left_gripper=0.9994 right_x=0.2475 right_y=0.0559 right_z=0.2356 right_yaw=0.0071 right_pitch=-0.4312 right_roll=-0.1863 right_gripper=0.0387\nstate[joint_eff]: [0.1709, -8.9504, 9.0735, 0.8962, 0.0708, 0.2076, -0.0757, -0.8684, -2.2085, 8.7316, 1.16, 0.1832, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.776, 1.5211, -0.9615, -0.0177, 0.0662, 0.9994, 0.4191, 1.0931, 1.2606, -1.2228, 0.3126, 0.1959, 0.0387]\nstate[eef_state]: left_x=0.3584 left_y=-0.2024 left_z=0.1355 left_yaw=-0.5722 left_pitch=-0.6474 left_roll=0.0489 left_gripper=0.9994 right_x=0.2468 right_y=0.0544 right_z=0.2394 right_yaw=0.0032 right_pitch=-0.4299 right_roll=-0.1869 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2376, 8.9915, 0.9695, 0.0122, 0.2027, -0.0757, -0.5265, -2.5915, 8.1709, 1.2039, 0.1587, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4013df89402511a4e0a5663b1523625cbe9d0c4d1878478d7bd63d454d0b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a4cae0157ca47cbb946e10912358f1f5ede04367dbb83f353193df6e1754e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9539dd0b092df319251c3b73987878f76cd855e8307361febabb8e19aafb413b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPih6r4uBBEWhV8q8gJi9Rq7bVBR0JeWQRY1N5oF1loECPGbkzM8P0772FcRWCxDP4E_BXmNqfzuM8r9ru9iGwgklb-5coyR37LZCCDI2pWGuOtMq8pRPIG72u7bEex1Tl-e3TM9fDY3U2nVlL9ZCFp92tlkxshLSGWXlxM7RCrlwlrgP1pU2KC3qB_6ch4RMjYWz7eGUDPmfScr6xUiYR5-RMz_FVMmciMQ9Krc6Xg3ySGiOvTIQBrr07hdUdqWg-Ch2Hh4CoajXjwfY2Uslh9eCnKkTqYsC-JnmcGjdX_y-MiBgnQPHwkLinRsh4i_-b5xNqRtwSPdSk8tWVZDrX79mC2STDz0GSCOuoKlauvyYuK7JS_imS4lhhYyh0YEY_fxvgIlcOahpjyHei4pxgMaj2z1Cp1eBdLIJZYVJRQOZ_Xan7YRRoI2xnzm3e2xglGBcqaa9VeAUepe1cLI73lsXcL5ifAzmwHnv3Ts6wuYWVYSYCz1DxyEIjwoJm-H_pYspoloNahSjPTHBYl3Gev1fF1A3lgmmgs8YGj3Nm3TF0mkgL9wjURfcFsc1ZXNitVgH8p2TLGk-L0N-2nMTFe4M0hJfw_xTMPTIXWeSuHJsYcB_DC7ponsvPq2vUA39gbAUHrpEIg2at-Wtvf2kSi8axqMj5WbfvNFjz07dx_4FfKB_RzhYSqEWd7RQjqz6gUdwTDMj0hOU3bj7UT8J3Zr5UC2nRJIJ-bcFOegPgJPV7ZaSHdJi7eQbm-T2HCchrAe_OkggiVcMfYUJvRGo9aS9EYJMcRJCbM-5F_4F8e6lLxQe8veTxq8VM_C1a6yqSWP7Dc3TymWnTqf9lcJz5swx577sFgR1a3ceb8smoatTmU-bPnp66-1ESjqS3-tI3IAIv0dKkJHQFSgr1MOHJzkJKYJ5nTJnM55mOXvqJsmOFDy4cDiC4zXv2LFQ4iFDFVBk32On7AgWULpxw3fjuO908UhZ7nfHRTp1FAr-UXYG3Yfp_SxesoiocxPFmfdngEclktMfDpdArggMTYB6Bmq4EM0him-RhQxsiJreYVka5TlhOpvwFs0eyfA-waD9e3WgMOFD27IRfWyUSLicW0-eA2qMKccr2YeUH6dtlrntpgVm_FjjLXuqds3MkY5zVCk5OPthVjJPyJTQVoa35GQpzo5MvVDpAcwgRFDO7hbbhikUDrcpgw8uyDMR7LR2raGodfWxB3xfdhTwgFVoQLg0-4kW7EXFuulWe6PV9OnLrwzaqHUXF9qTl8GnC3YieX7dQSXpys0ziq6g9lOXoXgOfs-IxOEBCrZUAQieDm_1ilwiMfMZVc3D-RKv8W7pFZEsZvbBpW5LcEZ7JImW6l3Ds-Omf3j8PXMj4RcRwAH8SZXSqxWTlb9XPE8dRwfeGaMW1kTc9LrgaVXMzXBVn0LOIxaLMsjh_TyyJ0GJw9gBeUeQqHeEXV4cZssWqectrfHFTVpxjHToL4WUYSss7pvZ27iYo5O-SaDuMLErk4i2QYPaXkANLFnlf4AqCXrh66Zs7AEeDznXrAnc12Yxamb8Olk-t2Zl4vx8zs10ByB7AgppqwMxdbSVUnvPYgTthzyn2R8RRgodIh1yS9edFF3JTN1bV1Ns1IMvwVXZjAw0DqxpcdaEDD2aFpkrDUb1WRiIoGcoCzJL7svWV-srSQtqmVdUcTiiIQWeFb9FCI6P-vJJMG_XHSolL3HWZl9iMOSevsqK_8P0sOr-8dbGrmL-_3n2bPA6pDJhYx4y9Gb-T5NiPMwYO9cbBsF9mERgWIMeul34bcLN2i2CIpDZ_OttQB_2bN3rBiLhSy8Tvak_b5rhNlUd86Db8EQjxDiU9ckhMs8ufg5xq3EZQnwmPyB2JiruGg9xi76Oy4F7Xdod4ObXM1EOpGlt5F7JabwfM8uW-_TqMKWz6zW72nRY1bEw==",
  "id": "rs_0866b665f1bf0285016ab443dfee0087d09dedadd429d9faac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.202,\"left_z\":0.0,\"left_yaw\":-0.6,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The arm has reached its high-pose radial limit, and the cap’s lower half is now at the approximate jaw convergence row. I’m descending vertically from this aligned pose, without asking for any further outward motion that could stall the IK.\"}",
  "call_id": "call_81MywzsBXcyXga0iNvkS211B",
  "id": "fc_0866b665f1bf0285016ab443e1337c87d0a9f18342a7250527",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_81MywzsBXcyXga0iNvkS211B",
  "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]: [-0.5274, 1.7916, 1.441, -0.8597, -0.0158, 0.0738, 0.9994, 0.4152, 1.1099, 1.2816, -1.2427, 0.3096, 0.1928, 0.0387]\nstate[eef_state]: left_x=0.3622 left_y=-0.2036 left_z=0.1111 left_yaw=-0.5761 left_pitch=-0.6414 left_roll=0.0503 left_gripper=0.9994 right_x=0.2471 right_y=0.0541 right_z=0.2404 right_yaw=0.0009 right_pitch=-0.4456 right_roll=-0.193 right_gripper=0.0387\nstate[joint_eff]: [0.5538, -2.8786, 3.5761, 0.9304, 0.0659, 0.2173, -0.0708, -0.7453, -1.7846, 8.3761, 1.3407, 0.1636, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a387200c6e286c5437a37a7e8144a7ce79cb292f41d15e7167df7450f282f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca6d0727bd86ab121df6198946d75a764e54e91bb6924164abfe527cac9992e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9611247eee0409e9c36bf1fc1ec8b37ed29893a93335a8e4a6c7e5521537f6b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.205 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5705, 1.6188, 1.3361, -0.915, -0.0223, 0.0574, 0.9994, 0.4248, 1.0561, 1.2098, -1.1755, 0.3248, 0.2035, 0.0387]\nstate[eef_state]: left_x=0.3193 left_y=-0.1959 left_z=0.1354 left_yaw=-0.6011 left_pitch=-0.6286 left_roll=0.0512 left_gripper=0.9994 right_x=0.2467 right_y=0.0536 right_z=0.2362 right_yaw=0.0002 right_pitch=-0.3943 right_roll=-0.1777 right_gripper=0.0387\nstate[joint_eff]: [-0.5812, -7.4598, 8.9641, 1.2283, -0.0366, 0.0513, -0.0757, -0.6906, -1.7299, 9.1009, 1.3309, 0.1832, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.776, 1.5211, -0.9615, -0.0177, 0.0662, 0.9994, 0.4191, 1.0931, 1.2606, -1.2228, 0.3126, 0.1959, 0.0387]\nstate[eef_state]: left_x=0.3584 left_y=-0.2024 left_z=0.1355 left_yaw=-0.5722 left_pitch=-0.6474 left_roll=0.0489 left_gripper=0.9994 right_x=0.2468 right_y=0.0544 right_z=0.2394 right_yaw=0.0032 right_pitch=-0.4299 right_roll=-0.1869 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2376, 8.9915, 0.9695, 0.0122, 0.2027, -0.0757, -0.5265, -2.5915, 8.1709, 1.2039, 0.1587, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5274, 1.7916, 1.441, -0.8597, -0.0158, 0.0738, 0.9994, 0.4152, 1.1099, 1.2816, -1.2427, 0.3096, 0.1928, 0.0387]\nstate[eef_state]: left_x=0.3622 left_y=-0.2036 left_z=0.1111 left_yaw=-0.5761 left_pitch=-0.6414 left_roll=0.0503 left_gripper=0.9994 right_x=0.2471 right_y=0.0541 right_z=0.2404 right_yaw=0.0009 right_pitch=-0.4456 right_roll=-0.193 right_gripper=0.0387\nstate[joint_eff]: [0.5538, -2.8786, 3.5761, 0.9304, 0.0659, 0.2173, -0.0708, -0.7453, -1.7846, 8.3761, 1.3407, 0.1636, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a387200c6e286c5437a37a7e8144a7ce79cb292f41d15e7167df7450f282f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca6d0727bd86ab121df6198946d75a764e54e91bb6924164abfe527cac9992e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9611247eee0409e9c36bf1fc1ec8b37ed29893a93335a8e4a6c7e5521537f6b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPohSlQCe_PlJoYuHx-HD3MYaBj9k8nsKuPJZV_qTnp0UrScvm1DOgjsMbgxm1SzWX9xAoHCJKOApHv-U8udP0nmEYiAxHUpT_oQoASGJ5SlAAgk1xGybBQMOyppVEbD_ufcjq5oyJBXsf4iOtyXb15Kwp5Dvj3iUgu7nom5BQYmz4NaSWMewyqAEJ5Q8QwuBdHC4sNdMPYTS1wDKdA-ZPfWB_Pa3ObpJnfRNG5jpEznUWB-yHzzgyYVZCZ6SCyBiU1jH74ov9HVoMcuMhla2Co5-xsaHMRCZaSVK49Jj3dE5b9WDywsAO_hFYhN68yyD41eXazA0B62MtLBZBSNz638V-CnoGpeM-HRoXWEksqGtytAFRaLumXIQdwZYc4S6aQVi9gZGYGhs8YqSBK-yuPLBtDB4cGjP-ipUsRNiaY-XVUhXmcS9NayXIwpagbzDRde0dkoRuFCIuY_LBe5F2YfoNH6MPg1BDZlySGYrkX8v85626_JrVgSGPRiR3_ftiMOavkcng3x4eT5tlm0WD8ERJQZ1yMET4wF8sjGjNE-WuYf2E-kstU09H31ITWE6xf5dCjBurIqZJ27E9eKIWc7QNcpQO0xsR-AjXhtyxy5bKfQN3NY8ypIo8XhcVlhOBoDhv8qrpwPmUzYDi3s4HPehMPsUb6cahqrDXpSxe2bDQSbNkzE6qRLo11HdzSaEDYRNtoj726ZU8WQKf_kQkX7VL4IaBCAp9o2zY19Uc-BBgLLPsiJ45_6ytfWo2tamgkQTsYhjQhFbfyzvLkY-KT5t37s2HYb4KOy1H-W21gfc4EXtpvjdV4-4DyiWaYc2galGQKM42Klnp1aLgubgvUHvxcqpsj4lcNAfPMOcEhmYsAB2d8v9SUJq5D7LvBibY94LGhiqmfHzKJRx6P4-ZdOTzErHiai9aS8sLKLLkfngDHDNbauRzNNTrQOaqYGSm2HNb4OeCO6fA2hc6bWX1OfRyHRT2RGEC1R8cX5szTSd0YeyCNq6OZ9BTyxeSr8Ujtct1tkJ7BfftyEAYNxZwkeJ-r5BJlO_Y61qaXeQ1T3jlLzxWsOkbaKUuWR4N_LEAj3NJZF_t4r5QWiMdjGqAlybsFdaWx0bRTTgaeCaZheDEaNrIu60tfnOVhN2znPYNtvGU74bTj6Ix_Mhe9_hnY3ETDb6-NHJvbZ_FWJQtTyoS4LPJrslPCRF8gCiS9jJhLpfRdBClHc8TUlLngX4GWpuu8UfDSCVXHD6ejHPrG_2puiK3XEmF8H9T9m7ls8sNMnHx_sNCFdEIsIVuubrhqClybIeAQn47LM2Y2QU029iTozubx1aQcVI1-267stuyEPFHSbdItMSXSynQAW4n8-S2STPRMvREBVC1EQHa4vUkNOabxvc_zux_OZoR504iMdRib5jLOU2HlzWXYpknBQxeW-PwhN8PtBujhje9jCBr0_YIwraFEJNgFNOy-hdedNztxSm9PGwbb0JKndNH6uYPxGKuR1zvwy9Zusvx4PKPdjBGHG3P5gOQA2X1id7re1SgSbRXg6vzT4Hvm_e8oQlyiH-17U0V8dAeYrLxVqFegBK0qpe9czohOcPbp5nD7o7LuzusSWltBD_yJZo14jzd9rbj7k8u7UF7FdRgGGiOXh7K7CoIR0Td-dh3C6Vx7naLt7-cfnQnsGj0yXEPdy98pBMBQQC08yB7mZkjTvenJcTMLH7KkT1h4sKPGuiMM0whu_vrDs74YCD3xrLiDEu3Jb9FmbbotgC2-8yb7LZMM0tTTPZ-YzfGy2cK65eaIzNZQDaSdmy1H-nnYTWTpWzTCd-SffAr0LLTNsIO7b66M3NQ8s0ZSHUPvEBAoft4CpM8HAHOf3ItG44Wsf40jHLRi_J8goG-t4XoPhfy44lps6MUL8g3hTrWODHQOfXEDRr9muM3zhAowg3maSrOVRgwrqtT0M4RzRY_kaRPqBg25AYgydR2rhs6ehdXIkFPyxswqrZ7kS5wKcrZ1p3SNyVteP2vpjl_al4s0zeT6EAcWd-zMHpfUgckdBqzm_XQoyBj0sZq-AjHv-V_TJ7AmZzj4erXzPaMRtP7iUJ4krqpMiNvpR38wMtJQ50-VDonEklZSvZoHrfrw8wAp49niDW9xh-r-0POdIEyWjCBQnPcmu6Q_bWU07mn_KYt1PUsHxktoyYN-m6-SfatcR98G_GqaB7Z7CudOjS_SFTmNp78aX6ZEcYyv4crRpgEzWK-r_gNNSgzo5YtvkYFMlSYKjFGuaREc8qYviFiP0Vwta_APK1TzSEyxKxunL08ssitkRPWChmUS91CG_ly1KVEwNP9DoVE8PXG4lvIwNP05GMchi-Sbjaxuh8AdXq6abxKzWd7MBXlm0SglIYALZTSaB4rTDHw21pZBnfppfyTeykE=",
  "id": "rs_0866b665f1bf0285016ab443e5236487d0957324730df97917",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.16,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The descent stopped 11 cm above the table while effort changed, revealing an orientation singularity: uncommanded pitch had accumulated to about −0.64 rad. I’m explicitly restoring pitch and roll to zero at a high pose for both arms, which should recover a vertical, freely descending gripper.\"}",
  "call_id": "call_R0VH6YKgpJatAW2Kl7vmd0Y2",
  "id": "fc_0866b665f1bf0285016ab443e716f887d0b2c3976873ad28d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R0VH6YKgpJatAW2Kl7vmd0Y2",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4965, 1.3506, 0.7948, -0.0998, 0.0612, 0.0509, 0.9994, 0.4412, 0.7448, 0.8825, -0.8082, 0.3473, 0.2287, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1957 left_z=0.1413 left_yaw=-0.5884 left_pitch=-0.0835 left_roll=0.0108 left_gripper=0.9994 right_x=0.2462 right_y=0.0537 right_z=0.2374 right_yaw=0.0181 right_pitch=-0.0654 right_roll=-0.0276 right_gripper=0.0387\nstate[joint_eff]: [0.5949, -7.1179, 6.9949, 2.0098, 0.1978, -0.0757, -0.0757, 0.6632, -0.9915, 6.7761, 1.9512, 0.3394, 0.1099, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0aef8c940a2dd1ab3c02fbc4a48973a9f853888d3c812b52aa9c661452b415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3587252f2568919f7eab6d2757df0732087b24b005a1af69689fe1ad0a1259d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794744943053ceda6a434e21fa61824003d1ffd6d4386fdde32935f6974b3bf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.193 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.7576, 1.4952, -0.9554, -0.0177, 0.0597, 0.9994, 0.4229, 1.0924, 1.2446, -1.2087, 0.3119, 0.1967, 0.0387]\nstate[eef_state]: left_x=0.3524 left_y=-0.2025 left_z=0.1344 left_yaw=-0.5755 left_pitch=-0.6487 left_roll=0.046 left_gripper=0.9994 right_x=0.2475 right_y=0.0559 right_z=0.2356 right_yaw=0.0071 right_pitch=-0.4312 right_roll=-0.1863 right_gripper=0.0387\nstate[joint_eff]: [0.1709, -8.9504, 9.0735, 0.8962, 0.0708, 0.2076, -0.0757, -0.8684, -2.2085, 8.7316, 1.16, 0.1832, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5274, 1.7916, 1.441, -0.8597, -0.0158, 0.0738, 0.9994, 0.4152, 1.1099, 1.2816, -1.2427, 0.3096, 0.1928, 0.0387]\nstate[eef_state]: left_x=0.3622 left_y=-0.2036 left_z=0.1111 left_yaw=-0.5761 left_pitch=-0.6414 left_roll=0.0503 left_gripper=0.9994 right_x=0.2471 right_y=0.0541 right_z=0.2404 right_yaw=0.0009 right_pitch=-0.4456 right_roll=-0.193 right_gripper=0.0387\nstate[joint_eff]: [0.5538, -2.8786, 3.5761, 0.9304, 0.0659, 0.2173, -0.0708, -0.7453, -1.7846, 8.3761, 1.3407, 0.1636, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4965, 1.3506, 0.7948, -0.0998, 0.0612, 0.0509, 0.9994, 0.4412, 0.7448, 0.8825, -0.8082, 0.3473, 0.2287, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1957 left_z=0.1413 left_yaw=-0.5884 left_pitch=-0.0835 left_roll=0.0108 left_gripper=0.9994 right_x=0.2462 right_y=0.0537 right_z=0.2374 right_yaw=0.0181 right_pitch=-0.0654 right_roll=-0.0276 right_gripper=0.0387\nstate[joint_eff]: [0.5949, -7.1179, 6.9949, 2.0098, 0.1978, -0.0757, -0.0757, 0.6632, -0.9915, 6.7761, 1.9512, 0.3394, 0.1099, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0aef8c940a2dd1ab3c02fbc4a48973a9f853888d3c812b52aa9c661452b415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3587252f2568919f7eab6d2757df0732087b24b005a1af69689fe1ad0a1259d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794744943053ceda6a434e21fa61824003d1ffd6d4386fdde32935f6974b3bf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPtktoFQaNJdd4q--DBEw8YZ3L8a6pRorAUEdiIMk5mjh5xsu0PZxiLsSllfWVX3MB5F1qNru7h3uvoUQ_Wlf7Fn7d2ZTNYMAYAG3Vkqyv7TRLxfSSNb1Rybbi3Fqi3thWmtzTqhv4vhiB-sM2kkaBrczA6fU4xEbAA00cm7Siare62fIb4aF5v_O0y71Eoy0G3_OuGcEMxJPuL0SY1-8xB-qw_LWWn6E5qLAfRmyE7a-u987CrLijKB4kmnx_1nF9FO-Y_0P4uxfNMNZx2czU6QvUPzrx2WyuGBAq6-DYWDiIMsFSnh_OoelGlPLxDsqbAtRgyEKWSeNFpWHO_uWV5Dc8miVbQnA3YhJfB189ruHs7dRY7kUN481lsZyKIXnQMKF0J0uHby80pragXhkjm2qtf-tM4jOagp0Ryf3bGQe55X73c-5cUuM5GIwBn0brXgWV9Zv_c9SPKxBc4nHGtW0aZoqkMFBIz4GfEsVozN8lYQWfFVePzQrRVJuxeM2PFOzfIaRr7EaVojyvx0ga_pDI_asV1qctlZo_wE65xlMAJflVmszcn4gRpYt7uZ_eilCAbP3Q1oO98-cJWsjX8cr3f3rdIc0FZvc1bmeS590pAZuKQ_p5rfGkL6HL7MH_erhUW21YbtAK7BZJ2XJy5LczgA8TVrKDYvKGgj_u5kAZuk0vA0jFY5LTvr8t3PMuaMRK7-Jdv0j6flp-kMzRmJ39ZRRgxrtROK6nLY9tbRebMwRmmnGpAxkowFNcwDZ1q4Kl4l3lqBTw8jZvtTXg0BklyfEw2q5l7On6nERXMfQzyflidUVW6VAGZADHFYqzZ0CiPja1hksrPA2enICZk7__26NvreHRYUwkbnOoTfuCeVW85Imb2RFcacoBdsZnqA4M_GA8alnQBBtkTu8dG4Ra8AJbmWCwJueWgSqxkkZKsYO53LOd99oQdpTWHqzdWuSRhZdb3QabE63SSOGHv_uhFhlyPUzQSFCiW14bGL0vW4f7Tci0i3zwxsu62SWMAjG7-zc3ZfVsJrWuDvcKvZPhTD5RqYPIeNXSpzVzEfxYGQQLHRgQEHJBnkgPZOlD6jIdhn3wkN9IrTx8humLS-3DdPhYD-umR6Q18IJ9V6-7_-bsIJXX3bPrZ90967Lnl_MtNyoG7Hj9uef_Im9fCEkst2x4-kGP0PkSL5TTspfmmcBtIuCdY8AzWL-Ut5OfCSqIF3kI-q3HO261u8HFKp64kadsHCdqg2ZATq1t0WqS2SmR_t7EISv_UlVlNWLSQqTsYfGNMYCHmcOmWN4ETlzdWQ9vyn1ZM7-nlDWimRnprw-Rrnn2hOEBAQlj6swP6KNhQR6cTlAccF1Kp5f-ebzj1Mwnyk73uu6vRspAMXZmtAtZwi9JCJWvibfHpVk_c",
  "id": "rs_0866b665f1bf0285016ab443ebcb2887d0b5263e972c36cbf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.346,\"left_y\":-0.196,\"left_z\":0.0,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"With the wrist restored upright, the cap now lies centered on the left jaw column and reaches the fingertip row, exactly the desired pre-grasp view. I’m descending straight to table level with pitch and roll explicitly held at zero.\"}",
  "call_id": "call_Sx8BLhra9WvYPlW1EXGqrnS8",
  "id": "fc_0866b665f1bf0285016ab443ec69d887d08fcf7734ca6370da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sx8BLhra9WvYPlW1EXGqrnS8",
  "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]: [-0.4908, 1.8072, 0.453, 0.7319, 0.0631, 0.0536, 0.9995, 0.4412, 0.7403, 0.8749, -0.7918, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3434 left_y=-0.1921 left_z=-0.0012 left_yaw=-0.5855 left_pitch=-0.0504 left_roll=0.0149 left_gripper=0.9995 right_x=0.2474 right_y=0.0544 right_z=0.2383 right_yaw=0.0189 right_pitch=-0.0533 right_roll=-0.0222 right_gripper=0.0387\nstate[joint_eff]: [0.5265, -5.6547, 2.9607, 0.8913, 0.3394, -0.0757, -0.0659, 0.4718, -1.0598, 6.8171, 1.9853, 0.2906, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520f4c477c485dace3c339aa8127279708e288bf798997d9da81b570e3b25b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e201b980f6387ae5216359db2ed283072b6b0bb2baa650d3a5f0626a0eb6758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e83680c1ee264726de2a76b5002db1759d37319dbf22022822815671d30396",
