adhoc

completed
2026-09-23T22:28:24.779207+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
189.8 s
total steps
317
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 long pen lies near the centre-right, angled about 45° in the overhead view, while the detached cap is left of it. I’ll bring the right gripper above the pen with its jaws rotated perpendicular to the pen’s shaft, keeping the left arm parked.
move_to
right_x0.3800right_y0.2900right_z0.1500right_yaw0.7500right_gripper1.0000left_x0.2940left_y0.0010left_z0.1800
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, 0.7925, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3782, -0.0238, -0.0128, 0.9993] state[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0023 right_z=0.1833 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6222, -1.5111, 10.5231, 1.7705, -0.0366, 0.0806, -0.0366, -0.7453, -1.2239, 9.7846, 1.8584, -0.0171, -0.0513, -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":{"right_x":0.38,"right_y":0.29,"right_z":0.15,"right_yaw":0.75,"right_gripper":1.0,"left_x":0.294,"left_y":0.001,"left_z":0.18},"note":"The long pen lies near the centre-right, angled about 45° in the overhead view, while the detached cap is left of it. I’ll bring the right gripper above the pen with its jaws rotated perpendicular to the pen’s shaft, keeping the left arm parked."})
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 running just to the right of the jaw centreline, so the angle is good but the grasp point is slightly offset. I’ll shift about a centimetre toward it while descending to a low hover for a more precise check.
move_to
right_x0.3820right_y0.2660right_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7975, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.5838, 1.6176, 0.971, 0.0185, -0.1211, -0.0788, 0.9994] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9998 right_x=0.3724 right_y=0.2759 right_z=0.1319 right_yaw=0.72 right_pitch=-0.0624 right_roll=0.0047 right_gripper=0.9994 state[joint_eff]: [-0.4308, -1.7709, 7.1453, 1.6777, -0.0659, -0.0269, -0.0171, 0.3897, -7.7744, 8.7043, 2.0293, -0.0855, 0.0122, -0.0757] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.382,"right_y":0.266,"right_z":0.06},"note":"The right wrist view shows the pen shaft running just to the right of the jaw centreline, so the angle is good but the grasp point is slightly offset. I’ll shift about a centimetre toward it while descending to a low hover for a more precise check."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteAt the low hover, the pen runs lengthwise between the open jaws and crosses the fingertip region, which is the correct geometry for a shaft grasp. I’ll descend to table contact before closing so the fingers engage the pen rather than passing above it.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.548, 1.7741, 0.8352, 0.226, -0.1402, -0.0944, 0.9993] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9998 right_x=0.371 right_y=0.2595 right_z=0.0483 right_yaw=0.71 right_pitch=-0.1442 right_roll=0.0168 right_gripper=0.9993 state[joint_eff]: [-0.2256, -1.4017, 7.159, 1.7314, -0.0708, -0.0757, -0.0171, -0.6906, -8.2256, 6.106, 2.0147, -0.2662, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.01},"note":"At the low hover, the pen runs lengthwise between the open jaws and crosses the fingertip region, which is the correct geometry for a shaft grasp. I’ll descend to table contact before closing so the fingers engage the pen rather than passing above it."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe descent stopped with the shaft still between the jaws, indicating the fingertips have reached the tabletop even though the arm sags and the readback remains a few centimetres high. I’ll close the right gripper now and use the settled opening to judge whether the pen was captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8268, 0.2996, -0.1555, -0.1024, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.377 right_y=0.2645 right_z=0.0528 right_yaw=0.7227 right_pitch=-0.0928 right_roll=0.0115 right_gripper=0.9993 state[joint_eff]: [-0.0205, -1.306, 7.2137, 1.6825, -0.0562, -0.0806, -0.0171, -0.4991, -8.5949, 6.147, 1.9512, -0.1197, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped with the shaft still between the jaws, indicating the fingertips have reached the tabletop even though the arm sags and the readback remains a few centimetres high. I’ll close the right gripper now and use the settled opening to judge whether the pen was captured."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed empty (0.008), and the wrist view shows the pen just outside the closed jaws on their right edge. I’ll reopen, lift slightly, and offset in the opposite lateral direction based on that observed miss before making the second grasp attempt.
move_to
right_gripper1.0000right_x0.3650right_y0.2760right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8265, 0.2951, -0.1551, -0.1089, 0.0079] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3763 right_y=0.264 right_z=0.0517 right_yaw=0.726 right_pitch=-0.0977 right_roll=0.007 right_gripper=0.0079 state[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.6972, -0.0269, -0.0806, -0.0122, -0.1573, -8.4034, 5.6957, 1.7021, -0.0513, 0.0513, 0.569] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_gripper":1.0,"right_x":0.365,"right_y":0.276,"right_z":0.09},"note":"The gripper closed empty (0.008), and the wrist view shows the pen just outside the closed jaws on their right edge. I’ll reopen, lift slightly, and offset in the opposite lateral direction based on that observed miss before making the second grasp attempt."})
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 noteWith the jaws open, the pen is clearly inside their span but about 2–3 cm right of the convergence line. The previous low move was reach-limited, so I’ll make a larger diagonal correction at this safer hover to bring the pen onto the centreline before descending again.
move_to
right_x0.3850right_y0.2500right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5888, 1.7191, 0.8539, 0.1513, -0.1314, -0.0872, 0.9949] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3585 right_y=0.2716 right_z=0.0651 right_yaw=0.7395 right_pitch=-0.1464 right_roll=0.0168 right_gripper=0.9949 state[joint_eff]: [-0.212, -1.2923, 7.0769, 1.746, -0.0269, -0.0611, -0.0122, 0.4991, -10.8513, 8.6222, 1.6484, 0.0904, 0.0562, -0.1343] 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":{"right_x":0.385,"right_y":0.25,"right_z":0.09},"note":"With the jaws open, the pen is clearly inside their span but about 2–3 cm right of the convergence line. The previous low move was reach-limited, so I’ll make a larger diagonal correction at this safer hover to bring the pen onto the centreline before descending again."})
tool
executing move_to over 3 steps (0.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThat correction moved the pen left toward the jaw centreline as intended; it is now only about a centimetre off. I’ll repeat a smaller correction in the same direction, staying at the hover height.
move_to
right_x0.4000right_y0.2320right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5091, 1.7157, 0.9138, 0.0555, -0.1787, -0.1299, 0.9961] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3766 right_y=0.2502 right_z=0.0734 right_yaw=0.7239 right_pitch=-0.1717 right_roll=0.0216 right_gripper=0.9961 state[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7558, -0.0317, -0.0659, -0.0171, -0.2667, -9.1419, 8.8274, 1.4921, -0.2906, -0.0317, 0.105] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.232,"right_z":0.09},"note":"That correction moved the pen left toward the jaw centreline as intended; it is now only about a centimetre off. I’ll repeat a smaller correction in the same direction, staying at the hover height."})
tool
executing move_to over 2 steps (0.2s)
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 is now aligned almost exactly with the jaw convergence column. I’ll descend vertically to fingertip/table contact while preserving this lateral alignment.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.4622, 1.7214, 0.9588, -0.009, -0.2199, -0.1642, 0.9957] state[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9997 right_x=0.3859 right_y=0.2393 right_z=0.0782 right_yaw=0.7315 right_pitch=-0.1886 right_roll=0.03 right_gripper=0.9957 state[joint_eff]: [-0.212, -1.2923, 7.2, 1.746, -0.0366, -0.0464, -0.0171, -1.6068, -7.6239, 8.8821, 1.6484, -0.188, -0.0659, -0.0513] 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":{"right_z":-0.01},"note":"The pen is now aligned almost exactly with the jaw convergence column. I’ll descend vertically to fingertip/table contact while preserving this lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteAt table level the pen is centered directly between the fingertips in the wrist view. I’ll close the jaws for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4644, 1.9217, 0.8444, 0.313, -0.2203, -0.1738, 0.9957] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3877 right_y=0.2414 right_z=0.0049 right_yaw=0.7389 right_pitch=-0.1814 right_roll=0.0211 right_gripper=0.9957 state[joint_eff]: [-0.1026, -1.6342, 7.0496, 1.6972, -0.0757, -0.0659, -0.0073, -0.294, -6.2974, 3.6444, 1.072, -0.1538, 0.0659, -0.022] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At table level the pen is centered directly between the fingertips in the wrist view. I’ll close the jaws for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe gripper settled at 0.041, just above the empty threshold and consistent with the thin pen diameter. I’ll lift it well clear of the table and confirm that the pen moved in the overhead view.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4644, 1.935, 0.8391, 0.3492, -0.2214, -0.1799, 0.0414] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9997 right_x=0.39 right_y=0.2428 right_z=0.0037 right_yaw=0.7424 right_pitch=-0.1642 right_roll=0.0124 right_gripper=0.0414 state[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6923, -0.0464, -0.0513, -0.0171, -0.0342, -10.0855, 6.065, 1.2088, -0.1001, 0.105, 1.4579] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The gripper settled at 0.041, just above the empty threshold and consistent with the thin pen diameter. I’ll lift it well clear of the table and confirm that the pen moved in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe lifted gripper remains at a pen-sized opening, but the arm still occludes the original spot in the overhead view. I’ll carry it back and slightly outward to a clear holding pose; this both frees the cap area and verifies that the pen travels with the hand.
move_to
right_x0.3000right_y0.3200right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4652, 1.7042, 1.0142, -0.078, -0.2218, -0.1852, 0.0428] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3891 right_y=0.2428 right_z=0.0957 right_yaw=0.7474 right_pitch=-0.1845 right_roll=0.0147 right_gripper=0.0428 state[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.6972, -0.0317, -0.0855, -0.0073, -0.2803, -10.9607, 8.9915, 1.5507, -0.1001, -0.0171, 1.0281] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.32,"right_z":0.18},"note":"The lifted gripper remains at a pen-sized opening, but the arm still occludes the original spot in the overhead view. I’ll carry it back and slightly outward to a clear holding pose; this both frees the cap area and verifies that the pen travels with the hand."})
tool
executing move_to over 7 steps (0.7s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe pen tip remains fixed relative to the right gripper as it moves, confirming a successful grasp. I’ll park the loaded right arm farther to its own outside so the projecting pen cannot interfere while the left arm picks up the cap.
move_to
right_x0.2500right_y0.1000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.8001, 1.5581, 1.1286, -0.3428, -0.009, 0.0074, 0.0473] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0141 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3036 right_y=0.3201 right_z=0.1565 right_yaw=0.7952 right_pitch=-0.212 right_roll=0.0082 right_gripper=0.0473 state[joint_eff]: [-0.1026, -1.347, 7.0769, 1.7656, -0.0562, -0.0708, -0.0171, 0.2256, -10.2222, 8.9778, 1.3553, 0.0806, 0.1636, 1.0281] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.1,"right_z":0.2},"note":"The pen tip remains fixed relative to the right gripper as it moves, confirming a successful grasp. I’ll park the loaded right arm farther to its own outside so the projecting pen cannot interfere while the left arm picks up the cap."})
tool
executing move_to over 19 steps (1.9s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe pen is safely parked at the far right, and the cap is unobstructed near the centre-left, angled up-right/down-left. I’ll bring the left gripper over it with the jaws rotated perpendicular to the cap’s long axis.
move_to
left_x0.3700left_y-0.1900left_z0.1500left_yaw-0.7500left_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, 0.807, 0.6029, -0.3817, -0.0219, -0.025, 0.9997, 0.0513, 1.0016, 0.9066, -0.8383, -0.4702, -0.5209, 0.0473] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9997 right_x=0.2581 right_y=0.097 right_z=0.1881 right_yaw=0.7339 right_pitch=-0.2385 right_roll=0.0162 right_gripper=0.0473 state[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7167, -0.022, 0.0024, -0.0171, -0.1162, -3.2068, 8.9504, 1.409, -0.4615, -0.105, 1.033] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":0.15,"left_yaw":-0.75,"left_gripper":1.0},"note":"The pen is safely parked at the far right, and the cap is unobstructed near the centre-left, angled up-right/down-left. I’ll bring the left gripper over it with the jaws rotated perpendicular to the cap’s long axis."})
tool
executing move_to over 18 steps (1.8s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe left wrist view shows the cap correctly oriented but about two centimetres left of the jaw centreline and already near the fingertip row. I’ll make a small diagonal centering correction while descending to a low hover.
move_to
left_x0.3850left_y-0.1700left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3382, 1.4155, 0.7956, -0.0872, 0.2848, 0.1761, 0.9998, 0.0483, 1.0069, 0.9062, -0.857, -0.4713, -0.5308, 0.0473] state[eef_state]: left_x=0.358 left_y=-0.1747 left_z=0.1238 left_yaw=-0.6845 left_pitch=-0.1027 left_roll=-0.0389 left_gripper=0.9998 right_x=0.2552 right_y=0.0962 right_z=0.1843 right_yaw=0.7411 right_pitch=-0.2566 right_roll=0.0259 right_gripper=0.0473 state[joint_eff]: [-0.4718, -5.9145, 10.0034, 2.0244, 0.3199, 0.1587, -0.0366, 0.1983, -2.4684, 6.6256, 1.4921, -0.2662, 0.0513, 1.0379] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.17,"left_z":0.07},"note":"The left wrist view shows the cap correctly oriented but about two centimetres left of the jaw centreline and already near the fingertip row. I’ll make a small diagonal centering correction while descending to a low hover."})
tool
executing move_to over 4 steps (0.4s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe first correction shifted the cap toward centre, but it remains roughly 1.5 cm left of the convergence line. I’ll continue in the same empirically verified direction before attempting the grasp.
move_to
left_x0.4150left_y-0.1400left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2951, 1.6203, 0.754, 0.0696, 0.3111, 0.1909, 0.9997, 0.0475, 1.008, 0.9062, -0.8597, -0.4713, -0.5316, 0.0509] state[eef_state]: left_x=0.3719 left_y=-0.1658 left_z=0.0576 left_yaw=-0.6756 left_pitch=-0.1797 left_roll=-0.0766 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1837 right_yaw=0.7414 right_pitch=-0.2595 right_roll=0.0279 right_gripper=0.0509 state[joint_eff]: [0.0615, -8.3077, 6.1333, 1.9609, 0.1587, 0.149, -0.0171, -0.1299, -2.3863, 6.735, 1.2723, -0.2808, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.14,"left_z":0.07},"note":"The first correction shifted the cap toward centre, but it remains roughly 1.5 cm left of the convergence line. I’ll continue in the same empirically verified direction before attempting the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThat larger correction overshot, placing the cap about 1.5 cm right of centre. I’ll split the difference with a small reverse adjustment to put it on the jaw column.
move_to
left_x0.3930left_y-0.1550left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.186, 1.7145, 0.8833, -0.0174, 0.3508, 0.2382, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509] state[eef_state]: left_x=0.4054 left_y=-0.1344 left_z=0.0558 left_yaw=-0.629 left_pitch=-0.2137 left_roll=-0.0903 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509 state[joint_eff]: [-0.4718, -7.7197, 8.759, 1.5311, 0.5201, 0.2173, -0.0073, -0.0615, -2.4821, 6.5299, 1.2479, -0.2711, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.393,"left_y":-0.155,"left_z":0.07},"note":"That larger correction overshot, placing the cap about 1.5 cm right of centre. I’ll split the difference with a small reverse adjustment to put it on the jaw column."})
tool
executing move_to over 2 steps (0.2s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe tiny reverse command was mostly absorbed by the arm’s low-pose tracking error, so the cap remains right of centre. I’ll use a firmer reverse offset and lift one centimetre to improve tracking.
move_to
left_x0.3750left_y-0.1800left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2001, 1.7134, 0.8902, -0.0383, 0.3458, 0.234, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509] state[eef_state]: left_x=0.4024 left_y=-0.139 left_z=0.0553 left_yaw=-0.638 left_pitch=-0.2272 left_roll=-0.0955 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509 state[joint_eff]: [-0.6085, -10.2769, 5.6274, 1.4237, 0.149, -0.0806, -0.0073, -0.0889, -2.3316, 6.7077, 1.3114, -0.2515, -0.0122, 1.0281] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.18,"left_z":0.08},"note":"The tiny reverse command was mostly absorbed by the arm’s low-pose tracking error, so the cap remains right of centre. I’ll use a firmer reverse offset and lift one centimetre to improve tracking."})
tool
executing move_to over 4 steps (0.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe arm is dragging at the low pose and barely responds laterally, while the cap stays just right of centre. I’ll lift to a clear hover first; this should restore Cartesian tracking before the final alignment.
move_to
left_x0.3700left_y-0.1800left_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9998, 0.0475, 1.01, 0.9062, -0.8619, -0.4709, -0.5312, 0.0509] state[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9998 right_x=0.2546 right_y=0.0959 right_z=0.1829 right_yaw=0.7416 right_pitch=-0.2629 right_roll=0.0306 right_gripper=0.0509 state[joint_eff]: [-0.0479, -10.0991, 5.8188, 1.4383, 0.1538, -0.0464, -0.0073, -0.0752, -2.3453, 6.5162, 1.2821, -0.2369, -0.0317, 1.0281] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.18,"left_z":0.13},"note":"The arm is dragging at the low pose and barely responds laterally, while the cap stays just right of centre. I’ll lift to a clear hover first; this should restore Cartesian tracking before the final alignment."})
tool
executing move_to over 6 steps (0.6s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe lift command did not move at all and the shoulder load is high, indicating this low, extended configuration is at an IK/contact limit. Following the rig guidance, I’ll first reduce radial reach and raise the arm to unfold it, then return over the cap.
move_to
left_x0.3400left_y-0.1800left_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.532, 0.0509] state[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7421 right_pitch=-0.2632 right_roll=0.0304 right_gripper=0.0509 state[joint_eff]: [0.0205, -10.1538, 5.8051, 1.4432, 0.1685, -0.0366, -0.0171, -0.0479, -2.1675, 6.5436, 1.2527, -0.2466, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.18,"left_z":0.16},"note":"The lift command did not move at all and the shoulder load is high, indicating this low, extended configuration is at an IK/contact limit. Following the rig guidance, I’ll first reduce radial reach and raise the arm to unfold it, then return over the cap."})
tool
executing move_to over 8 steps (0.8s)
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 arm is free again, and the cap is visible about 3 cm left of the jaw column. Based on the earlier measured image shift, I’ll re-approach with a moderate diagonal correction while staying high enough to avoid another stall.
move_to
left_x0.3800left_y-0.1500left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3908, 1.4174, 0.9726, -0.4152, 0.223, 0.0929, 0.9998, 0.0475, 1.0126, 0.9062, -0.8619, -0.4713, -0.5316, 0.0509] state[eef_state]: left_x=0.3423 left_y=-0.1794 left_z=0.1381 left_yaw=-0.6482 left_pitch=-0.2646 left_roll=-0.1044 left_gripper=0.9998 right_x=0.2548 right_y=0.096 right_z=0.1823 right_yaw=0.7426 right_pitch=-0.2648 right_roll=0.0324 right_gripper=0.0509 state[joint_eff]: [-0.335, -7.5829, 9.7436, 1.536, 0.1538, -0.0757, -0.0122, -0.0615, -2.5641, 6.6667, 1.2869, -0.2808, -0.0415, 1.0281] 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":0.38,"left_y":-0.15,"left_z":0.14},"note":"The arm is free again, and the cap is visible about 3 cm left of the jaw column. Based on the earlier measured image shift, I’ll re-approach with a moderate diagonal correction while staying high enough to avoid another stall."})
tool
executing move_to over 3 steps (0.3s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe cap moved as expected and is now only about a centimetre left of the jaw centreline. I’ll apply one smaller correction in the same direction at this clear height.
move_to
left_x0.3950left_y-0.1300left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2684, 1.5181, 1.0332, -0.4713, 0.2676, 0.1421, 0.9997, 0.0475, 1.0145, 0.9062, -0.8627, -0.4709, -0.5316, 0.0509] state[eef_state]: left_x=0.3641 left_y=-0.1449 left_z=0.1182 left_yaw=-0.6003 left_pitch=-0.3434 left_roll=-0.1358 left_gripper=0.9997 right_x=0.2548 right_y=0.0959 right_z=0.1817 right_yaw=0.7428 right_pitch=-0.267 right_roll=0.0339 right_gripper=0.0509 state[joint_eff]: [-1.1145, -8.212, 10.2359, 1.6239, 0.4713, 0.3297, -0.0171, -0.0205, -2.3453, 6.7761, 1.3114, -0.2466, -0.0415, 1.0281] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.13,"left_z":0.14},"note":"The cap moved as expected and is now only about a centimetre left of the jaw centreline. I’ll apply one smaller correction in the same direction at this clear height."})
tool
executing move_to over 3 steps (0.3s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe radial component is tracking poorly near this reach, but the cap is close to centre. I’ll use a small inward-lateral adjustment, which should supply the remaining image shift without extending farther.
move_to
left_x0.3800left_y-0.1100left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2501, 1.5402, 1.0424, -0.4824, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8623, -0.4713, -0.5316, 0.0509] state[eef_state]: left_x=0.365 left_y=-0.1427 left_z=0.1132 left_yaw=-0.6335 left_pitch=-0.3548 left_roll=-0.14 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1818 right_yaw=0.743 right_pitch=-0.2665 right_roll=0.0339 right_gripper=0.0509 state[joint_eff]: [-0.3077, -8.0205, 9.9214, 1.6972, 0.232, 0.1245, -0.0122, -0.0615, -2.359, 6.5299, 1.2625, -0.2906, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.11,"left_z":0.14},"note":"The radial component is tracking poorly near this reach, but the cap is close to centre. I’ll use a small inward-lateral adjustment, which should supply the remaining image shift without extending farther."})
tool
executing move_to over 3 steps (0.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe cap is within about one cap-width of the jaw centreline and extends into the fingertip region, while further lateral commands are stalled. I’ll descend straight down now, preserving the good orientation and near-centred alignment.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2501, 1.5402, 1.0428, -0.4835, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8635, -0.4709, -0.5316, 0.0509] state[eef_state]: left_x=0.3649 left_y=-0.1426 left_z=0.1132 left_yaw=-0.6336 left_pitch=-0.3555 left_roll=-0.1403 left_gripper=0.9997 right_x=0.2547 right_y=0.0959 right_z=0.1816 right_yaw=0.7429 right_pitch=-0.2676 right_roll=0.0344 right_gripper=0.0509 state[joint_eff]: [-0.4444, -8.0068, 9.7299, 1.6142, 0.2711, 0.1929, -0.0122, -0.0205, -2.3043, 6.5573, 1.2479, -0.2564, -0.0024, 1.0281] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The cap is within about one cap-width of the jaw centreline and extends into the fingertip region, while further lateral commands are stalled. I’ll descend straight down now, preserving the good orientation and near-centred alignment."})
tool
executing move_to over 8 steps (0.8s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteAt table level the cap now fills the fingertip gap and is centered on the convergence line. I’ll close the left gripper to capture it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.7485, 0.7956, -0.0429, 0.2955, 0.1936, 0.9993, 0.0471, 1.0183, 0.9051, -0.8639, -0.4706, -0.5316, 0.0509] state[eef_state]: left_x=0.3637 left_y=-0.142 left_z=0.0064 left_yaw=-0.6395 left_pitch=-0.3688 left_roll=-0.1407 left_gripper=0.9993 right_x=0.2547 right_y=0.0958 right_z=0.1802 right_yaw=0.7432 right_pitch=-0.2719 right_roll=0.0377 right_gripper=0.0509 state[joint_eff]: [-0.253, -4.6974, 3.7265, 0.8767, -0.0415, 0.1148, -0.0464, -0.2667, -2.5915, 6.8718, 1.2625, -0.2955, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table level the cap now fills the fingertip gap and is centered on the convergence line. I’ll close the left gripper to capture it."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
assistant
agent noteThe left gripper settled at 0.031, which is borderline for this very thin cap, but the cap remains aligned between the closed fingers. I’ll lift and retract slightly to confirm that it moves with the gripper.
move_to
left_x0.3400left_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2493, 1.7538, 0.783, -0.0162, 0.2958, 0.1844, 0.0308, 0.0475, 1.0187, 0.9047, -0.865, -0.4702, -0.5316, 0.0509] state[eef_state]: left_x=0.3638 left_y=-0.1421 left_z=0.0039 left_yaw=-0.6333 left_pitch=-0.3612 left_roll=-0.1433 left_gripper=0.0308 right_x=0.2545 right_y=0.0958 right_z=0.1798 right_yaw=0.7436 right_pitch=-0.2736 right_roll=0.0387 right_gripper=0.0509 state[joint_eff]: [-0.294, -7.6239, 6.5983, 1.0867, 0.2759, 0.1734, 0.3004, -0.1709, -2.4, 6.5709, 1.2821, -0.2271, -0.0317, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_z":0.14},"note":"The left gripper settled at 0.031, which is borderline for this very thin cap, but the cap remains aligned between the closed fingers. I’ll lift and retract slightly to confirm that it moves with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 190
assistant
agent noteThe lifted wrist view reveals the cap remained on the table, so the full close was empty or squeezed it out. I’ll reopen and re-centre over the displaced cap; on the retry I’ll use a partial close suited to the cap’s rounded body.
move_to
left_x0.3800left_y-0.1050left_z0.1300left_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]: [-0.2653, 1.4609, 0.9985, -0.5529, 0.2848, 0.1589, 0.0306, 0.0475, 1.0191, 0.9047, -0.865, -0.4683, -0.5316, 0.0509] state[eef_state]: left_x=0.3386 left_y=-0.1397 left_z=0.1154 left_yaw=-0.6293 left_pitch=-0.3929 left_roll=-0.1611 left_gripper=0.0306 right_x=0.2546 right_y=0.0955 right_z=0.1796 right_yaw=0.7423 right_pitch=-0.2749 right_roll=0.0377 right_gripper=0.0509 state[joint_eff]: [-0.7726, -7.5145, 9.6889, 1.4042, 0.0904, 0.1099, -0.0415, -0.0479, -2.2222, 6.8855, 1.3016, -0.2906, -0.022, 1.0232] 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":0.38,"left_y":-0.105,"left_z":0.13,"left_gripper":1.0},"note":"The lifted wrist view reveals the cap remained on the table, so the full close was empty or squeezed it out. I’ll reopen and re-centre over the displaced cap; on the retry I’ll use a partial close suited to the cap’s rounded body."})
tool
executing move_to over 10 steps (1.0s)
step 200
assistant
agent noteThe reopened jaws now straddle the cap almost exactly on centre, with its long axis perpendicular to jaw closure. I’ll descend vertically for the retry without changing this alignment.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1265, 1.5806, 1.1427, -0.667, 0.3336, 0.2562, 0.9955, 0.0475, 1.0191, 0.9043, -0.8658, -0.4679, -0.5316, 0.0514] state[eef_state]: left_x=0.3665 left_y=-0.1013 left_z=0.1148 left_yaw=-0.605 left_pitch=-0.4487 left_roll=-0.1853 left_gripper=0.9955 right_x=0.2544 right_y=0.0954 right_z=0.1793 right_yaw=0.7422 right_pitch=-0.276 right_roll=0.0382 right_gripper=0.0514 state[joint_eff]: [0.253, -6.5573, 9.6889, 1.2283, 0.3834, 0.1832, -0.149, -0.1026, -2.3726, 6.7761, 1.2381, -0.2418, -0.0317, 1.0281] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The reopened jaws now straddle the cap almost exactly on centre, with its long axis perpendicular to jaw closure. I’ll descend vertically for the retry without changing this alignment."})
tool
executing move_to over 9 steps (0.9s)
step 209
assistant
agent noteAt table level the cap is centered between the jaws. Because the rounded cap slipped during a full close, I’ll close only to about 8 mm jaw spacing to cradle it without ejecting it sideways.
move_to
left_gripper0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1249, 1.7622, 0.8661, -0.2028, 0.326, 0.2619, 0.9963, 0.0475, 1.0203, 0.9043, -0.8665, -0.4679, -0.5316, 0.0544] state[eef_state]: left_x=0.3685 left_y=-0.0997 left_z=0.006 left_yaw=-0.5992 left_pitch=-0.4458 left_roll=-0.1721 left_gripper=0.9963 right_x=0.2543 right_y=0.0954 right_z=0.1789 right_yaw=0.7425 right_pitch=-0.2774 right_roll=0.0395 right_gripper=0.0544 state[joint_eff]: [-0.4581, -4.4786, 3.4393, 0.8523, 0.1832, -0.0513, 0.0757, -0.0479, -2.4547, 6.612, 1.2576, -0.2759, -0.0269, 0.906] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.08},"note":"At table level the cap is centered between the jaws. Because the rounded cap slipped during a full close, I’ll close only to about 8 mm jaw spacing to cradle it without ejecting it sideways."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteThe partial close reveals the cap is still a few centimetres ahead of the fingertips—centred in the camera but not yet at the grasp point. I’ll reopen, lift slightly, and advance about 3 cm radially so the cap reaches the jaw tips.
move_to
left_gripper1.0000left_x0.3950left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1249, 1.7729, 0.8562, -0.1982, 0.3214, 0.2611, 0.0852, 0.0475, 1.0203, 0.9043, -0.8661, -0.4675, -0.532, 0.0552] state[eef_state]: left_x=0.3649 left_y=-0.0984 left_z=-0.0006 left_yaw=-0.5985 left_pitch=-0.462 left_roll=-0.1766 left_gripper=0.0852 right_x=0.2544 right_y=0.0954 right_z=0.1789 right_yaw=0.7424 right_pitch=-0.2773 right_roll=0.0387 right_gripper=0.0552 state[joint_eff]: [-0.0752, -8.7453, 6.1197, 1.0672, 0.2515, -0.0366, 0.1294, -0.0752, -2.1675, 6.6256, 1.243, -0.2418, -0.0073, 0.8767] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.395,"left_z":0.08},"note":"The partial close reveals the cap is still a few centimetres ahead of the fingertips—centred in the camera but not yet at the grasp point. I’ll reopen, lift slightly, and advance about 3 cm radially so the cap reaches the jaw tips."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe radial advance brought the cap close to the fingertip row, but it is now slightly right of centre. I’ll advance the remaining centimetre or two while adding a small opposite lateral correction.
move_to
left_x0.4050left_y-0.1100left_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1181, 1.755, 1.116, -0.5404, 0.3187, 0.2539, 0.9952, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0587] state[eef_state]: left_x=0.3826 left_y=-0.0975 left_z=0.0539 left_yaw=-0.6009 left_pitch=-0.5211 left_roll=-0.2119 left_gripper=0.9952 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0587 state[joint_eff]: [0.3077, -10.7145, 9.0188, 1.1062, 0.1734, 0.1148, -0.1099, -0.1026, -2.2632, 6.5299, 1.2234, -0.2564, -0.0317, 0.6471] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.11,"left_z":0.08},"note":"The radial advance brought the cap close to the fingertip row, but it is now slightly right of centre. I’ll advance the remaining centimetre or two while adding a small opposite lateral correction."})
tool
executing move_to over 2 steps (0.2s)
step 231
assistant
agent noteThe cap is now nearly touching the fingertip row and only slightly right of centre, well within the jaw span. I’ll descend vertically to table level before applying the controlled partial close.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1303, 1.7874, 1.2072, -0.6277, 0.3115, 0.2375, 0.9963, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0611] state[eef_state]: left_x=0.3891 left_y=-0.102 left_z=0.0631 left_yaw=-0.6046 left_pitch=-0.5515 left_roll=-0.2289 left_gripper=0.9963 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0611 state[joint_eff]: [-0.6632, -8.7179, 9.2239, 0.9206, 0.1245, 0.0855, 0.1099, -0.1709, -2.3863, 6.5026, 1.2137, -0.2808, -0.0171, 0.7741] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The cap is now nearly touching the fingertip row and only slightly right of centre, well within the jaw span. I’ll descend vertically to table level before applying the controlled partial close."})
tool
executing move_to over 5 steps (0.5s)
step 236
assistant
agent noteAt table level the cap now overlaps the fingertip line, unlike the previous short approach. I’ll close to roughly its diameter again, avoiding the sideways ejection caused by a full close.
move_to
left_gripper0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1322, 1.874, 1.0801, -0.4194, 0.3145, 0.2298, 0.9964, 0.0475, 1.0222, 0.9043, -0.8658, -0.4679, -0.5316, 0.0636] state[eef_state]: left_x=0.3864 left_y=-0.1029 left_z=0.0085 left_yaw=-0.606 left_pitch=-0.5559 left_roll=-0.2387 left_gripper=0.9964 right_x=0.2546 right_y=0.0955 right_z=0.1786 right_yaw=0.7428 right_pitch=-0.2783 right_roll=0.0403 right_gripper=0.0636 state[joint_eff]: [0.1299, -5.0256, 3.9179, 0.8327, 0.0611, 0.0366, -0.0024, -0.1573, -2.1675, 6.5162, 1.2527, -0.2613, -0.0611, 0.6227] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.08},"note":"At table level the cap now overlaps the fingertip line, unlike the previous short approach. I’ll close to roughly its diameter again, avoiding the sideways ejection caused by a full close."})
tool
executing move_to over 10 steps (1.0s)
step 246
assistant
agent noteThe cap remains fully visible with a small strip of table before the fingertips, so it is still just short of the grasp point despite being close. I’ll reopen, lift, and advance another 2–3 cm while correcting slightly left in the wrist image.
move_to
left_gripper1.0000left_x0.4200left_y-0.1300left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1326, 1.8824, 1.0714, -0.4271, 0.3141, 0.2268, 0.0853, 0.0475, 1.0225, 0.9043, -0.8658, -0.4679, -0.5316, 0.067] state[eef_state]: left_x=0.3807 left_y=-0.1022 left_z=0.0021 left_yaw=-0.6113 left_pitch=-0.5784 left_roll=-0.2533 left_gripper=0.0853 right_x=0.2546 right_y=0.0955 right_z=0.1785 right_yaw=0.7428 right_pitch=-0.2786 right_roll=0.0405 right_gripper=0.067 state[joint_eff]: [-0.212, -9.7026, 6.1607, 0.9646, 0.2125, -0.0171, 0.2173, -0.1983, -2.3316, 6.5162, 1.2625, -0.3004, -0.0122, 0.3346] 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_gripper":1.0,"left_x":0.42,"left_y":-0.13,"left_z":0.07},"note":"The cap remains fully visible with a small strip of table before the fingertips, so it is still just short of the grasp point despite being close. I’ll reopen, lift, and advance another 2–3 cm while correcting slightly left in the wrist image."})
tool
executing move_to over 10 steps (1.0s)
step 256
assistant
agent noteThe latest advance placed the cap directly on the jaw column and overlapping the inner fingertip ends in the wrist view. I’ll descend at this corrected radial position for the grasp.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1856, 1.9202, 1.3727, -0.7071, 0.2939, 0.1585, 0.9952, 0.0475, 1.0225, 0.9043, -0.8658, -0.4675, -0.5316, 0.0697] state[eef_state]: left_x=0.409 left_y=-0.1252 left_z=0.0566 left_yaw=-0.608 left_pitch=-0.6109 left_roll=-0.2744 left_gripper=0.9952 right_x=0.2546 right_y=0.0954 right_z=0.1784 right_yaw=0.7425 right_pitch=-0.2788 right_roll=0.0403 right_gripper=0.0697 state[joint_eff]: [-0.5949, -9.0051, 9.1556, 0.9988, 0.1001, 0.1001, -0.1148, 0.0068, -2.4, 6.5299, 1.2869, -0.2662, -0.0122, 0.2711] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The latest advance placed the cap directly on the jaw column and overlapping the inner fingertip ends in the wrist view. I’ll descend at this corrected radial position for the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 261
assistant
agent noteAfter descending, the cap now runs into the bottom edge between the fingertips, confirming it is finally at the actual grasp point. I’ll apply the gentle partial close now.
move_to
left_gripper0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.186, 1.9778, 1.2495, -0.5117, 0.2947, 0.1581, 0.9955, 0.0475, 1.0241, 0.9043, -0.8661, -0.4679, -0.5316, 0.0721] state[eef_state]: left_x=0.4087 left_y=-0.1255 left_z=0.0102 left_yaw=-0.6047 left_pitch=-0.5974 left_roll=-0.2682 left_gripper=0.9955 right_x=0.2547 right_y=0.0955 right_z=0.1781 right_yaw=0.7432 right_pitch=-0.2801 right_roll=0.0418 right_gripper=0.0721 state[joint_eff]: [-0.1573, -6.7214, 3.8632, 0.8669, 0.149, 0.0122, 0.0317, -0.1026, -1.9897, 6.5299, 1.2625, -0.3004, -0.0464, 0.2271] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.08},"note":"After descending, the cap now runs into the bottom edge between the fingertips, confirming it is finally at the actual grasp point. I’ll apply the gentle partial close now."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
agent noteThe cap disappeared beneath the left camera immediately after the partial close, as expected for an object held at the fingertips. I’ll lift and retract to verify it leaves the table before assembly.
move_to
left_x0.3600left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.186, 1.9816, 1.2407, -0.5121, 0.292, 0.1577, 0.0853, 0.0475, 1.0241, 0.9043, -0.8658, -0.4675, -0.5316, 0.0735] state[eef_state]: left_x=0.4054 left_y=-0.1244 left_z=0.0058 left_yaw=-0.6057 left_pitch=-0.6104 left_roll=-0.272 left_gripper=0.0853 right_x=0.2547 right_y=0.0954 right_z=0.1781 right_yaw=0.7428 right_pitch=-0.28 right_roll=0.0413 right_gripper=0.0735 state[joint_eff]: [-0.3214, -10.3863, 6.5162, 0.8718, 0.2076, -0.0317, 0.2173, -0.0615, -2.2906, 6.5573, 1.243, -0.2662, -0.022, 0.1294] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.15},"note":"The cap disappeared beneath the left camera immediately after the partial close, as expected for an object held at the fingertips. I’ll lift and retract to verify it leaves the table before assembly."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe lifted view shows the cap still on the table, so 8 mm was too wide to hold it; the earlier full-close failure was caused by being short, not by squeezing. I’ll return to the now-known radial grasp position with the jaws fully open, then close firmly once at table level.
move_to
left_x0.4100left_y-0.1250left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2058, 1.7111, 1.3964, -0.9478, 0.2913, 0.1314, 0.0841, 0.0475, 1.0245, 0.9043, -0.8658, -0.4675, -0.532, 0.0749] state[eef_state]: left_x=0.3633 left_y=-0.124 left_z=0.1268 left_yaw=-0.6108 left_pitch=-0.6232 left_roll=-0.2883 left_gripper=0.0841 right_x=0.2548 right_y=0.0954 right_z=0.178 right_yaw=0.7431 right_pitch=-0.2803 right_roll=0.0413 right_gripper=0.0749 state[joint_eff]: [-0.5402, -10.3863, 8.8, 0.9695, 0.0708, -0.0317, -0.1343, -0.0205, -2.2085, 6.5573, 1.2576, -0.2613, -0.0708, 0.1343] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.125,"left_z":0.06,"left_gripper":1.0},"note":"The lifted view shows the cap still on the table, so 8 mm was too wide to hold it; the earlier full-close failure was caused by being short, not by squeezing. I’ll return to the now-known radial grasp position with the jaws fully open, then close firmly once at table level."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe cap is centred and its near end now overlaps the open fingertip ends at the calibrated radial position. I’ll descend straight to the tabletop, then use a full close to secure its narrow body.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1837, 1.9026, 1.3563, -0.7612, 0.2958, 0.1364, 0.9956, 0.0475, 1.0248, 0.9043, -0.8658, -0.4675, -0.532, 0.0766] state[eef_state]: left_x=0.393 left_y=-0.1217 left_z=0.0549 left_yaw=-0.6097 left_pitch=-0.6618 left_roll=-0.3138 left_gripper=0.9956 right_x=0.2548 right_y=0.0954 right_z=0.1779 right_yaw=0.7432 right_pitch=-0.2806 right_roll=0.0415 right_gripper=0.0766 state[joint_eff]: [0.0615, -9.2376, 7.4735, 1.1355, 0.2955, 0.1978, -0.188, -0.0068, -2.4684, 6.5709, 1.2039, -0.2564, -0.0415, 0.1587] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The cap is centred and its near end now overlaps the open fingertip ends at the calibrated radial position. I’ll descend straight to the tabletop, then use a full close to secure its narrow body."})
tool
executing move_to over 5 steps (0.5s)
step 296
assistant
agent noteAt table level the cap lies directly across the jaw gap and fills the fingertip region. I’ll close fully now that the true grasp point is confirmed.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1761, 1.9263, 1.1763, -0.5034, 0.3149, 0.1352, 0.9963, 0.0475, 1.026, 0.9043, -0.8661, -0.4675, -0.532, 0.0779] state[eef_state]: left_x=0.391 left_y=-0.1215 left_z=0.0104 left_yaw=-0.6026 left_pitch=-0.6052 left_roll=-0.3072 left_gripper=0.9963 right_x=0.2548 right_y=0.0954 right_z=0.1776 right_yaw=0.7435 right_pitch=-0.2817 right_roll=0.0426 right_gripper=0.0779 state[joint_eff]: [0.2393, -5.2034, 3.8359, 0.9353, 0.2613, 0.0171, 0.0659, 0.0479, -2.5094, 6.5026, 1.2381, -0.2418, -0.0171, 0.1148] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table level the cap lies directly across the jaw gap and fills the fingertip region. I’ll close fully now that the true grasp point is confirmed."})
tool
executing move_to over 10 steps (1.0s)
step 306
assistant
agent noteThe empty 0.008 close shows the cap was squeezed out; the close-up reveals its long axis was aligned with jaw closure. I’ll lift, reopen, and rotate the left wrist by about 90° so the jaws close across—not along—the cap.
move_to
left_z0.1200left_gripper1.0000left_yaw0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1741, 1.9591, 1.158, -0.4187, 0.3225, 0.1349, 0.0081, 0.0475, 1.026, 0.9043, -0.8658, -0.4675, -0.5316, 0.0784] state[eef_state]: left_x=0.3998 left_y=-0.1235 left_z=-0.0008 left_yaw=-0.5981 left_pitch=-0.5717 left_roll=-0.2986 left_gripper=0.0081 right_x=0.2549 right_y=0.0954 right_z=0.1776 right_yaw=0.7432 right_pitch=-0.2814 right_roll=0.0426 right_gripper=0.0784 state[joint_eff]: [-0.1709, -8.0205, 4.7658, 0.8132, 0.1783, 0.0317, 0.5495, -0.1846, -2.2359, 6.5436, 1.243, -0.2369, -0.0317, 0.0513] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_gripper":1.0,"left_yaw":0.9},"note":"The empty 0.008 close shows the cap was squeezed out; the close-up reveals its long axis was aligned with jaw closure. I’ll lift, reopen, and rotate the left wrist by about 90° so the jaws close across—not along—the cap."})
tool
executing move_to over 10 steps (1.0s)
step 316
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4664, 1.8572, 1.5097, -0.86, -0.3164, -1.3422, 0.9949, 0.0475, 1.0279, 0.9043, -0.8661, -0.4679, -0.5316, 0.0786] state[eef_state]: left_x=0.4103 left_y=-0.141 left_z=0.1159 left_yaw=0.6719 left_pitch=-0.5799 left_roll=-0.3401 left_gripper=0.9949 right_x=0.2549 right_y=0.0955 right_z=0.1771 right_yaw=0.7439 right_pitch=-0.283 right_roll=0.0444 right_gripper=0.0786 state[joint_eff]: [-0.3077, -8.5128, 7.5282, 0.4176, -0.3541, 0.0659, -0.0855, -0.0889, -2.4821, 6.5299, 1.2527, -0.2808, -0.0415, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.33 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"
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{
  "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, 0.7925, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3782, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0023 right_z=0.1833 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5111, 10.5231, 1.7705, -0.0366, 0.0806, -0.0366, -0.7453, -1.2239, 9.7846, 1.8584, -0.0171, -0.0513, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea832432ba1604b93ede6b0e932243358fea94a44bd5179ecc4cd011f4296b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b0aaf1bfc27173ab68fd200a78402b77a0a1614556b331f75420d30b978a04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927d55d510d539178ff980f6c66e6f6e5ec59eee2780b78d2b5e042692c70058",
      "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 · 5.9 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0485aaa1d7e09028016ab45296b05c87d0863f2fdb8e16ff1e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0485aaa1d7e09028016ab4529c436887d0a5ddf5d9677cd0d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.29,\"right_z\":0.15,\"right_yaw\":0.75,\"right_gripper\":1.0,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The long pen lies near the centre-right, angled about 45° in the overhead view, while the detached cap is left of it. I’ll bring the right gripper above the pen with its jaws rotated perpendicular to the pen’s shaft, keeping the left arm parked.\"}",
  "call_id": "call_IU9qbVUgCamHHmbOsbBcolCT",
  "id": "fc_0485aaa1d7e09028016ab452a1ea2487d0bb17d1c23ae8bc24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IU9qbVUgCamHHmbOsbBcolCT",
  "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]: [-0.0204, 0.7975, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.5838, 1.6176, 0.971, 0.0185, -0.1211, -0.0788, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9998 right_x=0.3724 right_y=0.2759 right_z=0.1319 right_yaw=0.72 right_pitch=-0.0624 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7709, 7.1453, 1.6777, -0.0659, -0.0269, -0.0171, 0.3897, -7.7744, 8.7043, 2.0293, -0.0855, 0.0122, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f93331177efd53435bad511c95c9b00781fe8feed5f2caa3c6fb0926a70481",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2270ac1a51fec5b0bf7046b34746310ba1d636a20543c4283bc9a325df52ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e19b0555954591fc51e99f794b85c0a1b6094f4eee5ffa7729f1316dc302e04",
      "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 · 3.257 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3782, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0023 right_z=0.1833 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5111, 10.5231, 1.7705, -0.0366, 0.0806, -0.0366, -0.7453, -1.2239, 9.7846, 1.8584, -0.0171, -0.0513, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7975, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.5838, 1.6176, 0.971, 0.0185, -0.1211, -0.0788, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9998 right_x=0.3724 right_y=0.2759 right_z=0.1319 right_yaw=0.72 right_pitch=-0.0624 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7709, 7.1453, 1.6777, -0.0659, -0.0269, -0.0171, 0.3897, -7.7744, 8.7043, 2.0293, -0.0855, 0.0122, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f93331177efd53435bad511c95c9b00781fe8feed5f2caa3c6fb0926a70481",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2270ac1a51fec5b0bf7046b34746310ba1d636a20543c4283bc9a325df52ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e19b0555954591fc51e99f794b85c0a1b6094f4eee5ffa7729f1316dc302e04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKrhvivZ5FxlQubIB77q8kAkDVQnWGGYra032f0yZWSiQp4BCHPpOm0z6aZwdBP0ztTorw0SkAOf2Dj0N8l8BxDbofOtTxs66yy60IPlCoWx19aUJ-6XfjewmkRmrefqKw_X9BsQkZ18yxLcAfuhp28DoQZfWej73LhTKpvxp3l861wz-vDc4tVEiWVfh0IZoptlxoc-SxjY99zJBbsn8WM7mAw1NvDUFa-lgBonjp8ccoHlG9s8EcicnXHLwgklQ-fTfswhapfO2nrn7PY5Oz-8hetepNuBeEQYUjyLm1Htxq6lQGXRgsntfaruSJuesnpinka8bZOAJxoqJF8g-FZ5j8Zi3rm8gyc_ZieQg80eIw7zlZmTa9qWI_qm7am9BCcfQo3avJ3oGRQ9kycR1-FLqDlXrYW4Pf6T2x_jXO0QeWNQt98AQg2s5GY_Stn3WAVbc77oP4nHghx3eMNu7ZORZvvQR-mBnFMulnselMwOBKH7sJZMqp2urXu31vIu_QFddJlYKnLGLzjZ66NTFnHPeXUYZnAloIbcBBbIqojxEGOyyMoOxC7im9iY35M92HmmZzlfICpnS1tj-tdn00vvsMoMffglUXSQ4Cov8K-QSKqh7_GCu7pZeY3wIhLnLpZp1bieLofT5AFAiQgEndXXPD9ajQ9ck9aKu9YGpC23tKjYVta1mZyqreI3oO9sENydfBOPumRTBsXtqgaFrWkbHCKCTdR2pn11i7g6mrzB44hs8DSlYl2UltdR0YoaiGxYPQreLmZGgSXqqQdEa_qHB8cNTGeTPra6aA2-G-8XObZvCzaa5jrPW2E5_wNzFBFX88N5AnCE1j8MwgUWVMa_rU2ZvtUS874l_DKauu22LHwD9VaVVCfwAwo1DkSgRagCWsmDD4yc-XVbZAy2Nrxl5-LuHm4rk0bJAxJpB_WT9Pst8J6O_cFkZk0P6jWE11Hr4UXnFF_X62pF8xnl49rPNVAorynZgw5d9O785U36516GPX-A4FUtZUa1y0SI6FsuCCiUUQc7cnC-mjvNm6p1sbpX_lTDQTQZ11ETrJfkQFVGzf0WbT6vPnr_wDRFB6scSxi-PVNbT4pxvIqzn5VNGtZ-NyikyLBnroaLgoXu1ARzgaSNmgQg1tk5jztrrlnP48mYKbtGtplDxNbfrYcLcN30GPXWHjUtGGP8qSicNVfRqKYM_Pkdfub5RYgxuY70iOLm2bmzILUVhE4swFftC0bQo1mfCwIb7mFufKa7bdb7mEoJ6kRR1t8f8R_IAUErc-qQnzgEC8xaNAJmOr3EPMApUHq8DyVeNnuwtWUaQq-lmNFkECE4dbEz5gd-gAForTemd8cZ-ZArXAQYdSztWLklzOWajPdENYD9261uOfqXLDJT_OIGitRGiRMIN3qvonrVJLa4i9Owg1UzF7Wcb-fkP3x6iaSFCvpy1por_yohaAAJWrenT2PaM1r-VlupK0soExoNc1R__kxeVg3WteEzZYEiN6pcd1MQn69QkpMObwGxyEp1eyrK-DookVYESppnuvUtlekcVyTwKbDt4jXlqTKzIk6_Tyxr4Gr31oTPdtugRb_JStrx5tH10o3DE0BEtEr_DI8h6E0lSfZRRtLjrJU8JBergf9AZTxOxZlEougQxqxklGh3bIik2NYS--2KNaYKd55Glk5M3Sw05euBFon3yyVFw-wlnNpaR3qZy9TP8c7keZFm_0zWa6sfxjSGt2j27MX6Np236kHUpm1EQvQ8orTU2PthNKXsvLIXBwegQvizqOkCf5Mnb5T9OjbpY4UhzkaVeUG4AN8BwpgqvMCWJgafZj9UDZ_l2f7OKzNF7VCzdUofoll0Uwdt600N53h0VriIvjBpZ4ZJCS4TgpfTdBDA_pYu267iaru07ptODPxIsNF5X0o2orx2y-X8YlCV5MgM4usR9tmov7GIj2-dfOgApdqEb-Bd1IU1o2T_ErymPNZSaFvKYvdFKuhh1z2Nbie5H03eu6RiJA3X1t6UV9D42ZVOoyBAQWgJI_QykLZlKpEId1OZRzJoFpZVNbog9hgCnrOWzc_5PlycdfU0uHh69gfIN147mbjj2f0z32PxQs68RvtqkQVm6m3lV6EvKHoc-a4QH4U-kE1amZIL_InxG6Q8lRE0Nv9xPkhlT6bZmsGflEFBAqDdX3tkL1tqz6-G74gRBd8wVCMl8RyJ1xAolVXvCgAnM7zrrE07Rwtbn0c3F1EEANloqvblpvux9rXRT-xA2BL1pJhjxwuAwN7S_f55yP7Dj2ebG4mTyoR9vfLlsEwqUfjGvyBcTuUQPLSCVdbGJk7LrkzIncD1YpG5nW3FxilAFjfQGUEcebOnDtcRr5OewfKe361AqVOPy1DchkW-QfT41MD0LLl-G6JJxT1WXQgGxi6hfPbfJMBzmHv--45hfaZ3J5wDtgXgpFcYnR9k60_-gQa_qvGCfUMDQMU8u0kABJJ-EIY0gE5BtlVO_rZGLayZca85mfg5-xtRU4nXe1YmmNm_5WFSZS2RdRyDnc7TBTRX19jlUmfh2hx_oqP8dcStjUDIWe--D_Cg5t2qQnzFisIPLN2m_JSn6CWyZaRBffTCcR8qKPItTCaIzZPlH3WKUdNWUCrzQDIGiw8Etltu5i5jVvb_iso5YQlO_rSH3mgeZ6M3fVssYS32FN3I6LErRDP5f-AFBAkro3UfJUYuXyHbkgXU_uvL_SyirCV_LsgI8_sTAtL2j16AcsWsAouVo96mOeYcih2-FcTxZlx7TbBYoTEJph6PIdFlUaJ5drDQHaJgo2fEGUbsLbOrEKPB6wXoHgVGu3H_YbRVqGVeTu7pFpkiNIfJNtc8XqImgkTO3GOY4rmmKwcV-P5K3lhOBPz65Tc6bswvdbEtw73YWhbvWUmZnIPoW6AO2L-708npUO2LfIPhVj4Sjo4-m14M0XDIXSrCG2JMqFs6A89PlejbPMTeAkXUn-0bOkNmrJoahpEsHj6PAoioPP2UBUmwscAKyFeZ8btCugvGflkRwJfBZ5a_qkkbPg9uBKJpD69WJ0QX9yKq17ro-KArL-jaxofmc1u5F0Ww4bViTN6xsL2k22rgj-O6LYbKpqibAM=",
  "id": "rs_0485aaa1d7e09028016ab452a657e487d0966a765101f91c9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.382,\"right_y\":0.266,\"right_z\":0.06},\"note\":\"The right wrist view shows the pen shaft running just to the right of the jaw centreline, so the angle is good but the grasp point is slightly offset. I’ll shift about a centimetre toward it while descending to a low hover for a more precise check.\"}",
  "call_id": "call_vJrxMUj3IksseSm6SXmnZlHy",
  "id": "fc_0485aaa1d7e09028016ab452aa58b087d09d348acbf2f56ce6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vJrxMUj3IksseSm6SXmnZlHy",