      "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 · 8.292 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.776, 1.5211, -0.9615, -0.0177, 0.0662, 0.9994, 0.4191, 1.0931, 1.2606, -1.2228, 0.3126, 0.1959, 0.0387]\nstate[eef_state]: left_x=0.3584 left_y=-0.2024 left_z=0.1355 left_yaw=-0.5722 left_pitch=-0.6474 left_roll=0.0489 left_gripper=0.9994 right_x=0.2468 right_y=0.0544 right_z=0.2394 right_yaw=0.0032 right_pitch=-0.4299 right_roll=-0.1869 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2376, 8.9915, 0.9695, 0.0122, 0.2027, -0.0757, -0.5265, -2.5915, 8.1709, 1.2039, 0.1587, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4965, 1.3506, 0.7948, -0.0998, 0.0612, 0.0509, 0.9994, 0.4412, 0.7448, 0.8825, -0.8082, 0.3473, 0.2287, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1957 left_z=0.1413 left_yaw=-0.5884 left_pitch=-0.0835 left_roll=0.0108 left_gripper=0.9994 right_x=0.2462 right_y=0.0537 right_z=0.2374 right_yaw=0.0181 right_pitch=-0.0654 right_roll=-0.0276 right_gripper=0.0387\nstate[joint_eff]: [0.5949, -7.1179, 6.9949, 2.0098, 0.1978, -0.0757, -0.0757, 0.6632, -0.9915, 6.7761, 1.9512, 0.3394, 0.1099, 1.0281]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4908, 1.8072, 0.453, 0.7319, 0.0631, 0.0536, 0.9995, 0.4412, 0.7403, 0.8749, -0.7918, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3434 left_y=-0.1921 left_z=-0.0012 left_yaw=-0.5855 left_pitch=-0.0504 left_roll=0.0149 left_gripper=0.9995 right_x=0.2474 right_y=0.0544 right_z=0.2383 right_yaw=0.0189 right_pitch=-0.0533 right_roll=-0.0222 right_gripper=0.0387\nstate[joint_eff]: [0.5265, -5.6547, 2.9607, 0.8913, 0.3394, -0.0757, -0.0659, 0.4718, -1.0598, 6.8171, 1.9853, 0.2906, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520f4c477c485dace3c339aa8127279708e288bf798997d9da81b570e3b25b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e201b980f6387ae5216359db2ed283072b6b0bb2baa650d3a5f0626a0eb6758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e83680c1ee264726de2a76b5002db1759d37319dbf22022822815671d30396",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPzqRiAhi96jugx8plQ83yHcVPGptDedmpmpkXfMtlsvLwt-F6BNKsQNx5LRl3QPlFv1ck9M-2OAQxntBMKm28ihIGqRa5ofdfUWOcOB8XUJQqF5xllr3EdQ4fqNq_DcQcQbZSn7dZWqsrSt4XxmNLFJsbDgiZdGltrnHz1UKRDngLYcHPKKe4MXPcUyCIbrV5ZGHbgx2G8BRxU954_L6dryBmZk-8jQyN8yNRKheGW7O015GxI1JYWQM4wWxmO6FbaUUMnVCBP3uZDz3INbpbQCyNJAi6YTfVAAb8xdumPfQ6F3ZcCeO1RxlyHLKZPYzbJ9AViuWAdRLsFi_4ysDYxAWXuPjba9NPJQmE4flKaDXzW5FHyM05ywSQU3i1xP23uGqa2GUe_AY2wU7Vy2ePE2d_VDX9wEarMTu9CgA6X5ui4k989I37J_VBUlaae_C12tSCkxNbvELXrHCsACMFnoCgxhQrWfjUkSeWLD5CECToHnMAUTl7t1s7Fcj89wvDyBxw19J87zvWg1PGbS92CdvzPXnlmgNMXXyMEM-rhVt22kkAYnvR8E52MVgZUrmjCx_X80hTu060wCzDN7uSAwy965UdzNZImclLOqWpcBp5Ux1KZTXzaNUBaQOZdPdMJ33O3H_Ke7Ae8xzS5GFwg-i9Bm_Jeku4ouisZOahIwOet0xt2_cbCkSpF1txmn2ZSrNfgvgokUpkM1xXCppeghN0TDfdACnhQs1p2G8zP_pRbC2SAmzmxwy5r5Z3bgBAedEoJ3jgETMFrdr1ZRF452yALVi0XaV-oHb6sHl-9M0eE0fe2cpckRjCEp2ZkNffKfIevMF-rTp6HuwvRObMnffsibYZNh7K13jW5E5MDvZJHSkAAR3LU6kyC873LReLxZlexZWt8FzE_hmfI22zTQ7Hy4xL5VdlS5rEtbpNaVNtVeb4moGgGhodp997LnPkPUX6Dm8W5aQ1wIiBmbTJK9udXr-q4hnVk427a2jrZcvIk8U_uJ370PcfvJugQ0gPVny0NhUHbTfvE0BFQ28RJHNCd_ypzSEoIWiQmv0K8v3iSdCxSS8-_wuit-oIJmDms9txX4IMLfzBxPTH2QTq5TLFfN_ZRsVCfl5f8gXVsIKeVdzvdinBy-PuePwGrRv5rReoWw-jlDOGGhu0T2PedMKoKUxlrfV9iX05aixL-dj8VByVzddUMKbvtxpKo7_1l_6TvBGry5oXSLgIlVZw-mHe1kecP0uMc3aeUqhTMGq-dO09ZQ2LftlDah2ToxvkRlBCLdF6Seug2XPtoxq0lHWdZL5jUhKr5V5-4PZOTSpKIpY77zK2H8-omdOc6r_kz7LCdU_c3o257BXrZMV3dgHro6fdVfQ7Nd1Ys7tcJB4S1lkLxjISfzezh3FCj_X5w5QhSfvmRPpzq_LFb89jYRVa4o-p4WqrLKi_6Mn_gwjdP5n95DWeeBhIi1OpiMXDQLXpzQJnVo7jBLgO8nUOPyZjXjXIjMjBt-osJGWXQ0dZCPxdMDHRAmRFQASdzL6F8QMafBMU1SvFxbTJ7Bu6hHzwdLkGOLdDl5yrldyWOPwCRt5NOfxYslnCHlR94si8Uvo-IR24psKfjfQwTpWHWY1w-0rrtYeKZTI3I7ihxROH-Bz2M2OvCIiVdrxsbtNTNZtLKrlW-_rhVdVqSrLFBBfM_N_yGUsdMecvdMyOtLH88ggWe9jh19qR2oV29hn_1XdUuXurKf2JUkga_iRGAp2a02OYEkWfTwcb9QFGFSDRCBA1xuFjAGDPqKjdU3jQ-GkRcK0LbkDwEiMGrpFJWyfdGV_m0uKe1Sbnsz6Ts9XLrHqR-_hiy386fO4Bfdhx2l1dDAYjAFqhTCJlvgngbyIPyGgdT7Q84-LeBYpV2_4UR7A_hhIgWHM24oN7at4DIXv3470sJyvFCshHNNF2IuHdk8rOlalq7J7mz979XYH4sD9Nnvrv_t9YQmLlYIIaEx0CXMe7KF7_VNC2Wma0fQs28Uy6O8FO8cY34o-r4t6S7umXm-gqnFtNIMw_jFPt18qoCu49bQZ7amY0PYm8pX1ItXnFHqYSBHAMqRELgaoEOhQF9w6W24TKjmarnOVxAFPWCWeKfPzM9ot_BLXrYPEMTC7e6L-vayrSvO3wyrQy_ciJ5RgLQFH8r6U4zQY-55uwQSVuOdtSnqhx8E2g--KaTXOHhgtfVJVi5JZc3PQvE5Y4OkdZ5UtZc7Q3AVeEShxDEhla-uvVw3l6BeeoixU9Hil7YdQ6dpRRP-Ohst2bNiG_LL0IklNM3lbTrB5FWzAkTpTf4hqO8IKaDSP8E9JASv89zXvZ-JJRnT2mapC4gs_V_yr_2PgNS7tfFHKG4vMImtCHu84KJeYVCTDFnyASL5xtz6G8HDBnzu85eGtlGrPM310bV2xxhfBFWiMCi5fudHx5giXbkOfeq-bqBkA==",
  "id": "rs_0866b665f1bf0285016ab443f0426087d082e83213a8571413",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.343,\"left_y\":-0.192,\"left_z\":0.06,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"At table height the cap remains fully visible with clear space below it and is slightly right of center, so it is still just ahead of the actual fingertips. I’m lifting clear before a final small outward/right correction to avoid pushing the rounded cap.\"}",
  "call_id": "call_2F40Y3aqLtva6jCFNrdBB08X",
  "id": "fc_0866b665f1bf0285016ab443f2a08087d0ac7a9a73b0e2ed35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2F40Y3aqLtva6jCFNrdBB08X",
  "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]: [-0.4789, 1.5738, 0.4644, 0.5678, 0.0727, 0.0532, 0.9994, 0.4412, 0.7376, 0.8745, -0.791, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1901 left_z=0.0566 left_yaw=-0.5814 left_pitch=0.0306 left_roll=0.0174 left_gripper=0.9994 right_x=0.2472 right_y=0.0543 right_z=0.2389 right_yaw=0.019 right_pitch=-0.0506 right_roll=-0.0209 right_gripper=0.0387\nstate[joint_eff]: [0.2803, -6.2291, 7.4462, 1.7411, 0.2222, -0.0122, -0.0659, 0.7453, -0.6496, 6.6256, 2.0586, 0.3248, 0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6538662f99714bf162390e357a227ecd376edaa4226106e1904328b5014a1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845c7c67a4ac85f1f471c45ef9f5b679732f74cd0b785ca5ff75044e4fca7419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08339fd9d2fd1eff83a44e9d9a83dc2165eb69812f87a17abb8c7d614a4cef55",
      "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 · 3.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5274, 1.7916, 1.441, -0.8597, -0.0158, 0.0738, 0.9994, 0.4152, 1.1099, 1.2816, -1.2427, 0.3096, 0.1928, 0.0387]\nstate[eef_state]: left_x=0.3622 left_y=-0.2036 left_z=0.1111 left_yaw=-0.5761 left_pitch=-0.6414 left_roll=0.0503 left_gripper=0.9994 right_x=0.2471 right_y=0.0541 right_z=0.2404 right_yaw=0.0009 right_pitch=-0.4456 right_roll=-0.193 right_gripper=0.0387\nstate[joint_eff]: [0.5538, -2.8786, 3.5761, 0.9304, 0.0659, 0.2173, -0.0708, -0.7453, -1.7846, 8.3761, 1.3407, 0.1636, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4908, 1.8072, 0.453, 0.7319, 0.0631, 0.0536, 0.9995, 0.4412, 0.7403, 0.8749, -0.7918, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3434 left_y=-0.1921 left_z=-0.0012 left_yaw=-0.5855 left_pitch=-0.0504 left_roll=0.0149 left_gripper=0.9995 right_x=0.2474 right_y=0.0544 right_z=0.2383 right_yaw=0.0189 right_pitch=-0.0533 right_roll=-0.0222 right_gripper=0.0387\nstate[joint_eff]: [0.5265, -5.6547, 2.9607, 0.8913, 0.3394, -0.0757, -0.0659, 0.4718, -1.0598, 6.8171, 1.9853, 0.2906, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4789, 1.5738, 0.4644, 0.5678, 0.0727, 0.0532, 0.9994, 0.4412, 0.7376, 0.8745, -0.791, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1901 left_z=0.0566 left_yaw=-0.5814 left_pitch=0.0306 left_roll=0.0174 left_gripper=0.9994 right_x=0.2472 right_y=0.0543 right_z=0.2389 right_yaw=0.019 right_pitch=-0.0506 right_roll=-0.0209 right_gripper=0.0387\nstate[joint_eff]: [0.2803, -6.2291, 7.4462, 1.7411, 0.2222, -0.0122, -0.0659, 0.7453, -0.6496, 6.6256, 2.0586, 0.3248, 0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6538662f99714bf162390e357a227ecd376edaa4226106e1904328b5014a1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845c7c67a4ac85f1f471c45ef9f5b679732f74cd0b785ca5ff75044e4fca7419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08339fd9d2fd1eff83a44e9d9a83dc2165eb69812f87a17abb8c7d614a4cef55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEP8IxX8BRkp9AKsuoq4kSfNlL1aabvT-nlaNBuVisUaw_2v1z-iddyCQE7-UpdFQu9h61fAw0wb7SShNZlTmkBdsjWNBemLfeMEsLlGehv_hUGEO0OyTAXVf3ULBx1SSmz0vwEOzQzMfGmh_DflIabhJVbFs_rxQ9AtjjOGSmCNV0DKixZ9OvO9TPCKskKM46WykmfzpfyBj332q9e67LdqJ2Dlxszm2_GnzveyvXrPcUVvYc2wPdm9hqyql_sAG0943kxtQCUs6Xl_DysvC_qcLLWcEOKRGKDyftzX0ms0ryc_7BMQSeEXLO-CBTBIW9rqyqxySK7CbfuQoue2VN3kqIA-2T7AKH22PwfwXZYXaym8z41v-vwPlSHfU_rOrlb1gPXqMI_iV0p_LhfYeTppYvah2U-K2colSRM63KBqWVaHwSj-nbr0M1_F0fV5WUZzpE2nC3_LFSm5PZ2UnCioVg9K29K3L32WuoDOxai33NNoCD9ApIYFe42YR30dorD-cy9NS_0-_MN3EZiuTKAqDe_Yyb7jySqudJO7tWKh1xOaMD0KhMz8_5UpFt9U12BIGkOz5JU5UOOP0-8IHaKaCPOoeYUUROhHQEAGtp5v40Aq5ynMuwoXNU-6yT-y9BWdJmZP_gE7zYppQQkb89sjJul4A0wZShLKK-C4Nfa8YY-gfyXGR8U4Axc0y0o92XDDVR6Gg1orvNK0HTl8vvLdqeJwAMa88E1I5g37eMmwo6HmpYTCFceS-r5bEfw_gGBr5DfSohvjMu72bXmeNE1jbGmFonMo8iEVfQsrW1IV-b7JU3yelLUN8B1yDpUSFScbv2-S7iaCVKIdRAcP0QWOckOf4kZJENtPhChW0pZHZgK1-h4cEZFe-oD3TdB8SnBV8DsE6HAZ7uiOvHycRNHMS8B4r6JEJJb28cJvLn5XmutWi5bsCY4amkmxIctAtCnKpxK7zh8EjAvgsvFAWedlSDgYZJ7rJcWFR9JmJPW8HqTYBfLZNbLQowI9EMab3xrowxpzMGV1VUEIa2F5mMR90nRlWpHhvkg8xrOW7vqD3szbI1uqJxdImTevSBA51jsUGDsOu9G1Vo2kQGxRBtruQpKg_Mo6qnateJ6QI_SOAtVGi4gGIXZDIvXn6Uor7Wd2_J7LgFPZVJ2VqnS0JnuM0SQgYKyXbIF_Lvryxhk4sEuCaM-n9JkjUZ55S65y4E_jCI1E7TBS3p858IApumFsxxjcnfihMS-hCT2aalcWaI1ILIwAXcdomXbSy_flIamZ07aI9jr3UuwBnkYdJVcHt2qPGQOMPEVcoKFQ79wKk-UUQ_lYSb9MqDDj1W1YJMbLLWaKXHQlr7QUHlhcQoB4ebLkWKakndXw3jmQszxhuOVvlFH5jXWv7tabcnFeWfnX5PCyPzQI_BCPtmBGuvaue5tTHh5YbgAiF6wF3fyxN0MFYd1LOFY6WwLlq7j8BVVhUrvIKvKr-WFFsg1JBQra4HRtX3IjoWaesbUWJouZZ_PxHWUeqmaUUg1mduX4jmyVkyp9UkRkt0V-ASttoiOL6qGBndifHR__rMCBMBKQl2ukO_Pu20wpNxHRa4Mv6jc4J_NR86wb44v4y75mm4BvDeonT0c1DR67cxchqP-E0y3bUGlDEXR_lkGb2mk1c7xcOl8IrmLoGTBNm5k_MVR79MvgRlYWeE4BxGX86qcW-ctv9imVBRzs2bTJlQV8fb12FEnbIoUOB5TYb6TepaMS-cl2qk6SAYnz-QmBA839V6Q4zYT5vzryt9w9FTDRJFTvFxoJ5Tz3aFUJPlYRoe2Zf6KAbzEL2ww_e_2_wuWabfQrQaojdZNpx_qfslTkwoZWF2xvZ605Tjd6HI8QJb86LPQeoA76k2VBaBSh16VaoTQ6zSEnPy8mcRx77uORB0HOOU-X_CT2Ev17DhtEvS6BqKsyKFAai3yJU4Ba68HkeaoHaWkR5PhFImR7EMxROvEjXWQFqiDx5uKChVn_tCPskvxnpp81zWZYb1lIITGcIpXnIB3l2HIpzJs3wwl7bUvmQt9xs4Ugf8W7KXUpNzdnyJoqYbMJxJ9UBIeutO8Y6fJIwhyrTUUC7-XWxficjRTAD3bO6N68JFT1Q3oy5zOKM-QyNOExGecYPQYHpUpmJ3Yt_XWI-St_KnbdqORHrKCl2OcXEiKd-XXRiXQcTBfcMv55P_opcnerBeBnF3z6lwsTh3T4-HQ5IIxZIsJD-vvXnk3Np6lGsX5v48f5L629kd3jakTNkigX-SaIOCsxBB9u0ipTGLSx_xfvAzhOLsYlpXwuQPtjOHAR1N08ve5wuLYj6s_1UYRPCgFzA71NSJgF1-hvjgyAQ8RkTRyrdLXhZ7zOSANMlpzwJTNfiQ0DU1UjvNfilvVaLio5R-V9tO1LvEPsB2pdgM2XKmnMDkgHSGtUFjcdDCCJ55NsVCetW6vCvpbzKOb8tSoYoy6w9MhEKq6tz0csa66YfOBP16A9Zy67AHnWZ1dYQZ54KswUHxh4icNy57EYBWOFrb2KKtor-rh5oBB9dnW1SWfFMzB48QwM4EFnVIp8hWvMfRbCHGEzcc6Uidxg4qacbAb9L7WORgcXADYppL8kgooDJd9DS8DC2nIoV57J3VZdCcblrw==",
  "id": "rs_0866b665f1bf0285016ab443f85fdc87d0b71a173a462543b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.346,\"left_y\":-0.19,\"left_z\":0.0,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"After lifting, the cap’s narrow end reaches the jaw convergence row and its centerline aligns with the left jaws, so the previous apparent depth error was mostly projection. I’m descending vertically at this corrected alignment for the grasp.\"}",
  "call_id": "call_qQGJyZH4X5mqiGlL3hfnqRK0",
  "id": "fc_0866b665f1bf0285016ab443fb184087d0af2b0b7c9aa6cab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qQGJyZH4X5mqiGlL3hfnqRK0",
  "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]: [-0.4774, 1.6402, 0.4458, 0.5846, 0.083, 0.0532, 0.9994, 0.4412, 0.7368, 0.8745, -0.7841, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3378 left_y=-0.1872 left_z=0.0288 left_yaw=-0.5886 left_pitch=-0.0367 left_roll=0.0045 left_gripper=0.9994 right_x=0.248 right_y=0.0546 right_z=0.2404 right_yaw=0.019 right_pitch=-0.0435 right_roll=-0.0183 right_gripper=0.0387\nstate[joint_eff]: [-0.1299, -6.3248, 5.0667, 2.0049, -0.0366, -0.0464, -0.0708, 0.4718, -0.9368, 6.7077, 1.9365, 0.3541, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84380896e7a13d49015fa11eb014bfad85842996275fbc49615eea272dce3aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab34c3f912999e113d8fc4e9e4db5245597c2129f00d65e11f4a772228917bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316b2591c0ff45da02cbc6acee82fcef809d9292442786fb15ccfd63ca975d83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 7.95 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4965, 1.3506, 0.7948, -0.0998, 0.0612, 0.0509, 0.9994, 0.4412, 0.7448, 0.8825, -0.8082, 0.3473, 0.2287, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1957 left_z=0.1413 left_yaw=-0.5884 left_pitch=-0.0835 left_roll=0.0108 left_gripper=0.9994 right_x=0.2462 right_y=0.0537 right_z=0.2374 right_yaw=0.0181 right_pitch=-0.0654 right_roll=-0.0276 right_gripper=0.0387\nstate[joint_eff]: [0.5949, -7.1179, 6.9949, 2.0098, 0.1978, -0.0757, -0.0757, 0.6632, -0.9915, 6.7761, 1.9512, 0.3394, 0.1099, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4789, 1.5738, 0.4644, 0.5678, 0.0727, 0.0532, 0.9994, 0.4412, 0.7376, 0.8745, -0.791, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1901 left_z=0.0566 left_yaw=-0.5814 left_pitch=0.0306 left_roll=0.0174 left_gripper=0.9994 right_x=0.2472 right_y=0.0543 right_z=0.2389 right_yaw=0.019 right_pitch=-0.0506 right_roll=-0.0209 right_gripper=0.0387\nstate[joint_eff]: [0.2803, -6.2291, 7.4462, 1.7411, 0.2222, -0.0122, -0.0659, 0.7453, -0.6496, 6.6256, 2.0586, 0.3248, 0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4774, 1.6402, 0.4458, 0.5846, 0.083, 0.0532, 0.9994, 0.4412, 0.7368, 0.8745, -0.7841, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3378 left_y=-0.1872 left_z=0.0288 left_yaw=-0.5886 left_pitch=-0.0367 left_roll=0.0045 left_gripper=0.9994 right_x=0.248 right_y=0.0546 right_z=0.2404 right_yaw=0.019 right_pitch=-0.0435 right_roll=-0.0183 right_gripper=0.0387\nstate[joint_eff]: [-0.1299, -6.3248, 5.0667, 2.0049, -0.0366, -0.0464, -0.0708, 0.4718, -0.9368, 6.7077, 1.9365, 0.3541, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84380896e7a13d49015fa11eb014bfad85842996275fbc49615eea272dce3aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab34c3f912999e113d8fc4e9e4db5245597c2129f00d65e11f4a772228917bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316b2591c0ff45da02cbc6acee82fcef809d9292442786fb15ccfd63ca975d83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQABZsyPDzS6xaaL3qUJE5au-s9AJVeuEaWqhTQTBw36dj9WTPfY1VDEwAHZOOoRwnm-210kZaI5mmr6PwOI4_odXkIlARTkpGCI1Alp7G3RTvYQxs_Wiody8C26_aVe4SSMlGJAuBftjRijAlY4onYiSDhO3Cb_3_8EtsXIl02zDCy2YF8EwrP0UdOliz_DnCH5Goe4vmHN4DgUwYrrSFDbLg0Wrd-hBcVnaE5R3GrlmU7jx4tWNGM4oNHhBchAoczFgdPDoCHAeZO_J15pmiFWzRnv6tctxo88cxMmH9VCKJjBx_z5IB7QuNY-pFGb2PB94gzkJtQXXZamqmpfgQ1KiBFnQBjtzcedfs5xi1UuPKK3hIiFg7YJ_azcFmJr7UKui6c23XQBQgstApgReU_ZpLIqPJ-h_Vd9Lnm4S12UOZu0B8OaTM4Sww6TU2E2ckOBjXFwkiMHh4qHyHnGFcP6RtLMLCNsSACTIjVAbwlqsxcNC9jhVlO65bs1lBsW3m486R8jLtKbD0S7l-D22kLDwKuvreFzLCli-1uq6fQep9vUD75HfjmXVTyGYH1sSfLnXFvkfrgpXdvtVRAs3qTVDZGCx7GqVNsns3n9X0XM-J5G5tdNE4r0Hyj9ZAeJZX_An-f06X31v979712Xypqw_E2UUhGSikZSOXHI3BJX8J-fwZYfWfl2OS05r5kU2SAYe5_7uq8lpZ0Bhyik31oJUruCt7MceeippBBNIXh8FKooSYv4kUq5e2JlKrGQlvgLJIeWqR5_YEjVGUoDSU4SM4imJoV5WZAmtYjmUENUmgsNWrrvTMXX6IUihyEkY94HAjrof_e9MDvRcpeICjT5X3NYsf_I_jPsh6Na7-FSPsW_rN98_iWWJziJiRZSqVzYLxmHuhyldm-42yIFX0uUsq0LHGum56_YjAuwQpGF4jogYP1vFvtDL_jTKGHe3EzwZsReRTEIg_FLhsk-u3KjpRDeWXvzzmt0X6CaW1ULG9zZ_9sFhF9PpJW37wqqKk_ZKu5OjZ6TBEjlnPQIL9pQy5TNFhd8QZsx26lkUHauHtOzUhfLtlPD4paHUy12aE-blROgaONdkux3ISzjBaDTjE741UDHM77LNkDXLmQLaHvXeow3ywDjP82LCzAptJoQrOHIS67kuMjentBycAdaMaqbKrXw94ghtb2XPE-tao1yYbuEarqRJLSaE7hDuN2PdKe045SKCMKbtnJMV9ZDlbmKegtJ9hpdqZjE-wK79CAAJHdljc0emIBqm5csARyW92Nd4UPyF864sOp0Yaq_gcZCIdt-l7KS1DGD8FEJUhQiweNSD2luVHcuwlhtRu_o6e2dESEbJz2fEy3avhr5GuYpiYPdS6ZERgc6zWNR5vldebMUg1LIPP1peFXnZ5Pmg5awyYVSwneEErRmVFrScr2ZkqEgfkRLGneiKzQEQ5PYxdRLkimpc7YUyKe8lHMvOC0nqaKAEk22zmrporY6xZc_TxQqmGGeQheio9C2a9NnhQsEvApyzfinNGq3LGUj3IQX_adUbKvUh_TjpiLF9pxNI2JBt0nYqhPcXMpdT8gyHQ8FIYWydN2u-P4D02_SAluF742V4mAgGi4TqBsqNCae_q_TVkrkq5SrDijvsEjJJ7A0nsvi-hDbmFF9jMn",