  "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]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.548, 1.7741, 0.8352, 0.226, -0.1402, -0.0944, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9998 right_x=0.371 right_y=0.2595 right_z=0.0483 right_yaw=0.71 right_pitch=-0.1442 right_roll=0.0168 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.4017, 7.159, 1.7314, -0.0708, -0.0757, -0.0171, -0.6906, -8.2256, 6.106, 2.0147, -0.2662, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4ce48f34db4706be9b55bd4b5a4fe2375a48068d7b84981bf7f9cf445e9841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23ab2144be82003104dba313c018b78aabe97903ba805f7f2d47c13f906a39c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b05b9c7ac4124b37a19031962bedf23c5b7c8a7d94660ac21f8bc6b6458c33e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.748 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7975, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.5838, 1.6176, 0.971, 0.0185, -0.1211, -0.0788, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9998 right_x=0.3724 right_y=0.2759 right_z=0.1319 right_yaw=0.72 right_pitch=-0.0624 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7709, 7.1453, 1.6777, -0.0659, -0.0269, -0.0171, 0.3897, -7.7744, 8.7043, 2.0293, -0.0855, 0.0122, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.548, 1.7741, 0.8352, 0.226, -0.1402, -0.0944, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9998 right_x=0.371 right_y=0.2595 right_z=0.0483 right_yaw=0.71 right_pitch=-0.1442 right_roll=0.0168 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.4017, 7.159, 1.7314, -0.0708, -0.0757, -0.0171, -0.6906, -8.2256, 6.106, 2.0147, -0.2662, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4ce48f34db4706be9b55bd4b5a4fe2375a48068d7b84981bf7f9cf445e9841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23ab2144be82003104dba313c018b78aabe97903ba805f7f2d47c13f906a39c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b05b9c7ac4124b37a19031962bedf23c5b7c8a7d94660ac21f8bc6b6458c33e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKv6dWQZ49GcjUFXJ4LZk2UQChLIgAcnnFvxaBEqjR6pYNf93mGuvTq5Axk7m34X4Rl5zrqRI0SmbV5pIv56PSuphCpIshJpFxx77asjsYhuXfO5H4_GNdHv9cyka6h7mrcoRkSC93WMBVFPpbUezaO5UDKoG3KjBXVcwl2AIsplWER0NiKKK9v51_CQVlaH69cRMv3_SEAmcey5ngdqUQk-KBVLrnr0kBbdYvTHv7irg-HJLdxVvp6nBgGXMSlgXHtTVuKLKrakcvtOXYTQczApFf5juQCnTYqw9Ax9GIom37u8qtxa9eIHbLpBX5k7KI8tXSqophElrWPNGfA6fht_RQ9IjaTidDxjpIEdLs9jcBCBoRC9HEqxoeMZCdOJyhkdlr-jhy6KlGpsuVJHk5-4WpLDmKsLBIgHbJAQxoDTlDAIGhXYH_0l_Wz_o4X4y8LH7fBFf71pAJ5699syw5Y3BMWwK_cDpqsCcSUi4KtZF4pJv6TFIUEH9ZzrRAJPguhMt4sT6FwBiq5QMeH59lrmDGWx-EW4YtKZJ4OLDVUguEus9vv424v1ql5m0x_rcLhVYAQ7r67Pm3ZK-agfYgwvPMsMB-GEGIfS--pw39Gw7Lxt398ac6Vfo2HAydlRpA5H55OufIKtSjNN4OH602m4qOfqdUt9kvk0gCmMVeBwNPaqMgQQ3zZyigJP9A3T1GdBE6thFRmtR50Io1QRL6T8soqK4Mz5jgkDzGklUzYnIuHv8ssijXGB9Tb2Axqz_KP6mowY_ZHiLUMpGDjGxKWqz-2OyPSqGMufxace205quecrXBl1f2Z_rCGFOetDqE7yzN74ohLyysSfXf_wZAB8BOIoSMB1ud_eyLhhyadEBbYcP-utm6mY36BVLQ9VeALeTbP-cYT4bY_JVVk8x0K2iKwO7APULfO0llkNj4Syq1SpYQb254-1XA9qP_rI9VG8daDgnyZnGP88ilGkn-fPbsYzYZcJyB1cbcoNgm5KjBmIQ2Huxx-C_5oR-a4d-l0v48HcEGyaCGkEOqtYBXSUEzg0G2s8w1lFVCvcsrIAbwugtmViK2CU2Am6d8la4q3vpI05v-qJ3V2dhP6N-gD5k_q5EQP81s85mHKQfVb3mzC667q2Nj80TjEZ4wbeC4W8s2nJsFNpmk2tw1Wdv0JHYhhhlV2YHDrFWOcdEDb8fKSUb8XpnN2QFtG306NlAUM1mXxevHzXGF-oAGIwFlvncVs0OafW2fSCCuI-cNJ1MttTMhoeA4Ygo0oM6DDYHiNIMMMx93RXqvLNS_7zFWXhmJMIECzSJYK7gzkcUTwtNTf_ER5-UaD_eIiQlBjP1VAHB4mnhOT0ZSqymsrDFbhQdGXD_FQT8M9uS-JHT48CHtvgF5DLDwwJneK4NYGibxwhaABui83C-BhSiECVxAqJanDD7HvOO8BUOl9FxigzzRa0wKWPN-mjK9nlRLE5V3_bEyEot2B0FpjBm-Fy9iYMDWhS_BmQxgarAhHxGsaYifWBtKQpc5HsvZukJWSGMsoPwkBB5mLSOAkIGLVoZGnZB31YrLOag4z4yf0Ke972CmlKjpWBJJj6_8wd5UWySf88KRzgQmy-2Qe50P6K_h7LeMNjWrl0KwcNn4_brU991-pnA0Obs2PkFj945rFl5LVT-VuuXwWe16YjOTtw9klya7EfIZcyqetlMymbvvi8AdTGUWcrlhDEcZyzMWPdImhcdMF8CI7okX35tMvaZt3CYf0rOPTBAy0o8B50eLo2tAEYsYnB2btzdKk20bPC0DpnBA2X3KsXByZk76cOAmuIRWbQJefmKNzcMDuDl-YnUrS39cCbjymUZFsj0j8J0Zv",
  "id": "rs_0485aaa1d7e09028016ab452ace59087d085a0c2033fc9c28c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.01},\"note\":\"At the low hover, the pen runs lengthwise between the open jaws and crosses the fingertip region, which is the correct geometry for a shaft grasp. I’ll descend to table contact before closing so the fingers engage the pen rather than passing above it.\"}",
  "call_id": "call_LREVjqfS0UXi4hzu4Fi2X4Il",
  "id": "fc_0485aaa1d7e09028016ab452ae0ea887d0bdd5af431586def7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LREVjqfS0UXi4hzu4Fi2X4Il",
  "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]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8268, 0.2996, -0.1555, -0.1024, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.377 right_y=0.2645 right_z=0.0528 right_yaw=0.7227 right_pitch=-0.0928 right_roll=0.0115 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.306, 7.2137, 1.6825, -0.0562, -0.0806, -0.0171, -0.4991, -8.5949, 6.147, 1.9512, -0.1197, -0.0855, -0.0122]\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:7df793ce6685d4f6307083d36817be527867a4450b1945d4480b615c868a3cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6aad2e18e87699da3fa70744aa89f30b48585077b86a2cb7a7998bee983c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da91aec5ef49ae17a1573ed6a626c79d00d93a3f53a7ccdf7b3a1e9a7be4ac01",
      "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 4 attempt 0 · /responses · status 200 · 6.621 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3805, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3782, -0.0238, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2954 right_y=0.0023 right_z=0.1833 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5111, 10.5231, 1.7705, -0.0366, 0.0806, -0.0366, -0.7453, -1.2239, 9.7846, 1.8584, -0.0171, -0.0513, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.548, 1.7741, 0.8352, 0.226, -0.1402, -0.0944, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9998 right_x=0.371 right_y=0.2595 right_z=0.0483 right_yaw=0.71 right_pitch=-0.1442 right_roll=0.0168 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.4017, 7.159, 1.7314, -0.0708, -0.0757, -0.0171, -0.6906, -8.2256, 6.106, 2.0147, -0.2662, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8268, 0.2996, -0.1555, -0.1024, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.377 right_y=0.2645 right_z=0.0528 right_yaw=0.7227 right_pitch=-0.0928 right_roll=0.0115 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.306, 7.2137, 1.6825, -0.0562, -0.0806, -0.0171, -0.4991, -8.5949, 6.147, 1.9512, -0.1197, -0.0855, -0.0122]\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,$blob:7df793ce6685d4f6307083d36817be527867a4450b1945d4480b615c868a3cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6aad2e18e87699da3fa70744aa89f30b48585077b86a2cb7a7998bee983c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da91aec5ef49ae17a1573ed6a626c79d00d93a3f53a7ccdf7b3a1e9a7be4ac01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKz7RcpvyL1lV7LQNw7AwA6F2LPDbDBU58h-c9raJ-FljK0k--IySh7L4AgkbnaGOZmKmufWoMDB20AR1Fqa5uo7Khf53skelvcrk01JHsuJN3AkaUGsoktFrdyft2sI8YhKfdA793nVUZO-OIWXLNC6rV8ghi8QxuWHl9uhsk6yVmGonfFBh2cf99nkESSfsKUQBBH-_G2TPY2PqwYB7gNMlAqIlgBvc8SoE89_jJdc2LGgMvCu_9l07xXzuOizg66Vw-FvLnlqnT65x1B6U5SeXhWFfmWWfMTO5jm8m0Ci5F6zrx6rKx_xh7ibROwEQfZBKHpSKVKDRK_617t3VMjwVMZRUc3C0mDCq4Bs843hXFhnNVzgkHOqDaBtTB1K7XHABLjHV2SWlOdvn2mCS86TuTT78pwTewhHCtcnM84oaSG03fuGOl1N03lInggNXDsjkwvhKIFd8dw-uSIbUUmUu_HSP0LENYpOqhF4Mp4c7myr6D4ij8CryQtB-L-x9ISbbDblmyv3ngqQOrFWubzLCssger0--Syj-Zfa4185fJ4MNXrfEW-cMaN6B0kxx1Wr-w4P7HmtmuXn3jFFpAKgC-_hAqCK0H-y5XHtH2RredIS90e_HLDoMrC9DyYHFl-YWOrMkN6QnJQksruNV4uEmP-umiccICVh7cDFun10OyYEjx8j_LJl6ZgsZaodMKwircMhtB5-6q9lJ0YKXDwSmvNvIyktG4GwJMeGc4rqDaUrMOefXZ8W029uyBi3zDxBhdbJnq82-wGmk1lEIHs7IpB46BiED5skN_9hmB6WHmvr3xnQqDIdYFjFiZ3dxbsFV-IhvVaZzHPCCiZXj2k4yv0pnBfQED2zf1_oQY8qtL0pxkywyeK5_YZgvSFs23VEEGbzWOhfqHJzAthNOAk65pQ1eaMwOJgs57hQF88ScZas0H0Ftx1ls9OjNTE2uFGcZg9IFA3RRmk_RiCQ9OuVbZvZ3NR5Pl5BwhoqX2asKVUtGKrTZ2tN6yL-ptsFIXfutTMky-nKbnNpPG0aA8wk3_8ayCY3YGodk15LTGw5IoTA1b5LAvdd9ua_YWSvhlb-6bt07mIDmm23iUsj4-xd2288jkcybPEVlFGTHPn5DWg2U7PixFcUaHMzontouWfz9F2HYzAzRbjBUWwwUUTRawaiODDXLNhtiUsO__TsrVqoUlK_c3cpZVXmoaB_iDrRc0gwXJNlvti_-UVNnTABg0zKnBo0bCIdpNMLv2dB-HWaDEgUC62UGCcizZswRHMQTKnM__0HXZkAzGcHyJSnObeUq94vayAZ9WUjtuJSfLam0y3NhLdhSAyvTEPCNFW8MReoSmKpg5Hu4CgBHOCa14HCkCcYeKRMLos-bOnhJruh6ngTdMSX1LXeReIOSxoPQpjyDb8AcvERYH-TqbZhMZqbxlaZVWLGIdkKDrQR4H4WsTBGZr1hZvmTYMDvIE_l2QgwCSx7RQFnzDqQUBeEsB78idt2Dn1UQcUFanJmtuCfTonHGC4VBd7d9eqAfcJVzBqD0wUS8KX34t4UKlDwVHg15TYBKT9y0RedwS7s3DaF_xhH6a0tJzxejF5319vxiH3cDNzexGnWCAoNXXGIBD4qVbGVx7vPHGMhQsRfPGNqdA-rv9xPSGB-18ms-44Ft6IQGrxhEs-xhLjsRJxOCq6g-l5dTRdxdO04pHcu37iMtQWHX3uaq3Tf5SonTboYnHAvcRoXUaPcNunqkD-DSgbZKJz1ako1DtnWAslnYA1eIyXGdFlFR6ZoNUQAEyPQe6rkTMqjJasN4_z1zN4vYPyo8UcM1ClSn5nUkOkX0HNcsMISDi82V-gtb64Bb6lo64d--KH4b9Y4rx2OZJotmlir6MmGW3yLWCffz4ZAouXfw1-X7EXML-0w9RK5jEc",
  "id": "rs_0485aaa1d7e09028016ab452b065cc87d09a1435822c9967a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descent stopped with the shaft still between the jaws, indicating the fingertips have reached the tabletop even though the arm sags and the readback remains a few centimetres high. I’ll close the right gripper now and use the settled opening to judge whether the pen was captured.\"}",
  "call_id": "call_CqGvDFSAfP2bO8mTLtnmIzkT",
  "id": "fc_0485aaa1d7e09028016ab452b1fda887d09ac6eb7906223db5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CqGvDFSAfP2bO8mTLtnmIzkT",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8265, 0.2951, -0.1551, -0.1089, 0.0079]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3763 right_y=0.264 right_z=0.0517 right_yaw=0.726 right_pitch=-0.0977 right_roll=0.007 right_gripper=0.0079\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.6972, -0.0269, -0.0806, -0.0122, -0.1573, -8.4034, 5.6957, 1.7021, -0.0513, 0.0513, 0.569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c76bf81465882607fbffe925da12f501d76df824a0a67258a96bb07d983f71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9f84e529d4c77f5d90ddc0cab363b38f7e83192f350319978681728a402ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeff4b20c856534a381d2b850fbbbfccecb9a77a38e676d820e891507e15b4b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.82 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7975, 0.6029, -0.382, -0.0219, -0.025, 0.9998, 0.5838, 1.6176, 0.971, 0.0185, -0.1211, -0.0788, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9998 right_x=0.3724 right_y=0.2759 right_z=0.1319 right_yaw=0.72 right_pitch=-0.0624 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7709, 7.1453, 1.6777, -0.0659, -0.0269, -0.0171, 0.3897, -7.7744, 8.7043, 2.0293, -0.0855, 0.0122, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8268, 0.2996, -0.1555, -0.1024, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.377 right_y=0.2645 right_z=0.0528 right_yaw=0.7227 right_pitch=-0.0928 right_roll=0.0115 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.306, 7.2137, 1.6825, -0.0562, -0.0806, -0.0171, -0.4991, -8.5949, 6.147, 1.9512, -0.1197, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8265, 0.2951, -0.1551, -0.1089, 0.0079]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3763 right_y=0.264 right_z=0.0517 right_yaw=0.726 right_pitch=-0.0977 right_roll=0.007 right_gripper=0.0079\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.6972, -0.0269, -0.0806, -0.0122, -0.1573, -8.4034, 5.6957, 1.7021, -0.0513, 0.0513, 0.569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c76bf81465882607fbffe925da12f501d76df824a0a67258a96bb07d983f71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9f84e529d4c77f5d90ddc0cab363b38f7e83192f350319978681728a402ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeff4b20c856534a381d2b850fbbbfccecb9a77a38e676d820e891507e15b4b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFK6Kal-zuF0CV-OZW48uHWA-Xbb0oxF17gJr1z4n8xPaG3Sa08qTDcMh9H9CgPIBQLQnmcsxQr6Wur2vtl_Q28PTmBeGZCIrDmiLSQnGz6XYSVz7BVAideOu_a5FiEIsZS4Oz5kef5cme5kcQSkcxEJ93l5IWNwDLFcw57w6Ky9HOhcUP_L6zO_7JKiGRyiZ_KBHXJQEdytLY8093Vp4WKUdRArAwSiVHXtaLTzRwWDMieNqEDdhUcwjzmmCWS7u1KIPOxEYCL95myISTJlxyVUrY0-geqQoapY0ok9gy-eQWBl7GoiaJoChDByR4Q7GTGVCSmHTzGKerWljsPvjuGIkXyKcUaM0VZ_9WC9UJqR0tiqBMKgGbUPcfENGl63lIzD6tupsJo98fkoiReW5OkfPx8S058ShbMsl9CVCH02M9DbU54nup05WVYH78q3s_TOkXytMwnIVI08aLVDnrA36JAim2L4SfzTuFW-GS-m6eGA6IW7dPhE2394VFX2o_2rLcJ3fL9Fkkcp8rpSU5qWjZNejy_4XvBgq-JhVvNNNVWiVnLsIEs7Q_Citsazkm6hR2miguar8ZBPIXhKnMnYPzyyAWms8sb4ut2qQql0U2urZHed49r0ZwIBKn_zMxIIxux9m6PYpeaM_ftF7YYjmP5QJU5zUzi7c7THefIVPLpQg1EPWhfjYE_RPB5C5c-CvH6mdr7jgD2-lfuTpWdxPNqIZ5QR6Kk4bUqzGKG3MXvJzlUxoTJYsnA1ugiDByMwOIulyw8NjtYohL6o7_U4nZFAjkE15489x6sAIRW_mku3MK2opfL6LaTGtdDX8bPM7tTN5RgGkEPIh9XNtjSUdfUbM2ze-Ve1_pVT6wEkH7fAWi7SSfXPSNGGr6bb8fgdvPqRefKDk6Ag3_q6GqSQBgGiCW4CQY3ocWzjCtJDGrFlbDXy6s0kpk5ZBm_9uZbrPOXgHFKf2nnVKjvd5WOr-QKhQ3EaFSF3f8McG1cr4zTpeu0ZgIQcMl03tBNIq0RYP4pr9W3ijSH-4i-Gohuzz2FkmvCB89jDkmxb5WwHRL0bT_fMLNwr6OxwuNUBVF_e144vdamIK73NBw7DJ3d-a-bGf-OGpOscCmpt7FH7vYxW7Bfo07ydjrlVn-kcbGk4kbAV2XyoLi7CoCJd8TqsbipHEMcqq18gYnqfaIaWVWFhTOJOVK7iyX7PnL5ujcwVquCUnab7j9tSRO7b2KiXUBtQsdAu6wZ2VYQCNdzQo95gDkIow__d3WcxTMuwh66A8lPZLoRcVUsXQZjSu0JTDxMqVNjl6ZJqz3WV5BrYB3AXAJyuLagbmYz_FAeUMVkP8IH2kgmxQyJiuYtvBISACtnI2NtXqc6BUEgLR3lAgKgc_twzTKEEzbrYAaoYPfITOP1GUuMr2PAE7gNLrPoIZ6yYT_xPj71z-gOvyIllT07JWNHpKo3uHAglLvOG4d5Mn6WMETF5tGoPm5uHuawTHUkwhZUmC0HpgvilpBzyiieLdz6Gclvo1OwWcqtdMtL7HWSiKVFQtIIVH05qf1qI5iFccylsWUszqrHYsIyXbiLCgVbsDf1oI8eOiCiB8QO_7Jq7puwatotSjyMoIRnCSmr6eYlllcT1Xs2m9X3y7Zqe0C7UK43BHgt0zcQN2ynQ_4auEtsNUd2lvR3Q0Yg8REVvNJ8519iAtzfqR2e-fUNbIO8f5vfdZkQPdWZaPiCxGoOWDA9q5T66wcOBl1utLtldldLDvze7PuOt6336vt3jjNVBJz7VpE2drkw5krTiElGOAR--pm75bvaOrwucnQpLPm6J3zz9W_Kg3EMGn8az7iXScYOxVBaXl4O2AXGk7Sata5a47zmIru57nMrKbRptFFLh0LUJDitLwxZlWbXLQHNF9s9xB6cq9SHTFngFgIf92_QElXDSCp7kY7Z9sxGX_MvuyYpRIuQUKYWa8UNq2Ct1Czk06fvwsjMFFuAiZJ9-hBy9NB82iHB7oXpC9ObD4C0L8uv7o-zxzXhGgMZrBDC2HcIyOTC4EvgO5ccp3T9eAP0mm0J8NgPG97Vjz2WIjDrzQ7y-hrjkdQ0TgbxtvKljGWr24eSV8h_5LQBIHHFRimjnEVq-4N_GvgfAdZFbyK7soKwkJAqhZq8PbEqhSDaDUwEXb6rVWR6iqWBe21ym9wtjUU0qnG6QUyHJnkefBIAR9hMYwd5yPHpW5UfRwUbkDiTG39nvbRz8w1YnU5-jhm6hEwVikYGGaeGuE-fVD1OquAnkQcYYtmiVJhzcMYdzrVeAj9p-WRl9yelzv-AgVmmA9xwKG3513JsZBFjD_mz-yely9x1v8OcwM6TQPILgmmCcc-QNPrlGeCEeJKR61SIr2OLOAFIBSUe3W4RUxoTHSYtsczZNIClOa0ERivxc_q9x6b4rvJr45kTP0GntjEloNqc4O_DwtWxOLPb3YJXyyTHkZT2j34Tbcl30UElPpbBUWruVKD4BN8okYH7mjhHYFZrftz2xE-f_OIFIRxb9JTkGh_CDXjdVv9cKx-58BQgEvLpF7145IwI45HqWAT692yKB6zDBzKvt3Isao2bF7746Y-p7dwL9Z_wl1uxZWp63hJcn1JLYH2_7rIFy8Jgx_eITCva6zQn7OPMe8TKiZRV7pQiT1gQ2pUVRVh90r-2YZkvC3uz8RyL5gBhkUBGy9fbtlBAVMNgPBQ_6kllYglYdVMLt1_IFNpxB0MLmDiA4tTKJGASIvEcqKddfYFVPjhNKNFlYZYcavsB1TlsRxz3bpcCcO52uaefywsKUXULxlqQjUno7eRzUpDNnHx_upD_fduuZ3azVVv_Bfq_n34Ye-xVvmFAysAPH4FslB3QidwEIDLe7_uyUbD468Ud8HYS6hpvqTsoZwi0ayrUib8fiDK24Tcj9UGE2iUm19U-bjY5IllJrSmhwXxnX1YABC4XhQi0ehhYoXprnhZ2s89aQ0j1nxYvixuowkRObxq3XEPJGr6o74TLgLS-cnXTaQbX7f88P0ecNbLPAJFil98GcSQhOtdiqjm94HwWO_uGJnlWjSD9FJJPnpDgUNBW9ABqXKZBKTkMgLxSrg4mX8ZzoNqyLRyKn8TmMhIY4nOIJAIlEW0QRKLc4qT3GPHrD2AbgD2t2LICb13CdwXzBtfosPqHZ93RgnCxZgAFRrG1DX0q4i1g4-PjZL7GOJUnT-uPXPaz-_0z8Vpc8khkt5dPP1zfnGuaOGy2jrmN4VV0FzdMIrJwY6HrSPXWNCb53AAR6aoWzL94RcYatLz47XqKRAdlEu5WGKzQdzLpV6CYl9C-3ubejjRL76C7exBql8DkL4B3nixjw698UPBYtmkOjwGDAwXHIcPp5t_wtwOIns2jLrVQQA1zbUTrhyIOvxGRFYaF9FVgeBAjramkiMtniICrYR1fk0OXX66sIM67YA7FW8qXZ7k019cIYw3ZkVaPnHicc62Oej4H-8nKa7gJSAVJ0vsuycCy1iSYqaQTH1zLLx86FspZvB0f2kw5p7S8xyB2x5CqSv6iGFtOwVROqkRRp3h9ZPZq5iAcyqUHo1IrwWRY6xNcz0esIZ-tZW_2Z2gun7c-UUMKDTwNNeApaqz02mplCkXZccitBwymbSONJqqJfM3hTkn15GeLVwCiqFxV8RcpL3R2FjyqYOkR1ZUwMHznpOUUoK32xmsA6-mqwn7pYs5FnjHYOnMJ3Hy06cpneWhFAfZOoSch3YKw3wj7S4YEzMjDH7xmKQ3e2zAkBQYnFgfDaOKbPMrJEyWwVBawSWzmmfvulPpB0f289L-R7UkTrq1ZWcKpP5Cn5_-CIOqS6xIiu",
  "id": "rs_0485aaa1d7e09028016ab452b551bc87d0ad6e9f88e26d6224",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.365,\"right_y\":0.276,\"right_z\":0.09},\"note\":\"The gripper closed empty (0.008), and the wrist view shows the pen just outside the closed jaws on their right edge. I’ll reopen, lift slightly, and offset in the opposite lateral direction based on that observed miss before making the second grasp attempt.\"}",
  "call_id": "call_zumk0GpkIZHJU0wtbm4e0rQy",
  "id": "fc_0485aaa1d7e09028016ab452b9a15087d092f7afbe95be5a60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zumk0GpkIZHJU0wtbm4e0rQy",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5888, 1.7191, 0.8539, 0.1513, -0.1314, -0.0872, 0.9949]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3585 right_y=0.2716 right_z=0.0651 right_yaw=0.7395 right_pitch=-0.1464 right_roll=0.0168 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -1.2923, 7.0769, 1.746, -0.0269, -0.0611, -0.0122, 0.4991, -10.8513, 8.6222, 1.6484, 0.0904, 0.0562, -0.1343]\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:21c7676d89b511e73cc53c3eda4bf820a92caaefa8aa3349a82bffce0ca63d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fac23511ad09ec7026ae9442368411c6c389cf35cc9122ce5b0cafaa63948d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24facfe9e9403ba9ffc80eb5e7fab619d3de43a8d7cdeda0a3bf15337b1547d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.926 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0219, -0.0254, 0.9998, 0.548, 1.7741, 0.8352, 0.226, -0.1402, -0.0944, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9998 right_x=0.371 right_y=0.2595 right_z=0.0483 right_yaw=0.71 right_pitch=-0.1442 right_roll=0.0168 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.4017, 7.159, 1.7314, -0.0708, -0.0757, -0.0171, -0.6906, -8.2256, 6.106, 2.0147, -0.2662, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8265, 0.2951, -0.1551, -0.1089, 0.0079]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3763 right_y=0.264 right_z=0.0517 right_yaw=0.726 right_pitch=-0.0977 right_roll=0.007 right_gripper=0.0079\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.6972, -0.0269, -0.0806, -0.0122, -0.1573, -8.4034, 5.6957, 1.7021, -0.0513, 0.0513, 0.569]\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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5888, 1.7191, 0.8539, 0.1513, -0.1314, -0.0872, 0.9949]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3585 right_y=0.2716 right_z=0.0651 right_yaw=0.7395 right_pitch=-0.1464 right_roll=0.0168 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -1.2923, 7.0769, 1.746, -0.0269, -0.0611, -0.0122, 0.4991, -10.8513, 8.6222, 1.6484, 0.0904, 0.0562, -0.1343]\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,$blob:21c7676d89b511e73cc53c3eda4bf820a92caaefa8aa3349a82bffce0ca63d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fac23511ad09ec7026ae9442368411c6c389cf35cc9122ce5b0cafaa63948d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24facfe9e9403ba9ffc80eb5e7fab619d3de43a8d7cdeda0a3bf15337b1547d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLBEvcwd9v-JtHi15b_vWeCYOIembe6qJH-hSSCx98n9jfVp1-MNURXt5fiivKPnXRSzwx4BRxy6J4EZV-fWaeCr-Udlqo45-h8r0EU4U-9k-mZkthxkqu3LHce7xYhtWN6JGkgJvXSkf3oSUNnNStsnzJrFBORhycTshjAZ7B-vqluKYzPz4xvrLDIA6_Tn0Rpti2UD_An0oJTvpSlNcZoUIiGi79y6G-zziUQ0e-QLvvdCtUEjBOQmc66cClz7iTX3nQXCuzow9UJM4ApaPgoavSvAjJ1SkjKxeeBqP31_I6AIH12tlR7p-1bTOP6GFZtSuS28LE00XuwkFO2fojmCrruHuAKRZEMEwVHXZqkOPH2GCNulHqtpLP1X436V3HovPtB_xxaaidwd56cLJt-Hmlinp8zd54FSAUfZqed_PazJPfTlwETgG0ZWo3Z9NZUwMd939W1RvItfveCTg38QLyKenXqj4va3yShNokyxVgjXRw0mQckkqmCnagX7RqFGoQ0yscE4ffE_TuVybZuBTpD0LI77JbhAaKouB3RLkwPppI0Dh2ctJEJmNF9Ol07TPTgZAOoM0LfsT-RsKHpV2TL7SgZJDUliix_llfX7xtKNCaRf_GMHzFYr1EF8HIM28oTXVSo_c70JLkU48Q2Qmo8fvAkPlWEJWPYKzuVFo7gyFMSpu_KL1xhGFN5niwgnaFMSQmNBgKiiDLj5cmXfAruKGv4Pwzf06cc7Ws_WSRswv1akHq5eFTTs3zQ5gbiDWZ05NIItKvIXM3mohqp5JXG7tdC8MQFKJcU6HG3clMKoigNV_cFBhsK0Lp-7ec5nN1SVz2MiiLUp7nDD63Mq1NfqUlA9z4w3COgiHlcP8M-noUsW3UmRIajcPLzVXc93NLBb9SMStLU5rUkLvT7YjOmVtN1euY9FGoTtys-VBEOau2Egj3gz1DmQxJuDKsFZeth4t2O5SiVogIxnGV1ZxSbPAELGh8hsSXmSBTyQ32ompFusSxANARQmgDuAYr4GcyluMeNUSBoBWerv99Kcu4JtsKbeC13t4SGGbp7xqqYu3tKt4gIyzg1SH_0nK-XV3mP5i2NwtfW4D0PJCn72-nkQxkDL9G5tmgpJObQ_N5wEgn12GVilWF0GT9MP2MmK_bYI9AVR1RB5_rqcInwEsWkvYzVF1Sj3Ba7aPW44Qb0nK5C4yHVi5oD4Qf9r0rQGmraGPqbEVvtffazarQBxfVj8s7SOtWfvrsIGfEhsZoKAsLwQ96gXjnyS9nHYXb1vOvCYkHqXhhxl04xmIwUtIMjJPVxcBT_HipvBjKfOupI3f0RCf99oiRDlQsgnz1HgPQkr0kgzD4vd4K0Xmhpar2TiXkFPDtsDnRQjiVsSprayrsfTBDTQn2u4_YMAPeLowUCIudryD4E8SVsob9sSnz495mdOAV6_dMqkS3e_ZlefXWf9nRhIop96TBVqGhy165D50TafJmUnlnsg-yK-hdW7zxLKmdoiWLz2ZR6n95EJ9EQsSDOzMheFcjCCvRzBBh1Mu49USP_l2CR4EJzJiRmHqTCguEddzYY_6cRPUhu6wMOuITYaQ4V8tcglL73SOvmXIIpZ2f7GAPsjMyuVWHfbcxuRSf5_3-sfaHEdsK1KnuKCRTLrnGWijyQA-Sml3IpUmiE91VRN1Q5HkgqykCU7LuQUvr8Wal62Kq4BnDll2OzqAj4E-1zhjIgrRW62uQAKmVNQjB6CDRAdlnuEI3oJFJpZkuzIzoo72SIr5RZFmrNH2X6D7KznIEbN1n4ak7Ml3rpXiSgdw2Dw062uvjLKHIPoEL8c8aN0VANRy9QLkDmx_keS7l0vG8UndfykTboFSxr-6f9xQhrNX5QINdfIGWkOIq4NwyaDeu_GPVoboQSVTzw0rWDbAcJs7_4UAMm_fPmNO834tw7p6F_X5iZsF_ENY6ivWwuhYUSC5V7uyUiUZZb66w3MfNCpySjFfEBCZm3FQra0MsA3MODQe8KTRXHVhYCSYjiKZ6I9f3tV0qZiW1XmG0iA4TOxaOYG5DR7W9gbiLQLS9lRSDLik0BT-pKNa2zqe675WXjw4DOJ2uEwHS26Ln7MTWsXE3lahJv7fzq_HrZLsm40l8ljxx3bhvLkXNT1QmuLNKzn_zp5LhOn3JJhwhFgMXDdvXHl9LZ1Ct76wuII0VBCyh6l1jLbO9dSqzmIg4gv3EzWptMlZZprQr4dRgg8iYw-mfmg-ZT7biU8NoH2Mk-BHaOfEoDuXZY8pZ5V7uuRSUDgVuOgEsVuKN7xXadkQ5XiV78gOurvUJEIw_mfozX6xCaZvwymKs-etwemhcWVHTLFc1sL2sEG77Umn7JHPbC8Kvl4OaNUOnLnY2cg34g0vRwscfr-GlVGtEcuxssAq_ldXhhxqRYePMt9GWffjwAm-s0sQofVRHIYthg5GkDlT8utFMaLoRCsHhtjJVFDoUZmFdKJoEdg5fCsBcwCaYSOuxDWnuRR2ZktEwHAKX7ttcBdp5U_Lfs_8BeriQktJu-Dfd96u6K1Xj0eeXt_Ts6PpoOmcVndS0VifxUMItuP6CIj1uwqkc-a05r5vlf1KqpJiHrmoGUhLfQogFAZGe7MNpQun4B_Ff0a6HzP3YYCNPdEs3M0AUB5QrGNsCRDenHcuPt8HbiWlbDoxolQouTxU0hDYzuhpIZTXPvX1DMO1ijLEjBLGsvJh-R97ONgsUXHhn9sOpua_2XDz09pE-waBQgmv85bdzd1qP6tG6oI6WUXjqvOXZSFmOIWKulaXp9kmGI2l7DUltTvriGFwx0rqj6oSz7L6tzoCo9KAB63RwQxZWH4s4BMuQ1PU30rlSLzfw9rRSEMWuA6BavfaZbbe_5tOjCCidxlFiLFdJwsICU6-GTg7GKnSksW2ChpkgHzo5Hx6Mlv64k-3lzV_ljYVkKq7q-sFIXmK1joODBE7fPVhBn83J2utPL0fnExOPLebmIOa29_7RZ9vonaWn6iSp6Ni-SQkjuB7A2Q3OLqNMBLvbzU3n54Ful7AkE61Oy5Pl_e47nIcKEsiblIJM__QN6d8YoSBjLgGT60szXruNKrL2E4giQiZqkGakpz_VanLp6HH-3NkcqiHjIp7H-Mu9I",