  "id": "rs_0866b665f1bf0285016ab443fe1ca887d0bdee82dbc89ebf83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.338,\"left_y\":-0.187,\"left_z\":-0.02,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The first descent stopped at 2.9 cm, still visibly above the cap and without a contact-effort signature. I’m continuing to the allowed floor with a slightly lower target while holding the now-centered x–y pose.\"}",
  "call_id": "call_WFfS3os8Vq2eLGpvrxZ7Sa3W",
  "id": "fc_0866b665f1bf0285016ab443ff061887d08d3176e0e139543c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WFfS3os8Vq2eLGpvrxZ7Sa3W",
  "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]: [-0.477, 1.6402, 0.4458, 0.5968, 0.0826, 0.0528, 0.9995, 0.4412, 0.7368, 0.8745, -0.7841, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3394 left_y=-0.1878 left_z=0.0313 left_yaw=-0.5877 left_pitch=-0.0246 left_roll=0.0058 left_gripper=0.9995 right_x=0.248 right_y=0.0547 right_z=0.2403 right_yaw=0.0192 right_pitch=-0.0436 right_roll=-0.0178 right_gripper=0.0387\nstate[joint_eff]: [0.1299, -6.4889, 5.0803, 2.1123, -0.0415, -0.0415, -0.0708, 0.5675, -0.841, 6.6393, 1.9316, 0.3101, 0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117f179d752bc74037c0a116f548cd159d956bed9f5bcfb7b6ed39d535cc199f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c2b739b64190b520eab81a0dc5100eade519fa34cd70eb0003e342c2cda55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eaaea104f64ddb05500cbc46b10a88a5f44c52c78f43e8124b25f124875e7c1",
      "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 25 attempt 0 · /responses · status 200 · 4.966 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4908, 1.8072, 0.453, 0.7319, 0.0631, 0.0536, 0.9995, 0.4412, 0.7403, 0.8749, -0.7918, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3434 left_y=-0.1921 left_z=-0.0012 left_yaw=-0.5855 left_pitch=-0.0504 left_roll=0.0149 left_gripper=0.9995 right_x=0.2474 right_y=0.0544 right_z=0.2383 right_yaw=0.0189 right_pitch=-0.0533 right_roll=-0.0222 right_gripper=0.0387\nstate[joint_eff]: [0.5265, -5.6547, 2.9607, 0.8913, 0.3394, -0.0757, -0.0659, 0.4718, -1.0598, 6.8171, 1.9853, 0.2906, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4774, 1.6402, 0.4458, 0.5846, 0.083, 0.0532, 0.9994, 0.4412, 0.7368, 0.8745, -0.7841, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3378 left_y=-0.1872 left_z=0.0288 left_yaw=-0.5886 left_pitch=-0.0367 left_roll=0.0045 left_gripper=0.9994 right_x=0.248 right_y=0.0546 right_z=0.2404 right_yaw=0.019 right_pitch=-0.0435 right_roll=-0.0183 right_gripper=0.0387\nstate[joint_eff]: [-0.1299, -6.3248, 5.0667, 2.0049, -0.0366, -0.0464, -0.0708, 0.4718, -0.9368, 6.7077, 1.9365, 0.3541, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.477, 1.6402, 0.4458, 0.5968, 0.0826, 0.0528, 0.9995, 0.4412, 0.7368, 0.8745, -0.7841, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3394 left_y=-0.1878 left_z=0.0313 left_yaw=-0.5877 left_pitch=-0.0246 left_roll=0.0058 left_gripper=0.9995 right_x=0.248 right_y=0.0547 right_z=0.2403 right_yaw=0.0192 right_pitch=-0.0436 right_roll=-0.0178 right_gripper=0.0387\nstate[joint_eff]: [0.1299, -6.4889, 5.0803, 2.1123, -0.0415, -0.0415, -0.0708, 0.5675, -0.841, 6.6393, 1.9316, 0.3101, 0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117f179d752bc74037c0a116f548cd159d956bed9f5bcfb7b6ed39d535cc199f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c2b739b64190b520eab81a0dc5100eade519fa34cd70eb0003e342c2cda55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eaaea104f64ddb05500cbc46b10a88a5f44c52c78f43e8124b25f124875e7c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQIVv_1KKGwChE0ypqNgmY4zt8IbBXJwaeWuT1Ua9lzKGRtxQ7zHPWSBARWz6eqaRFbjZwtuS6pjdbpi4vuGP0cSb5Jlz7fZUAXTDX9vdaIhnkogHahnChIMcl8pfkfO9l_lSGeYh2UuzMSZ_YAUmwh8TKZ156R4ihMYLKrJnmEYJQKSJsI-emCXg42jqZ3w0FboGS_y030k8LvEbJEVwchvDzBhJrJOyJmgYXP2QG15mTewf4QOdqzqODLPWBIuM0p7PZbzcsG47F1sQpwUfHTEciQQ6plmLSc3dZwW92nC1qy8UNiPcYWNsjPbtQ99_yFrb1pDF-Vslat9GSt9kFo6UDtOZ_uOvNgWlNuWQYxjvEUsGUwQX71bPxulhkbC1JtxWmEyvS9ehiDFDxUIRA-miucZVwfR8yOoLb5ztBaDbMOwLTXDEgkfIWBg4EgXieM9Js3MApgJWz5RjPECz3GDfATn9fnANoeYvesOQa_IOyDOyXtNH9_ABNPUvceKiiI2XPeb_8zCfL7rIYb5kekSalN1kcPht-_lMuKU7JQtxSk9bJkYfglY5CYoW0hrxAOMrQLqf7FrLaRCEiXPKarS4OKBreW8fN0zF5BLZ_y0-hUb3r1MJEFVRpmZLmlmuO5BOooXAi3LaNRnUDsYobCtpyLWeOh46kIcqAlT787TF90Q_VgF8D7jPAXFJOlbik4k0rPU5dE9oqge7XGxgmulA_Yna6SGfqvkrVWKhLKPTEmYTpsWXDYQhiIWKQd2_30NaR-q8fOhuQQv4qTsy5gI6fwaNRRyw_GagzR2atKL0Qazf-7UU-LCZ97cnPkhJO2-s3EsYrgrDefjl8UckfqJsG6bYSpC3EkT-lo8m23E9s_zjLaAiWKFbhNLcEPHyfRR5SLEiJksioLRU637j_PJkrEL9Cp6lZKbnsutR80ALEM_8DytVjtWY4L9MngJjgp7472-N3OdqtnB0UaB7czWJLkiYBnax0S3ZN4wOZqo5X1WLkNNIqaSd2l2q8V4rBcFpGpSmoWBiD5kAb024lG81uztIj-JYvP-JTX2i0Zpee-Fv9ldMnmjG2MW8NQfpoMjzIe7gYqZjpqd7ScGP0G7mzxWzbumqkMB9NJ7z2bPZBZOTezdbhzmCuNQdj02e1LF20cmdtiW5n5wqcEthIJwFlIDlEJ9jpvGMhZV4NLZu3MApBenjv9HH5IAbHjlblrDw4926F2Tpw_7cRyb2sCEraYuU2xpF0-VN6qsIvDInJREOdk9VwME3cSUXfUMutJVfVFOLRJQ1FKAd4ca4u_FwqtnDOFcHegC9sBWJfdQoMXDB5cY_jgQZjOvc51cgu8UJZiU2zs7aNAw10eCxGYwIhLlYo84qAN4mBPLjLbiZiXmYkY9LihEhj4knlcaaghudlzPn84XLBE280_tHWz-jF_jGDQdEJ8xwnfUvDrrRSNagU_3e2VmXfCMGiIiWtZgzEWaje9bxLd-Isn0JqCX0JmpAIWwGfXRM5mIBoPWiEnmhRkvTTtG1IQ2oTbkTuSEXRWIOphY7AcofsCy-Sf6H3AlRXCEfjGqsn7-YICHS_ohlDDOwnkYnDSVe9_UN77H32hr222JeArSAaPNAdQ7FlGC3P5UrU2th9I3EfKMF2nscb34agKgPDINRbuMFiRptOwlS70OonshsrrAFZ_ByZ3S0Aw9DDoaygENa4tcTMFy6db3MBx2UJj8CSLY2E2KxHptf8tAUXDOAnB1S54Oe9w3cPEG5aSLHK3roXgax4Sze2n2cCNygtg_52yjCHpskM6NM7Mu7-xwok3sOE3CCibWp3GUr15ki3QDqYiFSnuK0VWrev7TCqb3pyNk-_CyVrPee5BZlZkYPO9RhyUqqUh_f-wICUS0PXRUsdWfj3JgL7LqDwkq5QseTMBAzX8duIczU7OTVI1QGrT3rG17wqKeqjrtB8fTr6p4XNve3TYPvDubv7T1BKaM0yqTtagWbsgVI8R86b5ACtZWGyEhmCuBkdwHoJGnPJCUpYr2R33iU-2scWStHs2KI0SJc8zP_pfQZOfvAtt29434SfMeU4SKDFcEgliEcv1SCgA5fsMLAYpST3azokdijemAfUPsBtQ26iH4gR-JcW04kQmCerOeS1EptX0GXUba80yU1C1mOOjP75DmLFKDXcmNZzRSsbN1Ayw5cgYKuMq2x6SbHTbWID49J8z38UrKq9c7-c7KUX6rEmRcA92pfpCb1gGpxkO0s5cYnql2Zq-e71D5YY3_bryrpNyrG25PXt_70BM41zONowRsP1_EWbYopm0zFyGlSU6tGp99yYBTH0un5XUK3mSYiHq9kS_hyZ92-GAHdsrTkUrQh_Xn4IjbvZPwN2IxSqPZHrTlJc_0UYr-rfOmLHaEZcOnvXadDCqxlVyfVXVpx0YGt6xF3zi3DP_7yHssK6mhUV3QaBSn4pJGzt5KYB0PcGBO3TVKWquk7l-LVPtFatYxLMFKxM3DXhmWWXKMfDiapXiAb4Vyf3f0lRItQ_uNujB_J5ScfI4P_dCKSjukijnLVuBbokcY4PV",
  "id": "rs_0866b665f1bf0285016ab4440526a487d08c18a2f64cd06ce6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.339,\"left_y\":-0.188,\"left_z\":0.031,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"A second lower command held at about 3 cm with stable x–y alignment, indicating the fingers are now physically stopped on the cap/table rather than merely tracking slowly. I’m closing the left jaws around the centered cap at this contact height.\"}",
  "call_id": "call_ipN9LffEp5VouXYOnNv1RT0J",
  "id": "fc_0866b665f1bf0285016ab444078b2887d08ad278f3542e7baf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ipN9LffEp5VouXYOnNv1RT0J",
  "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]: [-0.4713, 1.6463, 0.4297, 0.6273, 0.0868, 0.054, 0.0089, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3385 left_y=-0.1857 left_z=0.0297 left_yaw=-0.5861 left_pitch=-0.016 left_roll=0.0053 left_gripper=0.0089 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1026, -5.1214, 4.506, 2.0098, 0.2173, 0.0171, 0.5397, 0.5949, -1.0872, 6.735, 1.8779, 0.3004, 0.1197, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6f2bef5fc32d2fa5dcf9ee585836af37d350844c43c9de5eed8a8c7f6c63c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcb826d8a01999e18835ca29809f262f899a13f39abd060b920a0ec3b9aa81c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf255f067efe535b5c4b81e91adf962aa0e7c6e6b76c9f1810cef12fb150469",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.772 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4789, 1.5738, 0.4644, 0.5678, 0.0727, 0.0532, 0.9994, 0.4412, 0.7376, 0.8745, -0.791, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3461 left_y=-0.1901 left_z=0.0566 left_yaw=-0.5814 left_pitch=0.0306 left_roll=0.0174 left_gripper=0.9994 right_x=0.2472 right_y=0.0543 right_z=0.2389 right_yaw=0.019 right_pitch=-0.0506 right_roll=-0.0209 right_gripper=0.0387\nstate[joint_eff]: [0.2803, -6.2291, 7.4462, 1.7411, 0.2222, -0.0122, -0.0659, 0.7453, -0.6496, 6.6256, 2.0586, 0.3248, 0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.477, 1.6402, 0.4458, 0.5968, 0.0826, 0.0528, 0.9995, 0.4412, 0.7368, 0.8745, -0.7841, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3394 left_y=-0.1878 left_z=0.0313 left_yaw=-0.5877 left_pitch=-0.0246 left_roll=0.0058 left_gripper=0.9995 right_x=0.248 right_y=0.0547 right_z=0.2403 right_yaw=0.0192 right_pitch=-0.0436 right_roll=-0.0178 right_gripper=0.0387\nstate[joint_eff]: [0.1299, -6.4889, 5.0803, 2.1123, -0.0415, -0.0415, -0.0708, 0.5675, -0.841, 6.6393, 1.9316, 0.3101, 0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.6463, 0.4297, 0.6273, 0.0868, 0.054, 0.0089, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3385 left_y=-0.1857 left_z=0.0297 left_yaw=-0.5861 left_pitch=-0.016 left_roll=0.0053 left_gripper=0.0089 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1026, -5.1214, 4.506, 2.0098, 0.2173, 0.0171, 0.5397, 0.5949, -1.0872, 6.735, 1.8779, 0.3004, 0.1197, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6f2bef5fc32d2fa5dcf9ee585836af37d350844c43c9de5eed8a8c7f6c63c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcb826d8a01999e18835ca29809f262f899a13f39abd060b920a0ec3b9aa81c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf255f067efe535b5c4b81e91adf962aa0e7c6e6b76c9f1810cef12fb150469",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQO1pJLMRSmW5MHkCJUZL6XgdgcQoeBaZB0YzNsQHrmWs0X5skF8LCr7a5pOHs0GSu3wUQ11P0Yzz_ajlrgIcR0xMP-C7ofKDLe0TWNvrhREDrO5VhhUDVn30dGmKO1SHB8cT5gz82x9_iwJlKFhghKF1bUzWWAhGhUwcCRoXOTtCmfSj068zSurOrQ57iJvn9Nrm-sn7LvrX4fpZvCWucZ4JhaXcK7nxFcWygeA1SocAyCPtX_7mPb5En6btTeUzowoOCDUZ3T6Z-solnI8Ao_CHEZ0QjHA5DqwGdAiOoqY5No_NZok5ssC5IUP3aTEUWDMFhT46BbkSeArlB0Ho5tkqfYYu0ktvNtef4wwtxyGtzi3OudNPDOL8pKZe85c3ZzrL8uJswC1-RYcKbUshuyUbqy8Mho1DSVOI5KIF6PlOdFrnlK_ek7tY-0rdusnNmpK3ACqvV5ng9qN8tSc6IxvnnBFWuGwTjqBii7SU0R1qXoUFdmwk8q1MJ5rLPI2IYEhmoLiQ8RyfzeSr0NenbvP5AwqBcyqmpd2ixxov4bSqTnchvHSuH5w_gmn4CGU3CT5MUe-oXKirA3Q4LDL7S6AArzCU_0ugjUFCBBKfYhWbumKJWfdaLRIJe8fgf6v2YuPrB91VOc5hFWHjxR1xBLLIXnxv4r0lKr4eJeGpvE_slOGPJBZV5QisYsKZh1iPMaBr6iRggjPut12Vd8U5Wq5UO3tt5P_PXQK4mdSQlZcEJJbn6Pia1gtX5J3_I0sT3ifWVW6H0PXBW0uDFQPDUEBlkZuXuu8KoTukO2RHgAPZx7Hyu73g72emGB999vGbIA6BgUaSqAxH4Z3kkfkeXeen_f8ZKzu_MmNQrLA5tNDIxhk1WPkBg6kScWjvCqvpS4Zpkuc0B5Q_TduZ5pW51b4bBlDbVypE9E3oY_-qv_Ap50E-2rA-1Fsj18GWH69Y3dRimvvLbHoNTeDu6_1bmCc855RYmuQVPQfWLnc5WX1lIREiDNyKCUIK13ixtANxl8C7ZPN5ykhHnUvhOS5ntddDkbN97D4LgTH_sPhuSnS6Z4U5f_OP8sIZSAXNevKUeBhSh30hn7jdZ0hsHAGPL4tl2fmRXEKZs0lxs8mCis09Bgjqq6mMJCuDJ1FnxWRM6irDVmPmqcYDgG2S-8inwB1rn2b5c6leeiGPs4t_DX_LgBONyCajogNEx7pV2VYoNHR7t8vLf84T9Ax3KdwZ778rY283AuNSY4ALePBcx6ePenuqMCegxpH_2tr0MZFJi1DNqfavVWhmcI_6Quj2bDaOoblJxEf5BNUlt-oN0DDV05J_SjiizwNKVjvzxKM1uYdBYH71pR-3zJhzdXcqKtqHIg19YLTouzXpEcPPRnViUgEdEZ3RgugjhHvDKsyfL6m8tlYTeKbiDrWVO1oROFaUdNFIoxj_-iMmVuY59iAv5UG__P-Cssjb1nrVuvT_I6581QxJbdZnCt1BeQ7NuwHiOpi-z7e4bCCdFdpbSYudfeFaBSuLiKRz4RGTxw78N_QL8_mrWhK0KDUJ8p8G1zwHZ8IBJfbfzLSRlG7SZSAa5RP5qAYC3jH_eqGZDl98A5xFpka4uRnIBAF5tQ9iRQscBhuao5D79EfqQ5mdK2gg8fip-oyF3fBiGItJlBqbsB80S3XdLu-x2-Kn-fTJ9KL1uDbqJ6d52vEU5iTB8FkRTIIRwcmLk0Gbw_fc0znbvjfGpaJUrTPevb3YWq0j36fDnzbu4dSIsIQniF1Bc6suWEgoXLvgnlr1iYlKRkUTm5MGdjTiBDVkbMu9enfnYo_uFfnS_U3pnNsfjvXtLx--50NscB_m4B_3Ahsc2_V7oahE3bd3O3AoDMOx-J6eg4e25V_m978jRGfSDaicRWKzjcykUSnT3TrMa_n19mj6EV9U43oYPrD4VMo_96bW7sJw==",
  "id": "rs_0866b665f1bf0285016ab4440b403c87d0b6a1d2ef36efa625",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.188,\"left_z\":0.09,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The left gripper settled essentially fully closed at 0.009 and the cap remains visible ahead of it, confirming an empty close. I’m opening, lifting, and applying the standard 2 cm outward correction for the one deliberate retry.\"}",
  "call_id": "call_J0rJqWOv6KOenVu31vKr39kl",
  "id": "fc_0866b665f1bf0285016ab4440cc33887d0ab1154510786f95c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J0rJqWOv6KOenVu31vKr39kl",
  "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]: [-0.437, 1.5166, 0.564, 0.329, 0.1135, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3519 left_y=-0.1825 left_z=0.0675 left_yaw=-0.5786 left_pitch=-0.0482 left_roll=-0.0076 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.788, 8.7043, 1.8535, 0.1538, 0.0855, -0.0757, 0.6496, -0.9094, 6.8444, 1.8828, 0.315, 0.1294, 1.033]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3322c13c9d05d02feb804773759c9e029110f2fa4f2d8df51057db0223802ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec03228d58f60aa9c765377a10c92f48bb117e8586911a42b904c281a63b2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9b2766e2c13c3b3c5982829829815a42c7872c7833421e93bb36c23f696635",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 2.814 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4774, 1.6402, 0.4458, 0.5846, 0.083, 0.0532, 0.9994, 0.4412, 0.7368, 0.8745, -0.7841, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3378 left_y=-0.1872 left_z=0.0288 left_yaw=-0.5886 left_pitch=-0.0367 left_roll=0.0045 left_gripper=0.9994 right_x=0.248 right_y=0.0546 right_z=0.2404 right_yaw=0.019 right_pitch=-0.0435 right_roll=-0.0183 right_gripper=0.0387\nstate[joint_eff]: [-0.1299, -6.3248, 5.0667, 2.0049, -0.0366, -0.0464, -0.0708, 0.4718, -0.9368, 6.7077, 1.9365, 0.3541, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.6463, 0.4297, 0.6273, 0.0868, 0.054, 0.0089, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3385 left_y=-0.1857 left_z=0.0297 left_yaw=-0.5861 left_pitch=-0.016 left_roll=0.0053 left_gripper=0.0089 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1026, -5.1214, 4.506, 2.0098, 0.2173, 0.0171, 0.5397, 0.5949, -1.0872, 6.735, 1.8779, 0.3004, 0.1197, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.437, 1.5166, 0.564, 0.329, 0.1135, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3519 left_y=-0.1825 left_z=0.0675 left_yaw=-0.5786 left_pitch=-0.0482 left_roll=-0.0076 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.788, 8.7043, 1.8535, 0.1538, 0.0855, -0.0757, 0.6496, -0.9094, 6.8444, 1.8828, 0.315, 0.1294, 1.033]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3322c13c9d05d02feb804773759c9e029110f2fa4f2d8df51057db0223802ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec03228d58f60aa9c765377a10c92f48bb117e8586911a42b904c281a63b2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9b2766e2c13c3b3c5982829829815a42c7872c7833421e93bb36c23f696635",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQTxKP-DIlrWh6uGqqYUZYJPT92f5LgsnDTKPMjnX3azq5OuByRO1j6pkOwgajXjymf-tyRAgKsmESCKc9Riy9y62UlBAfzCCbkVYw5wmPjoipbPcRMyndAZnoJpB4CPW8TI0-SsosdbSAE8NBfVQZR9EqpkR3ZohXNhsKdLdqLfWwR2vBzBVtfEaNhU7X9o3jUCw4ZfR0_Y7fbJnCIRm8VdVPyKnelK6EIuleU66Cw79Dezb6Y9_DqUbG6JzBvV5JEYVZ_IRVulI8ftAOgVVX1EMw4TDR2cHcLmU5wgOU7M4hBQBT0vAfeGrz9EJtAwX-CQLOw9HYOuCIfdyyMErpuS31uSS-NhpTBKgy7FnLMyGDH777SI0Ql78cRfe9rtzsIt7t6S19woz4PpTPM0YjJHq3fQ-4tO-xqmb7bwPrTOJl9dJpEX3NqZFTIxZe9PiSQwCH9MsGH7imNL1SkFrEjndkLJeuSwkQlixR0htaEdPfhOt1j4JxyhlMLukCUHNJFK1GTD4TOWoJp8APUDy2LznHHNcNg-hEWcXS3R021IMJ2iOeDqssfLvaEekAUU68HqY9DsAhfTNJaWv3wDZCG52iwMXD7nGFcL50LGEPzAf3eZOQMeci52iMj7cd144sqhNp0DJL_rqaQDsOgoviX94d3QHQKeKagqsCtRG8R8ZzHK8iBaYomUmz-nsXfBzmj1BYUEkqOxz17POXWxzFX30wNYiqngTEL5c1kiwElDlWK5HGzlVo3ir9LmN9vqROsBefNHuzolBgIs_qlv7atmXAeeVTid7whp-1VXs-GGgnqeOvHBhUgX-FQ6ltzRjN6B3KH8R7_CAu9Vv_sG2cNdT4PByhUJAcQIqnek1mqJ8AW3S9Wvi0F2LORjCHi1gDJUIhyzZAatYGL5zjariK77xju7i6y_Bx5Po0td5jtIzSntRmdn9XRg27Wr5ARmfl--u556gg2Xo9Q7kPl2WgZD0QF26FnDj9eTNAfj0BmBe-ZrBqLTE-J9tJyKhYo74sFX1UPWYwJVnK_yfw28HLnK_-RuqiTYLaY25U8naDHViffzVPBP1v_gYRBbO_TmR0Qp2Soe978nqOx-ZI8lHsuAH5eWkvB5iSMjet9bysl2qCiNAOru4bOWcmUahQJ_wwTY7_bpmBrW0fawJ2Uja9mh11Uwkr9G-Zn24cL0tbtbVUwaTkroH6WxN_PW1JaD_TE2po1vxSglqmT75k1VD928x-KWbvdYgRtcXiTjozMkJEvaBR9jTPNPHUswuuOL9Dw_1iXwF6eqRn4M9VpGi-qrT5mt_Ynzv293UOOkqEMQjmVKk273C5g-OISUmyyyTTL0VUExoA13pFe-RLJ1kTFvuP2IhXk3JP4RC6R7d7R3b-S1beO8xjZ17396w19fuFjuplVay06_a2uV0rNL2AtKhfwIXB5HgGrf5KkeHCPl2K-OmPUWiTqYRBATusP6N1PtJT7t9STYq3DNlUxxKmpoI82-O9VPfAT9VBlpgcCUY8pJQAp7RTWPFIT_ql78rTkfyylf98euqMDl9pHU2ve24lI6dUN0wQ-Y66OYDTikIYDNMS-PbhkczTZOY8uteZ1FgqKhjnnXCkAgsSUPiONPoB8iiSA1vi8_26LRoVnQfzj_RdWJSWe6uvD60sIeqBfCVP8R5RN1jGXHSptQGDJUQ==",
  "id": "rs_0866b665f1bf0285016ab44411004087d0811b131b50d4ef61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.21,\"left_z\":0.07,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"After the outward retry correction, the cap now reaches the fingertip row but sits about 2 cm to the image-right of the jaw column. I’m correcting only that lateral offset at clearance height before the retry descent.\"}",
  "call_id": "call_vRuiZjbQTmugud4XMZ1XxlA5",
  "id": "fc_0866b665f1bf0285016ab44412218487d0951090d93e63655e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vRuiZjbQTmugud4XMZ1XxlA5",
  "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]: [-0.5087, 1.5593, 0.5701, 0.3595, 0.0784, 0.0376, 0.9986, 0.4412, 0.7376, 0.8745, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3451 left_y=-0.2042 left_z=0.0594 left_yaw=-0.6077 left_pitch=-0.0566 left_roll=-0.0077 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2416 right_yaw=0.0191 right_pitch=-0.0376 right_roll=-0.0157 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -6.0103, 5.7778, 2.2784, -0.1099, 0.0464, -0.1538, 0.5675, -1.0872, 6.653, 1.8828, 0.3492, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bc379de777d7618d9725a66bb5276f9df32c55b06a884e5d94f4a685e33939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef93f99b483918b3aae0057c386923fe5b3f5d276bf01cbe6e7aea5d9d7d934f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff86c6d6be22f99f59c728e9a27aec6db0de60a28f81723d45634700147b0d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.561 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.477, 1.6402, 0.4458, 0.5968, 0.0826, 0.0528, 0.9995, 0.4412, 0.7368, 0.8745, -0.7841, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3394 left_y=-0.1878 left_z=0.0313 left_yaw=-0.5877 left_pitch=-0.0246 left_roll=0.0058 left_gripper=0.9995 right_x=0.248 right_y=0.0547 right_z=0.2403 right_yaw=0.0192 right_pitch=-0.0436 right_roll=-0.0178 right_gripper=0.0387\nstate[joint_eff]: [0.1299, -6.4889, 5.0803, 2.1123, -0.0415, -0.0415, -0.0708, 0.5675, -0.841, 6.6393, 1.9316, 0.3101, 0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.437, 1.5166, 0.564, 0.329, 0.1135, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3519 left_y=-0.1825 left_z=0.0675 left_yaw=-0.5786 left_pitch=-0.0482 left_roll=-0.0076 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.788, 8.7043, 1.8535, 0.1538, 0.0855, -0.0757, 0.6496, -0.9094, 6.8444, 1.8828, 0.315, 0.1294, 1.033]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5087, 1.5593, 0.5701, 0.3595, 0.0784, 0.0376, 0.9986, 0.4412, 0.7376, 0.8745, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3451 left_y=-0.2042 left_z=0.0594 left_yaw=-0.6077 left_pitch=-0.0566 left_roll=-0.0077 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2416 right_yaw=0.0191 right_pitch=-0.0376 right_roll=-0.0157 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -6.0103, 5.7778, 2.2784, -0.1099, 0.0464, -0.1538, 0.5675, -1.0872, 6.653, 1.8828, 0.3492, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bc379de777d7618d9725a66bb5276f9df32c55b06a884e5d94f4a685e33939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef93f99b483918b3aae0057c386923fe5b3f5d276bf01cbe6e7aea5d9d7d934f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff86c6d6be22f99f59c728e9a27aec6db0de60a28f81723d45634700147b0d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQWqzBNIF3ft9LlaAZxnwo_frbaczVFxmGozobkWPrSXI5q4EcKKvNW8dHUDywkS5B6OGKrkaaXdo7qMGsDSm8Dbaf-WFGCPWvvVAeFHYUgXE4xnLtAe9KHNUnZvrz_uwYTWgtXfAISYtJFgJLxxEJqTKQkeVnh9DUNa5WcwCyD2mFnhCwshVr9VOdhR0iv5I7Kyo36ltFfcb537DiiTh5coZ28k77w4DiHgPritHarUGPnFKkpeshZNWewLdx_qxuSEOjLe6qMLLejLkU5KD-aSUSHPK_kGPNDal8DlkpPr_vFMNKRgIB6w-P_GPmLB3fKYreOvDfgP6JFEm_bpbglbEQFDdjZUbkGWiUwSi01_lASY1_RmlbXw7bJnlsM3Xa3vfL2eUW0I7UXz1RbcIXFO-hz26uP93c2RD7up7LhCw9mE0U707yhymzZV3zGCzELGjEb59HQ13FpY11tV5bfmUJ9sn7ZTcs0z7beZPu3Z6PJh2HOE0M28HTfTu7FITSUfCCSkC0P5Eq4tM0GmJ7KHR3I9dOUZb_RJdsXAYYoimBzNGZ8DEgkHPBu3R3YffHdJg_ve4aWRfW1vSISgH_L79g-1d1Xy7v5AO4hGDsRNcEUk7UclXvXH_zxB6SroHaWczIJCA5TDq-d8i1drdYuzk1gkWUyZ0na-MP0kNsYvfAwnN-kXrQqTXBxx0zXXXzw7BqBhE1rwEABZmZJqbVuAt-Bqn1YRgFMnQWpNdzu9fPp1UYIAdgvWxlyFr-DQQxNvXst0lzt8r0EqQseq7sIYXrW2B3f9Sd4rh5I3nhQQIYPRDHNqonNHJEgGFM3NiEo9_-t6jFA6fOtZIk99kyRx8vhelxLzsq8lN6BIAFyHAzswwew4N7aLSenRFJi8Ib9gojbYuvmus5kzV5GDOnRJ0-VhCWStOa9l1uGNb2eiZv3tEHaajGeK4f_Qq9tYce5dymIyLjD19VQOx6LHpab80xsizBdQc5FFy0DSLiK7yPpcyE9ye3ocSY2X0IhGJhSC3mKF0uArGF5gQ44PGUUgPnFyHqFFSP-gFnNwqUDX3BKFQxqQbZAPk6zzq7QFDekcXrNvFW3N_P2JPreV6ZaNtGnqHvDug6Kvj-Im7ohOgh5xvEVOfj6GT8CG31jcNuoI3Qguv4eh7qbnZNoxP-Mte4Z-e71nXx0K-AhUdk5xaATK9s6CXcRQdyCmghUZjCvmo3mscAMZFxTMhQHb0cL0UOIVO6Ad2JCh1iHa-g-wzMuoVFuLBmbjkKileyD8hfcyWnLC99gGRSdQPu2c4zF6g==",
  "id": "rs_0866b665f1bf0285016ab444153a9c87d0b73159d1fc5d4253",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.204,\"left_z\":-0.01,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The cap is now centered on the left jaw column, with its lower end just above the convergence point. I’m descending vertically for the second grasp attempt, holding all orientation axes explicitly.\"}",
  "call_id": "call_kij6lgYmwwEDlYvemWC0ko9W",
  "id": "fc_0866b665f1bf0285016ab44415738c87d081919d0a39944383",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kij6lgYmwwEDlYvemWC0ko9W",
  "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]: [-0.5156, 1.8645, 0.4641, 0.82, 0.0525, 0.0395, 0.9986, 0.4412, 0.7372, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3481 left_y=-0.2038 left_z=-0.0016 left_yaw=-0.5936 left_pitch=-0.0089 left_roll=0.0129 left_gripper=0.9986 right_x=0.2489 right_y=0.0551 right_z=0.2416 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1162, -5.4769, 2.3316, 0.7595, 0.2076, -0.1245, -0.1538, 0.6359, -0.8957, 6.653, 1.8535, 0.2955, 0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2a5c571ce121b963286bcb7740ee6530ae8fe4bbbd06f6b77e921dce35c5df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:186a09354b2df9fceaf3c050726374a1b0fb7afdc701a7354a425e3e16930815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54825b52d39dbda62f4cebaa5813f7fbd94bc6932c5e9d3c01fb69b4e8f125ee",
      "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 · 5.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.6463, 0.4297, 0.6273, 0.0868, 0.054, 0.0089, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3385 left_y=-0.1857 left_z=0.0297 left_yaw=-0.5861 left_pitch=-0.016 left_roll=0.0053 left_gripper=0.0089 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1026, -5.1214, 4.506, 2.0098, 0.2173, 0.0171, 0.5397, 0.5949, -1.0872, 6.735, 1.8779, 0.3004, 0.1197, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5087, 1.5593, 0.5701, 0.3595, 0.0784, 0.0376, 0.9986, 0.4412, 0.7376, 0.8745, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3451 left_y=-0.2042 left_z=0.0594 left_yaw=-0.6077 left_pitch=-0.0566 left_roll=-0.0077 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2416 right_yaw=0.0191 right_pitch=-0.0376 right_roll=-0.0157 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -6.0103, 5.7778, 2.2784, -0.1099, 0.0464, -0.1538, 0.5675, -1.0872, 6.653, 1.8828, 0.3492, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 1.8645, 0.4641, 0.82, 0.0525, 0.0395, 0.9986, 0.4412, 0.7372, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3481 left_y=-0.2038 left_z=-0.0016 left_yaw=-0.5936 left_pitch=-0.0089 left_roll=0.0129 left_gripper=0.9986 right_x=0.2489 right_y=0.0551 right_z=0.2416 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1162, -5.4769, 2.3316, 0.7595, 0.2076, -0.1245, -0.1538, 0.6359, -0.8957, 6.653, 1.8535, 0.2955, 0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2a5c571ce121b963286bcb7740ee6530ae8fe4bbbd06f6b77e921dce35c5df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:186a09354b2df9fceaf3c050726374a1b0fb7afdc701a7354a425e3e16930815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54825b52d39dbda62f4cebaa5813f7fbd94bc6932c5e9d3c01fb69b4e8f125ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0866b665f1bf0285016ab44418482887d0baaef7ff3df38184",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.204,\"left_z\":-0.01,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"At table contact the cap’s centerline remains aligned and its narrow lower section enters the jaw throat. I’m closing for the second grasp attempt while keeping the contact pose fixed.\"}",
  "call_id": "call_gNOfy7VkxDwAvRQIlBUX8hMe",
  "id": "fc_0866b665f1bf0285016ab4441a42c487d0aad4fa47edf131af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gNOfy7VkxDwAvRQIlBUX8hMe",
  "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]: [-0.5129, 1.9015, 0.4541, 0.9062, 0.0601, 0.0319, 0.009, 0.4412, 0.7376, 0.8745, -0.7773, 0.3466, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.351 left_y=-0.2057 left_z=-0.0008 left_yaw=-0.5933 left_pitch=0.0306 left_roll=0.0055 left_gripper=0.009 right_x=0.249 right_y=0.0552 right_z=0.2415 right_yaw=0.0198 right_pitch=-0.0381 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.3214, -5.5726, 3.9316, 1.6142, 0.1148, 0.022, 0.525, 0.6359, -1.0872, 6.7214, 1.8437, 0.3101, 0.0855, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ed56ccbb6c6a0c254fda939ac99cc46dfd3e5ab4ed5b9b23f7355324b9ae1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8266d42023ac0f19379d0f5b7265be4da110efff1f66b96fb9745cad228d42b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dd11cd1c0da5fc3046d1cb3b7c4eaba9d37d82f62245f624e710705cc05b209",
      "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 · 3.476 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.437, 1.5166, 0.564, 0.329, 0.1135, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3519 left_y=-0.1825 left_z=0.0675 left_yaw=-0.5786 left_pitch=-0.0482 left_roll=-0.0076 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.4991, -7.788, 8.7043, 1.8535, 0.1538, 0.0855, -0.0757, 0.6496, -0.9094, 6.8444, 1.8828, 0.315, 0.1294, 1.033]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 1.8645, 0.4641, 0.82, 0.0525, 0.0395, 0.9986, 0.4412, 0.7372, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3481 left_y=-0.2038 left_z=-0.0016 left_yaw=-0.5936 left_pitch=-0.0089 left_roll=0.0129 left_gripper=0.9986 right_x=0.2489 right_y=0.0551 right_z=0.2416 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1162, -5.4769, 2.3316, 0.7595, 0.2076, -0.1245, -0.1538, 0.6359, -0.8957, 6.653, 1.8535, 0.2955, 0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5129, 1.9015, 0.4541, 0.9062, 0.0601, 0.0319, 0.009, 0.4412, 0.7376, 0.8745, -0.7773, 0.3466, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.351 left_y=-0.2057 left_z=-0.0008 left_yaw=-0.5933 left_pitch=0.0306 left_roll=0.0055 left_gripper=0.009 right_x=0.249 right_y=0.0552 right_z=0.2415 right_yaw=0.0198 right_pitch=-0.0381 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.3214, -5.5726, 3.9316, 1.6142, 0.1148, 0.022, 0.525, 0.6359, -1.0872, 6.7214, 1.8437, 0.3101, 0.0855, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ed56ccbb6c6a0c254fda939ac99cc46dfd3e5ab4ed5b9b23f7355324b9ae1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8266d42023ac0f19379d0f5b7265be4da110efff1f66b96fb9745cad228d42b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dd11cd1c0da5fc3046d1cb3b7c4eaba9d37d82f62245f624e710705cc05b209",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQisy2OeIpfvLZ4QhLlSjmI2f7gbQgEttzJtsLPxCYN1xu3J4V0q2ezbc_7LAoqOxElfjxvlyar6YU0zjPdBZ1vAGH4MIb8H78g8OECKPdTz4can13rCAeEy_7RfKEWWBe4luswQ4ojhJHm0wKO26sIb75QEG7lMB4-PZbdnAt3IdceyTSkArIihtYNZn65Y84IkR9OMH8o8W8yOfNTqtK4MlIiPhs7K4u9yjOCsxfoy4JjpqNYJ-bgKFOt-a6PHkckdajCI8iVqnXF_imQLYLxKxZzEFAhEg5umuh4Olp11CHqxyTeXpjV5Ec-xVZr6JYWQBfMIXGpDnZi5ZjVAtp8jB-6Hz1oOps7kq6Nf-iK8IUUSJDnCsP6tsIY8ik3SwUdJA-LqQMmeuMLVZXrkNxZS2s-eptMR4WPPg3Fyef204veL3kLoavWzVwjpV-G1QY0CmVdyprlre5B4BQQE_VDbYBOK-8LS2grUfZ7WP2M6cjX6gMfy0McSoXDoYcQvkkYWZhpglb23O8AAZ4SNYL_k6qkNzhn2YS9JcGy0INtvPpdPSTwJUxX9llwImAWXCh2hM49BPdLKi6t6TupQKrEl4XKeChPurRXpNwNrkjJSvsKRZqfGiVrExCyBvRPKchxc3ABxktedAsPhz4IbHwjwyhFu7naWxoa8OQyM7JZpxDI-Gu2_fR4hPKOduh_aFg2GYfBwNwLeN4X4HR_9c10mpkvG7fQeFUwD29MF55-ahIZUmsB6QzeCGAVGDDYOlpNxQl20WtbgZmuRDviAMEJ_d9X7vmt7fMMMQVmwT0344R_MCiIwlp-or3dybT1_9hcU8Zh-lGYyZwRVASVq4SOjlCE6zGqwaV38pwo5uuWdKq2Xnu0eILHtE8junlj2uOAkXSMljRJa_ADkrVGNiwEXdEAnriorwbdYt_FzSnXcgKLGhTZ6LWPOvxtk7mHuBSyDx-zTkMPggECLSm_agWm-L-HdrPMinH71zqlcIZ-D2rc8367Nf_ryyzlxB_89hkRA6N_ACRRpGd8LICf8rF_Q6CxCWwCsvD5v-nXM1m-E9SGqFQb5918EIZE35zLZ1PjXA7ChvHwCcyzrrwaLr2khb8hnypdXg73zN9lwY-0EEEbIpy0106A4I0gSX_QrbKNGQSZ1OcIsOvIb7XMH-wlFIkvXbNfiqJlERzhfv9oRhbu-trA92LqhvXfRiWEsQnTk-u8qSK1dggRU2yqo50Ph6O4N8az9fDmLrX6A6l_T3puVtcZjK3M7d3WLOat9feEwsO8xO5jXs1obe74eK31hKv3sxq07iUYP0DpiLlrd-8i9GDAJK-r_m_po05yGkO1K9onehQWY-bwy5JXWNkLTSCd0EexjechxdayNgVLTCCphr9Rm_Q8VWQcaADPSjgfWhyIfzyyusCw3i4yC7zFTZAZhNfh1JK_yJLz1cCdrAoWdThhFsPqja9FCNaGhGefwrR346gZv7_ujxdfdoWDb0YqiR4EEBgfNiFXcSx7XToWZ3-hNO5ketrgMRDZnCpayV2w1DIFV-mI7PiZEGCS40N4Fr_3LBt8aFUYUOy64r8U9CbWMl7KxRRK7euH6uClf8Wgk7MSkrRrBF8u_XiAzpwWeGGhPZGs_NyAK1mEbMSMJLeo20XvQ5LBNGy3FntteDCQWLlstqdxVpA-9VgEYaVgBgXg56LAdpz0AhfixzI_lx9PGu-yI1YYVBLLCCamfj0wLvJH5fahpj8S5WyIJurUJobECZ2hmEaElB55cHtjjrs9kenIZ-U_5ZwUcxRuWcsGFcV77ZVAK1ub1fCNY19ckxF_5kkBHq9JNiUlgasFNAbmiLXcG5Bwv46-xbm7KfwplA9lyUFR38PNldP9vHGJq7IFCMThcjlABWo0yIS33KGuuMjXGazyx1rGrbCb39EjpJtmN2vcf5-UTURoJ12Dprad-GdtZqdB_0VLvusmwuMRuyTXKyDJytcQ1nwGIbFM9R_WxR0h7_8eN2dq4wtDIRXnAKrXUEEVPcHr_O8VjD9a-4KnapJXncT5LN-_ZJ5MnNtnN7anUCS_oQ9g85n67ZPTlicbA5M0hU65Aol5uhMaQ9OADKWWXzPJe7JpRIFiBkaVNH92bMRCCm7qadZDPzKi2kNIbHkZU5J41TmmYK4vdDBaHh9f8BCr0Uf23kb7iqxsmVdVuqynq8AvU-H87hBRAgUHVOfJGMplKDa4Z6koGfjnFt5qKixTnHGxrw8_3uiwPNuuhHg1-FCC8YhQO1r1WMCmR5XJCCiQleVmBR6XDf9rxKajfbXvwEJxU44jS2ZIGwVoPp1tdhCn2a8vgM6KAO0WFLcyGu84c9qmeLVESp0WEgca-OljCkkYEWlp1mfHCcZzQdg12FAXyFK5bgJmcKOnWqYvtIimXIotMTBK3Fc0angmHWsh7V4qIHSXWWi4QbFHUZJfHeFtE13kTmut1TkJzK0GqM_kfmkGIgBBVgrAVU3jn65mr7BF638VS8ccji1LHugP17VrhTPoq27Y5roDb1wiec_zRAgfOtiGY9HZ_YVIwt_m_CW-W35jPhNvH8KbRTppcDZ0Nf87-Dm9tDyq7VNwACQCtXl7yxWEotMv18tQCznzpurD_vNAZuxCKP1cNl49o-JBas0AY3AZhUVGoV81W3ISTh3R46ksC351aHXlqBOiHdPqTyHZt9XGNS_iimFZHoAZZfXQR2cCu9F0JcZTPJ5ZRMlmnGIzmtNFpASMP1LJdbCnO9rlAGQS3OtBltPU02llXcj2sK7-22o5fkJvX9V4gZSisrtqZZw8AqRJ9GDzMDvtyvMztZio68JAxjNmKaeTePEix96tUikVDKFLpjRiYtpff9MvmBkL73NBK_wC0mDHmvJAlSwlSbSrZsh281ydEg==",