  "id": "rs_0485aaa1d7e09028016ab452bc7f7887d0a35f9dbcd1567eed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.25,\"right_z\":0.09},\"note\":\"With the jaws open, the pen is clearly inside their span but about 2–3 cm right of the convergence line. The previous low move was reach-limited, so I’ll make a larger diagonal correction at this safer hover to bring the pen onto the centreline before descending again.\"}",
  "call_id": "call_MC6dJY9WIvkT9UAdCTfZ7VYG",
  "id": "fc_0485aaa1d7e09028016ab452c04d1c87d090606888ecdb22e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MC6dJY9WIvkT9UAdCTfZ7VYG",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5091, 1.7157, 0.9138, 0.0555, -0.1787, -0.1299, 0.9961]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3766 right_y=0.2502 right_z=0.0734 right_yaw=0.7239 right_pitch=-0.1717 right_roll=0.0216 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7558, -0.0317, -0.0659, -0.0171, -0.2667, -9.1419, 8.8274, 1.4921, -0.2906, -0.0317, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6985cb1a51c1166e876a4c2e859cfc83c6d8a1924a6a64de07f350982a221c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadf46a00729ec3d53c3b90984ad29fa36629c642fe3340e5f865712c181163a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:357f7576aa6207d18e2e92c0a3e3ee447abff8b85c5a6e9d640038e9b725740c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.166 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8001, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8268, 0.2996, -0.1555, -0.1024, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1775 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9998 right_x=0.377 right_y=0.2645 right_z=0.0528 right_yaw=0.7227 right_pitch=-0.0928 right_roll=0.0115 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.306, 7.2137, 1.6825, -0.0562, -0.0806, -0.0171, -0.4991, -8.5949, 6.147, 1.9512, -0.1197, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5888, 1.7191, 0.8539, 0.1513, -0.1314, -0.0872, 0.9949]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3585 right_y=0.2716 right_z=0.0651 right_yaw=0.7395 right_pitch=-0.1464 right_roll=0.0168 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -1.2923, 7.0769, 1.746, -0.0269, -0.0611, -0.0122, 0.4991, -10.8513, 8.6222, 1.6484, 0.0904, 0.0562, -0.1343]\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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5091, 1.7157, 0.9138, 0.0555, -0.1787, -0.1299, 0.9961]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3766 right_y=0.2502 right_z=0.0734 right_yaw=0.7239 right_pitch=-0.1717 right_roll=0.0216 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7558, -0.0317, -0.0659, -0.0171, -0.2667, -9.1419, 8.8274, 1.4921, -0.2906, -0.0317, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6985cb1a51c1166e876a4c2e859cfc83c6d8a1924a6a64de07f350982a221c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadf46a00729ec3d53c3b90984ad29fa36629c642fe3340e5f865712c181163a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:357f7576aa6207d18e2e92c0a3e3ee447abff8b85c5a6e9d640038e9b725740c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLEXnxjA9rMO6z7mtY_zvmjNLkovTtjyqjGKF0N0WGOKGiSBj7x0HaPwOtlCn34mSFdJz8t9tyF3fkhk57k22s5B8iiJ6IXso-utMjh-R7tQQxHlEU36ZIAAeGNEG1WRJDISBO4aE1DSs2JVkrVHQ5qKunZ1LBKctatN3Q0y1iO8Oo1wk9Ia8Ebt6jXceW3yY3AqNRopFukrzfyIPv_Tz3GEc_c7JXVU9IRyiff7h2ejZzcwQGSoNizEY-VtEj0LNsjDHIP0jr2jgOhhOs62esk1lPQC7oixH6bzj_YMjVncfJju2S3NAr3CH2KDU2SFNdJS8S2PC8pc-a79hseI-l3v6Uis4ctf65L72j2s56lF9pxC2-jALEMf6FxNDc-t-GUPiipJrG1_NAucuRcIT9MtPrCiLOXsQy90XOz00ye4lkLL-bBjUPrk_1kQLY8NNsFnnUHyJpBwxIwawLwTFKHbXTbiXWw7HeiSkRaAA93fR-0RU4OwtvOdmUcrxiuOv4NQ6H2-8HsXf5gyRTIwuFCBW4GoaTH-6LHezaUmv4IowBhWK2Wdm52ZPo8-kyOC4U3Y9D90yQKtdNpuznbOynVJDqTnURQSU060ieM2SLvm3Xqu2ein5vToAsVuAnjYSCdH8JiX-hkY4U2NxrlNXPnr8DZTj3iTZFHoIifINvqoNiFx_PPfgKLoraHAlKPUMMbNqz9paR-ersOdUyJvPDlCAznQl6Tz10rvYc107n_svEIvFCPt0fCihPyE1bwudou1OtyPm9aMs387ZE_L28Urho9y90Dh9_hw8GalLT782pTd0hZKzB7e3fTcYEEIk5RyTGkF8QEwVL5s-3ZZCnbmwHuGp3Ezs6wQyMKPhjJqY3qlgGCtqKC558BAL-r6PLRn8Rnnsy71HGBXzIwc-j7iCHu0XGkSg_2ksQj6nfAlhAdZNQg0XEDIZLkkV_yuvkzSNWR2wjtEvQ0J9iNko84JQ0aPjSYTvEzhRGe3BZti8M_TuQonA9T9Wkh1qrID99BfQ5FagE5bIDU_rDV5DCTUjVg09izQhvztbAiqBYerqzqcnjQbYx25llDYLbyn2vmGYcPG7yGZL4KYloDTHsUF52HU82MKyI986-5BNPlgSw6OPZBAvSaZxVMz58neh49cYMhtdp2-tA7PNWDvmEn44bPjJfVe01-Jv79-NQAOPXT1kBHc6bN8CpsQspy5YVjnDetD9fzgU2NOmMlLMK1wRgysN1Dk1-i0xuks8vBLuQHSrNHdYX_Sr-hn2U_fc_ID5UNkD-fR4Q0KXlkJgYSJfyEsWLoQGGq8-qxw0RJiTsuZcEKe8gnH5hQgPkvv9RJ9CaFUiB0b2CqoZuX2IgFvt3PQPDUbWSGALfxlG9xXofGMoZZvc6HUM9T0e3JyE2y8C1WJQjZjf2sYqDrXVB47288Y5a3p6u0GcmHgNuMqn1rrRtpuhYrdIXOQMdQh9g7sZbEZw7dNib1NtRRbGO7VjgTVFpyUwHNcEH_56FlZ1xjQT6cUhnJu16NZ8Rel-AH3ZT8Xy6bA4WkgkMj_56Qc0BjeA159vTgkgULyB1yVIanXc0zg0UgQX-gWhLXqP-w",
  "id": "rs_0485aaa1d7e09028016ab452c2ebac87d09828ee32a4818bfc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.232,\"right_z\":0.09},\"note\":\"That correction moved the pen left toward the jaw centreline as intended; it is now only about a centimetre off. I’ll repeat a smaller correction in the same direction, staying at the hover height.\"}",
  "call_id": "call_DyroMmFtZi0OL0BKL10wPtUJ",
  "id": "fc_0485aaa1d7e09028016ab452c3ce1887d09c02e2bfaebb1405",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DyroMmFtZi0OL0BKL10wPtUJ",
  "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]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.4622, 1.7214, 0.9588, -0.009, -0.2199, -0.1642, 0.9957]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9997 right_x=0.3859 right_y=0.2393 right_z=0.0782 right_yaw=0.7315 right_pitch=-0.1886 right_roll=0.03 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.2923, 7.2, 1.746, -0.0366, -0.0464, -0.0171, -1.6068, -7.6239, 8.8821, 1.6484, -0.188, -0.0659, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c998d4fc8a872d3fd89072e620f849c809ee9f260f49ea8f5adabbf31a6c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4195c3939ce44fc8b3cf10b176b0249cd9a1ecb2ce099707583d26f08b10cd64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc531400f360078fbbdb220c8656f89516739562273118962613aa9efd7296d6",
      "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 8 attempt 0 · /responses · status 200 · 1.826 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5446, 1.7889, 0.8265, 0.2951, -0.1551, -0.1089, 0.0079]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3763 right_y=0.264 right_z=0.0517 right_yaw=0.726 right_pitch=-0.0977 right_roll=0.007 right_gripper=0.0079\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.6972, -0.0269, -0.0806, -0.0122, -0.1573, -8.4034, 5.6957, 1.7021, -0.0513, 0.0513, 0.569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5091, 1.7157, 0.9138, 0.0555, -0.1787, -0.1299, 0.9961]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3766 right_y=0.2502 right_z=0.0734 right_yaw=0.7239 right_pitch=-0.1717 right_roll=0.0216 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7558, -0.0317, -0.0659, -0.0171, -0.2667, -9.1419, 8.8274, 1.4921, -0.2906, -0.0317, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.4622, 1.7214, 0.9588, -0.009, -0.2199, -0.1642, 0.9957]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9997 right_x=0.3859 right_y=0.2393 right_z=0.0782 right_yaw=0.7315 right_pitch=-0.1886 right_roll=0.03 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.2923, 7.2, 1.746, -0.0366, -0.0464, -0.0171, -1.6068, -7.6239, 8.8821, 1.6484, -0.188, -0.0659, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c998d4fc8a872d3fd89072e620f849c809ee9f260f49ea8f5adabbf31a6c26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4195c3939ce44fc8b3cf10b176b0249cd9a1ecb2ce099707583d26f08b10cd64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc531400f360078fbbdb220c8656f89516739562273118962613aa9efd7296d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLG2YNeRvqtCpy0xBsN1bTa6XUEVqbaq9E7Mxtof8hogyRydeZOnBAl_1nyHMjvEW4jBywji14ply5AK-0ATkG7mRGut09BfQbt_8bD7O34IpK52PFZCMi8Td8qk88fQGw5ZYp27HgeUG0Cys2kVN8N_EMovYZBzwV6V2aGgLDK-_KKAjM8hNMwb3YAFxy-5Gdexyb_wm5O1ZkXsnKf0cn0sSnfKCvZMxPJ1GW2qweIMg2Oa9Si1Kg8ANU6rDgYxX1ekFiLqRxuB6TjxvDe_8bCFhTEpRvu2KAETgmTi5dS24932JXiozBNx48AF4bkjEJBX-8huM8xbv_KhSxB41K2YTRCQ6_MJUxd0A5Stiu4mXnQQwC49TAoV9jTbRO0jHyNz85vPZIdMqRU0CsbmBPjS9yuj12iqGWRVNOi0YH6OQt5jriC7bpkpuFhk3bRhN4n4gJjBaW3Oh5eOnuKAIECgpIsX-XXzuGp911NQeyYq09j_26p2T6sZUwYNwOrxmvocL_oLoOFlJhFTnxPMwIQiAX0iUstZCfU8QtDbWPbac9apmDRmTp68D96nSq3qjhaz0Pxmvc2G8EVRr2cxmBvnK2LdXGA8mgWyPiFXQRTtd8voPy8t1OhT40l90FJlOUWmatImTonez_bfmroHWmmU9AdY6xHYNuNTCcy4s3QcCF_6l-ytjb-wYvn5FHcJBWb8y36TxYHySQ_6MkO2zkdrfZH543fC1SVZ64s9bC3NboAR8VvhLlXq_gP45arU6yex6RVgEBCnRgXX4oA21nxjNSfcX4pAok7d-AMc8qv1hGPUxlWXTjDMzPP9TcPKCwn6-hjNl3BUFliwErvbTWtmtKoIlwcDkIyFcmbUUzWdp9aaiXSRO19M3vSBQiXf2nbkCBQUfrW_nFjghNk2qTzefJ4huCB1AOlapjCLg8qAXuibZiKCmvpc5ISSlWx-C9CfhhYwYaVgB4skBj-uOqbfGrlSOGlgnyYQq9aA_BXNbMyMT-6L8_7m0Ajti_2qrjAmT4C94R2CTfvwLHu5C32sPrNsxnQ_mZNy0k3q3YA0y_d1xuqly1hNmOEDWL3Gb2cr7QYGvwt_dfSO2ZclDbjcU6J13osBOGJaOW4TZAr4xdZotDQSu7_P3VUWzMxiEwunCtypn3w6xTIoNC7nkwkxo07eFWrPNqcBd2Di38j5YMJt4Q57qBEiZOVCHnSgJSXP-blp4nYbsHhHK-48K6M_yu42NY5ixNrS3PAckzAbxOwGytZsJzSNAP15Ke5w8Y2-XyqpYzNMUZpErsVFlPkMWcRFIwX73Icn0WEuzaFSg6BYkVhKyNmQBODFH1EyDRRDaKuj7lyyR0ShkEp9Ta0EJtSi15B0mUrYgqpcvAePp_8nA-xs_1myCswgFQmjCtJg59asd7n8EnviY6q8IBjvzoEYobwyZcLNFZ4uab6Qhc=",
  "id": "rs_0485aaa1d7e09028016ab452c5b23887d09d22410a0cf4888b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.01},\"note\":\"The pen is now aligned almost exactly with the jaw convergence column. I’ll descend vertically to fingertip/table contact while preserving this lateral alignment.\"}",
  "call_id": "call_TLdAqff3ueohO3mbJ49xaQaE",
  "id": "fc_0485aaa1d7e09028016ab452c6390c87d0b5c359ddebd89e07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TLdAqff3ueohO3mbJ49xaQaE",
  "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]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4644, 1.9217, 0.8444, 0.313, -0.2203, -0.1738, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3877 right_y=0.2414 right_z=0.0049 right_yaw=0.7389 right_pitch=-0.1814 right_roll=0.0211 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6342, 7.0496, 1.6972, -0.0757, -0.0659, -0.0073, -0.294, -6.2974, 3.6444, 1.072, -0.1538, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378bd78acafc8118bf2066db68d0152a8637a47f6fcd47926e15f31a8da2ae8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b020e0b73714681f060a6c6e617effe9a8320e5c1ef9fa758a7f57bf531b2a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8a2c324ecd3cdd95e0a6bd8c9cc2ac3bc803f6402f3706b035939b3958e660",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.448 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5888, 1.7191, 0.8539, 0.1513, -0.1314, -0.0872, 0.9949]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3585 right_y=0.2716 right_z=0.0651 right_yaw=0.7395 right_pitch=-0.1464 right_roll=0.0168 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -1.2923, 7.0769, 1.746, -0.0269, -0.0611, -0.0122, 0.4991, -10.8513, 8.6222, 1.6484, 0.0904, 0.0562, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.4622, 1.7214, 0.9588, -0.009, -0.2199, -0.1642, 0.9957]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9997 right_x=0.3859 right_y=0.2393 right_z=0.0782 right_yaw=0.7315 right_pitch=-0.1886 right_roll=0.03 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.2923, 7.2, 1.746, -0.0366, -0.0464, -0.0171, -1.6068, -7.6239, 8.8821, 1.6484, -0.188, -0.0659, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4644, 1.9217, 0.8444, 0.313, -0.2203, -0.1738, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3877 right_y=0.2414 right_z=0.0049 right_yaw=0.7389 right_pitch=-0.1814 right_roll=0.0211 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6342, 7.0496, 1.6972, -0.0757, -0.0659, -0.0073, -0.294, -6.2974, 3.6444, 1.072, -0.1538, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378bd78acafc8118bf2066db68d0152a8637a47f6fcd47926e15f31a8da2ae8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b020e0b73714681f060a6c6e617effe9a8320e5c1ef9fa758a7f57bf531b2a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8a2c324ecd3cdd95e0a6bd8c9cc2ac3bc803f6402f3706b035939b3958e660",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLJi3hW0i3SqmKnyMJBjSdykhXB89Qvp4eVcoikJXlgTHKqRZCMJ3-cXgYEHHAM1byardbaQacBgMbDByeenYyf75bM5dqEULk7ITI6y_k6ktxTxzZfc1q7HH_NZwNAFTY_-EmntbfyYoOlCAg1qA7Pt6Jh10E4KhZrwm8Z9d2crydpvua2EexhlJNtREkStyCaHFMjC2J6yvPGZptui6UDQAEo4-TjrI_btAJ7vqGwTwvag_JogI9n6g3rtU0xXsKlVEIx-WnwM7cviGrUPi8zGGAn_Lq7ipv4yycV9lklpFHGu5DDX8YEwdWLE3MvwB7Eqi29FjJ0U6ch73f4is1RcoFQ4AqMLmj2qN9fjpVVUZOuH78EYRqf4OSF_zQmZj7YUXm4sxM5tr-9G5H6y8VuEv5xmKTXgBFO-gHxw95AaxaVNI0AEHz1bj9mr1VpOljK2_CDVCPqdw1oTs7kzzxo_jbxm1qh8WkticzVRCuzkZb0SChy421unb-eZziUi3DW4ASNUE2SfKB-94ugYyjsPhb5iwqnEzXgzn--vhXQtY-EF2uJF_Xuq9Lx5pdsj40rc-MMzkhApZtPKXRJUUJqJ_S3iSBsjWJGxqMFVV6ZIOm9vQPEC3FngOcU7tBJFbq1sI0fnhMt_MLe9Rl6Vz2Alxfa8dwYt1lYIV233RnRijhrUiQEQaKe3A42Uqp0JngsFDtavX_sIOqy9O3OBeuaxHSxADKvvShvnMq05Ey2stOaolEyr3GIk9_hH4j3kbMGGdRAxnFANW-wVM6EEczMIjwUIsV9yj2J52CvZM9D16n26Mow-ETBQDdNv2meO3wmjs3NaNeaxJJQzy3oL-pYBB6vx2_0n4J8stzqkQJjYV8tQFZmgxzB6cbk2uu-k8AhHmGxPfrsSjXk9HzmXG3xKNyrgTDoAMzWN7vTdS9IKJ_PfPdo2HyR-r9YRHHz-q5gXHQveJd-bUyAu4H2y5Z_RXEQ5DVQ55eS6fkm6EwWnrE3nJ1qJznJP0NbOFz_NP-277pMcCEh-IgvZYAFEyFajL2zZz7taWAzO6VDC78egusUMQWyqq8FNFHkvKbsbxo18v4UuFWP4g6YcA4hw5f4iFPYkLQso0IN88I6J_mz_U2UTd3SrWrM6F14k5LoYEYT_to91D6bwbJ5QMAEO2i6YLqMOVbYJssB5Fs94qAhW8Nx5WJKioijmLPhabTd4f7S",
  "id": "rs_0485aaa1d7e09028016ab452c86bc087d0962334cbd1ce8dab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table level the pen is centered directly between the fingertips in the wrist view. I’ll close the jaws for the second grasp attempt.\"}",
  "call_id": "call_7xoCY2VbhiFGQ12Ys1BJVlZp",
  "id": "fc_0485aaa1d7e09028016ab452c88da487d0b73ecf2fc3c2d1e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7xoCY2VbhiFGQ12Ys1BJVlZp",
  "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]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4644, 1.935, 0.8391, 0.3492, -0.2214, -0.1799, 0.0414]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9997 right_x=0.39 right_y=0.2428 right_z=0.0037 right_yaw=0.7424 right_pitch=-0.1642 right_roll=0.0124 right_gripper=0.0414\nstate[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6923, -0.0464, -0.0513, -0.0171, -0.0342, -10.0855, 6.065, 1.2088, -0.1001, 0.105, 1.4579]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87da63e53164b73b722b6889eb723b08ac1359d8636137d5a290b88a76c4ae85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc848e269f19289bb4722344841c8097c9d02f71529ede9bc3ab8d43dd8fe99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5d268c289d227c576a0d0ae1a279486fd0506c3fec180657bb5cc29388e69f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 6.372 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.5091, 1.7157, 0.9138, 0.0555, -0.1787, -0.1299, 0.9961]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1774 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.3766 right_y=0.2502 right_z=0.0734 right_yaw=0.7239 right_pitch=-0.1717 right_roll=0.0216 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.2923, 7.0906, 1.7558, -0.0317, -0.0659, -0.0171, -0.2667, -9.1419, 8.8274, 1.4921, -0.2906, -0.0317, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4644, 1.9217, 0.8444, 0.313, -0.2203, -0.1738, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3877 right_y=0.2414 right_z=0.0049 right_yaw=0.7389 right_pitch=-0.1814 right_roll=0.0211 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6342, 7.0496, 1.6972, -0.0757, -0.0659, -0.0073, -0.294, -6.2974, 3.6444, 1.072, -0.1538, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4644, 1.935, 0.8391, 0.3492, -0.2214, -0.1799, 0.0414]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9997 right_x=0.39 right_y=0.2428 right_z=0.0037 right_yaw=0.7424 right_pitch=-0.1642 right_roll=0.0124 right_gripper=0.0414\nstate[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6923, -0.0464, -0.0513, -0.0171, -0.0342, -10.0855, 6.065, 1.2088, -0.1001, 0.105, 1.4579]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87da63e53164b73b722b6889eb723b08ac1359d8636137d5a290b88a76c4ae85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc848e269f19289bb4722344841c8097c9d02f71529ede9bc3ab8d43dd8fe99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5d268c289d227c576a0d0ae1a279486fd0506c3fec180657bb5cc29388e69f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLMG9pkrbOoNcRKHaGO71b0JNdKYjmouW0nMz-s_2VhDihlcXpXL9ciQ6yztlxpkCsQXx8m-tFDHNjB5v2z3nUV0Pn7x3VsWiwu7jwVnKgFd7rmJFiSUwQLgmeDgOWlMbXEBjjPqFJSpc3_kvfjzYGl4aqr-6zLwFFg137BFM6yg0LbGiJgRJlVhbQGFmLpoGNhD5D3sm5P-v8yOjLJaOFNDyAU0pnELY6W61Fuk82NzsYVXz0fA2vasT3xj2wtxhYSc-W5lq_8O_puCpCebrhB31MjtbUwqmvUtOLG3vT-o_evB6Hh_GG_q7SN7ATHXTpTZtLcO1xmJuXQM-GVZqfoe-DpOCMS9o0Vn6EpPupLSr8I5q_WutrdpZjFHdBuDZRrsDkXXgAInDVoZxo2-v5cjToO1KqqgswuMrAPiEFXcOcX76kiTjKIuO_96vzwymZnK6yt2NvMQJyx--IRzpjlHhPVMeFqLgURwpUNJSHYM3mtJkY_9m01UiscGo_ya1Ydo93SO8VVWSG66FyvEOW4LD3TC1Ees3212aP2l09qUosgjWr_PeW4Hlxx6mpuqzcQvnBvhVd4rnGjmLyuJgCTGWQTqjG9JdT9IOp7AbkjwDKdve0DhVxzcRi0bmTJ6NtgmcJQrimkoWUwhB1bB0nPMoG6NMGg_rihWBzCuRRweHYJ6sDOlZdtIOZSeGNDMbXtp1llh5FDEsjOaWllJb_m5MFpP7ZnOC3x3WGyVXVgowBKnKMHX_lOqyy3oM4YdptQ4xGS-8xTvJDnK74uvMhlySV2VBktBmu183dA7ZjjfESzGxoZHqsYQGWIwfbw7MX21o1U4eik4cYgu1JlFTzKAn55qRmN6K10aCvD57UdYklQ2zcDfBx3v4SQim3OlpvZrq_tIJDzXHkLiPY8JBUj_s6VEwVFjNBrPeUwKC5mx1_eBpKlSdLKlgCf5VcDkaSk9Kt0i0XrZHewBq0K4cbTXol360mSI64HcHBiL6VaEPlGGMRNmt2l9bTuLBU6CoU3WUsDt3FQVmfRI-ie3HXEudML0oNDCRa9db3Q0q4ewoijDpB154mDAn0zfdca-0VlaDcMUnmzdqiJlLpC9GMFhgoDbvmG70srgK2Ga_M54qJApqa1t1BF7LxPHonIpW75s-VTlMzS7AlodAnkM8W4UhfF_9pDmiwrBWiakupMP4VyeKRFJAKoJ6j8Etkqv8fBzEgXkXKehzTK1sBuVc7LtRqMn6B06J1ONjvY3XCUPUA0g_DAMq5ZUygihnlv7jyTHicvN7Ra4Es_bYa1oyhbJg8XXJ3m3xF841VM6Ogh9YDrgDVXcFwNEAU7TQNAi6lv",
  "id": "rs_0485aaa1d7e09028016ab452cb775c87d0bb3c2dc41af7a045",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper settled at 0.041, just above the empty threshold and consistent with the thin pen diameter. I’ll lift it well clear of the table and confirm that the pen moved in the overhead view.\"}",
  "call_id": "call_pTj4ufQk4td3k2nXNI4CtyVZ",
  "id": "fc_0485aaa1d7e09028016ab452cbcdd887d082240c7360526aa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pTj4ufQk4td3k2nXNI4CtyVZ",