  "id": "rs_0866b665f1bf0285016ab4441dceb087d0b4fb839c697cfc1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.206,\"left_z\":0.09,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The second close is also empty; the image now makes the failure clear—the jaws reached only the thin clip/stem while the graspable cap body remained about 5 cm farther outward. I’m reopening and moving outward by that remeasured amount at clearance height, rather than repeating the same approach.\"}",
  "call_id": "call_X7PnKOLMAxmNQ7jFAkYRv30t",
  "id": "fc_0866b665f1bf0285016ab44420bac087d0a6d195bf4b7f90bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X7PnKOLMAxmNQ7jFAkYRv30t",
  "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]: [-0.4294, 1.7058, 0.7414, 0.3531, 0.1139, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3984 left_y=-0.2005 left_z=0.0657 left_yaw=-0.5712 left_pitch=-0.036 left_roll=-0.0061 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [0.6906, -9.9624, 8.4171, 1.8339, 0.2662, 0.1392, 0.0171, 0.6222, -0.9641, 6.653, 1.9023, 0.2759, 0.1001, 1.0232]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501d727c318c5f32325c9ccc69eb600c4d1d253ef7a196b6cfd3e0ef0cd6adc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea50537317280a1ff21b236d5597aa92b8de2e8253e66f02727aba5c4cd51c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897a15d99b7e5f7777d1179f8ed20ef1b84e56cade3741eac2187846fa6452ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.209 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5087, 1.5593, 0.5701, 0.3595, 0.0784, 0.0376, 0.9986, 0.4412, 0.7376, 0.8745, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3451 left_y=-0.2042 left_z=0.0594 left_yaw=-0.6077 left_pitch=-0.0566 left_roll=-0.0077 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2416 right_yaw=0.0191 right_pitch=-0.0376 right_roll=-0.0157 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -6.0103, 5.7778, 2.2784, -0.1099, 0.0464, -0.1538, 0.5675, -1.0872, 6.653, 1.8828, 0.3492, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5129, 1.9015, 0.4541, 0.9062, 0.0601, 0.0319, 0.009, 0.4412, 0.7376, 0.8745, -0.7773, 0.3466, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.351 left_y=-0.2057 left_z=-0.0008 left_yaw=-0.5933 left_pitch=0.0306 left_roll=0.0055 left_gripper=0.009 right_x=0.249 right_y=0.0552 right_z=0.2415 right_yaw=0.0198 right_pitch=-0.0381 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.3214, -5.5726, 3.9316, 1.6142, 0.1148, 0.022, 0.525, 0.6359, -1.0872, 6.7214, 1.8437, 0.3101, 0.0855, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4294, 1.7058, 0.7414, 0.3531, 0.1139, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3984 left_y=-0.2005 left_z=0.0657 left_yaw=-0.5712 left_pitch=-0.036 left_roll=-0.0061 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [0.6906, -9.9624, 8.4171, 1.8339, 0.2662, 0.1392, 0.0171, 0.6222, -0.9641, 6.653, 1.9023, 0.2759, 0.1001, 1.0232]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501d727c318c5f32325c9ccc69eb600c4d1d253ef7a196b6cfd3e0ef0cd6adc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea50537317280a1ff21b236d5597aa92b8de2e8253e66f02727aba5c4cd51c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897a15d99b7e5f7777d1179f8ed20ef1b84e56cade3741eac2187846fa6452ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQm1p6PWI_IbgWkVizs7lJFBd0Fzxma7A7FGZssR0rgJ7QD6cyfHXMo1XefHhcbgIXkE2_m1VvC-FJMCbZTUypwAJzXOk4Q6_RyzniIyg-VXBbZJhbFEv3NnPnpe_Sp3WhEbXojVlvjZto_KqO9GbDojMk_kwNR1fbLCJZtdE26ESUOuDZcf1OWsT_VeVLHjejAbkQH32GkieA3YRE5m0mTvKP0YedmTeXe1spYHX78b-xZH63_RhbmC-KVFxU9MGfvB1c6y9Dv3oIMHfGrVy20VT1E7ItlVo6hSS99O5AA5aXjlrjQxw0NuRwRBUU36OcVK4rHrcHbeQ_j5re71-kTNVxaLEQTzz-l5ZbO7VyJfIKDHMy2bb4-LwmIoz0Xx28MiZWjr5xcoKklBNeDrvpewgKMq__HxooDvWTY0DWGAn986sO4fKbFybq7801iueRbxc_cUq86p1muGDl7S6p8XyJrg4fLF-40dVhHVd9rNFEwAhAuizYF5qfggHVTrR0tTAjyVDfsJQBS296xK-MUtF0VfykvGGg6LRCOIKnSPSRbjEcaM94N7H-hl-MbUzPbnEmVr1x0QxEhNDbZmKD9BF-4AErJhx0YO-NCgJruB6H6qgA2YWEsx5ILvCIiXwLeR0IylDNK6dx7zLTV_NmFJQHejSPH0Tz7AfMM-WbFq4SQOrmVkUa3tfvVgUKddfSJ5FKgRMzqX29SnKT0YkDR0lrKnsND2IPRcef0fKrYehh_vXvbSfxAj_9CAZrJGAxebTR2SnDRWW-Ho5SKEbisp7o_ugTdsLPPFibiBzL4tla7wdMdRNT3id0zNsBHDgW0pUcq4Vt_1O9K8AMoxafWA7dD70AFy6WD4_oI1rKM18G2zmZsnLu8rZ0GoNjqJ_nnmhoUhwgKBbOoyiycDMD1K0kwiweJZLgURQ9o4UiAI8LtOq3im18LOKy4SDizv7ruUWXoghVk0Kc3azJEA894qM4QOKXx8dcQTHrOCSwfiwuf66uuHpQHyTVBTGokxEvHma-UX13Yv5LIpWNw0Om3LMrKa3_lev6CNyzk_N9UGXsl4RafW9EaKyIZuuztClces9RsjnpD34sf1Jdi_L3EuYhVVLnxhEpZU1KwQseRjlucvIpeEALaZmj9x829V0KmBhqCVADzyVUFkuqR8XY5z8XrpAQUuaPhbkOFRvq8HeKBc_yUct9_H-Tq7QigpiGQlZ_UgGlfxSH-mpvjvr0QacbYcnh_jS_5oPdAKcZt8mq-Ehc_iDUO20R9ueSaeA70lAp5DNpYf2FJJTszammIXNkO-iJ2Oz8Hk-RYAYaydCzeYS_HixXhXer6ZWsPpnLGIUSdyl6ViSKQrlJ04ZNW6DblvjSyNjrGkKfHtdkBajXFqBG0-xfrJQX6q16dv24zLNtwFrIDJn-hp4kjK389C2-97Jli4bAp6f6l4PPdNqxgUkpMFjTqiDXAOkV5kReLC5fyExT4KbOxRfWzCRAjHHJfQ9_aysuf14TI6b75uBskv5NJWVaFWdz9W6IP8d-vFlN21hBYnOV8QxBeEmTC6Qyj8_XOe18JRrPkR9F-ENqtuJ2KvNyP4y9eQ3wst6vVtbJ6THQcElB45A9FMCsATg==",
  "id": "rs_0866b665f1bf0285016ab444244ae887d0bc82923eb03adeb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.23,\"left_z\":0.07,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The larger radial correction worked: the cap body now enters the left jaw throat, but it is about 2 cm to the image-right of center. I’m making only that lateral correction at the same clearance height.\"}",
  "call_id": "call_2pe7eVqljGTqRWtsqbJUUFxy",
  "id": "fc_0866b665f1bf0285016ab44425312887d095a1720a3ed943df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2pe7eVqljGTqRWtsqbJUUFxy",
  "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]: [-0.4896, 1.7317, 0.7601, 0.342, 0.0921, 0.0429, 0.9986, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3903 left_y=-0.2223 left_z=0.0594 left_yaw=-0.603 left_pitch=-0.0558 left_roll=-0.0114 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [-0.1846, -7.241, 6.4068, 2.1661, -0.0317, 0.0171, -0.1538, 0.6359, -1.0462, 6.8444, 1.8437, 0.2857, 0.149, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1838ec633b4ec13ed34ed5f321572f8c7c3732ea3c701daa8319b70a438d5039",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716526ff2cb3744f43753de61563b5790dcf8d271dda9978aa4703d7d4ed399b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0a794f9e874cceac2966dda16a0170057d7b523538b7587a950def5a83ae71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 4.162 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 1.8645, 0.4641, 0.82, 0.0525, 0.0395, 0.9986, 0.4412, 0.7372, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3481 left_y=-0.2038 left_z=-0.0016 left_yaw=-0.5936 left_pitch=-0.0089 left_roll=0.0129 left_gripper=0.9986 right_x=0.2489 right_y=0.0551 right_z=0.2416 right_yaw=0.0193 right_pitch=-0.0377 right_roll=-0.0151 right_gripper=0.0387\nstate[joint_eff]: [0.1162, -5.4769, 2.3316, 0.7595, 0.2076, -0.1245, -0.1538, 0.6359, -0.8957, 6.653, 1.8535, 0.2955, 0.1148, 1.033]",
      "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]: [-0.4294, 1.7058, 0.7414, 0.3531, 0.1139, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3984 left_y=-0.2005 left_z=0.0657 left_yaw=-0.5712 left_pitch=-0.036 left_roll=-0.0061 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [0.6906, -9.9624, 8.4171, 1.8339, 0.2662, 0.1392, 0.0171, 0.6222, -0.9641, 6.653, 1.9023, 0.2759, 0.1001, 1.0232]\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 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]: [-0.4896, 1.7317, 0.7601, 0.342, 0.0921, 0.0429, 0.9986, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3903 left_y=-0.2223 left_z=0.0594 left_yaw=-0.603 left_pitch=-0.0558 left_roll=-0.0114 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [-0.1846, -7.241, 6.4068, 2.1661, -0.0317, 0.0171, -0.1538, 0.6359, -1.0462, 6.8444, 1.8437, 0.2857, 0.149, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1838ec633b4ec13ed34ed5f321572f8c7c3732ea3c701daa8319b70a438d5039",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716526ff2cb3744f43753de61563b5790dcf8d271dda9978aa4703d7d4ed399b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0a794f9e874cceac2966dda16a0170057d7b523538b7587a950def5a83ae71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQqL7d44e7e1D4lnVyrUwIQm2GUfBXxkyVVusEiYPcQbVbWTG-5D6pBL7EV4nKFuhPL1xFQla0CE0ZM-FDcr3SbZA48ITPFJeL_XwStxHr3fNpPrq5giW33HLhAlt1V_VaXSi-uZpJ5Gs0ZYnKv7SuqwNK04NnNh9CpZMGR3BwVZ7MYUKogJ83TtSr5ATd_D6lP5HkipDtt7IfkG__GeW2XUpV2aiPSQKO3yUxUPE88T1XnpFp9aZwZXSjA6dRBGNP85mHgiEoU5Iz6EnJGXzLYaEToss-e5MDKMJQty6aSWpyxW6Em1t6vlxFfdXQQIsBDVC4SLwbYWT_C0Se8-2uGeHH00F8BOjuXHHEfD3kuQzjrUTGld4tmOPxMjrvSF0vmUhpwDWkF4l8ycwBBd-NTEBR4WpTzPrU4TiKIUk3wsp7v2ePcGZjofIvRdFbPsx-oB3ERSvVzxqIZE2BHvcacFIuAgAhx8tcGp1GEkBDam-NPzhkLXlFbQ7bWogDj7yuMn1AnMGmQOylAzZErf4O18HB8TxtXzmNkZZvWZPa-iq1jLC0puD10-kxH4w2X1bXF2TW9eFMl_GnNN2i8PDW2Gm2TMzPT_MLGIBQv3Yj0PrwVS-woZtw59c9JsvhgYsMsOmVpG6BsM2qmk8-ivBN89T-7mWRitb-bIA09kD23-y8SC_gy41DDZfyYNJqKSsi8Xl4LqOOYz9ngQNS8XjtkNXMqw_SG1pWSvaQ0eHktLnUgIQcpJ0O_IPAhgBUQy6__AzbHkXxKoRgDasIzN3ez_nCpKuFI6xQeC8SfEYf3TZ2Ooh8fGQd2hG_lYbZp1eSc3XuuOC9xMBJr3sF2dVPS3x4QZIJ8t872EIA0IvS9E6wdxtbvwOOYifDBGJ_z2McxI7_cXiPBQabRzPVeAmcvLDm2D3xQws7AL-FMfMXUjdcMPbOa0l1LFprroXdL_mSsbvYQeQ2X-NLSBE_h7qMHvaUMa3hRAjeJVM7cWleMYQSLmTR7OUBUHbsNSk7oHIUfzfAKWztbsMWchDldnNjfldCBscWQ_YrXyHeFMQ6rb2v-8hKgk4KN3ahpjfJPHL1uM69RjaaDDTWRBRIl0GjOoE3rXgrPb4RuL_n5PpIc07fs-rO9Ldmhjtbj5NQ4CA5A7RD_HW9Kgr1ec0jZN-CQg6McbWw1tnWp_0X_RX1yM_Ms7wDhczqqOm-XX09S_nV6i57vT9LtungjgpH401j1MILnvduvCHbaKadedYnFJZSlIvEbcafkJeFjtlTRk-9a2ts4QPH6A7xvkxZ-ZF4fM54G2-6a_akYB_TOaNFcMwxEGyQYMjREwEe1SQ51JdybXWsYx0MOuoVgkkX-XgQedUnD6y-1eYMfH2wuQJ_Sqs5qhtN33wxCBDc5oEwytPkN5iulg1LG-JA8xArT4OEzNgyhRFurQ9B90hb8Hbp5q16IPg5Pq76_b26_MO1Nb_YX",
  "id": "rs_0866b665f1bf0285016ab44428487087d09807e430476848ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.24,\"left_z\":0.0,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The cap body is now deep in the fingertip region and only about 1 cm right of the jaw centerline. I’m applying that final small lateral adjustment while descending to table level.\"}",
  "call_id": "call_VbsCzH6GqylqCqlrQVtcd6gk",
  "id": "fc_0866b665f1bf0285016ab44428ec0887d08b65ee460a839d8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VbsCzH6GqylqCqlrQVtcd6gk",
  "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]: [-0.5045, 1.7424, 0.7601, 0.3565, 0.078, 0.0341, 0.9986, 0.4408, 0.7383, 0.8745, -0.7776, 0.3458, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3896 left_y=-0.2267 left_z=0.0576 left_yaw=-0.6013 left_pitch=-0.0529 left_roll=-0.0099 left_gripper=0.9986 right_x=0.249 right_y=0.0552 right_z=0.2412 right_yaw=0.02 right_pitch=-0.0394 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [-0.0068, -7.9248, 6.4205, 2.0928, -0.0562, -0.022, -0.1587, 0.1162, -0.6085, 6.5299, 1.7021, 0.1392, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b3e1dce514cfb1847568ed83db3ebec17d6280060f2ad6d87ca3c23cb5f59e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168c691c4030a3d80e6ff630e10f2e31d7be9890ae41528540c9311fbae86231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8feb7e761ffd173a9b00f72a515a3a1994ee474aa29bf1c4a63afeb0cb85c30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 6.839 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5129, 1.9015, 0.4541, 0.9062, 0.0601, 0.0319, 0.009, 0.4412, 0.7376, 0.8745, -0.7773, 0.3466, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.351 left_y=-0.2057 left_z=-0.0008 left_yaw=-0.5933 left_pitch=0.0306 left_roll=0.0055 left_gripper=0.009 right_x=0.249 right_y=0.0552 right_z=0.2415 right_yaw=0.0198 right_pitch=-0.0381 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.3214, -5.5726, 3.9316, 1.6142, 0.1148, 0.022, 0.525, 0.6359, -1.0872, 6.7214, 1.8437, 0.3101, 0.0855, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4896, 1.7317, 0.7601, 0.342, 0.0921, 0.0429, 0.9986, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3903 left_y=-0.2223 left_z=0.0594 left_yaw=-0.603 left_pitch=-0.0558 left_roll=-0.0114 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [-0.1846, -7.241, 6.4068, 2.1661, -0.0317, 0.0171, -0.1538, 0.6359, -1.0462, 6.8444, 1.8437, 0.2857, 0.149, 1.0379]",
      "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]: [-0.5045, 1.7424, 0.7601, 0.3565, 0.078, 0.0341, 0.9986, 0.4408, 0.7383, 0.8745, -0.7776, 0.3458, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3896 left_y=-0.2267 left_z=0.0576 left_yaw=-0.6013 left_pitch=-0.0529 left_roll=-0.0099 left_gripper=0.9986 right_x=0.249 right_y=0.0552 right_z=0.2412 right_yaw=0.02 right_pitch=-0.0394 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [-0.0068, -7.9248, 6.4205, 2.0928, -0.0562, -0.022, -0.1587, 0.1162, -0.6085, 6.5299, 1.7021, 0.1392, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b3e1dce514cfb1847568ed83db3ebec17d6280060f2ad6d87ca3c23cb5f59e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168c691c4030a3d80e6ff630e10f2e31d7be9890ae41528540c9311fbae86231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8feb7e761ffd173a9b00f72a515a3a1994ee474aa29bf1c4a63afeb0cb85c30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQukzgCXDwGJ-Soruw5sEJYbgB9C1cc1wyYsR1YSum7H_Ylm9qeL4jkr8HJUmWdoSpXBmTO7miR5hhH3Kg4mCizjWiZyAxtWJeNYnMAP1DXD4XVnrBVa1iiUxKdAI6olBADZzFXiuF9WaGhkJPB1j-qAUBfCu1s-qnB2EdYifNxcLWPRaNvYvsiN_0yLrq6xHhCs68Txf6RnqqoR0GIphvpEy9foWSBR9wKNUJSgrqxbJrB5hDdcl7xg2VecvtHJO8z2XegxriBbwqDqGmLt2nO6p1WesrlTNL1piV8HyzxrKLMXShqTunRrjJd-XEduDA2jyTc7wJ3ngmeuYkJsyMOA9Dy0dHbaS0Ra0Org8zeQBK1T4-KFuCtF7TMLy_QuWpquLIP0eW7pD15_mVci8-er45oyl9qR-_RM5EjaoCaM1piT9DwoOSwpsZiSAcz5cMvWS73vWYBiRf_paXu9ldeNw9mWWgKBQTb8kp8HFhUMtdIzrFUjuQYU5NJ15kjvhVZ5ZNlAbglcwUxlhfNJxU48PAQWpwSLO3lsl-kWTDE3tU3y2CRNDXrEW19aHeCr-pclCwXyKiBsLL1VKrINc8jYQnZeTcd7usw8i7uZ2rpB1TqdHhDVr_-HHeAzmoYIO0IdCX0uBbLTBoy5UW6fDzbIaKJ7iyrkKnyFv0RDwyLLuQhUxBEnyuEoKQ5TLOWUQqBU61dJgvesVhT69gqbDZ-AuOKhWxRhb-CEuXbgizJmIsc_byp3TIosLbxYyuy84jetd6MlSDvZflrtBAK7Cq6eLIQqBM2n-1S5qgrFTbpygYHuUAErl60rder3TDv7tOuRfaly_AHw9e58zMnMJ7xUh2auB_Q72URybSxCiBB4Nj-sG-9Y74cgXOzpxyzb151EeOX1-9ecqdJmb-RpgSj8GuSnsVX5XMBmaDBJqmAivg9jEWB8jy4ykxaXpbI0W31pGOvt9Ml4ZyZzEgK7IPUWeLES2y01Adn6YWMr65Rzq3Yn9H2hJ83ZJuYk9GwAzSJogeVp7dDrGBFoa8Fwiidf5RcJE4zvgpVk3ws6pZxSm3-IoIPPO5AtU9ticbgBAvRLtGWMJdlU2AMt-o7hguclMsXFaYVjikqgoo1rWbmiL2E626_2MP8oRVPgGxdy9UhonvT9jGfKVM0v0eGGktqntuPQDVz6cRMpFPemy254xw0zMXB5SCYwOXQy6Ts8HJGqiRFqlWvHrRGQGMLJXfFhb1guaUhZK6VpG5ZaUXiJtvNrNnjZ0pnLY5awQfkFOg_uOZhcCdlFbUVEs3AkXmGGB0lysx_I78Gl6JrCe586zpGz74oShpiKjr4FhfurIRJpvDV3Xoxqi8ZTzFRgCQvVIXZ5AF6V7bMGd_6-iXNBAuLG5sPt8-7Lz46EURcYOYiXqliJnuxoY9daIM11tp3dc0tFwViTlvo64fslagHpMUpS53HNvqpgSzYmgoOwFwu0AP7GXLz5wpPIRoqaj5l2GbYXnN9-7TUqhVCSRVYFuX3dkHbooRjILzspmBF6Q44_Zai9kGRb5re_QQJmU0rzx0TUZEuAlLEI_VAEuTLksyhnC-xtA1br1e4aHiyK7I-8EGbM3KnnKddyq28AjHSxllliMzdZGNBmJxZ6RMlyUxprBuuR_lfWY8k29gGdM5xzk_CfgkRgXg3wPJ5TreoQEUf9jltGJpmhhoBnFbvW4hSo0xbh3TaZU8NnwiW3uyJ0U_5l0UMe6q9jF3EY77goViUqwN5I9znePoRIkYTvx866ra1QOpSxO3md4iTwzJsGuczWlcDWdvcME-MBUg8jQ==",
  "id": "rs_0866b665f1bf0285016ab4442ba55887d093bf1c37734a5748",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.227,\"left_z\":-0.02,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The combined correction again left height unchanged, so I’m separating the motion and commanding a pure vertical descent to the allowed floor from the now-centered x–y pose.\"}",
  "call_id": "call_Yo5NRiXy4yuLMNFFfROK32l8",
  "id": "fc_0866b665f1bf0285016ab4442cdc4087d0adf5abd666ded6b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yo5NRiXy4yuLMNFFfROK32l8",
  "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]: [-0.5045, 1.7424, 0.7601, 0.3584, 0.0776, 0.0341, 0.9986, 0.4408, 0.7387, 0.8745, -0.7776, 0.3454, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3899 left_y=-0.2268 left_z=0.058 left_yaw=-0.6009 left_pitch=-0.051 left_roll=-0.0095 left_gripper=0.9986 right_x=0.249 right_y=0.0553 right_z=0.2411 right_yaw=0.0203 right_pitch=-0.0398 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.0752, -7.8154, 6.3658, 2.1514, -0.0464, 0.0073, -0.1538, -0.0205, -0.3624, 6.5846, 1.6728, 0.1148, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a3cefb897be57ed4a30ec82917c739a2ab7b96ab777b7075bb6157e966c6dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fdc734dba6b0da6296efccb83c5957d829aa282808c7da740db1d025a92036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f9e814a683f3457c4852687a47b21ba236d9e8887df72c12e565d6a06bdd4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 5.11 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]: [-0.4294, 1.7058, 0.7414, 0.3531, 0.1139, 0.062, 0.995, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3984 left_y=-0.2005 left_z=0.0657 left_yaw=-0.5712 left_pitch=-0.036 left_roll=-0.0061 left_gripper=0.995 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [0.6906, -9.9624, 8.4171, 1.8339, 0.2662, 0.1392, 0.0171, 0.6222, -0.9641, 6.653, 1.9023, 0.2759, 0.1001, 1.0232]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.5045, 1.7424, 0.7601, 0.3565, 0.078, 0.0341, 0.9986, 0.4408, 0.7383, 0.8745, -0.7776, 0.3458, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3896 left_y=-0.2267 left_z=0.0576 left_yaw=-0.6013 left_pitch=-0.0529 left_roll=-0.0099 left_gripper=0.9986 right_x=0.249 right_y=0.0552 right_z=0.2412 right_yaw=0.02 right_pitch=-0.0394 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [-0.0068, -7.9248, 6.4205, 2.0928, -0.0562, -0.022, -0.1587, 0.1162, -0.6085, 6.5299, 1.7021, 0.1392, -0.0171, 1.033]",
      "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]: [-0.5045, 1.7424, 0.7601, 0.3584, 0.0776, 0.0341, 0.9986, 0.4408, 0.7387, 0.8745, -0.7776, 0.3454, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3899 left_y=-0.2268 left_z=0.058 left_yaw=-0.6009 left_pitch=-0.051 left_roll=-0.0095 left_gripper=0.9986 right_x=0.249 right_y=0.0553 right_z=0.2411 right_yaw=0.0203 right_pitch=-0.0398 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.0752, -7.8154, 6.3658, 2.1514, -0.0464, 0.0073, -0.1538, -0.0205, -0.3624, 6.5846, 1.6728, 0.1148, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a3cefb897be57ed4a30ec82917c739a2ab7b96ab777b7075bb6157e966c6dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fdc734dba6b0da6296efccb83c5957d829aa282808c7da740db1d025a92036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f9e814a683f3457c4852687a47b21ba236d9e8887df72c12e565d6a06bdd4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ1Gp_WgZsu3OcBoI4dnOyhmbmciIk1XmLSo3vrXXYh7iZmxaDuiAr6RgffmBTiFACwr4R4E48c-Xv0W0ncr4zb26bjC_Ubx6c-Y23GaoNj5KnJ3OgbgNLqGg1YFZor0bivAq8jmGaaYZ9tZKgUdZfnSjrbBh6b48bqI5m3428DM7bm6aHEuz_SODJHTLFtYkW4rl7zZcLHaEdfcqRouizsOiNvYkp-iXtspqBwnBjT2jXgGYz2Cw-SlQwAKr2vkVOdCU7AsC6gBBULAAmcvHR1jk2Z1j1_yjlBKuZ3dp1R-lxMpO0diA6wdhKf85-giEgHQLvanSfIAjV3AjwvaVwXtxFb2v_gMM9ybZdsu3E-i0velaHPRcb5H6fwbhoClWR6nD_JZFWljpz0DZHGCmIJFWoLJ2sUvhNBRn_kXnOOcdGbVgD2gTUAK3hJnULHOmYl7jHn0c6tgzGns59E1L0OhfXUxPFjqW0B1xmBv0_JbQuZ53vYiyNm-9JFYcJy9o8xFTJMD3EFyHNq-LVZR5FNZAkXE9-aOP313ehxN3BBQ89CEBcqN2U-rRaoFPi8gKyOgpwbcvVcNj8Qi4ARvj03d4CkWXnfDcOVso8KxoSITkMafykHd-Idd5NgRb14FpdXYjzMjqDeFKYEDoFL2zJQ4FbTQ7WQsGfkTLh4Um6qlhOprZEcE8Jo5pziUhILznK8YLqJdsC7YqIEKyS81stAKz6l0iT1J0GIRyFSP4DAwwAJZy55-MENWeDiiRSZkjBpuQ5UTECvck_-CKzHdJ07AYk98_tmB_CC_Mkeqm7990BW24wmtEBfyKwY1-er5azTWyHfSpDObTe1UcnllfTH8OoYddVOEEtrMdKRBJpClL_Ei4q5MS81suQN3W0gkIAq8427t0F9wT9TL2SXTL_RaER0jDfyVWbyIo5b92X66IRKtkQ5LaqkKeK98AaWpdjvZIcwFsxDE3jhg_3cAhDhy_zVbljtIVWpW2NMs399m4tDoKA8_7SyCvtNrK8VnKLa5tXRoJXZHIReBzuI2FCj5bMRS_l6V9Acbjt6SKjrQoJNnR6j_qBIQaf7XhH_HgI-UKHliQyawQVtZqgbJOJpB0WfItHZsknzwCvf1K7bD2aD9Isa7nTULrgrwMmCNuu3cWaBQT9SmWyM7ujUbgbhJYphPNPiZlFAni57vJ25zMKpp53clGWMc1KtQhuAdFgqwQAG79rHTiwNjjbpOr8wJT48pdSP7PjNc_XhRHZnBBlrlllsNwPR-8cgsL_w7L2o93RlZh_e2xWLrppnrsW9mhGFC-KpvKJYppjUZTRrTV8o6AmCfh6wjqP0I_-8Gl8vIGwEx81Tbne3y5w0ypDIEoqSxPHE6vwQeAtR2HMUQsWexwOLFjc6fTvxSqLxIhRUDFGl_6hse3LHEtKdQkZO5nHFz6wFGe_iW1lz8ZFpsSeqs34AY4wC_u2SniG2c1s2uDuhAJ866k3Xy9a3DRQd1SXAPUuyBGD-TCvUh4dVZRdLZ30ZHIZBOgLgCQjqlTP0HOVoo9l6CTAGD1Afpc_zBim-fRAQNd2tT204NQBSIs4CnzmoCxsETKQR3JCDefPwdEMT6OuDlXdvOqOJZWvYnD2V1BpzYwKifKSX9VfpBv_b5CyKUiLczAn32O25T2O8rOJppaZ6n5y90Eyj2_tQuasNKTNwBjO-hkuXY3SrXrYgWoWYeix4UTjisYU0txL6biVqUJ0pvWl_42axM_bmI3QgKK7oesP_lbiZWDKYXrk4th6eMu3Ox8xhwpW2gy3w9-lpIpLmfQyzjCsdBSU_6pKmmb1fgJaShNpFA-XEbwJYUD7BjSf3Zi96syiLOUlgdXn0pCipmUMD1jjLXeKQmFKjHexHFM83WyuSWxOBnEP_e0FG9rndm7KwF5H3ulAJdJhbD28gt1jWmZ_izf3rqaQBInv7-YILFwvD8nY52O-1kVUh42Ad5nAetp04bLtabOYgZURvvuZiHTFBSn43oaauwh572dzilkshEAI4mFQ=",
  "id": "rs_0866b665f1bf0285016ab44432df0487d090ca1daabeb7e9c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.227,\"left_z\":0.058,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The pure descent also stops rigidly at 5.8 cm while the cap is visibly centered between the jaws, so this is contact with the upright cap rather than IK failure. I’m closing around the cap body at this contact height.\"}",
  "call_id": "call_1NJzgsPbBazgcDGw4dLwtTx5",
  "id": "fc_0866b665f1bf0285016ab44434551c87d0a1b658d7cbc73973",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1NJzgsPbBazgcDGw4dLwtTx5",
  "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]: [-0.5049, 1.7695, 0.7177, 0.4305, 0.0769, 0.0277, 0.0079, 0.4412, 0.7376, 0.8719, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3856 left_y=-0.2245 left_z=0.0447 left_yaw=-0.5972 left_pitch=-0.0484 left_roll=-0.0141 left_gripper=0.0079 right_x=0.2489 right_y=0.0551 right_z=0.2404 right_yaw=0.0192 right_pitch=-0.0401 right_roll=-0.0162 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2923, 5.2581, 1.8779, 0.0464, 0.0562, 0.6032, 0.6085, -1.0735, 6.8581, 1.8437, 0.3199, 0.1343, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32b2a38312a2aa9f8ba94e4859a12e75811514cbffd5352e64bb705f71ab7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d1bc954e7348876f61799edf1c34b3a7ae3f6e1ff8df6089b5cd499d0db685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9262a289536331af5aa3965a8d754ec09dde692dc1d9c5f2a0684b253f7ad329",
      "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 · 15.12 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]: [-0.4896, 1.7317, 0.7601, 0.342, 0.0921, 0.0429, 0.9986, 0.4412, 0.7376, 0.8745, -0.7773, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3903 left_y=-0.2223 left_z=0.0594 left_yaw=-0.603 left_pitch=-0.0558 left_roll=-0.0114 left_gripper=0.9986 right_x=0.249 right_y=0.0551 right_z=0.2415 right_yaw=0.0193 right_pitch=-0.038 right_roll=-0.0153 right_gripper=0.0387\nstate[joint_eff]: [-0.1846, -7.241, 6.4068, 2.1661, -0.0317, 0.0171, -0.1538, 0.6359, -1.0462, 6.8444, 1.8437, 0.2857, 0.149, 1.0379]",
      "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]: [-0.5045, 1.7424, 0.7601, 0.3584, 0.0776, 0.0341, 0.9986, 0.4408, 0.7387, 0.8745, -0.7776, 0.3454, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3899 left_y=-0.2268 left_z=0.058 left_yaw=-0.6009 left_pitch=-0.051 left_roll=-0.0095 left_gripper=0.9986 right_x=0.249 right_y=0.0553 right_z=0.2411 right_yaw=0.0203 right_pitch=-0.0398 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.0752, -7.8154, 6.3658, 2.1514, -0.0464, 0.0073, -0.1538, -0.0205, -0.3624, 6.5846, 1.6728, 0.1148, -0.0024, 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 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]: [-0.5049, 1.7695, 0.7177, 0.4305, 0.0769, 0.0277, 0.0079, 0.4412, 0.7376, 0.8719, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3856 left_y=-0.2245 left_z=0.0447 left_yaw=-0.5972 left_pitch=-0.0484 left_roll=-0.0141 left_gripper=0.0079 right_x=0.2489 right_y=0.0551 right_z=0.2404 right_yaw=0.0192 right_pitch=-0.0401 right_roll=-0.0162 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2923, 5.2581, 1.8779, 0.0464, 0.0562, 0.6032, 0.6085, -1.0735, 6.8581, 1.8437, 0.3199, 0.1343, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32b2a38312a2aa9f8ba94e4859a12e75811514cbffd5352e64bb705f71ab7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d1bc954e7348876f61799edf1c34b3a7ae3f6e1ff8df6089b5cd499d0db685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9262a289536331af5aa3965a8d754ec09dde692dc1d9c5f2a0684b253f7ad329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ7yJZhnlmsUymuKeR17GRA52XCBYCjb9_DUjWNa5lzIYDAx0g4zZXoR9KwKVsAAaVchEXr1t1nUX1sj8KdVWMCUpEVbIjZwb_bH8Rbenw815LB781ikO1T5ueSCC6PImsj1BhPmFe8iUYBnNhZmvlEDGr81RIbVz1-Ue9Mh5KbpIzfPj8dL9ZORezd0gIwQwPuwBPCF5ghYQXU_vFWNps3uUpcCCPhHD8_O9wNRcGJSVIVwUECkyHkhFFlJYKK5QB_u0_RY0RXe_R4kPx24eQC99qNSLvZjy_C9AtZxN-S5nGS7uUSpfYdKqCwFziX5HrJfkmFNaFtmxl9Rtfg2sbIgpWksBPEOUFSGxDgK55gmmqmjk9ylcaw4s1k47TAjTISOVgj5rRo35g2yphj5yss5oL0Jf5VW1ixMzjRoo22Dp9UlKKKrXOBcv2SkoRI_3WL9fEFu6sY5vNuUos6ktvrLYt4sq76-Qxqt7V9G_QxgLjFnNa8ujTyxU7IgC3-7mgYGbzoDqI6rkmUxvDiWDNkovkdoIsXGIabfgQxKOt3GFRyCLzJJAf36KyNbtS41mMWzqcNY8Lm9rZEWqmOiwjhfGpmNm58MJ1JKg20izxlkosCpty_gsWihGMEvGDHnI_ZMS6KxuQmSGvnBaXH0Xm-nVGPb6LSyaLESiwvg-KhzrKXXeZYp3ir0mKIBoTjAmbRnU7av0uHmBAMjhEtxY6EDyFjXQCK0hp7PqPo7gJ4IFIglRooAm7a22wU2HDElqGJZ2ZBquA5Y-ukYfih5itniBoSd7F0k54aVcdR5midpdBl6EPC_PTSXDwdV6B9o3IHQWWSVx1miRmvAKxV7-Hy5Ijg1nu5GpU00O1-xZ4GE6I8a1Gs3hWh6C1KCOFGxtToWMk-XZ0cLAcDzVaqKgEyUHMudna_ELSFVvZqfRJhbD75ONWm70m-vLMsYFo2IqN4GJVKgNNgEDG3hEcAoREaHtDVbxUrdjLuYTwsCAo61t8TP7IvNohYyaDmxXvjk65rCzhfPzNLiyryrZlBL-j3yLJrSvKGJNif2q4dkQlxyz4ASuXtYHH5OkLUqu5uOz0M1SD5h-MoZRjyg0XNvXHykj8gXb29BRtzgru2sGxz5dpJAzTe8xRFW3mEe4a9_TKWDBdv9vpyfqf-c_5cT-slUqId5KO26xHAm81lr7fCB1gn5BbiSTAE78vDCBGd3zNjKXok3kRjVYFxK2sgysNoHQ7Mae5bkwkSKmUuQ_0__ZbWMBaZaHwm3HqqFfbhrIC6Ll7QxdytwuwusIFt9sZ05xd3gSC0viSdT8NPBc5lNCSAa3WJZKl_OCh4MlkZKU8nIgpMr0TNToIXl4wtCNQFekWhS9dQUUU1bfb6AnIyXl4pGtgspMkDJKq3R4E4yjJyZjNW3xRHUYkpjzdMZaizZtpCQhZMBN8Z1HbcqadW_lCNwPY1WHhLpAkqAc8NWTxhnbK7ARSHfU2SLv7PJipQ0y-hRmLAMRo2BA_fc-X6rbpIOIhvzGXYwhEXcIy3qVPykaG9PH6H2yEHyUej-zpmOayMEoH_B41ev7TVS7q597_jGrKvP3FaDOcLViGKfS0lWzOtQuIa4ZDweYnFHlPvUeMPvJgZL2NzuFsXCBjxGj9-t-wLSCYYiu3U_Suo6djlXRhx2YP8pPdwH6s1vWbBOrH3JC8k_EC2fz_t-sG6-JVKymAOY_46IgHF8E4aontPQRkCzuL-Wsod1zdmOzfuqUGrkKEbLrLdLlGhuVR91B7XnB9xiURKMXc7coe0JQHe8gWnhUVTceQRz-yIMJht0Lhls0CUWad95vztYXxHEd3xrLVZNuLDKuDnOBPfZNLHJltflw2YhHWXp3y7liGEXjurfGx7sRnSfuRSJlmVJoD4oh2rdPkBdvaQeptO4tnfvUar9zCSm9VYjpZH7nu_A2zxsgq3Y9vTZ5LYgEteH7W-jmK-Wa6nfpJIhLhWBEpIroTgtJ98P5I8db98kVv5xB8q_vUoaiZe0yp9uomdiA-q3liLL-MjSV55u--iLBNX3RWc_BiPNboKrJUFDL2AK9zDOaOwb0pctOxWVcnmoKeV8e-0LOdBoCDFSA39d6wWU90mHUcsdFpvA_1d6hOYBo4REJBSRo7KmpKENVvoybMle1MfpffLBLQ9J2K_CINkYt6DGxmwl4j_KCfZSzRCBlIQPzvDRJL-qFWSWg_dR0IjCUfNjQx8WDr8wqjF2MHi8SxOc1FfrjxmShYEXZq3hrPZJn2qVyumda3qqVtRWvydEQOqQUfqVAItwkL4NLCw-UWI7kqpTBuJxQuEFR2JJHST98BEF5uNkaka85qFC4kxExiTOjDizFL-a0Ns-ntDL5NN2mKziOH-YXLnQKaTRZ805uJGkkOcGQgvBBEygAHCp7-0-5J04Ppz2vpS5pXANEAIxn_f1jBor2wC_aXuQcW_F8o0oyIfaVpPvLSkCUE=",
  "id": "rs_0866b665f1bf0285016ab44438324c87d0a495a718c218404c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.225,\"left_z\":0.16,\"left_yaw\":-0.6,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.251,\"right_y\":0.054,\"right_z\":0.25,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The gripper reading is nominally empty, but the cap disappeared from the wrist view exactly as the jaws closed, so I need the definitive lift check. I’m lifting the left gripper well clear to see whether the cap moves with it in the overhead view.\"}",
  "call_id": "call_ZO3vUMvXHd7Z2BuFy1htNcmA",
  "id": "fc_0866b665f1bf0285016ab4443a6cc887d0a81982a2b773b09b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZO3vUMvXHd7Z2BuFy1htNcmA",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 1.5284, 0.8711, 0.0368, 0.075, 0.0238, 0.0066, 0.4412, 0.7376, 0.8711, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3804 left_y=-0.2211 left_z=0.1306 left_yaw=-0.5931 left_pitch=-0.0477 left_roll=-0.016 left_gripper=0.0066 right_x=0.2489 right_y=0.055 right_z=0.2401 right_yaw=0.0191 right_pitch=-0.0407 right_roll=-0.0171 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -8.5538, 9.9897, 1.9365, -0.0757, 0.0611, 0.6716, 0.6359, -1.1009, 7.1453, 1.8926, 0.3346, 0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa038c1374a8760c48dce7d353ad58b6a46e0c7fd1a2669d4863838a398a542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801011dd65949e2d874e2e1a741a403ba82a98efc8b20e482b61797de48daa82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc74af0d77c44e4cbcc4d2db64d52d30bddc48c1b7afa8c464bef3737e5c481",
      "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 · 5.526 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]: [-0.5045, 1.7424, 0.7601, 0.3565, 0.078, 0.0341, 0.9986, 0.4408, 0.7383, 0.8745, -0.7776, 0.3458, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3896 left_y=-0.2267 left_z=0.0576 left_yaw=-0.6013 left_pitch=-0.0529 left_roll=-0.0099 left_gripper=0.9986 right_x=0.249 right_y=0.0552 right_z=0.2412 right_yaw=0.02 right_pitch=-0.0394 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [-0.0068, -7.9248, 6.4205, 2.0928, -0.0562, -0.022, -0.1587, 0.1162, -0.6085, 6.5299, 1.7021, 0.1392, -0.0171, 1.033]",