  "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]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4652, 1.7042, 1.0142, -0.078, -0.2218, -0.1852, 0.0428]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3891 right_y=0.2428 right_z=0.0957 right_yaw=0.7474 right_pitch=-0.1845 right_roll=0.0147 right_gripper=0.0428\nstate[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.6972, -0.0317, -0.0855, -0.0073, -0.2803, -10.9607, 8.9915, 1.5507, -0.1001, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ddab6e995bc33ba57e6d3ab4e13f5158d3315465731ad01921de22627cf0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3be0fd4e7db9d3f235792db03c37a1d22768a117429de0f350f28a57067162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31977861a318adda59cbab3972d42b25347441046e7edf6f7b6038e6d17070d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.223 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8005, 0.6029, -0.3813, -0.0216, -0.0254, 0.9997, 0.4622, 1.7214, 0.9588, -0.009, -0.2199, -0.1642, 0.9957]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9997 right_x=0.3859 right_y=0.2393 right_z=0.0782 right_yaw=0.7315 right_pitch=-0.1886 right_roll=0.03 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.2923, 7.2, 1.746, -0.0366, -0.0464, -0.0171, -1.6068, -7.6239, 8.8821, 1.6484, -0.188, -0.0659, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4644, 1.935, 0.8391, 0.3492, -0.2214, -0.1799, 0.0414]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9997 right_x=0.39 right_y=0.2428 right_z=0.0037 right_yaw=0.7424 right_pitch=-0.1642 right_roll=0.0124 right_gripper=0.0414\nstate[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6923, -0.0464, -0.0513, -0.0171, -0.0342, -10.0855, 6.065, 1.2088, -0.1001, 0.105, 1.4579]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4652, 1.7042, 1.0142, -0.078, -0.2218, -0.1852, 0.0428]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3891 right_y=0.2428 right_z=0.0957 right_yaw=0.7474 right_pitch=-0.1845 right_roll=0.0147 right_gripper=0.0428\nstate[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.6972, -0.0317, -0.0855, -0.0073, -0.2803, -10.9607, 8.9915, 1.5507, -0.1001, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ddab6e995bc33ba57e6d3ab4e13f5158d3315465731ad01921de22627cf0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3be0fd4e7db9d3f235792db03c37a1d22768a117429de0f350f28a57067162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31977861a318adda59cbab3972d42b25347441046e7edf6f7b6038e6d17070d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLTrmJnqQakEwGv4DUx606W1M6I2nT_0xmJZKffdZPNTQTtAAgsClB5aHhPUqlkKTyLk0oeM-1qRKWePUDb43aAYMr3pRBpXHFnxhHaE0DBAWkF4NTf_f84LBkLw_huBJaiMDF0Apl3A9IJm1IVOs0cJua7d5Z4gyYAXq6mI0G2DjsdUWCwOWlHOa-Yv8PxY-rODdFttrySdAsOdAswJA7IZIg0o2toVvfe9Kj2ktO2tPTq06ZG5TXIS4GrCx7UxiQW_JbPkprsaCQCV7iOvLD9j1j6-SjdV5GfFyciV6sJGyW36vjAPy9NLtyIHIwPEuunjbcNpfTNZbTKUiC_m_Ci6s6IdXo6N0kTVhIMBcg7VT3Rwi8dFImXkIYxAl6fGkCLemNqDHd_772bAhK46eP6GqUd8cPimA-BsVnVOnEMQPRjwwr1q2Jtchru7qZ-5dfcYAxxM90pxgfYc_mXTqOoaN9xq9Ia2rXogpDEHgot2or9Ol15Z6f-wO78xJf6gkq3wsND2NDybC5NmRCueLH-howNu-OxEjP4qPe-TshVxWuGAg3mPegbDpG2JM-8rc5yBil4jPWwB3rUX-V1ekeoGE6_AILaRsEm5gxozkBDJ7wgGclxt9UpILcB_y4cl1_GcG6Qg_h_wLakmhGod9iurHYZf2s0ULrLTsrBU21SnEtpavrK5HfnPjGprLHO5pKB3LwFNifiAmGFF3ec52-mWaje9HVCpEA--HeRZKgVFTS4wzkq2gqz_Z2tu19rCTscRRmguKObjwX7Xgyyu1lvywa994emYvC3NFH46qGjk8fHIaeTl-snfj5MkqutCS9cgTFfVdnbb3euCChdMhExQ3AgfMkiKkeddI6OExbcCTIfI5Q91v_wkgHZddXlQwSymOKAMPAgQhnLh31BdYIsUuUet2gq6kT53X7Ck8zzJby1JwOt7U-takxwqpokk6QjH2ByTmjjgAHTv9wGVQ63flkAnqo8patVL4OiuggDF6QgtYkuDcshJt31S1aT6xE3Zgy0TrE8eh4uXudl9taBeIMqkWYB18LTDW2MgmAYKfe3Qk6lMwdJgQfnH0sBhquzcJhRBmR1wzCCmaBvz9cOOOr-GfFs1r4uCcrieounCEUGTJ_Lf1PBYSQ3AZp-71-C2PUPnT3mEaricJsKK2A4Y_ahSr44qXIkn2yBMVUpPN8zkVNDLon3OfdwUom4o532tYMbrBIGvOEtH5OrujFRT8CJtb6vWJtaNdA0ejqytRFKlDJ3x3aWRq_Jfr8M4UUo-jFDoKr6ePbIHcXgdbynUWT8HfoGO284Is7BI20lBHLO2J6yoM1nDS5VjXkSdPunaDrIiJqHH_rFH-3-sD6X6ywHzSQ68U-eXxpUCMhhH_RmrA15uFDEc24X74C8umWoUwEr6d3bARtshzxXxGSgaZ-FdXqVsCiX7oaKFtdG-7HcoMWJr-QwiST_kFqi9MbNJU_R0cMIyUGa-_-ALz4I7K-CmTfgZUkpLo6GUCHp3mrX8c0YPzRjaTjwlKHvdlItC9ncO2yJEWU8_noHWcQcdmbJMBLNbCHpJtOESIC_TdiK5nE0b_dZWjJhlcpvPbS2iqIfW8a8hK5BsJnWwXKtLSMVa6TQJ3xVwZEt1hTs6DysVxMETTr1S5tkZpX78F8IJSe6_n3JorYVMw9YqR2wut6r1feJOy1mnsE1RXwcJ0nauQaxFFX5X6zUa8iOPbEKGmnSaW7StfuHKvSwi-s3fNdzkCVfo15nVpDwfJP61SUdiV1IzuOSJJr9liJ1G0YCuLt1pqJE75AByKjalXHSdsd0N1uvi2OccBz-KRVotx7rBgT96EhA3-3m3l05pSqoa-ZwEJqiKsf4wmBa0RFap70QEDuxTZMQW8oo5aWYWa3twyOh_UgBNbZKNIlnGSxfGBtmLtC0XGdqIbBs_DMzdyMKfsRdIoePhSV2IClxMqIXAaik5kvxWpw6u75h2URMS9qKcXhZ0auFAod6Cfm8JRaXKl2sZwMH67QNfIAHuMYc9g7xSHv0DvGC4vOBvCKNqpEnlGxb7hYYK9FHOOMtOIX63Uen-xqXK1SRFIFJqU9lfTiUC4JCrtNgxu0tenOdsguYjvjpHtXLYTKbe5XjGi47wlPIx9YDr_PjgLgIPuf8E6_sKWuKmkZ1D4_os18IetvwVhKbHlFnkh1NnkZRT7fD70SXcnQYvo2dQu5pTZkVRhQc26Pi7H89nduGD2a9IMT88JP1pUdAXdLQN5WUa_w8kpHdQDMQLazZNPLYBiq0YUWE7-Eh4e87OHZ9nG11-dLCdcorDBMpCZNRNKptGq_v6y6qFYpCEYfXknW6aBwAznrUFRN1A-GvOaXz7R_7hDkDd6ONbP1-qBUXZTfzzvfzXS12wdnCAMD9L8e1I1Jblblv-34fkCN-mQNRtYr3mL_3hsxMMEgs37EguJKyK9Zfh3AWI6y6SGnAISdiyx7CO4XSPLwj3jT0R9TbrT1EwxjKg6AY4M9qHTAGqL-nnEn6PLDTe7uR78zPT7eAytpnWa0fY7k2-jSNGcMptR_iCpvFZ_9rxowDFBiUbPZfJHgRrxoYXXaFww0YkQcQPyV0EWlmJ2IpPXH8zF1pYuMZZY-3R4eSsGUE9Yu6lRJj4vDpnu6SjPhTf7tNDeRzIr0cWn6CW9Q93dLV9uS8orG2iXZppwcRlr25gtbqVcrvpNxVevyhY9fRD7TLZhvsiWXkd56N0fKX2GfxZC-6gIho-3oOfWGfjh9-T6uhuVTEKmZ7sygKEW2T6B9VWYMl1K0LsqrJtTppwCNbi-UxENlE9WA_A-dqaIU0Bg1zhnvstsJFZFzCAKd6YS0ceiohLKtYhMU3uka_aLzgrZs9COvGjXdQ8X-Tu2B1vz66TqVxL07YRhrjvRQ9F9hLalDRXBhrXFy1s1Br1tgEB7gV3kufxEfCXYK1-9dr52i1oR9SDnRpsQ3p0vdYxcQBYEswCaa2VPQGQvzcVJoilDDK2zHIf-jp_3f-mNOqPey3jDD4V9wFh-MBQZQoN1thGM2azVEQnUcgZpiq29bifZz6xI3yRyWV2Fm9q7CTevBiJ1uSAvBTXmsTqc7zUFSyXaQ0i759gnm-sCZeX6n1Daswh7K8pcTdI3AYhLQ1DcL55g5lQYcxvcH0ggqMwoGHZocJ1PW_uS2S3nJ515HhfUj_EpkwgwPWAXtMNTjI5lDQERX00CrY3qvOPMezwtB8LBkwDbcYT--nAQfMKs-fx6VNu1JQgJe-j8D_Iiz5YEYqEUkl-LAjjkigdVsI0xCCkEuUEKmPt5YGo4tNwncaH8sDCQbKR9RIq9B61Ewp87u6Y0RvIu89seZ3iwZS5Cksdit6tbDPuLMAEMIez0179BuRjpoC_85zJRet4we_w_0xzHiawS7IP5_nZ6H0jRU_jDOEEZ9qm_sp4afUMRF68Ix_TDYR6zSjFT71hhd9Vx70Idd4oMMfdZuaxmyyYUlEsNVfHiR1nq-38Yph20W9GVroqqlnfHdk7TIbFOzPecOmHF31jx4wlQDMstJW_fA0PdItHuVlyHN0X9XyrbC-f6DMHkn2JcU858qNV4IQ2MPq9xyDtds5ISa8grC3AfK8NmkGWiFpmCSXQNaK2YLJyHAGxcXYR2m19ky06GhrJpn01K3f3w==",
  "id": "rs_0485aaa1d7e09028016ab452ce4d7887d0aef4e5fa11217457",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.32,\"right_z\":0.18},\"note\":\"The lifted gripper remains at a pen-sized opening, but the arm still occludes the original spot in the overhead view. I’ll carry it back and slightly outward to a clear holding pose; this both frees the cap area and verifies that the pen travels with the hand.\"}",
  "call_id": "call_0LDMpDXdZvpasAaqhcTOe6fa",
  "id": "fc_0485aaa1d7e09028016ab452d28a2c87d083e38d6dc100e5d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0LDMpDXdZvpasAaqhcTOe6fa",
  "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]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.8001, 1.5581, 1.1286, -0.3428, -0.009, 0.0074, 0.0473]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0141 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3036 right_y=0.3201 right_z=0.1565 right_yaw=0.7952 right_pitch=-0.212 right_roll=0.0082 right_gripper=0.0473\nstate[joint_eff]: [-0.1026, -1.347, 7.0769, 1.7656, -0.0562, -0.0708, -0.0171, 0.2256, -10.2222, 8.9778, 1.3553, 0.0806, 0.1636, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638b9b18676c5cbb298ab95e446b670dd6d5b4e80a8178a43b2118da72a6f110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556d9835bd432a29baaf799c18d1f3d412e9860e00e9ded0c6e17f66b667461a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b762d6bf83005420de6b47386920e1932eccdb4beced5104deaf0f7edaefb95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.583 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4644, 1.9217, 0.8444, 0.313, -0.2203, -0.1738, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1762 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9998 right_x=0.3877 right_y=0.2414 right_z=0.0049 right_yaw=0.7389 right_pitch=-0.1814 right_roll=0.0211 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6342, 7.0496, 1.6972, -0.0757, -0.0659, -0.0073, -0.294, -6.2974, 3.6444, 1.072, -0.1538, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4652, 1.7042, 1.0142, -0.078, -0.2218, -0.1852, 0.0428]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3891 right_y=0.2428 right_z=0.0957 right_yaw=0.7474 right_pitch=-0.1845 right_roll=0.0147 right_gripper=0.0428\nstate[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.6972, -0.0317, -0.0855, -0.0073, -0.2803, -10.9607, 8.9915, 1.5507, -0.1001, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.8001, 1.5581, 1.1286, -0.3428, -0.009, 0.0074, 0.0473]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0141 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3036 right_y=0.3201 right_z=0.1565 right_yaw=0.7952 right_pitch=-0.212 right_roll=0.0082 right_gripper=0.0473\nstate[joint_eff]: [-0.1026, -1.347, 7.0769, 1.7656, -0.0562, -0.0708, -0.0171, 0.2256, -10.2222, 8.9778, 1.3553, 0.0806, 0.1636, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638b9b18676c5cbb298ab95e446b670dd6d5b4e80a8178a43b2118da72a6f110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556d9835bd432a29baaf799c18d1f3d412e9860e00e9ded0c6e17f66b667461a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b762d6bf83005420de6b47386920e1932eccdb4beced5104deaf0f7edaefb95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLa-tyhtOs0uYKQcho9kgKlpLfm00D89OxfQ3nSweN8zOPkdMjEMHEZgsy4nHwiiui5tbQNw6OGzk3oUTorXpbzIVSy3dHmQdoH9dB9UoIuMuvQmCrWPUdnU9U2n0wITbsv5V2D8l6NQXX6i5z_AU7-t-pzIvh_-ZNMZq66LGhUrYPMilOc6of8amhvL5PMWqJEUOXpnjDbNHg6eQF-fTpWpCJMpdOoxAd5VjdsjZGeVLBYnGAyMVLSFOpWJZHMCtMLx9sa7yopLd6Jn9bQCANCr9RN6d2FxExBu8VEUDDJRYh2v9k0Fmh2hDh2tKu5qAkey3AVjXVlr1kfHIaEGhfGqG1c6eVIMYNItEClAviNG767wz_iwpxLbmXbz5NDrfzKcWBwJgcwwkuAR-M2R2ha-bvDZkC0DvsKlX_FrOi6bdxZWaqGNqRrajjWZr2bhTw7DBLq4O6Bslxp1AlK_dyEYo6iiDMCq0LNnEr96opuTR0xJUbEuronBRIzEhRR5M7kHm9LGg22z-fi-8hvBRqsTF1rApkrtH0t703B-qVmgjdsD-6DMKtq901BmHVGznbDJ3G_D1Y3tlHv52bcRKwi27MfyMn3i069h3jmoum9_G_R3MlxJpzHhY_5pdPm04uXxGJ1JNw8YLUVmC8z_EeeeecTBQIBj-RR-oiAojwdYFOs250XC5TVfTzkJOC_2TkalpdfPN3vkVnr6k9pxtfPZvd1lKr_DH8dDb4aPzbRdwq8TQnc-J4pWqjWZnE4jP0GPUfxalKS3-lgjQx4lnTr-5OdxTpZt12QaoWzZu4AVDabbg9x7O7QlLNZqFi8qHR5VWJve3RVjo4ewrvuHZN2jM88-T4AB69buh-zS9pYE3M4xrBf8YTJKvcjRcvbtY4BQaCHMMAR0mjWqODlFrj_gJxXvqkH1mlN9Wm5HcbHZ4XK5Lq3pI7KP28V2LzZs2Z_upeRVRP2eA4nbq3_QqxVF_-cifva1w7iv2KRblQ3hok1bLfhfFAP8nc76E8Y2-CX4_e1hjQoImEzXu15qq4AZzv3C0PAbsPKzH80k0TnC5YEgCeTMSdhgZqEEa665lk2_1cbS3wBkuICrvU1qFnDmwp5D-i_NOEHDwoqBAg3QXu08W6fdF_q0b4cO3gvkl9zG_t20md0lWPfI9FWFPh_YLHrbEgOj1kPmVToDQtzszChiEfIfILhsBwGiFVb_c9u5V-QkdLGifoSl42qpMeMTP2EwToBIIhtZeU8-5yXyXPAPw8SK1NRcJYed02ZqaoEg6VRWmPWfE7X2fssPHWJOX-0_MSHrGjcjVw5i3OdOg9yXd4P3wqBQApCm-8eYTDUSu71Hg34uYnQlgJmbzBKpard8jYvcGFW782widDG0aMWNTSOthcH-gGKo-NEl1xdKcOhCWl0IWOpP1UPEE25tJ4l1oPS7xR6ppL0UA9-dvJxCgLELB3iD-8MvQglKKNkFTDmkWxkHB1Cvg4WvGboUcFbuumlsAFTGuTeTpBWQ5Y6cTJ9Os-8Ck5FU9EgeGh82Shmp3ALuoSesKQMBlhnZhWjBFK2DcC2SNZ8z1__B6d1batFrG3OR9r-mDmchoeraKbIbatm-TaxmgUIE4U4EJDQkk7ZC_qatvPCCVWc1d_8-9vZ0nmd2PePvoZSYQ2G1AU5aK5f1w3op7Kmf_UItWKCdC9ZUnsZsjIBJDwoLY6jVInM1EeWkfxghqXEjadF2UrPeRR023ebrB-VAH6dmcbpPSA_5-XWzrkRRPb4FtfbKSixJG2HwstEjEvXJtXGOhUzFyZQG2Bb-g2WvK-54jf_pS4u3uavVpCMt8qdENtscN1DA6PXHGn4TxDPx7t0klXG0oyk6sIiHzaHMt5rhuXHr_l5C89MIHgdIi-Bkf1bHC3N1liPv5KSrzmk18u_c2TvDsPC6jj-tcQZXbrDsIHDYn2FXwAIg1CGf3pen9Ewm_k18vA_hmPMt1DadZ_HtEfFo-I8tO4W87VqbovPIIYf2On0e4KIh2A_Y7RLiiyHrpgErF9Z_50PcDEAAZc7-rOUG7Ge4GSwR2TjitXP9QSdybGiaai_ijsXyxDHyucc6MKFLJFG8Nza2gHbXN5DDXCYKv6pkDz91rfNTmKImv-Qal1EqxuBRJTWQaESgVahsVer-rwidXpt-7GhhNWmAlizoimmfEKiLr9aVE4SoHJW2gofBIpmmd91AlC39pMzR42aKFO0FIpuXBRAv6PwxAVePDJ4X-771hHJUSRzqHBc6DogEje0k5x-2fi-1FQWzd6DoQZFApvVf-ijRNFzsATPLB7G4V8FSa9kvumgpmhhXtySoXD_Ofr1RUX8j-HOSCiTRmqns5JXj8vk-220oeO_TmAHmaFUPXS_Pb3Xwp9U17J8BdOLIrvQ5k7LHxaXv27h8XzAVWCOoTzvOO7whRUg-eR3OuWAqgDakKlLR886K99IWKd26NFcZXzKoLbM7m8UiCrZ0vZ6tSbWCEyFK2X8wA_7NhfEkL3AEzLHJSC72Vu-QdDEyLIN0KOGY6MlyHrFxsBfHKWR1-Ia5A0dstXtPvur2DQrPr15_dvS90O5RV26HZqsOYaHpDW4e4B6ZYQZr_b1M6tXGn7VSeee52CHwkzt6DnEBBmI3SsBdsMXCwjKGCXbcCOCNaB-6cQB2qCEvAsmk_6pCBGPL6DpViey0cDyozDcloZfnwC2d8sGk7EqtmGt3dXtrkPHVSG8MmpJQ9xanq8wazC7cE1jdAZ5Jmbm6g1hGEcTR5F2179LdiI24QlDHwiw0ktrmi8=",
  "id": "rs_0485aaa1d7e09028016ab452d5afa487d0aa35917b526e912d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.1,\"right_z\":0.2},\"note\":\"The pen tip remains fixed relative to the right gripper as it moves, confirming a successful grasp. I’ll park the loaded right arm farther to its own outside so the projecting pen cannot interfere while the left arm picks up the cap.\"}",
  "call_id": "call_fA7LI1JJnGb0UVSwGmlusq0F",
  "id": "fc_0485aaa1d7e09028016ab452d8f24487d0b718ac41031c9757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fA7LI1JJnGb0UVSwGmlusq0F",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3817, -0.0219, -0.025, 0.9997, 0.0513, 1.0016, 0.9066, -0.8383, -0.4702, -0.5209, 0.0473]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9997 right_x=0.2581 right_y=0.097 right_z=0.1881 right_yaw=0.7339 right_pitch=-0.2385 right_roll=0.0162 right_gripper=0.0473\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7167, -0.022, 0.0024, -0.0171, -0.1162, -3.2068, 8.9504, 1.409, -0.4615, -0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a65db6da4582b84eb5f0f873d66136b17bbcace14e8c2c5a87ed80d3ff3efb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35351cac2073a1a44855fea4c65b500d78ccf6a779409f2cac03df969de68edb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bdf26d55186f8d3bf8dde68d86b203c2a000e280e4c559be8d5f62ee1a93af",
      "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 · 3.797 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9997, 0.4644, 1.935, 0.8391, 0.3492, -0.2214, -0.1799, 0.0414]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9997 right_x=0.39 right_y=0.2428 right_z=0.0037 right_yaw=0.7424 right_pitch=-0.1642 right_roll=0.0124 right_gripper=0.0414\nstate[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6923, -0.0464, -0.0513, -0.0171, -0.0342, -10.0855, 6.065, 1.2088, -0.1001, 0.105, 1.4579]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.8001, 1.5581, 1.1286, -0.3428, -0.009, 0.0074, 0.0473]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0141 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3036 right_y=0.3201 right_z=0.1565 right_yaw=0.7952 right_pitch=-0.212 right_roll=0.0082 right_gripper=0.0473\nstate[joint_eff]: [-0.1026, -1.347, 7.0769, 1.7656, -0.0562, -0.0708, -0.0171, 0.2256, -10.2222, 8.9778, 1.3553, 0.0806, 0.1636, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3817, -0.0219, -0.025, 0.9997, 0.0513, 1.0016, 0.9066, -0.8383, -0.4702, -0.5209, 0.0473]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9997 right_x=0.2581 right_y=0.097 right_z=0.1881 right_yaw=0.7339 right_pitch=-0.2385 right_roll=0.0162 right_gripper=0.0473\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7167, -0.022, 0.0024, -0.0171, -0.1162, -3.2068, 8.9504, 1.409, -0.4615, -0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a65db6da4582b84eb5f0f873d66136b17bbcace14e8c2c5a87ed80d3ff3efb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35351cac2073a1a44855fea4c65b500d78ccf6a779409f2cac03df969de68edb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bdf26d55186f8d3bf8dde68d86b203c2a000e280e4c559be8d5f62ee1a93af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLeJ5Ovl0qZy2cUemZiMHm7FbhEvNrR0ME3WFZ8rVXLCxEF2sHsmwdEeEZq16pByjBb5484bJX8egv-vx8kjh0mouZ3CyOVfR9wn-NhxTMgVAkko19TN2IBjdfJTvHcQMVfq6yF_INV3U_Wg5djSv-GqnJxtRjv77v_EiEd2zRkz2Ka_jUpNJEVgvWWcj9lRbOQSi23MPlPyvD7V1LcCzTWpCO-iI_TFO9rrdbW2iDcjedhACk5kgm3vL3DUTNJ8l2ouFK2ukKs7Sl6ByUfSXVNyJdywOhdbqN2Pi8Fn4vd3cwIKJRk1DrjKR5YLpcGan3qZ2gDy30tDG9xZBNN4bmb2yQ0d9wmQQQCgzs56NABIbuf00jHCSsn5Jzqf_fsg8GGIPrRDIEo25i8e84-gSZdY0mgAnXr2LZB4HaPRbwGpEMfvGVDfbw8ZofbWwPen11Eep3gBmwRY6n_pdbHqyPLf9f4jmQKZ46tS7goQhX5v5o6P_uuUCU9SwKH7j8wcQ3-k0RqETNen_D0PgIzncLFUf0kShtezROQBD5OMWA9naxQkCp9qDctUy-C03o784Q9iv640afimst1fKYgsm7iwWUMGwlvax_DNHE1W4pOtUULss11ZfLCXIML13RbepM_21P7LqYdCYUxXrOgsRMLJQcXC2iQh1PNW351-PzcF6X5WLqvQofTSeq3rnj9ax_oksub-LtOkZdmesW8Z0iPpURpMKp0dns41OIXmEjT74cqmsmzv7ZNyZjM3E5pXymJw62tURAhBlL9LTyXSJbneeJwAoIkdDITjSr5wfUc51iDtSe5SU5XjvmRDM7YXGI7k9YXy3QOqNGzxQX2fVeeLHxkrlzQBnb_xQTgyTXQ6rhA3FF3Zrg_hM7zGsSrx3kUbQ8vL7mGJsF_1I3CqE7afqFZL-KTEkudoz_oZ92DTdvcirMnzFSSDOM0czHAUkbuVQoyi2JmNgP1uFv-M7ccs61u09Q9EaX3gMYu2RnetGslHV6RaHvTDs2AeXrYy20dnx22A77PE38LFGmyKyPlydnBp2wuZf_Uot9BEe5AZsZlzISZuoWg1kDnUsSj0x9-gU1njLmgWzlz9Y1eW-vz_473aRDEcp0EJ8uaqVAHw4dHestoDtkYUm4x46NP2_YrVrjiREagq2YKcFsEaIsTAhncDes-sGA5jrgr2A6aceAjrePzUa8ANi3N8GpDx3tP8LX0gZkIqEOYRuWMTAGup9kHXfNynz56ZnQDUkyy5SEGq90W0sUunuU-mHwsPhI35ScAdqqE-edOHkNKXhd1YovM-TytQGdDH0-sNLXSEFk6XRSOB7kWwhZgVO6trG9OkglrvyujQGswLLsWIVTwX0IgKhr4bWQwgx6akW8vb-QwCHuorJVqjnMAQHilDxGybkhe1d2a8jIJVtckGYYdGlsmyaGWsUzil1RNAnVO4FfdA0xwkSuNaz2iwxue6N1FUmQQiX_fBRC8j9a4EWk40anajLsRKdXCDt4CNwhQk16VkaUqGJmYxMPOx4w-SSl1",
  "id": "rs_0485aaa1d7e09028016ab452dd6d7487d0b21e34aa5e38b9ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.15,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The pen is safely parked at the far right, and the cap is unobstructed near the centre-left, angled up-right/down-left. I’ll bring the left gripper over it with the jaws rotated perpendicular to the cap’s long axis.\"}",
  "call_id": "call_jR85OQNDNochIPwLv4vBkl1F",
  "id": "fc_0485aaa1d7e09028016ab452de05f887d0a48cdad52fa9433c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jR85OQNDNochIPwLv4vBkl1F",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3382, 1.4155, 0.7956, -0.0872, 0.2848, 0.1761, 0.9998, 0.0483, 1.0069, 0.9062, -0.857, -0.4713, -0.5308, 0.0473]\nstate[eef_state]: left_x=0.358 left_y=-0.1747 left_z=0.1238 left_yaw=-0.6845 left_pitch=-0.1027 left_roll=-0.0389 left_gripper=0.9998 right_x=0.2552 right_y=0.0962 right_z=0.1843 right_yaw=0.7411 right_pitch=-0.2566 right_roll=0.0259 right_gripper=0.0473\nstate[joint_eff]: [-0.4718, -5.9145, 10.0034, 2.0244, 0.3199, 0.1587, -0.0366, 0.1983, -2.4684, 6.6256, 1.4921, -0.2662, 0.0513, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41882bb6fca8739a4c97059f936f0cb3b86b8d21acf418a96bb1a1ebb2894949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd0d832f5b9da738d9bb73a56d9bb5b7b9a8a1b9034a48d484f1fcab18ac86b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84559a028b65c30dd11e69e29f0ad9583e55a6fa3ef30855360d9c36ce23c183",
      "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 14 attempt 0 · /responses · status 200 · 3.308 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.4652, 1.7042, 1.0142, -0.078, -0.2218, -0.1852, 0.0428]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3891 right_y=0.2428 right_z=0.0957 right_yaw=0.7474 right_pitch=-0.1845 right_roll=0.0147 right_gripper=0.0428\nstate[joint_eff]: [-0.3624, -1.3333, 7.0359, 1.6972, -0.0317, -0.0855, -0.0073, -0.2803, -10.9607, 8.9915, 1.5507, -0.1001, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3817, -0.0219, -0.025, 0.9997, 0.0513, 1.0016, 0.9066, -0.8383, -0.4702, -0.5209, 0.0473]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9997 right_x=0.2581 right_y=0.097 right_z=0.1881 right_yaw=0.7339 right_pitch=-0.2385 right_roll=0.0162 right_gripper=0.0473\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7167, -0.022, 0.0024, -0.0171, -0.1162, -3.2068, 8.9504, 1.409, -0.4615, -0.105, 1.033]",
      "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]: [-0.3382, 1.4155, 0.7956, -0.0872, 0.2848, 0.1761, 0.9998, 0.0483, 1.0069, 0.9062, -0.857, -0.4713, -0.5308, 0.0473]\nstate[eef_state]: left_x=0.358 left_y=-0.1747 left_z=0.1238 left_yaw=-0.6845 left_pitch=-0.1027 left_roll=-0.0389 left_gripper=0.9998 right_x=0.2552 right_y=0.0962 right_z=0.1843 right_yaw=0.7411 right_pitch=-0.2566 right_roll=0.0259 right_gripper=0.0473\nstate[joint_eff]: [-0.4718, -5.9145, 10.0034, 2.0244, 0.3199, 0.1587, -0.0366, 0.1983, -2.4684, 6.6256, 1.4921, -0.2662, 0.0513, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41882bb6fca8739a4c97059f936f0cb3b86b8d21acf418a96bb1a1ebb2894949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd0d832f5b9da738d9bb73a56d9bb5b7b9a8a1b9034a48d484f1fcab18ac86b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84559a028b65c30dd11e69e29f0ad9583e55a6fa3ef30855360d9c36ce23c183",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLkMQxZISvNawq3nIR7FFdCmV4Mr8CyNB7qHW4NqJJfDokq5EzE7u0iKrPu0yyOIUK8nDmwZ9plY3h-MU4MTrUNEW6mx-WqFQ2ya_l7KDjn6VnzwZatHnR8LOVe2kYUCdKZLC5oD7irw8u8ek9UwOljEl1eCh5-C1_XAxZXaLR2WPLke5WTfnK6GYbEeNjffoZI62V3mr0tW2ST-DhOZZrOiwpUyJZth4ypbbUKuaH5VccwH5RX9ouAnbNyWY_9pVL5pkEaTHECV-FkOrCspaEyOTiEsG5I0cY7Rb6ekI030RNxa-MNF7xpPOu3I0k-UO4wiptQ2QJr85A6Mq7bF6FvD1fWQnJDjfp9fHZF0VDNN1mJ1BarQKNT-YUzuhMnZT5-CyC6_zlvHPH5WYA5oGUxCj4aBDe-qgUCSFt23WNpbIXNZMJPW4uITuOKGEDGIGK5W2MIfnwn4p66y-zgO1RNrCxZ6K_sdYQT9a1LU00HiWmYpMVglpOcjivpf6AQ_3xoQXDPSRfYxL-C2qfegDqeMiBGxgUlyg4Q1e9g4c0daTNLren5j0Y18UIPpPIrx80AYrIbh5SOiMVwTPvFN1nh2w9GchMRjUhEnxjJ3qTYu_q25BE9I4pIgr2M5f2BnMQ2mDSLP-8CYBeMRwV8C2qvG7Cav-bfF_Aav6A4DNoBJdUzTDvLEQ3kQU6ETxF4R1XfNiDV8pl-8e_D4QS7hIK9_L7bKmfdDDd3Chca6xDJgvJFcuhHTjgcwXkMZ4XkcnliQe1gslfGRymTxjrOg7SWuXgpPoHrLb7Fv98yjhGSlyXqs6Q18abcC7_zB9O-aGer0tdaXbzL4Vr26Zb8qq_gWLKLR2AMeWL04ABdvjq8-yoQb50RiFQuT1btjifagalFFa8c2HDhzHw29oBUJbo6MFlgeX_enMiwidt918P88q_43kYUpNkZ4wtCMh1bPw5c_hDk6G6UBD5GTut4m9WfLTklMFh1ZEj0uTyAXjgZQAky4Iqn2mi_C0xq09N7od_XFrx9Eq5W9HRgugteo0DX-8kO7XmuDlWsjn8A6IbcrdcK3E1fnLEWbeHsP3HV3PXsyblYQvTQ7xMnPM0rSugSYPGL-7_9RHOVU9kfM5lw_9d8voCeMYXdqsPosDF8tL8ekGONwLwRgawNNFSGlpXYNKdRSwsnJXg5ae1batgybY0CJOMJmzly1-TirYON2hHgM_A-DoieDuFVpO-9Id3Ngx1b2MhVQtbyd6zbIGm3-hX9L_NnL-vOfbeyWH6LRh3FsWBKAgXAEhwGbtS-Tnh7FjP_k0hsg7T-EYiaVPtt-BvOnX9kCqW9BUNfjRcYYexb-ejVWhXEdFzeidrevFxbI1lnDBzbF8rwsjBskPZoxaGUG9F64RxPI6Q8Hfl_BdvGa7F3ORebzWfGD49uXWsAa8puqYZzAosADwDdnS2YqZAT0MLQFSKtr6gxsN8VEV5xDKiLR4boiKqNAVWIQuSxKxAs4_CgNtqmw0k7aTFiMVHRJ5P_K-BWkMzgYOcodBbHhVsmicRSOtgNhLg9P44zVz520yEpjgDlHU4IWdPmBnfgYiESzubkPLas73a09TNPmDGGDLTcjQlNGZzsZ-Jwf5C9f_dNlcQxd0kM3UZhusbrdEd05hKgkKzvTo7UjgI3n-NcMKg7DZzNxASfMcnjoRZL5ZsPjmNZNSOZY7xjoNzzAYiJYczxg177oz_3LmPKi2DYNxzaSYAz_IEPWuPIz_x7x9c1jKTTZu6DUZJOFDUCHFSJlt3O66EsBwEtN4hI1KOSdsQeSL7u6LCFRm42eMZ4zE8TjECOpT_S-FELwQOPELcKGGVuw7FAiSszQsDbKjhI5lzAfqkEwM83sGQQB2x5aOpCJ4ErChV-iyfZBBFAnAdiI4R2TFfApKHcAedgmc4lCsSYSPtyNjF_NwFjAj0_WTQbvTRlfyinc27Ggf-d4hqEXuOvCaRUKKZNf2lWMdLC8ENoGxNpNEwUQvoAeXcuGlel_RNJRetXpFyoTTQTHs0CWArFVt7aiE_kDWYqwo_ypB8lSsD-HK21ICrZU5VmZipYHifXvi8SVw00H2GJD6dFM_k-rtKd6OjPTU1BTvxTfR1ZTjqn4lpoOWkmsAXPRTm4C5OZ7hEAHI0zv3E=",
  "id": "rs_0485aaa1d7e09028016ab452e19e0c87d0a0c7d4a86d6447b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.17,\"left_z\":0.07},\"note\":\"The left wrist view shows the cap correctly oriented but about two centimetres left of the jaw centreline and already near the fingertip row. I’ll make a small diagonal centering correction while descending to a low hover.\"}",
  "call_id": "call_mSNKu0SagHCsJhnDia8nzEwz",
  "id": "fc_0485aaa1d7e09028016ab452e3cb0887d08123c044742a4b66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mSNKu0SagHCsJhnDia8nzEwz",
  "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]: [-0.2951, 1.6203, 0.754, 0.0696, 0.3111, 0.1909, 0.9997, 0.0475, 1.008, 0.9062, -0.8597, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3719 left_y=-0.1658 left_z=0.0576 left_yaw=-0.6756 left_pitch=-0.1797 left_roll=-0.0766 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1837 right_yaw=0.7414 right_pitch=-0.2595 right_roll=0.0279 right_gripper=0.0509\nstate[joint_eff]: [0.0615, -8.3077, 6.1333, 1.9609, 0.1587, 0.149, -0.0171, -0.1299, -2.3863, 6.735, 1.2723, -0.2808, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba402960fc3cab617a4295aee9565a3b7551104036a1941bde2348ec3cd4154",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29c74afe9492920096b4452c9fa6edd600ac9f206d1234047341ba108a4a492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335a0319a24a360fd01338a26f7be478f9d298bf7def91d7d8053f1157c66ba7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.545 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3809, -0.0219, -0.0254, 0.9998, 0.8001, 1.5581, 1.1286, -0.3428, -0.009, 0.0074, 0.0473]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0141 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3036 right_y=0.3201 right_z=0.1565 right_yaw=0.7952 right_pitch=-0.212 right_roll=0.0082 right_gripper=0.0473\nstate[joint_eff]: [-0.1026, -1.347, 7.0769, 1.7656, -0.0562, -0.0708, -0.0171, 0.2256, -10.2222, 8.9778, 1.3553, 0.0806, 0.1636, 1.0281]",
      "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]: [-0.3382, 1.4155, 0.7956, -0.0872, 0.2848, 0.1761, 0.9998, 0.0483, 1.0069, 0.9062, -0.857, -0.4713, -0.5308, 0.0473]\nstate[eef_state]: left_x=0.358 left_y=-0.1747 left_z=0.1238 left_yaw=-0.6845 left_pitch=-0.1027 left_roll=-0.0389 left_gripper=0.9998 right_x=0.2552 right_y=0.0962 right_z=0.1843 right_yaw=0.7411 right_pitch=-0.2566 right_roll=0.0259 right_gripper=0.0473\nstate[joint_eff]: [-0.4718, -5.9145, 10.0034, 2.0244, 0.3199, 0.1587, -0.0366, 0.1983, -2.4684, 6.6256, 1.4921, -0.2662, 0.0513, 1.0379]",
      "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]: [-0.2951, 1.6203, 0.754, 0.0696, 0.3111, 0.1909, 0.9997, 0.0475, 1.008, 0.9062, -0.8597, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3719 left_y=-0.1658 left_z=0.0576 left_yaw=-0.6756 left_pitch=-0.1797 left_roll=-0.0766 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1837 right_yaw=0.7414 right_pitch=-0.2595 right_roll=0.0279 right_gripper=0.0509\nstate[joint_eff]: [0.0615, -8.3077, 6.1333, 1.9609, 0.1587, 0.149, -0.0171, -0.1299, -2.3863, 6.735, 1.2723, -0.2808, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba402960fc3cab617a4295aee9565a3b7551104036a1941bde2348ec3cd4154",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29c74afe9492920096b4452c9fa6edd600ac9f206d1234047341ba108a4a492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335a0319a24a360fd01338a26f7be478f9d298bf7def91d7d8053f1157c66ba7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLooIliv0k474RZLDdeFalwy88Axfp5lcbJK_YrVTYsf75Z7qsPZvne43OA1YUHmx1QmHsyOv-dvJvgfbPOVmodHT705Pwc6TmT9xiIVgQKQ3C3re5C3I8oKYuhpwMeS_ilxyRfxNNrIzQliJvziw3TkwS3hjxAwZ_A78wG2ERLLlvFT-7FBKs5qE3hL2yBJiZPoetIh9_QaTk5YcUPsPI47vXnMis2cdSuY4Rtt2zmdYqdpIPo4Do5n8GLmVArNmkIECgmKbYFOlGIytN86-rD8QdC3ADIcky4b6g4yXhpUkEl4l1u7ueL_40VURF815cHPSVyAma1J0v8sJ1dVGho6Slnej8J_3mfMzLxBoBFYYhENcSssuLtTgSyidBdZFVB6nUt32ZIEIO4PdzHyJAZGM_QES3u3LEEWHrGnsoWdv4o_TVrAL74pchZYdvZLlLjzzJbCil5iihOOiNFuE-3RAUlZ2dyoztHNC_7Rttg72ahAVvB8ATQZhZSSD8Nu1I-Of6CMYXbibnbBGfq-uRIPkYvggO7_EjGi6gMFUhgM4FX-tqG2HdXEuwXxHr-fxmUlwPzEITPLpP24mUk-J52lCL2PB26WfYjU0EApvR0pKDf5IbRCqVxhzNNHPmjYtARVlgU1YQREqusrsFtHbf720PKvwhc4vtCHBg2U3ELLzL6MckYqjnpst0SOzDfSwzwq5qX-7F6xLwso6vgeej320QkBOL47EmIkT4asMql2zgwbZchDR8VqLYzoFdf5SxKFlmt_-dpjCR5VRRQeBaXRWOETpaWTKpUOM5HxeZ5WexCNEWTFEHS4k1RS_WxHK0kqYjXYBEr2xjXaaK6TJnRVERB9L7M8W_Z_GHOehC_0M5L4ElpK0RO4d-SVnq1A5YqB5aFNsMbErnqD5dh7E46CG01WBYUu61GgnTs7386J1EU1IBkxYrzpZFledLvVKZdb82Hdq-f2yjWqA4DJutNNInhJ1XnksqkAFBMDarcnVjWsyRydgkPM6WMdLKqRjGHmIsr41GNVCpYF3h7etjReAVnFR7V3_YynDcxo14Jh8LjgzjJURY5OKugte5EN3IG9SSxhumhajSqJGdBYsXVaMbFfxfLAs6KW_n-rIPAfGTnQ5IzraJRuZg_0w431Bc4iG2MjwWQ19w3KX-FrsypXWINkmeBKheqpApPr5UWbP160dnKaz1DyjgfYHHXGRJifWFE28Rp45qWSB6ILvXoGLYvrVkFiqBIDk4uxF6WVPlLcFk-3MtuX9-Rv4ylwLeF2zaj-F5PWInZ2mtQfPA_Jld3npEUkUePDy9DX40PU9Xp4opvwJeCQSy5-3so2A6yXdXzAqUYnIWc9wIqVbdMg_TZmDPlbq04BqNuy-7L48t_nWWamnSrE0_KHTUDlfhJF1m8CIsa865eQDypI_p7Ns_kOMisCPtrFZqSxSjXiWmcmtbt8iipzuuhwTtcF6MDH6-GmEoCQJxd7Fhy7XWylOzRQabyh2WJ-EuZmgtOruep3wEgbhxlfWzNZ1g-gnsUxdKSjvnzJ3lgSD5MOD4dZbfRlbJGXfMrqTs6zBLwvp-fSkDw0ugDSrNgse_zzAFSNYkUDg7CRvKVde0krR3PsxEruVCBJkgm4YkoHNrZCMho6h_m-rOoaEmAzuZbGJfcov1-1DJucg6DEAUpYYMwYV2jM_RT3Q4iGamxXjAVLuRnStAJApSvZX6RIEZR5pa_3ntp4nsjkKzKTHeo9jHCBlJb74db218HWLTT0optE-XncircSJ8DLci1Ao5qpDd9",
  "id": "rs_0485aaa1d7e09028016ab452e5d41487d091f31d7aa6d1b6b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.14,\"left_z\":0.07},\"note\":\"The first correction shifted the cap toward centre, but it remains roughly 1.5 cm left of the convergence line. I’ll continue in the same empirically verified direction before attempting the grasp.\"}",
  "call_id": "call_nL3SIEqpJ3WFfy5ZG8wkigVr",
  "id": "fc_0485aaa1d7e09028016ab452e7285087d08e276fe55b5256e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nL3SIEqpJ3WFfy5ZG8wkigVr",
  "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]: [-0.186, 1.7145, 0.8833, -0.0174, 0.3508, 0.2382, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4054 left_y=-0.1344 left_z=0.0558 left_yaw=-0.629 left_pitch=-0.2137 left_roll=-0.0903 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.4718, -7.7197, 8.759, 1.5311, 0.5201, 0.2173, -0.0073, -0.0615, -2.4821, 6.5299, 1.2479, -0.2711, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99e6530f1935df641b681238c43091723653ee502990a330d7cd2ace49dca4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011b912e4ff37f2ceb592c757f0534744989b1377b78ba57b89c215d2bbc21da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f29cec96fc0fc9e4d1eec3df9a48a78806a7ba91919d3d70ea3a4673b8bb87",
      "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 · 2.185 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3817, -0.0219, -0.025, 0.9997, 0.0513, 1.0016, 0.9066, -0.8383, -0.4702, -0.5209, 0.0473]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9997 right_x=0.2581 right_y=0.097 right_z=0.1881 right_yaw=0.7339 right_pitch=-0.2385 right_roll=0.0162 right_gripper=0.0473\nstate[joint_eff]: [-0.1299, -1.3197, 7.0496, 1.7167, -0.022, 0.0024, -0.0171, -0.1162, -3.2068, 8.9504, 1.409, -0.4615, -0.105, 1.033]",
      "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]: [-0.2951, 1.6203, 0.754, 0.0696, 0.3111, 0.1909, 0.9997, 0.0475, 1.008, 0.9062, -0.8597, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3719 left_y=-0.1658 left_z=0.0576 left_yaw=-0.6756 left_pitch=-0.1797 left_roll=-0.0766 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1837 right_yaw=0.7414 right_pitch=-0.2595 right_roll=0.0279 right_gripper=0.0509\nstate[joint_eff]: [0.0615, -8.3077, 6.1333, 1.9609, 0.1587, 0.149, -0.0171, -0.1299, -2.3863, 6.735, 1.2723, -0.2808, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.186, 1.7145, 0.8833, -0.0174, 0.3508, 0.2382, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4054 left_y=-0.1344 left_z=0.0558 left_yaw=-0.629 left_pitch=-0.2137 left_roll=-0.0903 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.4718, -7.7197, 8.759, 1.5311, 0.5201, 0.2173, -0.0073, -0.0615, -2.4821, 6.5299, 1.2479, -0.2711, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99e6530f1935df641b681238c43091723653ee502990a330d7cd2ace49dca4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011b912e4ff37f2ceb592c757f0534744989b1377b78ba57b89c215d2bbc21da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f29cec96fc0fc9e4d1eec3df9a48a78806a7ba91919d3d70ea3a4673b8bb87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLqy4xQAmjUQ4bLWjutC6bKyv2Bj7YJ2byU70iB2ZzyU-DWcUvK5j9aipRbZywkBUqX4UDooEwsqZe0B5wc5C0nnwWd7hKINujIuFfiTuIg-mdWSHazdNurzHg6CvTd07RBnTYLgE8Zbp7kXP9sAGLj9yqD7wJa1Mui_28hCrrlYmVrPaUOg9_iT_b8t3Fd5lZ-5-mfa85dxxzCwhs2qhan1oFd7EBTkifJRxMpq5cuBLsjdUgbcnFM-aBE2ofsvwGlukxyMvf_Z8Fn6fsGMMl6yw2L1V3OEeKeldBN6g6DJwnxGOVbotF_w2Bkotcdk6gej_LOUyFaof3xujMXsmZ54o2M14Qg7N7pXwMQqkCgEcmkkcQx8cxaUfYp1qmCwaoo_glhwOBTvtnRVOvx-AseqonsrNEXMWRe6D5TOaigy8S0edyFtCJax9pO2PcoYSkiK40PnsYntBpqzadh1C8nzNwTG3qF81EA1Z1aOvCMhsZY1bpvW-AzhV0Gq2O19N88SfgYiwnWlgPhl5o55Ac9qL0ZBua6k2oD4tzYKlFlW-YtHw00_Yddg1bL9fLME6fdnamyflKxmQKOI5_VgQ4Jcdp0QQuVIuKJLbWDY_yu_0rWF3Dik44Hi31Bm54dAxEW0FXS2zaJxGEgwp6WG-Q36cT-b-qT_FuVX02Yv4q8wNIiBN62OoKHqRTYH_joQAFhYErHxNvWpCdTdGmJGe052rGnKTm1_f44ohzGFw8DGh9ayI_3NFs8RWMU6b9IFJGI9hndw8BNmRGd_23sj46rtmXkMmtf4yWrEiHzX00CcjiZm9mkj5NsbFkFMKnYZh5MXzHPUCjoDRv2cEb0ngMN_PSH9xl5WEwWazOmvwYfc8cmeJVQG6uEfJCag2R8fQrXnP7Saum-MQg8Tr8wvcB4iaiN-IGyYSB98YOijwuwQIi-wvhTviIr3pR_zH8mesEk07owdo9fkMmGk2O3K-4sSa3poj6-ccHlNPluX_lhQig4hvZ6Tq3t61vsH8jxTWr0B_J3Y3vufubjOUTSppHFWku8mK6Byg8PljbnHkXxYKn7_BUfXIf_H8C6B6a6UE6FCvgHYyCuDmWVxLYhweg6jgRcWx1CIIWouOwkAinj9TgQ9-PyvzpqY6Yiu4HUP1Ey0X_M52_tYnlruzWjG1eb7jeCDnNu-X8aNAvxuNzVOiB1J8fkQtaOE_718RY3sS6GYz-4cKkyEw9lrejqDcc2oNGpDu7k1xNhnmOppucxgkkCHrg1PrR_6ThjXv5hmUuAHVut2jICbQ5Q8Yu2qR7OuuKZt5BJYzjl1r20RC66utep-7YLsPoNdSJVLcsqW1gCB0maMQQGdhfxuXJdsQekL9bTgb3K5SF1iNZNZ7QNlHwasvhz0OoSKkeGCGi1-rg2",
  "id": "rs_0485aaa1d7e09028016ab452e99dac87d0a0c56277df67306a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.393,\"left_y\":-0.155,\"left_z\":0.07},\"note\":\"That larger correction overshot, placing the cap about 1.5 cm right of centre. I’ll split the difference with a small reverse adjustment to put it on the jaw column.\"}",
  "call_id": "call_9rsPaW5tbSqvyXwcNf46IItt",
  "id": "fc_0485aaa1d7e09028016ab452ea357887d0b2ec5399be30a673",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9rsPaW5tbSqvyXwcNf46IItt",
  "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]: [-0.2001, 1.7134, 0.8902, -0.0383, 0.3458, 0.234, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4024 left_y=-0.139 left_z=0.0553 left_yaw=-0.638 left_pitch=-0.2272 left_roll=-0.0955 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.6085, -10.2769, 5.6274, 1.4237, 0.149, -0.0806, -0.0073, -0.0889, -2.3316, 6.7077, 1.3114, -0.2515, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd8c2eb0fd29e281a606e2fad63bfc0d43e9cfe9251c096853dc6cc18ca20441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06450c2a47f043c8281d832971b9cc53e2675eb8f36525b0ca7684a438ee64fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38481117407ac0df10a927b24ed2965a8af09774a1299abef0b87d56af0a1ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.648 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]: [-0.3382, 1.4155, 0.7956, -0.0872, 0.2848, 0.1761, 0.9998, 0.0483, 1.0069, 0.9062, -0.857, -0.4713, -0.5308, 0.0473]\nstate[eef_state]: left_x=0.358 left_y=-0.1747 left_z=0.1238 left_yaw=-0.6845 left_pitch=-0.1027 left_roll=-0.0389 left_gripper=0.9998 right_x=0.2552 right_y=0.0962 right_z=0.1843 right_yaw=0.7411 right_pitch=-0.2566 right_roll=0.0259 right_gripper=0.0473\nstate[joint_eff]: [-0.4718, -5.9145, 10.0034, 2.0244, 0.3199, 0.1587, -0.0366, 0.1983, -2.4684, 6.6256, 1.4921, -0.2662, 0.0513, 1.0379]",
      "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]: [-0.186, 1.7145, 0.8833, -0.0174, 0.3508, 0.2382, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4054 left_y=-0.1344 left_z=0.0558 left_yaw=-0.629 left_pitch=-0.2137 left_roll=-0.0903 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.4718, -7.7197, 8.759, 1.5311, 0.5201, 0.2173, -0.0073, -0.0615, -2.4821, 6.5299, 1.2479, -0.2711, -0.0513, 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 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]: [-0.2001, 1.7134, 0.8902, -0.0383, 0.3458, 0.234, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4024 left_y=-0.139 left_z=0.0553 left_yaw=-0.638 left_pitch=-0.2272 left_roll=-0.0955 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.6085, -10.2769, 5.6274, 1.4237, 0.149, -0.0806, -0.0073, -0.0889, -2.3316, 6.7077, 1.3114, -0.2515, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd8c2eb0fd29e281a606e2fad63bfc0d43e9cfe9251c096853dc6cc18ca20441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06450c2a47f043c8281d832971b9cc53e2675eb8f36525b0ca7684a438ee64fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38481117407ac0df10a927b24ed2965a8af09774a1299abef0b87d56af0a1ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLtekItEoGkzJBsTWS0Ns5lATrTAOzdJP5f1T_zXIGzNuUIAK9XFTVfvF5sqteZnCH9jzsSEYFwnM_BZAwGmIVbe1v4z4zFRcHFi7u1dmv3eTPgmJWqnvuFi4Yqq20x2DQyP5R0pTtXtcCWhACYOWEBEHh4QVlPOxpBMb4hgZkCH2ubHffyJkyRkhabSeoIE8JgqYEwbSJs0TYCBZmQRvb8v3ZizvAH_WPS5cIuEJ5IcjWsaRFIiw_F7pRTVMQso5-46u1LUif3OqxciiIcDvuroGjdV6Wli7DAuXbJWfbJfc5nDS2WijJ7mJ2lMaTLN2ZjX6IzeSUMSAvh9pkKKcO72OEHohxPByGEdwH3g8zlGW21dHGUENRKWKMUqCzzMP8SFmU9BH8LB_Adkv_JQQQVsyLGoJhqcfgpIrNIMePb56NcIlBxBHMl0ssZ5UjGMfhA-J5fF70kYedSiMDEj2OuKtWVWgzXA84jOAfaQS5WSBnAeHqnzDCQYm_ucFzMiskI1gPCARBTdPeGLdrHBl0Ce89GVOItf8bq1e_h2wT5pJulEWKUJoBgYQN9tGk851NzI5JCm_UdD_dynKbCJfxdSQmJSheyRR7RvjYx606N_1JYG9zw0JKfp2jHmCRWdpdxjzoyd07tbwXbLb9JArOHhb7AWC1l2mnZvxSSeEkSHSr_423siYJeAxcQlCT1NX2GhiqgTvV3boLQw0RRQuSfqaWn8_cv1e231l8RcIRJH4LyP6r32TRrrqm0cB0MVM_8c4Q3fET_ua31EoAIzZ6-Xc32jJ3rIqHmFgJamy97N4OJ6QzgryXu5sRUMhxI0Vy0CiwAqOC9VJuRTAoFBvJ2xQcCKro4DUg4nx3cDBEFSR5D486vPm1QoLuDk-se6AQvSNAbzsasX1uduIoQT95mp4uUrtQaY4y5T_H0Y_nbI7D3BsyMmHTmqhAKnXNv99nIIWf5T3YS1PPTsI2kDQqtcZCftYRLudcpjmvinn8r4T1rEvui7ps6Pv947Uf6vbrqGWUCXIHq5NF5Oh4v4HhHK9QA5hAI7luKW1UjoUgV6p7siBVKoquVqpsUCMsJCCTuJ4c36n-iEKEUO3SOHito_3JiOqgHfdEJ5fNWNzjvIIDuDlon8-fL8CC4GGafcSvI8hWK1w29xgslwPXs1rQ7aTpz3-Rak6c5to0hkwn0HceCBurVMkr6vN1jQ2CknZ9kXW6kf5B97KqO5k5_Y5uZwbwwoliZKw7dqhRGw2hqHJyQ5_7UoxOtAL6q6CGeM5nYYvtglQLoEUfN4S7WMhGluXP2Dk-_h3Sv4wJ6l4UikN0=",
  "id": "rs_0485aaa1d7e09028016ab452ec155c87d08c48f45abba08260",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.18,\"left_z\":0.08},\"note\":\"The tiny reverse command was mostly absorbed by the arm’s low-pose tracking error, so the cap remains right of centre. I’ll use a firmer reverse offset and lift one centimetre to improve tracking.\"}",
  "call_id": "call_9KpMjROeJmK8cjjAsRltx3ac",
  "id": "fc_0485aaa1d7e09028016ab452ec790887d0a4e18367f1336a71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9KpMjROeJmK8cjjAsRltx3ac",
  "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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9998, 0.0475, 1.01, 0.9062, -0.8619, -0.4709, -0.5312, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9998 right_x=0.2546 right_y=0.0959 right_z=0.1829 right_yaw=0.7416 right_pitch=-0.2629 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.0479, -10.0991, 5.8188, 1.4383, 0.1538, -0.0464, -0.0073, -0.0752, -2.3453, 6.5162, 1.2821, -0.2369, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54f0a8a4bfc0e0d58cbff438b31a21dbcc551a67bb74a249d3dbd506928962c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734cecd674e4da87cc2f8423775779ccca1500f72495997f20a4b7614fb5bfaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904ccf97072a93e236ca39fe3e04b4af3c2bdcc48de613c4b1bcb0ef1edfe740",
      "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 · 3.701 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]: [-0.2951, 1.6203, 0.754, 0.0696, 0.3111, 0.1909, 0.9997, 0.0475, 1.008, 0.9062, -0.8597, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3719 left_y=-0.1658 left_z=0.0576 left_yaw=-0.6756 left_pitch=-0.1797 left_roll=-0.0766 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1837 right_yaw=0.7414 right_pitch=-0.2595 right_roll=0.0279 right_gripper=0.0509\nstate[joint_eff]: [0.0615, -8.3077, 6.1333, 1.9609, 0.1587, 0.149, -0.0171, -0.1299, -2.3863, 6.735, 1.2723, -0.2808, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2001, 1.7134, 0.8902, -0.0383, 0.3458, 0.234, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4024 left_y=-0.139 left_z=0.0553 left_yaw=-0.638 left_pitch=-0.2272 left_roll=-0.0955 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.6085, -10.2769, 5.6274, 1.4237, 0.149, -0.0806, -0.0073, -0.0889, -2.3316, 6.7077, 1.3114, -0.2515, -0.0122, 1.0281]",
      "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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9998, 0.0475, 1.01, 0.9062, -0.8619, -0.4709, -0.5312, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9998 right_x=0.2546 right_y=0.0959 right_z=0.1829 right_yaw=0.7416 right_pitch=-0.2629 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.0479, -10.0991, 5.8188, 1.4383, 0.1538, -0.0464, -0.0073, -0.0752, -2.3453, 6.5162, 1.2821, -0.2369, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54f0a8a4bfc0e0d58cbff438b31a21dbcc551a67bb74a249d3dbd506928962c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734cecd674e4da87cc2f8423775779ccca1500f72495997f20a4b7614fb5bfaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904ccf97072a93e236ca39fe3e04b4af3c2bdcc48de613c4b1bcb0ef1edfe740",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLwLbgQhfeqRWWnRUNaLeI6K4W1OkMGb0U_H4xXG-qJG30WNfyFRe7vGT8MVOh9yFhVSJL_BrQ2W1D8iWnHFpXOeGPPMjXMQB0Ts2cZjv8TpcmznCnqLv8ZGtkhLGOiAh7q7tuHUO4rLXvH5haq5QiN7ojhzImFHzgA4T4-PvWsuIW3Ilv27j-cX4fgbpouHqo2E9okfCBiDjOXuoz-CF6-bFXF1ePZ8Zq0WcsRA0lHUBaj0fogmag8Uc9_wbC3I02iFAajFOFDaUQsUpV8pxVm6spq1w-YUFxtO0YV6PStGP-y9Rr9-Zxdqf50X_IMLuC_GrD_53kwl1qCJI05Hhs4Bxwd3O-dz_ANZWjHZCGxJw7LkvB1j_60e0T5LuAD_aZ1tJnVl-FU84hkZWiFyp-roeBI5bJQnTCjmdp-cl2qtLD5Nr0e01j9fvIcYUytomxECsWWZvGdp5RMPYDPZr6Q76YktlBcr3eW7DPzX2Xu_8w-lWbAj9zpdSD8u94uWko__OT6lVGsXgS4vKiNkjxZVMzF1IWKwgzJEwilhe-s4FGCV7Gxt7DSXtqHX3kEe3su5v-PBVUsmqfS-wfqMSloSxx9azjMXQlGAg5lp1vmIerIIXguzmk_B9EAwcpU4HrZU9iMnnijps-Bs7J8nyT82pKp6WyhV9XlDTms0CJP71hoGTN4_2WRM9rCPC6isp9Pj-JSonEMWeyO9tLBjQtNgCktlRS9MgIOV52UY76ljbCUTQp4oxrRGfObAreBf_DrPmY72eLmra_a8Pd3qXG44_HAdbt7KXnSqNE8m5KMJJ9MxyipMAMQhZcR0kBMZ60k69YadbGwHx_LWe7k7UqgGeJWurgxOeoe60ZMa2ro_KxbkqLRpd2O9hfYC50zNKk2Oc8nGN508XjWeTSKi9RdzSNdSsiuunA3jCy7Wp7v8q-xQXqneoj0AbN6g45D_FrG5xg1G0sUXrUeXBIOVVqWjp5N0WyFNZSkFU9qEewR2KuaIUNR0PLCZYkIkBJusxiJsEyYUKU-OjnSThfgUbYE4XcyrBa9A23ZATBTdR1THjj0VZTOKf4tQZIK0NvCoCaO9eWMyE1eggq_MOQQwBsoxgLksnTRBA_nTv9y50Nebl79RJPqwuYRrWBwQuABIINh4e9wms9aBw8wEFVQAdgUm_bsVIRACdhR57GY3ao8TSlJggprUu0PFyxL8hkgGLNRKQwvn1kH0Qx1cQiHa-7zGaa6x75-0P6vrC8hGRwdzFUCi6wk1VhfHOijx-z5vL22h7NioG4XYlKEoc5j1VBi_QfrB1hLpAoo7Fk-qzEKrQxFff4SooRrhhAOQs6NgbchZShd4X6RHzGDsumGaecrZe5q2XToKSqFW-ia4jI8KtwYeEz2GopBS4feq3Pwd4uWqS5nL6weZX08OlFanj6trhejWRIub43Ck0aW5Ts-xlU=",
  "id": "rs_0485aaa1d7e09028016ab452eebe1c87d0836e791e6e4b00dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.18,\"left_z\":0.13},\"note\":\"The arm is dragging at the low pose and barely responds laterally, while the cap stays just right of centre. I’ll lift to a clear hover first; this should restore Cartesian tracking before the final alignment.\"}",
  "call_id": "call_ZNR9wIvh1hZFtYHxpZdZLn40",
  "id": "fc_0485aaa1d7e09028016ab452ef779487d098c3c6078c08f531",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZNR9wIvh1hZFtYHxpZdZLn40",