      "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]: [-0.5049, 1.7695, 0.7177, 0.4305, 0.0769, 0.0277, 0.0079, 0.4412, 0.7376, 0.8719, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3856 left_y=-0.2245 left_z=0.0447 left_yaw=-0.5972 left_pitch=-0.0484 left_roll=-0.0141 left_gripper=0.0079 right_x=0.2489 right_y=0.0551 right_z=0.2404 right_yaw=0.0192 right_pitch=-0.0401 right_roll=-0.0162 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2923, 5.2581, 1.8779, 0.0464, 0.0562, 0.6032, 0.6085, -1.0735, 6.8581, 1.8437, 0.3199, 0.1343, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5045, 1.5284, 0.8711, 0.0368, 0.075, 0.0238, 0.0066, 0.4412, 0.7376, 0.8711, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3804 left_y=-0.2211 left_z=0.1306 left_yaw=-0.5931 left_pitch=-0.0477 left_roll=-0.016 left_gripper=0.0066 right_x=0.2489 right_y=0.055 right_z=0.2401 right_yaw=0.0191 right_pitch=-0.0407 right_roll=-0.0171 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -8.5538, 9.9897, 1.9365, -0.0757, 0.0611, 0.6716, 0.6359, -1.1009, 7.1453, 1.8926, 0.3346, 0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa038c1374a8760c48dce7d353ad58b6a46e0c7fd1a2669d4863838a398a542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801011dd65949e2d874e2e1a741a403ba82a98efc8b20e482b61797de48daa82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc74af0d77c44e4cbcc4d2db64d52d30bddc48c1b7afa8c464bef3737e5c481",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0866b665f1bf0285016ab4443e3f0887d08702670afec866ed",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtERLYs3rYELnmLZTnDtJJnXNvTlQ9Y5zm7JHsZRn6bpPD5_QkffOHGsAwpGaWsvP8aIOg2QO-hxMN5iCYpgKZAc1OWKMpSbs69HYV0PXYdCuuPBUZbYBsFBiYjYvGlomrR6TB3mUwbtTbk21yj-3YdsjpgOgx57eX6Rk_BzCoLmEtPMfcFRxn3ezpZ0B7Vdg93Y6kExrEZsymdjyi8EWTtIxzBr95Jmfk1Vcp6StewJ2zk757DNI7v2ERdx6bUWTOGkThlVMwjs3Ozx5JbIgEeRrDvTEzxLCrdPLxvBwvPKzH_tk4VqpJdVzW3kx0pTG7uhhhyJJxqEvstMgYqKXps4q47QvKjNA_NG7Y9chjIs17bDshHZYv0rIT_uJ6wgs96fenDgTlUisxJzbZK5p-WNWOq84sgIGBMmV6z__kZqFPD_jTRet6cY1_bK_Q5TepBrbcVfYR4bNiEu1DGwafHG7VjMhbqGkncCDKCXmslkTmZUs1OQcuTqD3n5VwFfsK1WqC2hb_bBJEN1ZrhDtxqPogUl2oBGsfz7UF33AL-RmozXufQ2nIPyN8BKxPKYkUCCOIYuSnwNgoUx6QYOF5GGPIHgrrGPd4aF3eRnAW35BmNVpxeP6yvIHz5URd8x3GRBsx1gEwWQ2uV4zsaYcyNXuoyX-pP4zcULAqaxO6tpbUfTzXie64cpbGYFHtdgABrfVWl3UT3umEe4w5vRNwH50mxyFxPs_IHTummy5-U8p1VcJn9uuJ3wBdkx2eQfj-qcQzTt9INSTfKARybqvmQlMpJB9c-ZP7us53dM3vm30w4NNlgjyPsYa4Fmf22zlZBJ3SQCGE-sQruQ-BM0W5FVLviw2pyTlse4xTfu_CQSxCrHlpLv2dQEucaY6acZjoPzsqwJZ5fbZDPjut_KPZGKjSuKLM9olM78Ey7DQfhimwkgC0uAb2F_cSXfmVYxXThx3emGoIRbj1boCQgR8MOWkkvm2QcD11oZcdyXLpxoVXPpRYicJg4-FVUVo46LsNJPNF0CPjX5O5lzP1mtwN9HEbbHpKj6XB3m3KDyEoszY9HLWy1FmNx80hZjq4glDpl3DZOJXQx5MEIoXZ5yZhPTXF5NukevAxuViBq2huLwR8cUReie9kSZ-RzhinIJfKdLwvHFES-ob67eZjzgi8p7v2P3HnVh54DykcEogT5XmJVLyTxcOOMobgCX2EHItOkR2X6EkE0gwzfJhsfoxRti9ZFwu6bPZgbAjlI_xpdmZN1hgaJeRjBFzHI0Z-n8KP2onsoBqDs0emiz7XulFGbKQTjxweCojS3DXULhkaIC7ZXqwntYm3ablOoOFwHON0c9YMUxO5XokuPoy2RTEv2IRYX0I55AYiGPH1Vin1SmLjxBkxeqaxt3iWj7CvNvy1Z6RMNjM9h2sJwQNfhu9vTVcqO1PHGriFqvSeAM4FM-bJNUgUz1UYLDZkWbFeuqceavxh_hkoECW04snYwV_JcJ1McoWhfAtkl2UHWoALzZqNY-kZ4UAsPoRxmcA1orIaPQ3V5IF75nXOE5_qcCrgLvp87pP6v9l8Et4cC7voZSF2FQ9edxIEatpZLLEdpKWtFwSQ9Dzr1x3SKIQ0Xv3c8VOpskAHSKg_lISzrlxHy3XBDD69qCoVmyO3oJ6Z2aYuMbnUeb3GMn5XUBxHE4FvsOVUonEE92ZgA_0tTIYzZlaTGhadHIb0X3d8Zo9FjUvESZpUljkI5Lq8HPI_te0iMWH_5E79TK3NFzy45hCA1GCpryhXZFkjx41y5TAxsyuvgX3DXKYN_Y4GlZQLAWwWHyfBQTiiH4AzQzEc7NY-EjP19WSNyX2RtKhK-yn3_vO5wRI31pGFc6GbfJZXimP4EZXjOY03ne3FlCwzFmgpFKSUB4BP-DgfUk_rTi9mVUsnw3V59B8nfmJKrjtG4WLmUUs5MIhEz0MUeZ_7dkFmD_L6EuomfZIAsMJP5O-wK5itKqRRl7oBBExiUzbb4eB9qX3qRszkmmMI0LNTWMq2rbgjGPBfelPh9woya-73IjjU07oUoSahGcbEJO0F4TCU2t_tPbuCTc6zHc5WTo626dKpgZYxrPF6URX4IHfU1cVO6K0raBAsDdC9vKktKBsDJW1dLmOtNkh4eUfNbgwRQn5GhBQEWkNscVYDusCj63s_fFnoCBjd7LOMfvi0cDneFXFhOr93TLzWjTUUN0wf7AdVCEu60PVB9gHUh9lEI8RTWowDldlh75GaEJW7DxYd5EZt616DVSHVg7ek7oWImvRZhoqU0IlRqtQ7Nm9NRJuRuc59uIsqMK_DiquYfNrpbY7qJYqDywpKebiJ8Y8XJqn7NR0BVqlU4uZa6GPss-8UarpTD3B4e1wk9IMyrrYrV0uuDDk3XDh4sggFNjt600V06MOXmxi82gDjg5qQNcw6iRGYGx7WsAS4UGdsL3tWcSr5XTpYcAw8mgfrPDJm72QbmxJdose8l0eHzONrHGhe1UD0kz16c0cdOoWMwcpVAEqGXhSNqOqod0ua2fgz8E2D-MuraJF6I5_N_1jxGnCXvKHN83S3I5Rr9Y_HUf_kojroXvOTCtrtYTXMauVq3P8TD1R2FBiNBDZwf1SbzaMAGwx9G8I0vdtRNk9CjxXNwcOFwKQ-4IU9Ux9SZEkU2tcGeCEFtqAt2LqoOauW6OccPuUZJ6kShpv_-cq2MCDJ77WqJG1o9Kspo58FrBVZmFjs1_sx3EeXWo_CbjdmbvYMiqlgkGFhz_AlYQnPFE85Ka58S9EfcOs3pEwZLazb8bLgduMW7aEmxNSayjaR9LSyKTLkOO-uc545RnS8oKLzOrQSkznmDo3V0zzLHwK8jLiC2hgTY1I7AscreGGZpleUt3YDdThfxxCOnOz0IASBG_9bf_vk6z1yUX-G4zQUpiFTlf_YHvWSemMH9WPjvYHZ_WhCmrVABCWQY3baxvM7-oecuAeDH3nV0NrH3F85zZx9GiOzqDBS5Dfka1RhN-8XRBdek-KXvbhMRMz7zgOm_9k7LIi1OFDQ5qrPPkc9CFGifRW4Q4XlfmjoH9ow0QPo8Ei0dr3e59gOd9FLIU58gVy9rexbYjTrZsews2j3CtmjWX8rEPVcVdgTJAl9Dr1O_EKlu9xnptzfJFcPEsYcIqj7dDfaGDFe0TZ0oYBXb-lIjHhwC4XGYHxb7A-SoJGVgXZPylMBGfuJpaX8QVuvX050SuG5sbIQOwepTDoJ_gnvh1f0jPK7AsJeu_RmQRyUShSJ8eCMXslha2W6xLUKba2xCkJB5HOKyVM0nuPb0z61H5PEem6ROTVfVkKBbeSexMzEMO5NyAgImZZO9_Z62IIxBTzgYsunvHigv34swhcwugG_6Au6mfmO7RCG6hs2yOMbuOHVafwG3s_w4Qgj1x_8aTeoEvq4uHhGjwGW8SJFQCIOhpgMmZUPSg9sQh9ljwlsn2Rfk2Hdom5m7wg3gTiyD-rYdD0HQyyeSNhYOlXs9P65iWjTzFy3Ybb2Gh32b7R4FFc5CMbyRtEhoXpj47eBSe6n_wTiIwTf5m-smu3EvvoeguFiYqu2Y_wshiMu_6Q5Nj0marEsiTiqvGGyGIYeAFxkCNxmTA4JScOMgIzyYZyFP97z3jFXWuMLpniU0eleaH6zsWFNhCWp8BOCBBdSEvKxdsq6Z_wQNrL0ThAhUIzbv1aFLRu94qqx5jYkSGt",
  "id": "rs_0866b665f1bf0285016ab444434a7087d0b34ff8d88a40ddd5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtERL7PPmchn499urBsOMx8lt_OkRkbykNrn0N3HRN2ySPNDtMGmqH-3zV5xpwdgJZ_XbuAgeeWegUO7EGiQmy2NesSG0zmKE2APtvdGW25PPcaTyi5SCub2m6D_iDH4Rnme8Mxq84yMwC-h2zF8tYPspp_RTYiEarBd-rHMPX4vY7EbcZE6DbO3grzdzysbngL63NCvd1cFZxy3PyzEN5ZFoW9w7k5haqYlrurmVAntHcRYlZETs9DoZuN_TuuVuQ9BZNeHk-CY0RGxRyYYurgA82vvlIj_C-3BHyAdZtejDgfDaF37TkM2LIkhOEQ9CFCDL2Qr1S8-foXRX2qYCKhdyGUty63U2BCWjZzWT5DJ1hslhGygc0XrmujxkL9riMdsm-jL0wexo8ecoTYlI75d-ZlZg-hCkbAsIZfOVZvxSYeH3jdcbC_OchEOY4qcSvKMCBbv2alXydfZNDvFr4ecQdPao_Zkj84iDHKgr9q321ercbujX68suwLCNsl4PGcupKgalumqX-w_Aslb9AdAql5zJ17Hvty18yJuv0p_crcwze1xQfcAlQjwTp1VdDNt42XVZYssyQhYItMusLV6uMTGONXNZD5dXIoLoaA4RWDs1E7qA0SI-ecxQeMKNpQEoF2xV3BA8splmWawY8eQJiNErr8j6vT2CV5sjcOObY__CfAvxNfS5Q-SXCq47H06k8p8X7kb0a-Nqiv8qOqqb8EO2TKPiQv6Glsi6rK1K2yRqR4lcq0vsSOFNkZIaUjU7rD8-QJ8WnCSorHCCmoPin4GAYs3oVeTb9MW5rTGNxRkFfTFFjYru282iM5eYJQRvMXEkgsc7pKyMU8KDc_SJKIA-7oarrLX8840svraDWRhkuv3PCESmENusYGTite_VZCgUJTjfBgb_bc896R8-LrP6LX542FJFCiR2Ew3uWOKpdOIrAq9xWQrWGCwchoqrHJ-K5QuuJyElz2z4rWR6-rGfWKYCqGixN2HFtrZDrRC7iHDpzphtVKR_E3f3Tk_ZOAxpu9sqOE8QC49AoKwliGgMAs1cn0vuqBJ-Hnj9Zc9zrLeeGxJ_AbucsdvLJclzkqNhmdbprOzkBEZEP5tZodnDiise0vT58-PLGJqyetYClT3Pe6fjuyxIlMc6gQ4QF8anEXJ-uEcgdy4Jskhs99sXmx6jwQ93PFH4eIrSBr2HYKwkMD9ndpN49GSp7um18-5H7mjOWCxvGPJ3-I-bMgJMHMls12xl-C-ECtGPUM5cXvvDnIxiJHD5FjVDQxYtA8kHmUu1GJ1-A5oC5LQPS9xfuqDd_bKC0i2s5xaWVIAI2SEqdB9kExol9efPJPg9gYM14FGuRHMBrxv8MKgjnIGYp_Sk74hU-FaAnq6Fa0XMwrKfODLLELQLr2N0Q4NsOwEJ2HYiwYPxcITA1XC2MxbSJOqosB6V1njYtKT54XDllsISIGBlbHU20nYAU6T_n10NCoXrP2pBGnkXG61p3bRRTP8nLz8tF_kMM7RaQDxdK_UisSa0_sDZIBtOzrLDwecbqYgqVKKyTlAs3Vtmvj-cCSipI7ynCc6vLOIWVtUcSZXNKASiF7jlDzkTbeaoyla0JZL1YIib9FAUKwDfJ5lt920jFZOxWL8Z7m7bBrnPHqGH-9iJbickvDd_QWBHoyjy6iCTOlSpcBKPqw35r0n6nQ-_AVPjViDv4f1tMvAirLVQqWYn3m2ajbOVs1tARgckiVDWtHQVV-lpxyFhGgeIWrt3Qan1VXvO-xRTbucEYR3A1pja9QU9tQCewEP9RY3VEDY_trOiOGWlpMv7u8BJzxqeloXy4QOFzgCOffmWDEjHLKI6nJERW0EhIbSGzs7ovVhh0w1Sl2nJ7kaYBpg6tO3ZAK57LrTP7PRGO1XnGLIW_k8MJNSCpDQBIIfi3tFzpv2-VdogA8OAC22pFNF48hAPlasXCQZb0Eid2w8=",
  "id": "rs_0866b665f1bf0285016ab44448a98087d0b2c1d926bfeb7d53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.25,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.22,\"right_y\":0.38,\"right_z\":0.05,\"right_yaw\":0.2,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The lift confirms the cap stayed on the table, but the pen is securely held near its rear with the writing tip exposed. I’m switching strategy: parking the empty left arm and bringing the pen tip low toward the stationary cap’s opening, using a slight yaw so the tip reaches the cap just beyond the right arm’s lateral limit.\"}",
  "call_id": "call_QgRbBoCt82Af70AnNwTwgnwj",
  "id": "fc_0866b665f1bf0285016ab4444a604487d0ae1411b6e564c1a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QgRbBoCt82Af70AnNwTwgnwj",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 0.7475, 0.849, -0.7498, -0.3901, -0.2878, 0.006, 1.3411, 1.9347, 1.0199, -0.1188, 0.8566, 0.8425, 0.0387]\nstate[eef_state]: left_x=0.2533 left_y=-0.059 left_z=0.2352 left_yaw=-0.0369 left_pitch=-0.0219 left_roll=0.0024 left_gripper=0.006 right_x=0.2189 right_y=0.3658 right_z=0.0417 right_yaw=0.2112 right_pitch=-0.0396 right_roll=-0.0492 right_gripper=0.0387\nstate[joint_eff]: [0.3897, -0.7863, 10.0171, 1.58, -0.3932, -0.0904, 0.6081, 0.7453, -9.0872, 7.0906, 1.3162, 0.5788, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ba434aead5dec7fc6802ef0977fa51ddace29ddfbd32bfdb5760cff6ea5918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7813dc9124f8b09392e1ed43f197de6cde46d8282bb04787cf55bb7651a1df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d567b91ef359b1b4651f4c37b6516300407b1669b46d1b137eef8133d3ae02bc",
      "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 · 3.949 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 153 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]: [-0.5045, 1.7424, 0.7601, 0.3584, 0.0776, 0.0341, 0.9986, 0.4408, 0.7387, 0.8745, -0.7776, 0.3454, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3899 left_y=-0.2268 left_z=0.058 left_yaw=-0.6009 left_pitch=-0.051 left_roll=-0.0095 left_gripper=0.9986 right_x=0.249 right_y=0.0553 right_z=0.2411 right_yaw=0.0203 right_pitch=-0.0398 right_roll=-0.0154 right_gripper=0.0387\nstate[joint_eff]: [0.0752, -7.8154, 6.3658, 2.1514, -0.0464, 0.0073, -0.1538, -0.0205, -0.3624, 6.5846, 1.6728, 0.1148, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5045, 1.5284, 0.8711, 0.0368, 0.075, 0.0238, 0.0066, 0.4412, 0.7376, 0.8711, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3804 left_y=-0.2211 left_z=0.1306 left_yaw=-0.5931 left_pitch=-0.0477 left_roll=-0.016 left_gripper=0.0066 right_x=0.2489 right_y=0.055 right_z=0.2401 right_yaw=0.0191 right_pitch=-0.0407 right_roll=-0.0171 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -8.5538, 9.9897, 1.9365, -0.0757, 0.0611, 0.6716, 0.6359, -1.1009, 7.1453, 1.8926, 0.3346, 0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 0.7475, 0.849, -0.7498, -0.3901, -0.2878, 0.006, 1.3411, 1.9347, 1.0199, -0.1188, 0.8566, 0.8425, 0.0387]\nstate[eef_state]: left_x=0.2533 left_y=-0.059 left_z=0.2352 left_yaw=-0.0369 left_pitch=-0.0219 left_roll=0.0024 left_gripper=0.006 right_x=0.2189 right_y=0.3658 right_z=0.0417 right_yaw=0.2112 right_pitch=-0.0396 right_roll=-0.0492 right_gripper=0.0387\nstate[joint_eff]: [0.3897, -0.7863, 10.0171, 1.58, -0.3932, -0.0904, 0.6081, 0.7453, -9.0872, 7.0906, 1.3162, 0.5788, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ba434aead5dec7fc6802ef0977fa51ddace29ddfbd32bfdb5760cff6ea5918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7813dc9124f8b09392e1ed43f197de6cde46d8282bb04787cf55bb7651a1df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d567b91ef359b1b4651f4c37b6516300407b1669b46d1b137eef8133d3ae02bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERUf7G1UKLAiYqWLVxs1Apxo0Do0RRQK2uxZYIiYo8RRTenifLg19LArgFzuoN0KGganKXd0tXSIsGaw7hrYT6LdkhLXYENj10TgEjMqtusyjY6GNHVrObVcgWqjIH8s43kPvsbVH6iw8c2A_mI_eLPf4EGNayMkKF7Op5BSZVFW36wnvQsYwDqNm_d3Dqd_wEtRWYLxsZrxcS5vRIFHj0Xw7Fo2rVP0fIz19-cfoQMN8GVqCX2cQQ1bbCyVsXblSLo9woLmh8Jt42-9Y7jTf7s4YYD9-Bffj5lrp5XO2627A3tmOeDvVwhw74w5-rZdcVTNsdp8hH_F1i1eDPLUaZVsqkR2FAgcBa2POdauvWA4aGGDhLszp2tNxA9i7ECwdZfZpDA5IpI43bKkTg04rsLHdd4hM1dFDbAFBzJb1mz7RucwQ285df3G6b4kad_a5A46okp9bPI-hvVHjVxT4vTIjCMiLAj7EME3g3WsWl63UJcSWZY8rWqP38JoA7_6YahpSK8fOcsK-PH4PkFR2h00kQSIYraBjuAAXH31JYNKKa9sim0ggUwaXlCwW7j412pN4So9vaDyrDNQeM2D0XczixNRck8ae9XetHj6b5HmPBoV935EBhWrxHDcCfrrUbSd8f-2efaqzMMGLb2KNvEsAJh44rU7dnbqV-RP4d9WA28IYkH0hM2yQt4NxKppnEVWOTLFh379cwNpJ9Iab2CTWEhs_8fqWnHkdMhZKWLN9uYCdHWDTu6Ty-EsvS5YMBdz_aSy2Y1YUrz9eNCtmmA-LKRg_KWclfRKN4lei5FcrfJBAHZDNjJT03zl7kDYiN5SM2bvDDmFczqKv_4j_NBwK9gy9BSQwbWs-5OgNj2UMV3m1IbDHCPQfthnFXKrxwpXkA2w4865cJAm_o064uuRFBrEbT1JlqYTf2L6SCb6GLKpIDLb7KBmrKF789t_dAtCkvksBxukvddAdsa97__WWD54ltgWSdPzkvTh52qL0a8IuIIHV1BSmMsiPl2SkhLExPV2678mKe3i2-wjfPce-R9xEhA6-rExWXxB3XnnunfN-aF-iHHem3NHnEfyr28R-4FJO_N0a0QF54rtR3puWq9xbevgQu4D1zPMx__gMQfXHXee9JFBIOkZuuxru6sIBCTX9bMLh4Vi8B-O2oNKFTwcbPCEqo6t4Xm2rxsWYcqOIqj8IP1frT6QNT8BX95hrgwJtTFYATaH46zXwG_NoXaL7bYo8g2uDzcUVFyx4vQ85T7Y2tqq85Wdy69QSKNfy83EWItcIAJvCoB46ShimoIrR6F--IKjZ04QkYVyvmZeMtQzdDmzYVIrYXVzu_eauI2O_DsUHWKbYB7yw010FYJctdxvQTYVdmMoB_FkVsSI-UMfB7re-3AJhgPMEawMsrbwrvIU87fOmkpAl9G_Vcpwzj70bZSZXOEg4ZVNoI6wTBYm61AjuI3L8YqdphgbCSWxssrZgi6kTbsISxwkridnaEg079ysu5J6C5qkTbCkWAzEPy8p-Ng9NNL2rliVWrBzToSjRqUI9RsSXAo9eUwEq3dY17SKmnCSeki0u-qB2tYroae2IeMrKATzhnpIeDHCxmJsrSOGsjfg0J5icdSFlflKMp_XPCmc8wLr-Li_oGV_rLOAE2LTeVyzKzEdkAKm_xsDgfdtPzPiDE91DTjGOEB9ds6oNbLfrC95ObfndrTam4xGNeRTNBLvFwGSQybdKoDe4w5XEnvfaaxc3mXvLoKnVbONHP991V-qwwKbxlb1cShOP6h-6j4KvUW26Ormb0PGH2mI550vAr-B7O23AniCViovdb37CBTSWEc7KzbGATxhzIpsKlNC8ZaN2XUpWkLQQN0zuCwFWgChqTU2ZJHZSMucbIfGs_-p11mOm843D1v2SOKxQ_szlU7ztHzHr3DwYOoLwCWTB3iB5ESIaSoh-4I93gx4e1sb22orvohaLFRp0NaBcEU6FrAAkY0SLO3W9dFZ-IctN5MIYnLrNTbNnAUx4NY0317nBHtZj4ASavhINaWiBCf0owLWcKOooaJmb9apprhvTWKXsow_QK1UAK8C-MDFWNFfpD2TIUC6uxeIqO103JlAZXxLCe7b0-dq5cAMZp4XnIT8SEqijnwhuA2B73nUBTtJhHnMuqGzjtteHRDJuzim9FI4d02u047nympiN-Rvm9gyEbsBdwL8Lb9oru_FHtjUUhkCrrEjsKJEDJpM4iOzlVlvTGvkNqBiKhEeQXJnaxfnTsdrAwggIjAKkxarqdxDqWh4jJ-xrihCRB_UqqX1LGVC5w7IcUVK3-Z4Svp7abpN8i0PJsQWcW9h_kcZqkhiMaS4Yf6EEpBkFta3Hd_fvKNrfe8YVqI_WG6izEi7hd-6YVN4Is1Q4wT0FfYpG-HdWoRu411A49-YR_YD1aPAZ7OTxeNuWMMkX1gm-uYNB4hMCkjRUQORfbHaQ3gekXprsfhIKcBUsUbKm6-HYUIoVAhx_9obLwLQaL4KsrtPnLBwiMVdh8P4D8GRYp_3_WdsASI_roKNqLrtTu3Cga5p5GguuCG7rmh0Z1a2WdVv2c1b5yRwMY7CCBPHeohwc93pGAfQrtdEXQflpfvsZNxwzO2BiJ9FLRl84-MyiPQBoEMUQU9tVbBtKuo0AqISfZb_AdFu9a2rvpn7aWN4FhF6tsRzJ10lYJy3dIf7JoLt5lL1_39ySqtb0aPw9MyuPLNqcz17Aeoc9sfyjGDXbUZOC1g8YbhcY5A2KbSxB4G8gM0hBoQ2-xbx6NP5DTbciDbDADfOtARWnEdyEzrh69uLhc3XGUt3bzU38Bq54cVbmYT9b-UTnOUg8hOR40HaHSfwMBRveGmKWYJvxiHRPuMEnPsJBw1nBfkC0mT-F1lp1wG3XO65fVobp9Q_OpZNu0UCjl27tF3ZCfhhGINDmlf9xghZwOjdnQTARLlcbk-s36SiZvuU3pdrl7ao58wZWuUNwzFupykNKTRhH5vPBhvQzZGcqbXVAb2EBqynLgCx7H16vNQ6UwBZ0s2YdEmM5pwJf0=",
  "id": "rs_0866b665f1bf0285016ab4444fb65887d08f2974c4f608905b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.25,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.17,\"right_y\":0.33,\"right_z\":0.05,\"right_yaw\":0.2,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The right wrist view now shows both the exposed pen tip and the cap: the cap opening is about 3 cm to the right and 5 cm baseward of the tip, so the tip has overshot it. I’m moving the held pen baseward and right by those offsets while maintaining its low height and orientation.\"}",
  "call_id": "call_RboFhMb9LZyInlBHmqXhBIkH",
  "id": "fc_0866b665f1bf0285016ab44452d07087d09e17777fbcad8f21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RboFhMb9LZyInlBHmqXhBIkH",
  "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]: [-0.5037, 0.7414, 0.8612, -0.7895, -0.3973, -0.2981, 0.006, 1.4605, 1.8309, 0.8619, -0.1555, 0.9001, 0.9737, 0.0386]\nstate[eef_state]: left_x=0.2485 left_y=-0.0548 left_z=0.2347 left_yaw=-0.0244 left_pitch=-0.0388 left_roll=0.0076 left_gripper=0.006 right_x=0.1729 right_y=0.3367 right_z=0.037 right_yaw=0.2366 right_pitch=-0.0368 right_roll=-0.0392 right_gripper=0.0386\nstate[joint_eff]: [0.2393, -0.3897, 8.9778, 1.619, -0.4029, -0.1001, 0.6081, 0.2667, -9.7983, 5.5453, 0.8376, 0.7204, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953c33883c42ac06c46764483d629464e1a528cbbe358d06c7f395e12335348d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8931acd1c6b6fa71017e3013359015482687afa6eaef60f4a2e2a1dc3ad912",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ff8ebb695aefb3be8d7da5799cd14a507f63e2265b0fc86f23175b12d9e8d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 12.02 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 153 changed as sent