  "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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.532, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7421 right_pitch=-0.2632 right_roll=0.0304 right_gripper=0.0509\nstate[joint_eff]: [0.0205, -10.1538, 5.8051, 1.4432, 0.1685, -0.0366, -0.0171, -0.0479, -2.1675, 6.5436, 1.2527, -0.2466, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24fe1a3591be25f34626d5b47d2e99f631f5e6d1a6e72f562218a762679c7966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b372346d8b05e3b147789995c7f5848d4d06d9fcd1840d4d1d12bafbf5444cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4d475806c74606ee8a7c4a9b4e68c3cadb9108a43adf1e0f63fa89a1235952",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.086 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]: [-0.186, 1.7145, 0.8833, -0.0174, 0.3508, 0.2382, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4054 left_y=-0.1344 left_z=0.0558 left_yaw=-0.629 left_pitch=-0.2137 left_roll=-0.0903 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.4718, -7.7197, 8.759, 1.5311, 0.5201, 0.2173, -0.0073, -0.0615, -2.4821, 6.5299, 1.2479, -0.2711, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9998, 0.0475, 1.01, 0.9062, -0.8619, -0.4709, -0.5312, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9998 right_x=0.2546 right_y=0.0959 right_z=0.1829 right_yaw=0.7416 right_pitch=-0.2629 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.0479, -10.0991, 5.8188, 1.4383, 0.1538, -0.0464, -0.0073, -0.0752, -2.3453, 6.5162, 1.2821, -0.2369, -0.0317, 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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.532, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7421 right_pitch=-0.2632 right_roll=0.0304 right_gripper=0.0509\nstate[joint_eff]: [0.0205, -10.1538, 5.8051, 1.4432, 0.1685, -0.0366, -0.0171, -0.0479, -2.1675, 6.5436, 1.2527, -0.2466, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24fe1a3591be25f34626d5b47d2e99f631f5e6d1a6e72f562218a762679c7966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b372346d8b05e3b147789995c7f5848d4d06d9fcd1840d4d1d12bafbf5444cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4d475806c74606ee8a7c4a9b4e68c3cadb9108a43adf1e0f63fa89a1235952",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL001SsN5NXKwJ46KLOkQyhun4ystHNX7RyK5XdTYy64eB6K223ZZyAq0vXh_9MpLTBaq3eJvObblE1c0m8SqPS3mRt7riqzVFhf8KYUxq5B9iqkXgRsmPe3M8EnP-qzZhKG34J8NfY7jSUHeoBOh1bPWGLznjSLTdBMPnv2RbPliKyduH2tYgOFlMi58gvBsF4Ij_uk2Y0JCQWUPum9rVthp3y79EzVOpkDzDmA4avpDwXlNyYlsSep3AS3xoUg6HhoP48vsIPzj5SY_veomouW5XQkwR93kGdGk30uQQcCazqrO3h_1Naq9Ejw4Oocm7tQKyYTqMkVSpbmdd79IY7lntPUiEYGWzALtUV4UDAJa_i8VTPUytikynY0LvscNQlzhmi74iSCoC24bsxSG6fRjdr3PGqejZDjwSGylq4gbHeyEooYvRqtWTGY2AsjQjY73X2sAg1txukHV3CW1QRNIw2KzzBtQw3hm4KuzYxs0mdy_ftVathEgjnlolLgd1H1jMvE57cXj_roV7JAhr6lFFaJHdkvOaZP9ri4e7PuaxSQgwtqU4lsK-9AkOtV8XlMZN71YzR4mvvvtyJFpuYLoNuK7Dm64c6wIbOJ-tUjaS8Je6OdSxszyoMteQuUIOcW6MdeOiBzk-a1OmC4VZELh_E7YmCdNVKwk7xHCXoaCwNxD5OGTHroAZ-81P2GsNG7BMe4BX9MRXNxiANa0IELJP2BLCIVBq2EJhHoeYInfdBIYpGtmJUDIwb_zXnLmIqLNbZR_cMbFdwwH-gk_EGJCIR3lsgL1ozxBjA8f0SehnlUk0CQTingaWccV0zv9IvW845KelP7_X9-FdGwR0jfMIfdbIcDldsibTwaH__4GsaV4XkrQx0PC0D55GYNWQLJ9HXu45sMAGGjcMMSXw9_3RcTQwAoBgb46uVYI7XHEB3tsRWpGC2DsfnSCcA2L5NbJQgrp0yfHn_j_nqeq2Kdje83Em52njVHEJo5CS2pHlyhM5YPq_5RYtfWLPxrpja1Y1CDEEf4yTapogEguxGUkiMPVz1-5_bBnuAkshUIdEEIbwZdZtkNjLlHmdSD_fnjS53TVTAUPl1JLd5gomR6um_kxjsHwdwaQwYVSHab9nzwCNqrM3WLVhX833sNqyfutrq9NWiYokb30PuF2mBPRRSMjTxYODLkcuzvN8WVSEYiPq97sx3urarX1XfxbG63l8hKSVpOZCuwN9FHUHlKPNJ7sXrD-PWgwU_1QvfWtfYL__xp5uhz_V9K4MPA-vKfrQZSDEvwtWabWVPkxdMxhkKFqsg0mYvzgLi7lzuw1H0GyFX1otYNK4O04Q3sh7agb1s40ezZzE53-nWBfOA7_7bra3Pwq8FZD79byoYDqGmuSLe71gSEPuBk9-4oH5c0PB3SGTogLpKVaiLwJgJEyDq64ftJLR1NMrfDmOBXfOFOtGBd0a8AuGYzJN6cvTENFGAYwVvL6rADbsYYh2dN3sPNlTQW8EayO8oD-tVeX8_YqtjOxXIRfoCtyyOU9cJLFIQDv4gapRnbYHVFDGYtw==",
  "id": "rs_0485aaa1d7e09028016ab452f2103087d08f112e2dd7da9c08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.16},\"note\":\"The lift command did not move at all and the shoulder load is high, indicating this low, extended configuration is at an IK/contact limit. Following the rig guidance, I’ll first reduce radial reach and raise the arm to unfold it, then return over the cap.\"}",
  "call_id": "call_PsxpBPaLwhsGS3IDRDoVJNyS",
  "id": "fc_0485aaa1d7e09028016ab452f33cc887d0926da5aea1277d8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PsxpBPaLwhsGS3IDRDoVJNyS",
  "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]: [-0.3908, 1.4174, 0.9726, -0.4152, 0.223, 0.0929, 0.9998, 0.0475, 1.0126, 0.9062, -0.8619, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3423 left_y=-0.1794 left_z=0.1381 left_yaw=-0.6482 left_pitch=-0.2646 left_roll=-0.1044 left_gripper=0.9998 right_x=0.2548 right_y=0.096 right_z=0.1823 right_yaw=0.7426 right_pitch=-0.2648 right_roll=0.0324 right_gripper=0.0509\nstate[joint_eff]: [-0.335, -7.5829, 9.7436, 1.536, 0.1538, -0.0757, -0.0122, -0.0615, -2.5641, 6.6667, 1.2869, -0.2808, -0.0415, 1.0281]\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:bf8b6b8b1f86715ba89b4cbff937d29fd3982001ca3f082f166e794ca909da65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366c99831ac0264ae7aece95feee4290240ce65ca7b4f089712674153f55503b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc768b2aebfac5447991e14870173d1a92512d3327a9de89ddcb940921508794",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.918 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]: [-0.2001, 1.7134, 0.8902, -0.0383, 0.3458, 0.234, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.4024 left_y=-0.139 left_z=0.0553 left_yaw=-0.638 left_pitch=-0.2272 left_roll=-0.0955 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7419 right_pitch=-0.2632 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.6085, -10.2769, 5.6274, 1.4237, 0.149, -0.0806, -0.0073, -0.0889, -2.3316, 6.7077, 1.3114, -0.2515, -0.0122, 1.0281]",
      "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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.532, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7421 right_pitch=-0.2632 right_roll=0.0304 right_gripper=0.0509\nstate[joint_eff]: [0.0205, -10.1538, 5.8051, 1.4432, 0.1685, -0.0366, -0.0171, -0.0479, -2.1675, 6.5436, 1.2527, -0.2466, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3908, 1.4174, 0.9726, -0.4152, 0.223, 0.0929, 0.9998, 0.0475, 1.0126, 0.9062, -0.8619, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3423 left_y=-0.1794 left_z=0.1381 left_yaw=-0.6482 left_pitch=-0.2646 left_roll=-0.1044 left_gripper=0.9998 right_x=0.2548 right_y=0.096 right_z=0.1823 right_yaw=0.7426 right_pitch=-0.2648 right_roll=0.0324 right_gripper=0.0509\nstate[joint_eff]: [-0.335, -7.5829, 9.7436, 1.536, 0.1538, -0.0757, -0.0122, -0.0615, -2.5641, 6.6667, 1.2869, -0.2808, -0.0415, 1.0281]\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,$blob:bf8b6b8b1f86715ba89b4cbff937d29fd3982001ca3f082f166e794ca909da65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366c99831ac0264ae7aece95feee4290240ce65ca7b4f089712674153f55503b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc768b2aebfac5447991e14870173d1a92512d3327a9de89ddcb940921508794",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFL5H9f6ejVDUcEawoJ5xX_va5abLVbYRIcMbA0FVqEE7tZXnhsck6hmNugznqE98cwwvTb_nmiat8cGelki5T1rSHdUH6qQ7DtL1FXQPpdvISxzltTQ62l-XsGWDEfcVqZYMm5mlHN3_Dd26Iv_6KEQngxSHP4LjoW23ZCVFTYg_CmaISV3nO1mJmypBGNssjIvWkUgkrcRzvURosVk9JDHGsygeA3SmouxdJpA2HWul-P_nhKl2ri5wzSrQJaTVrKJks6IZjtKX6Yo0D8OG3LLw4Z0Kq5CDZgCFBi5twbqkvwEHKSYSl0QlwOApOufjm63zCDlSMKrkOHO_6RIyx84wtqhDIDEszExzue6I1uFi8WOqvq7ZEPEsOzNSm6ZIqTePB8Edb2xoVjA9Nxd6akqaxBgIcWZRqoQJJDEL-YJZyfZUn9sLDzDrgqa60J_aXl5djF5GsUUo6kQrbKEPXOfgYVuMXlKxtP2QMAeVRsYet9R_Tb6K3O3DcckIqZ_Y8Q2gdanVpUyO9lcx_RNlNiYx8NjMNWC9Wrv9Tk56sWAst3EPS_s3rT2v6mQAVrG_4pSlbr52fClK1xCL-dFUbQUnUvZCU6K7ZqIt2ZG2SQhC_Bvhh6qroZ9CwfwAkJuXbZ5ckfCKU5ILrIFWDba6hBypjWqahXaJU8bvTFuPGsikgh_q1rK59ZIr2_9p28Ep6eZ2Gs1b3_oUHGaZlohP5uqMc87xoQjfFxeC93JWHC7dkN6Kqo9d5eC13hO4j66tTHAu_sjhLYRb271jQySsvtYbTTG8wLClMwHGqw5zZL18NF6yroxuOMmvAGawc3e8ob3ZTGd1pcTFcWz_mXz4XnkjbMfP7huuTA2EPgs7Fk_TYFRAnuxl2Z_soTVF5pQ8POxPChwD8zbQQi47u-ZmyXfkc31nviGRaMxOxrRe0nAygymoXbbM4-C-eCrZy2TbQIZqVDdQpa42hlxUEwV36ynr3j8ufdBDbVFBlDI7hijOj1oBRzjQR3elGtfMHsVmhHaFrnETQV3OJoqTAVbJRrol3uvQmTLEKiIBFCCLZf-yfMB2sOzN2j5ews30CMcZ3KAGH4qARyisfMoay9IdxZDL2smcqvUeQHRYcRMVkmAqyFtUYtA7EnlCA_x1upek9EZSpGxXq5MKmpUtpuySdCmBOGOO3UVFNvKcoOfEcWfKRXtX35yqPNzIXFwlbkNDjkzPKlTPQ6RioqeICXi_tSM8jYPVuBfvCWc0uLJgZWNc25ttDbFudu9d4W1FiasCcNVd7IxXsM65U1MVilDlbYB803_2uKwTbL7IUMAUqeyB7127cNOoVJFskRy1PUjZRNr-0IkN0w1jNss2cC9MT4DMScJXFCtc1fbTb-gZPQc03XP2aaun6BO8cRBW8eIz5RoVQUb8oag-U6aHkwFzZn4PO3dzvQrSzg-UchZeXOGu1NMcR16UrzF_nEuBr9-KYf8aCzWrTJB287-LN_vzSrcmxlGXc3z2WYIUnbQYDkaM9_gp8cYskVQ16h_Z5WmcsI6DfWWVTKUGo0bbOKBNM8STFdJGBwq-tSQeK4OeSqITotAjqWxjZN5xz3jA6PADvBe9EOwVr0MqFRMQW4kX50AKcdowqXgJhNixlOJQp_LmCCCWQF0KBvaUdCrGfCLwPS-OByq7P3HRZY_F-5WTGAAccqcEbFmrHGNPdfOfdSVDhBZGP8YUcSHt5bmmuIZVaD7SRle8_VMQxo9z6i9ktbL4kuemGGM00TiErwN78EdYlliK24s7EIExqYIlP67V2ICUAJagRbJ02Nj6rn-CL69aGm4u2lpta7KsPhXTf31T6XYs3y15ukvEQLwo15saKOyB0bs2YXGIhBCcPmE4la88295iWLJCb04pQr8YcIiB_PjpeLXBP7N1VoDKCE_aTiTh0kwsSCxLCU8oL0eF1W0vA==",
  "id": "rs_0485aaa1d7e09028016ab452f65e2887d099572693bc4a5b01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.15,\"left_z\":0.14},\"note\":\"The arm is free again, and the cap is visible about 3 cm left of the jaw column. Based on the earlier measured image shift, I’ll re-approach with a moderate diagonal correction while staying high enough to avoid another stall.\"}",
  "call_id": "call_kzc1sGvLNihjVZpOJXBDGAy8",
  "id": "fc_0485aaa1d7e09028016ab452f85b3487d0b941f00010cad3b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kzc1sGvLNihjVZpOJXBDGAy8",
  "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]: [-0.2684, 1.5181, 1.0332, -0.4713, 0.2676, 0.1421, 0.9997, 0.0475, 1.0145, 0.9062, -0.8627, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3641 left_y=-0.1449 left_z=0.1182 left_yaw=-0.6003 left_pitch=-0.3434 left_roll=-0.1358 left_gripper=0.9997 right_x=0.2548 right_y=0.0959 right_z=0.1817 right_yaw=0.7428 right_pitch=-0.267 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-1.1145, -8.212, 10.2359, 1.6239, 0.4713, 0.3297, -0.0171, -0.0205, -2.3453, 6.7761, 1.3114, -0.2466, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3be6eea107c6b7c92f961e7a5ce9913df1cf6769d3daab9468aeaa09dabf3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70862fa4b81cdfb5bcf0fa03f449032d8dff9c5cc0ec16728855b1bc356b204c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea240f2589c308843f0d8acf96c71ac14d9983baa41d42bfbd7fa71c769de84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.677 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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9998, 0.0475, 1.01, 0.9062, -0.8619, -0.4709, -0.5312, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9998 right_x=0.2546 right_y=0.0959 right_z=0.1829 right_yaw=0.7416 right_pitch=-0.2629 right_roll=0.0306 right_gripper=0.0509\nstate[joint_eff]: [-0.0479, -10.0991, 5.8188, 1.4383, 0.1538, -0.0464, -0.0073, -0.0752, -2.3453, 6.5162, 1.2821, -0.2369, -0.0317, 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]: [-0.3908, 1.4174, 0.9726, -0.4152, 0.223, 0.0929, 0.9998, 0.0475, 1.0126, 0.9062, -0.8619, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3423 left_y=-0.1794 left_z=0.1381 left_yaw=-0.6482 left_pitch=-0.2646 left_roll=-0.1044 left_gripper=0.9998 right_x=0.2548 right_y=0.096 right_z=0.1823 right_yaw=0.7426 right_pitch=-0.2648 right_roll=0.0324 right_gripper=0.0509\nstate[joint_eff]: [-0.335, -7.5829, 9.7436, 1.536, 0.1538, -0.0757, -0.0122, -0.0615, -2.5641, 6.6667, 1.2869, -0.2808, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2684, 1.5181, 1.0332, -0.4713, 0.2676, 0.1421, 0.9997, 0.0475, 1.0145, 0.9062, -0.8627, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3641 left_y=-0.1449 left_z=0.1182 left_yaw=-0.6003 left_pitch=-0.3434 left_roll=-0.1358 left_gripper=0.9997 right_x=0.2548 right_y=0.0959 right_z=0.1817 right_yaw=0.7428 right_pitch=-0.267 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-1.1145, -8.212, 10.2359, 1.6239, 0.4713, 0.3297, -0.0171, -0.0205, -2.3453, 6.7761, 1.3114, -0.2466, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3be6eea107c6b7c92f961e7a5ce9913df1cf6769d3daab9468aeaa09dabf3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70862fa4b81cdfb5bcf0fa03f449032d8dff9c5cc0ec16728855b1bc356b204c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea240f2589c308843f0d8acf96c71ac14d9983baa41d42bfbd7fa71c769de84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL8DF4iqoGSU-V3okJhV5l68yqDymrvkh2WTGyICojAix9oDElHKwjahYVg1ISf-bKaOwBa9cBFZNt1PcFC1UrSuZPVReVhNXZaDQ91PeZxTK05zxiY7OkKm6VnWcc_vE2He9uudVi2tDFgW9QqOlZHmmR_ggJVNwZscpmNzHF06N6SllTlR92yKUry3wS94RpUrLUr5EKQFf8nuQiGrPNmYG6KsZIm0GxbV_ZG8NQ-pGgPBWiMjQLvLQ7fb08cg7CGoQSNWy4NM1rBLM6Fw1Te44IO7LVdItrPqhgRGYmquhJisgoSdb6qSRUsVOxo8i9gs-DsAgkoUaEZkLNYzKQmDrSquiDXGTbGvg_9zu8oaeXjBiUMddPLAwPSwuseeczMNrLaVw-MVKR0qo1cm9TpHM3puQXoSrB_WL4xJhUDPBV0a78ie7kIv75sEg3Raf6q02k-S2LZZYu7E2mSJ4LASclnVgWgchm-bqj-psoM8fCOsFL3-nSldXo4rNxENXUL0I3-m-NmPKCU-vdH_Abd6hLuszm9iL3POQVZkSIj4V9YHjayrsdDMPTdP41R3DWEtcAAvNB6at2ifwV2WYqQFH5y8nKsEt3CNARnY-3EOVjaKSM4iN4Zn-gUZc6OIHtzubbZhuUNDKkP4UizHeW9x4Ecad7xkasuLNqPAIUMNizJq6dbN786eo00eXFNGSCJrB6B8EVZn5xL_HV8hYJNiqYXxzAcrKzq6sBvv1HHYLIEio7hziNRf0khsQ79KPYB9MkrLjD5N0vUJYTN0HMKs3lyF2FCPmPa1Xz1p6dnDbzeqgi2u35Zi8DYGFd8fFvgRQUrnQ7Jkje7mYK77jFdXr2n7EXJh6Pwi5HvhkGv8Ho2son5_K7V7mBaTNjEmqM9H4G4KSqacmB2IJlKV0_JCvrW_b1r8Bk5pC3OJ4w84OcxWssvT0UZZp7LXw4LPPbBYoth2JifQf1mOA9JIFBUiiiEtDo2ZkrVurmRGEBlnDPmdOvaAr6wchFTrui74VHrCxn2W3TpLNPg2_v8t2xAXsWhIHSVjwNxR0GujWVGTcS9phwTiUCLcEpbthoYskxRBlOwjCCxkyKoG0fLFIm7UccKKY7xnOQjs0IrknuONzlrcZI4c5XoqPH4utyxJU2yO2ZOrjJ2UGJFZhELf7SC1QUdyPzq1W7YL8LbCz1Uq6KDsKQHkfkDJDFTZZ5r7CxNmNcUX0m2MqRyTXikbRP0JzHocc7-EY_JdDTOg-CTGHw3By7Ur01xhgRDvk8J93_gr2lc6qU331zIblgyqKV4FzcIB-zShh_XA_b37-9poaKdM6fBSO4wILd-YX1nz0pUaOc2JcbEwbva3d5hNIoklw==",
  "id": "rs_0485aaa1d7e09028016ab452faec0087d08ae9142ac42fe915",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.13,\"left_z\":0.14},\"note\":\"The cap moved as expected and is now only about a centimetre left of the jaw centreline. I’ll apply one smaller correction in the same direction at this clear height.\"}",
  "call_id": "call_ZwYlB7hZSfpB5664Ie7ubfEU",
  "id": "fc_0485aaa1d7e09028016ab452fb7e3887d0ae327e2b177b391f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZwYlB7hZSfpB5664Ie7ubfEU",
  "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]: [-0.2501, 1.5402, 1.0424, -0.4824, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8623, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.365 left_y=-0.1427 left_z=0.1132 left_yaw=-0.6335 left_pitch=-0.3548 left_roll=-0.14 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1818 right_yaw=0.743 right_pitch=-0.2665 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-0.3077, -8.0205, 9.9214, 1.6972, 0.232, 0.1245, -0.0122, -0.0615, -2.359, 6.5299, 1.2625, -0.2906, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed443c55054cdabdf5b884a048d7305da9b5585f15f95e4acc515afdf9f655f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8bc21b5d67ab64e83f6e3f59e6dc6f628d1458e8966609b539fddff8605114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02407e887dbfa48d6fedb7873d42aa346fd1b84b900b43320a95340a199c51b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.533 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]: [-0.2249, 1.7123, 0.8795, -0.0414, 0.3214, 0.2104, 0.9997, 0.0475, 1.01, 0.9062, -0.8623, -0.4709, -0.532, 0.0509]\nstate[eef_state]: left_x=0.3968 left_y=-0.1443 left_z=0.0503 left_yaw=-0.6311 left_pitch=-0.2475 left_roll=-0.1001 left_gripper=0.9997 right_x=0.2546 right_y=0.0959 right_z=0.1828 right_yaw=0.7421 right_pitch=-0.2632 right_roll=0.0304 right_gripper=0.0509\nstate[joint_eff]: [0.0205, -10.1538, 5.8051, 1.4432, 0.1685, -0.0366, -0.0171, -0.0479, -2.1675, 6.5436, 1.2527, -0.2466, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2684, 1.5181, 1.0332, -0.4713, 0.2676, 0.1421, 0.9997, 0.0475, 1.0145, 0.9062, -0.8627, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3641 left_y=-0.1449 left_z=0.1182 left_yaw=-0.6003 left_pitch=-0.3434 left_roll=-0.1358 left_gripper=0.9997 right_x=0.2548 right_y=0.0959 right_z=0.1817 right_yaw=0.7428 right_pitch=-0.267 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-1.1145, -8.212, 10.2359, 1.6239, 0.4713, 0.3297, -0.0171, -0.0205, -2.3453, 6.7761, 1.3114, -0.2466, -0.0415, 1.0281]",
      "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]: [-0.2501, 1.5402, 1.0424, -0.4824, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8623, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.365 left_y=-0.1427 left_z=0.1132 left_yaw=-0.6335 left_pitch=-0.3548 left_roll=-0.14 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1818 right_yaw=0.743 right_pitch=-0.2665 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-0.3077, -8.0205, 9.9214, 1.6972, 0.232, 0.1245, -0.0122, -0.0615, -2.359, 6.5299, 1.2625, -0.2906, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed443c55054cdabdf5b884a048d7305da9b5585f15f95e4acc515afdf9f655f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8bc21b5d67ab64e83f6e3f59e6dc6f628d1458e8966609b539fddff8605114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02407e887dbfa48d6fedb7873d42aa346fd1b84b900b43320a95340a199c51b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMAym2kAPWoOH4SsKJmKq7MYzYPhnhAQTqPr9lo9MJ92utSf58zHwGLzWfaIm__Tn-dIFElwn_LjRFHDgRald6k9t6obY5yLIA_IU-vKfSifkhb1HqmwkwUfR0LKpkLrAGxSeITHnb6Fkjyq7Yx4QJGkRZNsbhsp9lTaW-AsZ9mFK3SJd1VRahXe6wm9Tz5PCtJJOgY1hYpH9zuCPZjYQI8cDB__oayGlZPlC4NdcH7Kwz5CzL-Sq4XRFDoNuHg6ZkqILaPU7mfwPcKQdR60RhBAuMWdnUAsIkTQeVWcZC-PWFXhH6zmbbeb3qgzsmVEzJ7bGwqigBGRv7K3nhThTASM5nLh2UYJcTCF45SIh2_TtWeR8g79zXqD4Zwt2sCdCwnZuwPoE13cUyZ5gGxEuhB_dng2s_0oSgZnx6swJkbSAM06187q4ZawynVj8Kmv8JqIAmaXDSgCFiLmtnoPrTdo3HY47NGGFlXW3muJUADOa_eBtzw4JaNOlmkKMKcF0bQmvR9RV3Xk-8_37Mp14hqX3DSeFGGXMHDypaBmRAInyrh_hzu7yjUFi8DSC9oaLu8LgHA92sg6FlZg1_bfiqTLydb6YIfRlAsDvLUUCBdUNkNte7UHLSZmz2QJeqhK8cNZzRk7P-DoVlHJMOt3lOWzKqWoR91I45Vi0WGux_VktXnFtqnSKFyQ0ooj_rOkBFYmc97kUvSWYiwDsWuDhG1Mrw3Dg9clT58DdZyKRxXdh9eCMz7UpYQ3SSTbml2991X8tfXQbUi_-lzHkqJIXOxAZ9jiybhTflCL11DmE5MOSOL7IFrU7hlaBY_ydNaezkRhg6LahxKkD_gc0YFrvyPseKAFBaSmtYLS3lrBq_WqWJ6lrGasPcJsqatlUaOy_b_ZeVQCBQTYEBwGJNBjUdMJAHHymdQnByouf4PmIEO6-jijiy6BnfrTxE_NEx6gLW-g3Znw1ebJh8vR47bPitXNFg7PnmKcMA-HC40uPfdqK3hBlngkHATAigr0ZzPNn_3Li8iVhGGByK5bSAWUGf_XvKNSGiRdhUx-WHl8W9ZPof4a19UoBFpUVpDelQ3XQc0-8cZd-tT4cWgGOmG-UtHqj_XGy-G-lffFlc31foYMIKqrL1dNhmbuUiZci-kccIpiDfyBMZnv4RRtGiaovNnxBcYaWAbeg5MJapOxerByr8E6xGjLiOE5IKrTGoJQNzam79w-oqCJvNjkj3WpwYKH3kViYnynK0goMR8KYWZdx8iyQJy4d9jtXB3vxauO5o_WR9VEdJXh90WNzTOQ_HHja51gs5WCKd04o_mL4tj1G9Y5Gtej2VtKcSXpffp_PqSs_joTysmbkwyRnLsq1G6JsxYvi_crg1G3Z_jWPCqsndTOigu3cU9Yeu5FzE2Lyy7oGNFpUNmDl7pvj-bob4xj61_FfMVIAek01i9s2Qu3_vPVzcHY3KjsNBikfV3ZLXVY2yllCG61k3_rGVHzOCq4AEQg_eptqfRYxe6RA6Z3hmOQMG1I7DJ0FS000xokqRCADOQcRVzZ8nXJSC1r8mA5cHbluSn_r8JLWejhADS2V5ylfPyl29u774FrILfVaCfy2Lwdh6LqHyCxNA3NQbt2sjNa8hA7mv-2N8Nw7v1VIKO7eF75i7lShqxo5zhlQfLi1nXo6TO4P9SqEvNHu2uKJGQoP5k_Bnct_4XxHTF1I16iCJiRW_Zxo9TL9QmOWU5JQo5q4K-a5Zn94LuHlBV7wghoOhvniG4lesnZ9HLFGBcAoJI2mneYvSOl3aMix3pD_cHdPgjLwBfYh44KCiF8_6gkn5rW8UzK0d80TTdPAXLUQAhzXWUhtVTFd0eLJZV",
  "id": "rs_0485aaa1d7e09028016ab452fdc03887d0ae4ff80fb7c0b48b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.11,\"left_z\":0.14},\"note\":\"The radial component is tracking poorly near this reach, but the cap is close to centre. I’ll use a small inward-lateral adjustment, which should supply the remaining image shift without extending farther.\"}",
  "call_id": "call_Up0pRXuMFHPYtKxF2LvjIhuH",
  "id": "fc_0485aaa1d7e09028016ab452ff704087d0b31d7307ca15c8cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Up0pRXuMFHPYtKxF2LvjIhuH",