message 157 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]: [-0.5049, 1.7695, 0.7177, 0.4305, 0.0769, 0.0277, 0.0079, 0.4412, 0.7376, 0.8719, -0.7769, 0.347, 0.2283, 0.0387]\nstate[eef_state]: left_x=0.3856 left_y=-0.2245 left_z=0.0447 left_yaw=-0.5972 left_pitch=-0.0484 left_roll=-0.0141 left_gripper=0.0079 right_x=0.2489 right_y=0.0551 right_z=0.2404 right_yaw=0.0192 right_pitch=-0.0401 right_roll=-0.0162 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -9.2923, 5.2581, 1.8779, 0.0464, 0.0562, 0.6032, 0.6085, -1.0735, 6.8581, 1.8437, 0.3199, 0.1343, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5045, 0.7475, 0.849, -0.7498, -0.3901, -0.2878, 0.006, 1.3411, 1.9347, 1.0199, -0.1188, 0.8566, 0.8425, 0.0387]\nstate[eef_state]: left_x=0.2533 left_y=-0.059 left_z=0.2352 left_yaw=-0.0369 left_pitch=-0.0219 left_roll=0.0024 left_gripper=0.006 right_x=0.2189 right_y=0.3658 right_z=0.0417 right_yaw=0.2112 right_pitch=-0.0396 right_roll=-0.0492 right_gripper=0.0387\nstate[joint_eff]: [0.3897, -0.7863, 10.0171, 1.58, -0.3932, -0.0904, 0.6081, 0.7453, -9.0872, 7.0906, 1.3162, 0.5788, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5037, 0.7414, 0.8612, -0.7895, -0.3973, -0.2981, 0.006, 1.4605, 1.8309, 0.8619, -0.1555, 0.9001, 0.9737, 0.0386]\nstate[eef_state]: left_x=0.2485 left_y=-0.0548 left_z=0.2347 left_yaw=-0.0244 left_pitch=-0.0388 left_roll=0.0076 left_gripper=0.006 right_x=0.1729 right_y=0.3367 right_z=0.037 right_yaw=0.2366 right_pitch=-0.0368 right_roll=-0.0392 right_gripper=0.0386\nstate[joint_eff]: [0.2393, -0.3897, 8.9778, 1.619, -0.4029, -0.1001, 0.6081, 0.2667, -9.7983, 5.5453, 0.8376, 0.7204, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953c33883c42ac06c46764483d629464e1a528cbbe358d06c7f395e12335348d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8931acd1c6b6fa71017e3013359015482687afa6eaef60f4a2e2a1dc3ad912",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ff8ebb695aefb3be8d7da5799cd14a507f63e2265b0fc86f23175b12d9e8d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERYbBxoeO6i4A3_-h_RFiH6kCceZR7iM6neg2Woqs-5hIt1Uu6kZ2WtaEVY6thPZIJpNFF_xJFELw7qpvU88GYR7owWQcPCGrOM0GauaMd-35K0-k1QNrY4y-pQyq4zyUoYroJCLesknmBFG0h-4yDtrcmLT3ulN-pQ3zS20Nlnqc6W1h9_hehyepMgkI6yNjQWHOy8tblJ12TomA5NdiCre4aLfmTJ3aFtKz0MxfditBGB1S0079auFy8JIfl73K-mmmqS3y2OsVj7QM9I9x2-mTnj0DHA7zWw6bAAsRQNaqRcxkIhTdOb3OymglwYYxtM-IbUH8zOKz-6cPkMQohgn9CAtksoMJg_hoU2X-waTUw2A-B7JFZTN9ZLLxUhvfGYwGhJ67cMWcoeTpB5YCx9-ZE7fD43lmKpdyJMegfuuTePenpNfVS1t_XfQijWwK0BvgD-nZOn2tTtzJY8UWERlnTuY0_9IiG2F9q63FP0P37kplz5OTcBeD9-gWRku3_dRiCsxWB9Y_9MJSiNAPFn15PWhzvWSLfZyA-PeK5RBva8fkvn1L6I3OjkXT7lSMo965KNprHlouhIHdKGb5gLgNeCzXpxeb1wXYxRwvTu-ZL0xLn1t8vS8N3XqcMswn8PT7DFjeQvj1qc_BpUOFNG5Z7aGUyI2kcoSGCfIgD84S56NKW8p2MHy4uPGSA2Iib7iufpP4MHH3Q3G4iNtEXSQ-kdCAGrkEDJIYADbxLzTVbcdG3PUo5jaWOUwPIHipzZBy5zrqhFup9ta0FE3whVbn8hQhN6FsGW96VuAxIzBOwz2-Dldj56-D2hCBLqpdGdIbNohMqU3Ye0abw7FoYvz99MbieUSLN_x3iydTFELpv3XPa547RqcsQEB4E4aPhA4eEFE3SXI9TOOSpMv3dCk6T0m80ans7MzJoFCUnLvojTIZpsbPzg-Ibht6xGwXA289a9CCZQw9pEvlF2BcIDcGHiP7ExrpNth-ihWXvKzbSZRVEfeo-gKu69mcQLOFy-vg9NIgnwx4Gj3mb24Q0239k8DHefB3puNaevnhbhuQa0qML0KYBGq2B2aZilDM72Akk1dicZrVOHCvqQWgC6-AlQCtKrv_Rb14Q3uZNzzu4h5sboac-DuU_GMfpwrJEGECuTv2TMjK9ZCQ9nYysEktDuUnLLRC_ccrvLo4o6R89J_1XwmsVcKtimrnpCPCD_SsEEyqv_nMm6tpZhd4bGHzEtjpQZg-qMIHcmziP9GnTzlB0y2D0CSn02hRJNl5CME3XC46qQtrDrSIhAHP-2VE7h-bNZpgEM_5whm7Kqf0XM7Qtp-OkQGUHw3MWct0A2kS_CCH9e35UF-uX8e38erRY2XpK0YBmwev7iQY8f3D0c-IR0ozWffudUpehf9JQryoLJP_sofnNqUTpMmOwzJwP963GvIWUi9zEDfppF62hDUN3NV48Z8exeMzgEtqeKqORsFbl7wxSHfVbPOzvKK9E1U2OPdvKdyl2xzX-kekg7TSQzpb898nCqnMXqXY2Jf8J3mo-nTlIbFwGZhVQ6bjisMrliOJZoJ52KjDgwWp2BrGVS4Xe7Nm32aQVPO4anbo6NDzxIaEPSwB5_69rxPPyYudMQIbttehSEhF3j7BTLpd0Jbf2KVzTHNEWQLZtYhaNkG835EVRd_HYb_eRnDzcQoL0aENi2oOu49bMbWLT3HTz3759lWWsB8w6XUHG1MJw3gJIPMarq_1ZXWJtPDh6tHHTGMLQaQQrYga3a_nkDHHqbar4UN6HN2gGsV-KGmMldK_ord4XevCv33FeW3Xll8cW_RYQMJbpp3noaI1CxngRLfJAHUUlmfrPImV6433xNMnnksJTI9YDSVr3vFjy9LafQQRDDAZq1dktGMJ6xWmvZIeIxdZXrUtvIZ_945SA18WsidNRTQpM6-sITIwPjhMU6G4HHqVIcLjKPeQipSmFSggXEx63AM1lnPQydRuQ_QQxkOoNaWY2GsiYAlDErvvfxCmSS-9Kdr1dg_X8=",
  "id": "rs_0866b665f1bf0285016ab444556fa087d08ea5a73edff80b28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.25,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.155,\"right_y\":0.315,\"right_z\":0.05,\"right_yaw\":0.2,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The radial correction is nearly exact: the cap’s open end is now only about 1–2 cm right and baseward of the pen tip. I’m making that final small baseward/right alignment so the tip meets the opening.\"}",
  "call_id": "call_zomYapGQEBb2cbvdtSdgW3Ju",
  "id": "fc_0866b665f1bf0285016ab44457343c87d097a166f6de79dd9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zomYapGQEBb2cbvdtSdgW3Ju",
  "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]: [-0.5037, 0.7403, 0.8612, -0.7898, -0.3973, -0.2981, 0.006, 1.4811, 1.813, 0.8417, -0.1768, 0.9226, 1.0294, 0.0386]\nstate[eef_state]: left_x=0.2484 left_y=-0.0547 left_z=0.2349 left_yaw=-0.0244 left_pitch=-0.0381 left_roll=0.0072 left_gripper=0.006 right_x=0.1675 right_y=0.3299 right_z=0.0389 right_yaw=0.2174 right_pitch=-0.0245 right_roll=-0.0218 right_gripper=0.0386\nstate[joint_eff]: [0.4308, -0.7726, 8.9778, 1.5995, -0.4274, -0.0464, 0.6081, 1.0872, -9.7299, 4.4103, 0.7204, 0.4713, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17755bf07c77478dc0a15ba0d3d1b1e053f63678eda9383b454809da847a0a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea284b0114f7efe275879492a010d9a8c1179f19e620d3cac567ae7c190bf04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3dff77d0c1192bedd37ceae7637286e2e26be8e5d418f9b244147a69cb04a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 5.775 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 157 changed as sent

message 161 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]: [-0.5045, 1.5284, 0.8711, 0.0368, 0.075, 0.0238, 0.0066, 0.4412, 0.7376, 0.8711, -0.7769, 0.3473, 0.2279, 0.0387]\nstate[eef_state]: left_x=0.3804 left_y=-0.2211 left_z=0.1306 left_yaw=-0.5931 left_pitch=-0.0477 left_roll=-0.016 left_gripper=0.0066 right_x=0.2489 right_y=0.055 right_z=0.2401 right_yaw=0.0191 right_pitch=-0.0407 right_roll=-0.0171 right_gripper=0.0387\nstate[joint_eff]: [-0.335, -8.5538, 9.9897, 1.9365, -0.0757, 0.0611, 0.6716, 0.6359, -1.1009, 7.1453, 1.8926, 0.3346, 0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5037, 0.7414, 0.8612, -0.7895, -0.3973, -0.2981, 0.006, 1.4605, 1.8309, 0.8619, -0.1555, 0.9001, 0.9737, 0.0386]\nstate[eef_state]: left_x=0.2485 left_y=-0.0548 left_z=0.2347 left_yaw=-0.0244 left_pitch=-0.0388 left_roll=0.0076 left_gripper=0.006 right_x=0.1729 right_y=0.3367 right_z=0.037 right_yaw=0.2366 right_pitch=-0.0368 right_roll=-0.0392 right_gripper=0.0386\nstate[joint_eff]: [0.2393, -0.3897, 8.9778, 1.619, -0.4029, -0.1001, 0.6081, 0.2667, -9.7983, 5.5453, 0.8376, 0.7204, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5037, 0.7403, 0.8612, -0.7898, -0.3973, -0.2981, 0.006, 1.4811, 1.813, 0.8417, -0.1768, 0.9226, 1.0294, 0.0386]\nstate[eef_state]: left_x=0.2484 left_y=-0.0547 left_z=0.2349 left_yaw=-0.0244 left_pitch=-0.0381 left_roll=0.0072 left_gripper=0.006 right_x=0.1675 right_y=0.3299 right_z=0.0389 right_yaw=0.2174 right_pitch=-0.0245 right_roll=-0.0218 right_gripper=0.0386\nstate[joint_eff]: [0.4308, -0.7726, 8.9778, 1.5995, -0.4274, -0.0464, 0.6081, 1.0872, -9.7299, 4.4103, 0.7204, 0.4713, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17755bf07c77478dc0a15ba0d3d1b1e053f63678eda9383b454809da847a0a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea284b0114f7efe275879492a010d9a8c1179f19e620d3cac567ae7c190bf04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3dff77d0c1192bedd37ceae7637286e2e26be8e5d418f9b244147a69cb04a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERkSDwIlORXW34Eoa-bkbwT6RZSswnqY3wTaoWFEAKdbYM6B63iBzHn_WpF-A6xekpYGm0G_PlDBTjbv00sBY_5QRxbmLArwD6S_cDQU6SneETUszrhzU8yICyMy2OQSQODspNALGStxupzC0ZBZwogqx2I_HGaoaD4LlOdQQuO_eF-dsv7w1OPInw-6GB77IRJyfb31pRzAveafgBWwmosX9L9jsyMAecbilWfkz2iNOzuFaDWDFfmzXEG-rmg-fP67kxhHjwmfat3tD63d_IbvB-boYyAydE4wgDAvAUAb7ObuB26Z4HLn2duywHBaxtqa7igV0VPL6BBRRb6RMHEFk03PwC8i6wbChh46QBMiJdNoEIYDzw0EQplIFIhM58MY0Oawk6hirpsQHaS3feZGlaCG6SEJYgvLdCWG7cvGo--vZgZdtBZr5OlH9QvbTXnOe3ICCfeqcF0xM9OIXRx_n7YUmbmpQXtGAu4tl7b8Ul8BF9zf9mygnPZnx8nfQ_xXwasnY571klhEiY-IgqeMMNMxH-WgcVSMn4rzBiypXzaHH92mrRE68wiYbk9fvbOTTBPFN8WdZfWmRBGBqx20IU5sMrQIXYbm8etJnTV8ipVdG8u1bulFX6PUv15yvgls9WMnnFzW7OE109isDBSs-D_zB8NvTUBUqU5uKLGYvIBLbK3RxJBdAjlpbNq9ZbXRmcJ5wk5AlwNCRwZu1v6I8lzAGnyMkcib0-QQhb5D2rZTmmlB-Rovf935QCpZYuK8Ooc6eq0xkmJFDFHxltLnpNU1ramlHGGUUO87RdLUObXQttBJ3bdMnpx3FtRJTp_BVMzqPu-xA-kgef9d16yOQiW7pdcmgWXZHHO2SZ-dx17yRRC6VSaESYxTBbGozUcoUyWv1nH1Zm7CoPDx1kshbp-lbw5wQnTHrgWH-q0HK9pSVYBlAWEeSpfB-lX4sHbChpUJ9KxTxQHdkbea_5gYlFF_dEpAn5KSdhQmEd8rPRTiKd6w7WxTE7oFjj_u78PFgOsE8mSEUTsJpDr8lXmGsm_wlE1fw-CJKeqLcnx-4MP0vVZ5a2Bi2VdGLJ3HUra7zg8EC_i9cPW2fLpDcu1CC3fpcaGGtFPRYu3F-J3iX2rtw3EWfA96LmUGrUDTz-BttSaeoRaNptkmtTF6domy1EN7oFDztpLbqs3I5fs8r4BcwKjARNujUuZsGbIPJuqEkuzSksb03g_LGJFQ_3SeadvFDHwRAuX658U0xC8oFeo6owl04d93pJee_SAoZWwaZvuHbMDRnEaCGOWNYYYg0Ufz7IpSWbvcbUdqXSp4GaDe05lyTGBZWFoe-U8AeFx2jakCwPJiLefa0k5WNvj9UKFaeyxRHu0Vjn_CF52s80_fp1Mu3kRj5Yyh76qvRpYFDD901zPDeX_AcbC6eOA4ee5RWUBj_FcidmEsTVu7saI6k9SK6_TCizIji5PQXb7lvrEd8ZTiUJ2eDojI7pgyVfmjHwgEPSanC307JxzsjGjj6zFKXtqYIB42VfNASzkST-qHkvXUlqm-nQpwy7LjBf79oYlid5Ahvu-rNcYkKOq5QJtPtcz3vntDvN48ayabAfQ6vrl4EgIw0vm66D2nKk-j3uLesfiyFJpu2iW-aSWgnyG3QUDb-bKU4FerSiRUglMm8G2SBnc_tmBHe0p78jsQoKVY-D80TsZr0BZDfRKAKJ9NziznQQ5MmSUV9PK4LBgq9SJBAFgVMLZ84OoqaqusRC8q2lUdD0oDVsA6dCLqIqxrrmMDH4-te2B_LHguOtlv961hBusn47Z8HswE0BXE_IBtlRf_l8SMuu1xtSWF9OpwTUZnuMrdUzfS_EUDMsPY-Nk_dqfX1VzTGhyJCZujPy1_dz4XDVSrGKlE5pkYci5lV_CrKllgwEyRPKBORmoezd9yZZZm67Uly33e9YkJC39hTY-vK1PF4Jwlwi9gFmL0x6YFdTII0f5oZhxtXFT3QyITQQ4Wj69M5SQ--FVOiAc6JaOjAGDK6fs3VKD-rBnL0U_YVdyRBGMT8GFyfClIYbr7HYq1uvWoh8z9oXLRf_1po9auncB7pqP9rB6gHHytDCW5reyIHIF6Hh7RQBj1Ev2qrLE86r_1OpCWQEwotvWtP2AmeSLhhONOM3fYRvMA9KgQ_-Qimanlb7aQ4hnosll1XJQ8bGOvA9m0LAVSh6ndWX8OXmc_3gPyNsmUubKS3wi9tCx7zuhCY6ILsHNHOK7wamwGD5R63tOHX6ejfkNvnJo4d2-FzMO2vqMxm-bh_nDSNa3qH-8NOgF15QneKVRf5Yl3ULX0vnBCoTaEjm3O-tCATkMwnrsOgvkenCxhVq5TFZpAhlG8HRTfVdkSs6w0sCvbWZpAPZyc0Z2YyP9TC0ASFk3l2xcF4AKlWhY1HdJe8b_ZimUp_gOmqrYKyiYYRteAeaDa4iLxjplrIi-jiQsPI42_n4pD8so0BzSb3PcNb9T17lW7BPmIc2887U4yeyvWaroLQc7vQKMyuLAxx6Xkta2ZF146_GyPZmUtNq87IdbjIJsH4I8brScw0I_Ky_apDfyOjgTt5BQtrzx1fWIfVMSXO8AB6q7D_CdLjUCHMZ0p28Xj6YR16VrWh-d3zfuU40kpzQxjki3M2dlvAduNe4_qWmxeDh9YMDx6Y6gPDyp6pcfjI7lSXEzd42w_w7WVhnadqh-bNJy8c4JRqr7ZmeE4JywvVxMw1Lo_gK1tl8DjoIG1Pa6XDOXlOiIUjvlTS7uoQLTzRs1QaKZTWKBfAVfqrbgq08LE2_yTIpVMBSBWamWBL-hiXtM9ctTKT001Az3ND4STutt03-uM6MoznUIvBQwNdgjU69Ko69B1NKbduqsGBUxnS8UvKb3l4cON0Fjp95Orl8RAUOuZCywNwIz9-bQOU5N6J0lQSEGQM2YAEfH-V2iTr7Crbd2fVtWZobU71WSIcZzIqNU45wUEJuyD8kkbJNN5N6amllokY8WNyQXg5aewLLmTnu8Uhu136ayKLcjb7GfGE73aS_M4jRYmAwy9rrtAth4RQhRuHtUywff-DrQFSoL-UD0V6Qmy5G6R1ix65lo3JkNSXSieKV1RtCd1BeckfC6lcIxzQ4y64O1ztoJm94B5d6iajaPYLagntkX5cdD4PSS-T2OFgJ1EmrsJEF79DQ9Svao90tjLe5-g3a2GfPv-L4ljxcfbvc0ltDFx4nG-hc7dyGuxgWW9zL49N-F0HGo7NXig855gp-Ss0HjPPYwHNfto-x_C-sP3kNp0PZJyEtz6oPPoXR3w0QMdmZLUvxuCyEa3cFnusYevySAT4m_UlgZRY4_JqX6MEAvZyQgvVWcaRU1aoo-BIkMK6l6YSy_exK24jJbCcj96UNLKsp5RUVs7BEhpOmS7Wk_0tDrFiU7D6X8frW2bhV1LlLYtWDPqbP2BriL69YAQpZdgHfQ06fpYp8ho9rrTJOZ__NoygPIITm3M_OWWfjgygvfusDzBp3HwLe54myjfabXbPKdZujyC5jcM5Oy5q1Vzz-mU2xTEZ7QD2nnfKxPVQ79RSZ2M3WuWQL_jRh-jN-f-zgfgnZ3UL38gGivveuPrxkOHgVO45lxcZEnHEVxK5J0Vi0S5VbFGhaQPDWta2O3l5cpYIsJwMKTRQiymXqL_my8TjhtxGkwmXLBm92gSxSDpPWJmiEwa51jlzLU-1Ub54nYtG7wUDxJZaLFiKuN2sLxd4cLyYUqLu9P6s9ivazgkTgP-OizF-IlvM94tdziO1qXFUkfm8bbexHy8PJv7j0_-HyP-jY0CbRPmZX4heMFA-9drjZlqBh8wKq8sbvwD_fUxF23eyvH2-8JpkkWYEAhftQlb23oDjsMt3g7kWFh_roZ4mVlcwVz04eFipi3kMGicI1CV3f-6l_fWnew52-vKLWFb0bS2BNSE1E5DlujNyQr1UDz5F-qtZQcyZ1_SbzfsmqolRIvAmPBTfMgzr2mtffOv-XfxOK2o8g3SlCWwGuWgQXlkc8jMH_xaASOECvbeKYtFogkJRkXxSwwI89d-iG8u-oFNWU1_AOynvd2ZQCdKdGWJg5OOP4jKzydZBK2-zq8U9esB6eD3t6MDCyn-DAVotUcE0hhso2r7J3TrMf3RdN9dFbQMAs_x1lVlJMwBkgxf3NWZCKSH7Vb_MEkLuwf7bzNsGUdO_LGAyY=",
  "id": "rs_0866b665f1bf0285016ab44459e87887d0ad873659cffa51fc",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtERk4ePAKu32SXv4f6bLIO2MUZxcrkpeEnSSkNseW9SHf0OlP9WzJuKbGTfQ5rVU_5vauf_MKgqirsxwSi6ptpraDT5N6cPm74F_OHlCkfwRAaiMCt4l0_QosetmnkzZQxgrRpJwpFX1A_uPTMNsdpQ12BHJwxrsp6AqTe43IOoCeSpYClKztewjQMo-EeOSzZjLpoHSNnAQs61K2NOsKtkc5H--v3NpPqiumyc-3mcPF03wH558pN0lMMZUoGNbAxMAXkO15xrGC4x12Ux17nkoELOEG_QXF1RpmcXlDRRLa-LkRd1DbETV8ygHPd6J8EUoN30nIkRc2vYqFe5wJHN78wSwlOs72K_jN3wc2BV9sgvSLPCeLvftoVwNwHOn1KNZ6_aB7bNBBDveGYFi8Uwkp1mKOHV4kCuGZokpA9GYyebpo4B2Rbh-X0W35asX4kbnIjI4_FDh1RUUgM9P625A8Zzewr40_tEAI_EXZJs4SGUsqGGn3R1RDsrRrDF5Lwz7xsYvvv6WdOAjdJC9gg9t5_FDcVHI5QK5vVWDWe1JU-xDf-N9HTMFpFCjIXT9ORVpyt_FMvch-8yQmqxODao2UpZ38COiNafOKjKTxNJS4QDmZ1Spi_XOPes-7eCOQumqreHoTPdsW5Z_Z_Hj4K2dIMJMpxqYlXIzIRYZov5naiUkLlfHEUV5hVVFt5Pdfix6yfCO5ZcNAGzTf5hDbZGVlnPgjVTjOJHrukqXNcjui_4hhLmk0-rJ7JUKbFH9eKDRm1SURyVjO_QPv06AnFwLLZKvoYKa8BQ-X69h3ZiEoAeaGi_gajf41b3VwHiZsnI7dWy0TGSGLkEkalklp2gnkqj8HavBSivNUZnMSkRRTjSf_trR72tMhqzpRRBK4W0CbaMurVRjPJdSKHCQ4l1bcNyXceH5dcWNyw3iRTEGPV20H0I3Z7Fr6NaoJvTtT0X9pWQJGJHQ9k8G93YNcHSZtyf8I_ettuYoGPtmMfrfhNtdimAyRZ3neANWqnQG8n6onRvlP_bB4NPFlUe6l74ol5Cr7SFwcFE5WThS0QH9qfRYYFSHDm437_ujL-haZQ-KhhOd3Mfq_XX_8REX-w0XPQ8rRo7D4SpjcODwzUMwq6mg7B0dbXgoE63saFOfO6YrvVmPsA8nvyfqJMgm0HcIOGLxH3_azcm-jOg_kilxIshMplps-yOhkxajnW5QCgw0HICn1Nnw_jpvw6eQEpGDtjmc6iQI0XPeUsMSl751ZWPP3X-8D6aavaSWUBta_Q4Zd-c3GXTgcBjgoRD4zYTX6y9ebTjjfbVbNb_0ftw8zP7zqHK6WGGmB1hnOoSHpD5po5oZhTgt6pLWwL-vfdDRpIAJ6mpSyDQ0dqFqarjdOHQWE-Sv1BcrkG4lpkWFUJNeZbwpx6n5XneZPAVVhjc6yW-pGNFrFadH-R08Qn3eHpDlPUgltg-teyXB43OOWHB3yaGbVrDPv8nYQwrkcnovBfJqBt6E7HV95HC5Kzm3_1efCE1emmAAie0hLV_nXLUoj-w5f9knSIXpZ1tSlCn9gTkE3Ms6hXtpVVsdd-Go70V2AqOH7T0IpusFmq0hWgGLcmUch56ShOislEEB5y0y9-heSo1AjeavkPxNCViCTpGTfuCsnNDPBBANd7sMatXwsxL_CsKdXNWtky2EU7Jxma9eqPhPdjTakX8jy3zJXDpf0JbXePCC-DWupJWl1W81EB5AkffCmcf9DUMiHitHQAIMHQlvh1rITTQg30CmaVXW-QJMeTRXMPjdakLMvgF7JdHegTb2qsmtwtHcCbEBqzyGP5kDDc-jFj0GeRQuRncmo5nZPv3HzpiQqwa1Drj6rYki2g6ChAOYv1TJLjoGV9j0aOoquh8O6z3tQZ7IsG0AjibkPhonjZVB6dwe5sjtcTPmnwR67UBqYVYTUwFiulxjiaFUcUFvxQizsj7UQNZK4MvRySWoQl_-3-JyQo4f3r-wNlufeuAHFPtY3opnSeDxw9ALY6_983gPWYP48x9aLSxN4Mf0jOmUTZ4tkeHhBMZw0ZxdxzdK1dwr2SHzf1BGiuG9EbY9Fdzb4kubUZLIB9yhVP4IajA6pPTlKGlvd9L9m8yXnlcYcTD0pEiHOZYXcYQNIvKuDAgieiw9-sTzjleCMWtDpLtMUWR8UB9RvZ8srE2AvqMS6G-slffo2wRNc-5E3oZOCKYatlfAmX6XfMQa1i28yY0XfWVq2VMYkRnU0R-OYAz3WQjbSk8gWfCkaZS3pd9MqpGJzT9d2XhfMiePCbN9sR-uwdl32UAZpYznDlIvRzUdrTs6vR-OdJuFQ4j0tIK5js75qhbpClMTBuMNq_PxG97R1AnzfaP1DJye34Pu7qk5fViP_FSZr3UuRSJj1ZyFW2IS2qtunse7posboDtWRU1DcbL7rHoNKnz5f3IQgt8P__0u2mF-PyyZAlZYrgnAVfvZyNZrBZcGa_5B78KN-lBb-nr2aZaq466gD2FLr0fZu9Z5Tz2MLGMzlIF-ex5OdOMmenw-M6aiOFwPOEChiSoo4odNkL-U_fFVOmUy-cXAsud-kaxgsBwgEPAtvG-zt5Jlrm4tE0o6sIkbhTIQyYsDu2XDEVaYPSLviS9c-O1tbLT6nE2Ju1XQsxiKKAxgyB1FE-5jLExPadVbuF6UGc9eeavSnZ7OAQx4Q5CePoEXATtnk9UCikNpRm8cdiyzd4a-Y3c2bZTL0CVdqSf2XxN-f6dMxpM5NBxK56g0-6HR1N7mFNqunL1E4pRVMBKn5GOUgI2PFsuv_AyWEwerIqV_aYareCE6b8ATXPSseqBmTVjW-JMoCS1VJgJ6DzuZU_hHxMi-Cxq5Vb96xCRJDjDJjOmDMwOHJxVNxI9U_uN85yINhPALtnD7JN6wWptpV0ACUQQ4MPTr6GTkeSnRd1hU5I20zUU-Ls7S-HxmVqg5fHFKbR_F9KgmnQOiUVLKgGJ9CrvQbXmRAQoYsE6Vbn0mVPLwaOSEuzvDZ2NHHcsYluH1qr9vQ2iaWSklcVDjlIWZT7TNJ_U5_XScXTCaIek2NhwhJcwx9M3QVR83AIzjHdGcRnyrYQ==",
  "id": "rs_0866b665f1bf0285016ab4445f3de887d08b858359d5193e8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.25,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0,\"right_x\":0.21,\"right_y\":0.33,\"right_z\":0.04,\"right_yaw\":0.2,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The pen tip now overlaps the cap’s open end in the wrist view, indicating initial engagement. I’m advancing the pen several centimetres along its shaft at the same low height to press the cap fully onto the tip.\"}",
  "call_id": "call_Bmc9w5yYsRu6xsVaUtikV9eJ",
  "id": "fc_0866b665f1bf0285016ab44463077487d09d3d802f29a59dab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bmc9w5yYsRu6xsVaUtikV9eJ",
  "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]: [-0.5037, 0.7406, 0.8612, -0.7902, -0.3973, -0.2981, 0.006, 1.4818, 1.8091, 0.8333, -0.1802, 0.9195, 1.0332, 0.0386]\nstate[eef_state]: left_x=0.2484 left_y=-0.0547 left_z=0.2347 left_yaw=-0.0244 left_pitch=-0.0388 left_roll=0.0076 left_gripper=0.006 right_x=0.1666 right_y=0.3272 right_z=0.0373 right_yaw=0.2172 right_pitch=-0.0296 right_roll=-0.0254 right_gripper=0.0386\nstate[joint_eff]: [0.4171, -0.7453, 8.9778, 1.6337, -0.4029, -0.0611, 0.6081, 0.6632, -9.5385, 4.8205, 0.7253, 0.5006, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4004156d89d4bbbd7e2dd8f851bd747a9fac43f8ecff6462b09119e7df2c233c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c0d83c4ff9550943eb8c26d83967d5400944b14246557af730087416a4ff13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1460ddd12935286aae67a9eeafab86fd9a126aecdce049e514b3c64ba4a78a74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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