  "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]: [-0.2501, 1.5402, 1.0428, -0.4835, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8635, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3649 left_y=-0.1426 left_z=0.1132 left_yaw=-0.6336 left_pitch=-0.3555 left_roll=-0.1403 left_gripper=0.9997 right_x=0.2547 right_y=0.0959 right_z=0.1816 right_yaw=0.7429 right_pitch=-0.2676 right_roll=0.0344 right_gripper=0.0509\nstate[joint_eff]: [-0.4444, -8.0068, 9.7299, 1.6142, 0.2711, 0.1929, -0.0122, -0.0205, -2.3043, 6.5573, 1.2479, -0.2564, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3986e76df4fea797acbc316826aaccc9cf87e7fe06665344db57f9653d62d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac199f15caaf38fcb3c43bda22e799d963035701937da1515127506442e88df3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80923be4870f1172d34d6a0c5ea9adf7ec41bffa8ef5418560eb33c75ae6c822",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.619 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]: [-0.3908, 1.4174, 0.9726, -0.4152, 0.223, 0.0929, 0.9998, 0.0475, 1.0126, 0.9062, -0.8619, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3423 left_y=-0.1794 left_z=0.1381 left_yaw=-0.6482 left_pitch=-0.2646 left_roll=-0.1044 left_gripper=0.9998 right_x=0.2548 right_y=0.096 right_z=0.1823 right_yaw=0.7426 right_pitch=-0.2648 right_roll=0.0324 right_gripper=0.0509\nstate[joint_eff]: [-0.335, -7.5829, 9.7436, 1.536, 0.1538, -0.0757, -0.0122, -0.0615, -2.5641, 6.6667, 1.2869, -0.2808, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2501, 1.5402, 1.0424, -0.4824, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8623, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.365 left_y=-0.1427 left_z=0.1132 left_yaw=-0.6335 left_pitch=-0.3548 left_roll=-0.14 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1818 right_yaw=0.743 right_pitch=-0.2665 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-0.3077, -8.0205, 9.9214, 1.6972, 0.232, 0.1245, -0.0122, -0.0615, -2.359, 6.5299, 1.2625, -0.2906, -0.0171, 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 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]: [-0.2501, 1.5402, 1.0428, -0.4835, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8635, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3649 left_y=-0.1426 left_z=0.1132 left_yaw=-0.6336 left_pitch=-0.3555 left_roll=-0.1403 left_gripper=0.9997 right_x=0.2547 right_y=0.0959 right_z=0.1816 right_yaw=0.7429 right_pitch=-0.2676 right_roll=0.0344 right_gripper=0.0509\nstate[joint_eff]: [-0.4444, -8.0068, 9.7299, 1.6142, 0.2711, 0.1929, -0.0122, -0.0205, -2.3043, 6.5573, 1.2479, -0.2564, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3986e76df4fea797acbc316826aaccc9cf87e7fe06665344db57f9653d62d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac199f15caaf38fcb3c43bda22e799d963035701937da1515127506442e88df3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80923be4870f1172d34d6a0c5ea9adf7ec41bffa8ef5418560eb33c75ae6c822",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMEcajgWls6M_IVzAwHbeXGrZbIv0hAPdYW2hH6TodSLjjrgaIbePW-qe9kHrgWwJciz77sLtH0AwUryU7uh034dENkh1DeISeLvrzPAhk8onMZ2hIKJe2BzjlWYSN8eT2KcglbbOpoFK_Zc64C8Gnma-8D0BlMCLLwyKyayyHNz6ImPIQtn3umUOcPQ0X_WK2vtjEWq2gSMABt4Bjd5V_BJ3GTWnZqCMuaAHLQsSxYdhU0ZPbq0RSyFoTQDIM_jRsro8jnlcBiATjGakrx_Gw__jwkoJVUbmZpHdCvSJ0fFQqe9gM9jjCkpMRLhazYjeGbY9BWCSxiV-cO1RvURt7hm1SvSC2RPYy0b9kLYFT7PkgZ3ZqTZUOxu4LG5BomwScMfOwZ_0BN6YzQxp5m85fyWdXOX-BKChECX-rYERZ0165LqZ6NlJuSTqlcyBZw3spT5CxUmgS8DWwLk6AknvSBIeS6n1UaRblIl260T4wX3ui7JsRdKcriyEZy-Qu92YzUMgWIP73wvmBk4bA-2HTiaZWZTsDPH8WnmzKhcaHUTsGhoxkl3hYFyDKAr3ZevRyF65TSRQaB61t2fIrrWDcWpidEa0589l_WeQXinemwtTe4JwRjQZc0rvat_EPklVFxBkHvskAzgbi9QXxKFHerj_fZq1R25yeIqA9HtDOkPdY_fZsl816-pt5z1AvXzxRkQ0oZMnm4XlWuyWTnOl5rvVF5RsvYaLSOaT2FLJhRZL854-gl2u3943lFTbOkKh5OJIznK-E-8eXIoTJg-YV1GvUv-slBbR4YegRnIoGCRn8BHtQ_WNhXnCJ8rBZz1xnl6TRzYkuvPa0lbFfEt9qUJ-MSqhqK3t3vEdyl7S-gKYnVq2wQ-3aKMftrZOGqFwtSkRcI0SOIdK5cp5q0bTPG-qVoUnwqRCIHGTwuVUOoo7PmiGA2gH36G4civDJLbuARJoj38OYlgTtSW1mQjUASd4pAdTD4FdyAymkbhMTkXBuyhhehdr4Nr45jojRiC4UGdiNcCCU4gX3wwI1jNAq9i2UrMsr1YMuvz0u42wB4yrea4Qdbp7alLRt47oAVOq3SFfjRcU9cqrBjGmCjwm_HEtTH-E3jNZuFCLPGWNibMLvFANiEYp7YygSiyd6b50WyGEziuDrug06kY8gFbMqlyrlvkM-wRIHvz7Fm_Kpp9sSUi3y0Uu7g8twp1cUPf8vvUD0sIQKsrB7k2r5B7HfDpPWXGlQZzSC4T-s7Su6rcFh0v2-2_bpb7_Irb10kTqmpw3oKZXNf-4SJjW5T9BSO7A75rcMneHN-PB9b8D856rT00V0wbhQqSQxSvMzH4uqVS0XvVHlPSs7-J6TYdGyDZORm2-_694Pa8PZ_vgTbsux0SVFE17wfdB-NA5X6LBxQkpSdlKRY1QzPAXJAlyEptAERBh6nZoSudJyrnuJb_zLIpSP3wdOWBCozPB2R-IDAciXw8ej6G5jIFstUDJtkeqgI2tb9zGB2u_xb5V7VAk_cJmjpMNDBmy2ftzN2hKYOGpRWSo3oMOOVGk6n5rvPk1Z-Z9kr9ueYKfMHwSpiL_zVCofsgy2yl9y0H8N8rZGbL3vKPA7odg-vdSdd-ikuCRUeSffCYuK0q9NRhVRCHk8q5zL1fuf_UdREydpnwxld3P3ADSEjBXGaf_4mSxi1wi5sCzber85QTpnlEmdJQ0Y5THyQkNW0HQmJE-627RB8",
  "id": "rs_0485aaa1d7e09028016ab45302181487d0a545c6420ecb15d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The cap is within about one cap-width of the jaw centreline and extends into the fingertip region, while further lateral commands are stalled. I’ll descend straight down now, preserving the good orientation and near-centred alignment.\"}",
  "call_id": "call_zmrQecRCl0c1qBpvgFY7QeCQ",
  "id": "fc_0485aaa1d7e09028016ab45303257887d0bb3f7817c7bb9f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zmrQecRCl0c1qBpvgFY7QeCQ",
  "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]: [-0.2493, 1.7485, 0.7956, -0.0429, 0.2955, 0.1936, 0.9993, 0.0471, 1.0183, 0.9051, -0.8639, -0.4706, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3637 left_y=-0.142 left_z=0.0064 left_yaw=-0.6395 left_pitch=-0.3688 left_roll=-0.1407 left_gripper=0.9993 right_x=0.2547 right_y=0.0958 right_z=0.1802 right_yaw=0.7432 right_pitch=-0.2719 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.253, -4.6974, 3.7265, 0.8767, -0.0415, 0.1148, -0.0464, -0.2667, -2.5915, 6.8718, 1.2625, -0.2955, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532388698b55943cca813fb811247d27015d02d027f66e66fabbf24c03d72fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b2590eba6103c402ebbc32b6cf3be21eeef422a294e37034501227a485745f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c74b888f1ce1d0c992151953362248a86806f486b38832b137306ca6d0c1e6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.514 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]: [-0.2684, 1.5181, 1.0332, -0.4713, 0.2676, 0.1421, 0.9997, 0.0475, 1.0145, 0.9062, -0.8627, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3641 left_y=-0.1449 left_z=0.1182 left_yaw=-0.6003 left_pitch=-0.3434 left_roll=-0.1358 left_gripper=0.9997 right_x=0.2548 right_y=0.0959 right_z=0.1817 right_yaw=0.7428 right_pitch=-0.267 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-1.1145, -8.212, 10.2359, 1.6239, 0.4713, 0.3297, -0.0171, -0.0205, -2.3453, 6.7761, 1.3114, -0.2466, -0.0415, 1.0281]",
      "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]: [-0.2501, 1.5402, 1.0428, -0.4835, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8635, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3649 left_y=-0.1426 left_z=0.1132 left_yaw=-0.6336 left_pitch=-0.3555 left_roll=-0.1403 left_gripper=0.9997 right_x=0.2547 right_y=0.0959 right_z=0.1816 right_yaw=0.7429 right_pitch=-0.2676 right_roll=0.0344 right_gripper=0.0509\nstate[joint_eff]: [-0.4444, -8.0068, 9.7299, 1.6142, 0.2711, 0.1929, -0.0122, -0.0205, -2.3043, 6.5573, 1.2479, -0.2564, -0.0024, 1.0281]",
      "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]: [-0.2493, 1.7485, 0.7956, -0.0429, 0.2955, 0.1936, 0.9993, 0.0471, 1.0183, 0.9051, -0.8639, -0.4706, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3637 left_y=-0.142 left_z=0.0064 left_yaw=-0.6395 left_pitch=-0.3688 left_roll=-0.1407 left_gripper=0.9993 right_x=0.2547 right_y=0.0958 right_z=0.1802 right_yaw=0.7432 right_pitch=-0.2719 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.253, -4.6974, 3.7265, 0.8767, -0.0415, 0.1148, -0.0464, -0.2667, -2.5915, 6.8718, 1.2625, -0.2955, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532388698b55943cca813fb811247d27015d02d027f66e66fabbf24c03d72fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b2590eba6103c402ebbc32b6cf3be21eeef422a294e37034501227a485745f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c74b888f1ce1d0c992151953362248a86806f486b38832b137306ca6d0c1e6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMH7eJ3SjpZOg6MjOjDR569HJ0PKZQY4-2xHRO3DVadL1oC3lofUedFDSnf8xGHuxltVJ5nu_ldS0cUPt_YYcP7P3RTwaMfm9P__cyt24wfAx7xYmNoRF5TgYMQ_CRnpaQrNAzixLRhu6EAmfsnC5hcEc0Yw6IkYBKwMAL5CtmI4MCaGi8rJKYrxOpRdMtNDL0JiR6nJx2RWSeLogyBCxyvn6_0hmaNlx1qhnqGUJPqrDYR4lDteM7v3Y-ygP8-_BqCp5i-jt4hk6Vjmtm5ktb_toCHfPOMfNAp06R-4ZEUCW9W02XhECQUyLvwxJwAVlJjB528D-czZAyhV5_EwQTBVYyXc7khysvhvKNqDLbeVXWVx6GNDfDs6kVolsR9kaQXGt8D0YEZ7KCaFNchlPECDhu0UiaVci7kY1VlRnskFT3B4pG8EN__pCtSDAVGFH0guCZdNKvW2sMtkM5sh0eELoyoicsiFj6HY4ENB_3e1Vi4CSYmkhDDrJVzfZ7pVhjdJqeKlf-S_5h8qCbK1KxVABGnIztAzCgzso695ha3gYzVda0WfVk2Co0BNx8olKNZkzJsm4ppDEYXser2pNRgLWOwInFV0Ix3t8FVh95KgzWEdoNB-3mF3_WqDT_EQ4J6wuKExp721htuaHb3vv6CjFeFFe-sjA37iXB41PDoMd8OnwlCxlfz2wJcHyYUw_CXPIl6qEMsa4rKK3V0cvPun-m0UX0KQZK9IYfmM9pvBE1BbN5q4llXA2YMiWgkwCBLjlWC_rwLZAdH-on7PxmuQnhvg3MhlcFgCdmbYlMQtK_mFePrUdg2NgkXO9vey_4380Iw_63iVsznQtLGbPhVyNpKYpa2e5n5HTfhJdAcuVgFff59Qihd2b6xKBw5FXiOXQhodxY7xqdXSU02ypb0gTrQ1SeypAmawJ4hFALIAek9UisfKKhCy80d9QO14DjbFwubPiDc4jdgg_NoUlhM8A-2Crcnh_zI6jSZbPp-JtuYFwBiX76RF4IsjxTgKnZJUwfXbBDqw76K46TmpMsAUdragzBDpxqCJUMGo5iQZAJHT7-lts1ul6ZUYtnml7kUoZRnancpWwiT7_8g60jL8_9oPchIfj6xnwhUxp-eP-9O7C52acZqh_lOSCHYMaa8ioIzA49ivImoF5jcxH9oxrmEFD02WKGBXPrYMoC-SRMuVoC692CG5uoBsuUEYChKTq87CTF8EKOnX7kg31faZ_kQQ5MLOCszj1AZnSweO2g=",
  "id": "rs_0485aaa1d7e09028016ab45305fa7087d08a2fac03a38cf2ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level the cap now fills the fingertip gap and is centered on the convergence line. I’ll close the left gripper to capture it.\"}",
  "call_id": "call_tDc7D42SYvtnYkdqakIOySbP",
  "id": "fc_0485aaa1d7e09028016ab45306485c87d0a4e6f5c2d34b0b2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tDc7D42SYvtnYkdqakIOySbP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.7538, 0.783, -0.0162, 0.2958, 0.1844, 0.0308, 0.0475, 1.0187, 0.9047, -0.865, -0.4702, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3638 left_y=-0.1421 left_z=0.0039 left_yaw=-0.6333 left_pitch=-0.3612 left_roll=-0.1433 left_gripper=0.0308 right_x=0.2545 right_y=0.0958 right_z=0.1798 right_yaw=0.7436 right_pitch=-0.2736 right_roll=0.0387 right_gripper=0.0509\nstate[joint_eff]: [-0.294, -7.6239, 6.5983, 1.0867, 0.2759, 0.1734, 0.3004, -0.1709, -2.4, 6.5709, 1.2821, -0.2271, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e09c863c67ae7bb083d7d82cef7a21ed6bca57a9888239fa13831a352385a5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6c3d05db7036f4ad568f964784c4cce23b9ef97d201921a78d3c9dae2170d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ec43f3e3c1a580004a264341e4e56f2900a59ab36903d620c63a9d0bf9e918",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.108 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]: [-0.2501, 1.5402, 1.0424, -0.4824, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8623, -0.4713, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.365 left_y=-0.1427 left_z=0.1132 left_yaw=-0.6335 left_pitch=-0.3548 left_roll=-0.14 left_gripper=0.9997 right_x=0.2549 right_y=0.096 right_z=0.1818 right_yaw=0.743 right_pitch=-0.2665 right_roll=0.0339 right_gripper=0.0509\nstate[joint_eff]: [-0.3077, -8.0205, 9.9214, 1.6972, 0.232, 0.1245, -0.0122, -0.0615, -2.359, 6.5299, 1.2625, -0.2906, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2493, 1.7485, 0.7956, -0.0429, 0.2955, 0.1936, 0.9993, 0.0471, 1.0183, 0.9051, -0.8639, -0.4706, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3637 left_y=-0.142 left_z=0.0064 left_yaw=-0.6395 left_pitch=-0.3688 left_roll=-0.1407 left_gripper=0.9993 right_x=0.2547 right_y=0.0958 right_z=0.1802 right_yaw=0.7432 right_pitch=-0.2719 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.253, -4.6974, 3.7265, 0.8767, -0.0415, 0.1148, -0.0464, -0.2667, -2.5915, 6.8718, 1.2625, -0.2955, -0.0317, 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 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]: [-0.2493, 1.7538, 0.783, -0.0162, 0.2958, 0.1844, 0.0308, 0.0475, 1.0187, 0.9047, -0.865, -0.4702, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3638 left_y=-0.1421 left_z=0.0039 left_yaw=-0.6333 left_pitch=-0.3612 left_roll=-0.1433 left_gripper=0.0308 right_x=0.2545 right_y=0.0958 right_z=0.1798 right_yaw=0.7436 right_pitch=-0.2736 right_roll=0.0387 right_gripper=0.0509\nstate[joint_eff]: [-0.294, -7.6239, 6.5983, 1.0867, 0.2759, 0.1734, 0.3004, -0.1709, -2.4, 6.5709, 1.2821, -0.2271, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e09c863c67ae7bb083d7d82cef7a21ed6bca57a9888239fa13831a352385a5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6c3d05db7036f4ad568f964784c4cce23b9ef97d201921a78d3c9dae2170d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ec43f3e3c1a580004a264341e4e56f2900a59ab36903d620c63a9d0bf9e918",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMKfKL3ddmLcKfEn5nU8H0bJa43Q--H9R01xl_RvVOIpUSvB9cHv67w7T3lSzb-R7AZMrcehGo7fVSy_mX8pOAJoaGei6JJrgP98u_GKpuvSAhZjygUXsDDpnYkjK6xJwdwrCo1pr0PIaqN5Sl3YV1ncukhpoGNWpt2rIs3iLXl4cdNNJiYHyVJWHqMzN8wrKaBSUd55XSHVfnBBqcTwOSmSC9er1ShLhhgvNYHPJ3IvNmksUoMXpO_748Zo8k2fLUr4h-nn7EL7wjPnVbCoBhIowJ-Gb0NhylXrGn7Sp2dnZSiFa1iXXV1eqCgAmu91cIcVPMhEjuYREkv982G7gE6xvOK686OVzCpSAA8CKiBxM0zMoXQ9G29F0vzm8x8jyMQXzoCn6ivTK6eG7wumLR72FhZw0FLULkGXzueARJD22JdQTMX9ERUODz9lOY3HFjP5fSUOW3CQVs96s6vRWu_nNaNdUsENzQw7wWTvW1Bme93SrJyf5qoFBCv64C44X0one1MJlptEcF5yPyUstHUDgYxQkHc0cAB82IFqkMIimNPSE5luuE89m04CBJ5EiLtGxSub03JHHVZHsx4mWKlVwHNmNecBXFWx9qBypj4gyN31dG_2W93uD5oWcRMOPGnDNpzKM3DAXxyyB0pdlto1s6pZPQAwObMgLAl1QDPzd84_4uVJn5OtSHd-AEd3OwwL9e9GCX1-OisgtnucQGS2nlFc97ZUsR4zMBFUrlIR3NyCXlN1SZ-J9-f05bMM-gLTPRX0U1FKCBgaNBEDuLFi-DbM7Pzv2mGchfm3shhztOq3zNqpeoJzYNphtLwvgTQumCTcNh7qf6I7jNVxSw7YLBOlXTg7-KRkhAPWAox4K7BTKPYRhUPZiN_AmrCc5snoOpT09QHXmf1q2255umvC9HWs2dQ7kUUgomGQd50u0BdT8LznI2WPyOdPDR7UK0zKNNzS54dfSQ32ItMjQM45_OdltG_Y8t8NyRgiiXSAWnYrf2cOXWIyVJ3QNiEAi5IQmzLQI1WSOlF8REie3NuOfLrn41t6MILdWx-uxxLwpPH-IOTcaywVnhAQ_ZWbIB-e7XGMwGL-MK19IkAtvT7Rtuf8DFOSgHoafnOw2O24Ef-wt26PRrnk9zprQk1d4RTMKORVfLHbOwkDAXadF14jeKjnD7nbqBBrhhA4HUNVQsYzoqn5_2aG8sPT9yjW9Zp2hw4yrE5JhTY8gc9D4vuQdtPf9QASkRIcjAU075Cn0xOHMGbWYBOhTaf0VHnl5WUt8rq5W95mIC2tQrRewWqKMXi3UDzfPIdtpOlCqsCreKmyiCBE7YtzUjiYhJWJDKXLkiHfr4X-U-rdbvXmTzBWj0ay408nsl6ggH4BPo15-7jZylCoE930r59KEqQ4dNkK2QwVc0XGxKU7mMIORHklwn4X0Yw1YDQ9JguxAQpV24=",
  "id": "rs_0485aaa1d7e09028016ab453097d7c87d0b19345c86309fa00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.14},\"note\":\"The left gripper settled at 0.031, which is borderline for this very thin cap, but the cap remains aligned between the closed fingers. I’ll lift and retract slightly to confirm that it moves with the gripper.\"}",
  "call_id": "call_7OpLTExTuQxgMSmAjp3eROzY",
  "id": "fc_0485aaa1d7e09028016ab45309f8d087d0af04fdcb88f77501",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7OpLTExTuQxgMSmAjp3eROzY",
  "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]: [-0.2653, 1.4609, 0.9985, -0.5529, 0.2848, 0.1589, 0.0306, 0.0475, 1.0191, 0.9047, -0.865, -0.4683, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3386 left_y=-0.1397 left_z=0.1154 left_yaw=-0.6293 left_pitch=-0.3929 left_roll=-0.1611 left_gripper=0.0306 right_x=0.2546 right_y=0.0955 right_z=0.1796 right_yaw=0.7423 right_pitch=-0.2749 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.7726, -7.5145, 9.6889, 1.4042, 0.0904, 0.1099, -0.0415, -0.0479, -2.2222, 6.8855, 1.3016, -0.2906, -0.022, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31de7622d202a4d48e55a6ebfdc6f900b82fb7bb4b2d1e8c98cd65a1fba6063e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0811cb6d9b9d296558421fa49cceb4eb28d7d38ed16484bcd12339c2c3d173ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d844f6e4785ec1dd9fcea1ff3839a1704918a92f7abf577b0663f019c396bdc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.248 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]: [-0.2501, 1.5402, 1.0428, -0.4835, 0.2958, 0.1852, 0.9997, 0.0475, 1.0145, 0.9062, -0.8635, -0.4709, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3649 left_y=-0.1426 left_z=0.1132 left_yaw=-0.6336 left_pitch=-0.3555 left_roll=-0.1403 left_gripper=0.9997 right_x=0.2547 right_y=0.0959 right_z=0.1816 right_yaw=0.7429 right_pitch=-0.2676 right_roll=0.0344 right_gripper=0.0509\nstate[joint_eff]: [-0.4444, -8.0068, 9.7299, 1.6142, 0.2711, 0.1929, -0.0122, -0.0205, -2.3043, 6.5573, 1.2479, -0.2564, -0.0024, 1.0281]",
      "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]: [-0.2493, 1.7538, 0.783, -0.0162, 0.2958, 0.1844, 0.0308, 0.0475, 1.0187, 0.9047, -0.865, -0.4702, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3638 left_y=-0.1421 left_z=0.0039 left_yaw=-0.6333 left_pitch=-0.3612 left_roll=-0.1433 left_gripper=0.0308 right_x=0.2545 right_y=0.0958 right_z=0.1798 right_yaw=0.7436 right_pitch=-0.2736 right_roll=0.0387 right_gripper=0.0509\nstate[joint_eff]: [-0.294, -7.6239, 6.5983, 1.0867, 0.2759, 0.1734, 0.3004, -0.1709, -2.4, 6.5709, 1.2821, -0.2271, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.2653, 1.4609, 0.9985, -0.5529, 0.2848, 0.1589, 0.0306, 0.0475, 1.0191, 0.9047, -0.865, -0.4683, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3386 left_y=-0.1397 left_z=0.1154 left_yaw=-0.6293 left_pitch=-0.3929 left_roll=-0.1611 left_gripper=0.0306 right_x=0.2546 right_y=0.0955 right_z=0.1796 right_yaw=0.7423 right_pitch=-0.2749 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.7726, -7.5145, 9.6889, 1.4042, 0.0904, 0.1099, -0.0415, -0.0479, -2.2222, 6.8855, 1.3016, -0.2906, -0.022, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31de7622d202a4d48e55a6ebfdc6f900b82fb7bb4b2d1e8c98cd65a1fba6063e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0811cb6d9b9d296558421fa49cceb4eb28d7d38ed16484bcd12339c2c3d173ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d844f6e4785ec1dd9fcea1ff3839a1704918a92f7abf577b0663f019c396bdc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMPUFJhyFI4OocroC2HcdCqsi_BwGyXJ-t5zeC7Mn4rSHW1jGJifsvsDdSTprtm9tfQiVnY2OLlakIpOooH4maOmX9Z4akZhv_kJjC4aZKvIfpjELpDwG5R4yzrl1l0TDFTPI3nkiKZCSCX7p9KplZ4D8ikAydK-z8mKlC-O35emWffid1Ij9PVDLdxiWXkXC6IWKpW2UCVGJI2uB369_8pcYSoHhNyTVC7KFClim2GccynyazGTAsi8q90P9a6eCgXXLmxsH5Xxxl1D8oUxb4YhCL-A2xaCrzN5cLyEz0RIHJN2F1IKhtHT7DaLRt4i7f5ClXj0QZvlNmUvFPISmKdyeCv1N49ZcqeYCWNW1lSVdNi_JYb7pOuxjP-Swdl2nEhGtf1FffUo0JTUjV5KcsjgmYqeaFGfZgy-bra7oVff0VjXYGs-ukn8rarpxyUOQfHMvUYXEqmWn-_hcxLwSkzkoW8XlVRKHqHhykjzf4wZRdIDvnTEkPgXZYzXPFj-bnwyQikz021mwnm9zUsOm3dax1Ji2lfRtwf_dw9PKpVEU4Zw-iJ2eZOwqE2FVS3nS27ZAUakcAVwujxIQNFT0CIZbrlJaHDN9DFsRwzkn4F8h8rVpVLIwcPFQOQvj6lEKKGsoq2REQQ918PVFRnGHagru_HR_wsBAZIOSREJrERvWzYL6oa__7V9QbtoQ2PKjY2LCOMoLjoU-oN8X8ykidlpRX2GyunCwtaP_C6diBE4hWDRLsDHqyJOKtfnil8geR-OH_FG0ek-ylWLgzTFlgnS_8jSc8XuPO1PNJ5qcrivT5KW1fhvNSl7IioKBlf6Fx8B66Qgzhh4JKA6cmBH7WZ97dzAbqxh5rdBtoswSSmk3b_vTHGyv0gj9gkjX8SG5JBDKwPQYkMKTnkSuXepwjQNaiQh0uxbe-nfUSs5SQEAv8N2y157SQwgEcx-qS-6DgUIY-f2n9BPRfNztPPNrWoB7wccnnq_kBqFx3hN63y1a4WRp-WDTfygeAIo0Nwa1uOSx3NYA_5OoDA8lz4RT1cqyTe896U8xXTJNZCls8NkDcCRWemmLnppAT1OP-CiOwB3ZcyERw2KGTTZkQ0gJ3NdG-OK9N_8Bq3RUj92B-7uGvCVZ6qDi_yuSGBc6AM7Na5miGQYclDjQ3O8_qOwc-qpEUdHp10vb4J_CyN96NGerwKyBpdoDzZBoOybWrYPCfA0Y2YCYd7VjxrXjezts41ZaRKN1ZkBQ2iH7kO2XJK0AsGchtxCCb-f1i80wrFg7_5DoOEOjVpfbbdzw2f7ED4QARzuux9OohMTUk3w8CCFvIGYqsXKkZ_7FGVLeutxoV2dcZRvDGoOFA5WsjXrYGkPS_kVXxLzn3Z-leeqSpAcasV_TOw_PQtN35uZ1lArN4vg-fAXUzNo931Gh8wKENxb5D-h_wQ5Wpw_m7gQSHAzPvo8sDsjK2p-JbouVg0SKZUyOB2XFbZBmbqlYiqeQ_-QyxHJm69cqFa1_WhO1e-Qvo0hGSkIsRetNsOYo4NJf1bN2A-pnr7wWF5XiPY5vQFDSTbP-DK5xQQ8D55GVVpj1_2QCWMIBksyjMpuvunwCNRQGRld_hgSCpqA2kwvLnpU3dtxlJBNp2LNLvy-0AlgwytQRgtushyJDda5JwS1MdyGU1lAqqnhyDRGtADcPnHzJDW5A3Hcjpvv7Pg6QZlz19Epk9usj1dVlhYBfPwFGtIVOYUROcT2xiJwkDMcK5aofQMyKXlYcOpslmW1qDBA_EgAi_dfGbUihp6CjQe6rsX1CrhqrW-CRS-9LeloeYdfxlxaxG7BkH9oLC6LkzJuKAWZ1I7ptXWtncIwCyI9B3ml4tzoElkOy3EgFpqdKlOQ5w1CyAz0Vf7y6N9ST43rzJHc2n2AA6ZFGThYAUScTqSNuK-MtLRUvzExdGbt9GapCxDxE5nx-dBPTiISno42LwztbCKs44LSsjVAIfPmCVPxoNQiMRzXRLjFEOyxSTSP5K9cHaK1i5Ha3e3w6c2Pfo0RacCkvzgozrJ-oLdQA-xeLgPww4_yRcy4yVZQhq_41gVIZyeJrjypWdAHWWnjF5TXCEEfIK1Nt9B9Q8dP7-QGh0ebN15wKyXi4a_H7siAX37olM5rx_1jcOSEqafQtRbMQt8yI1DEsFJlIFvYp7WYCmovxgfFpxxkF9dI1tPd3yQ1NDzhAz2TWwTHktRuWE=",
  "id": "rs_0485aaa1d7e09028016ab4530ce26c87d0bbe5bf736904728b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.105,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The lifted wrist view reveals the cap remained on the table, so the full close was empty or squeezed it out. I’ll reopen and re-centre over the displaced cap; on the retry I’ll use a partial close suited to the cap’s rounded body.\"}",
  "call_id": "call_IjdjUV2jSXIq8MLPyQmOoBeM",
  "id": "fc_0485aaa1d7e09028016ab4530ee78c87d095574b4bb996327d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IjdjUV2jSXIq8MLPyQmOoBeM",
  "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]: [-0.1265, 1.5806, 1.1427, -0.667, 0.3336, 0.2562, 0.9955, 0.0475, 1.0191, 0.9043, -0.8658, -0.4679, -0.5316, 0.0514]\nstate[eef_state]: left_x=0.3665 left_y=-0.1013 left_z=0.1148 left_yaw=-0.605 left_pitch=-0.4487 left_roll=-0.1853 left_gripper=0.9955 right_x=0.2544 right_y=0.0954 right_z=0.1793 right_yaw=0.7422 right_pitch=-0.276 right_roll=0.0382 right_gripper=0.0514\nstate[joint_eff]: [0.253, -6.5573, 9.6889, 1.2283, 0.3834, 0.1832, -0.149, -0.1026, -2.3726, 6.7761, 1.2381, -0.2418, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b3ab228dbf58c9af47d45780644caf79621d146f275d7fadb4bc4d4d13779f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2feb9953526a07c4aba50455a32e96f76952019f92a68c02e19ed879d4821e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081b88fe2d285b727795ec4097d4080f38863331e7b3696a792f69ad969f8c54",
      "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 · 3.092 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]: [-0.2493, 1.7485, 0.7956, -0.0429, 0.2955, 0.1936, 0.9993, 0.0471, 1.0183, 0.9051, -0.8639, -0.4706, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3637 left_y=-0.142 left_z=0.0064 left_yaw=-0.6395 left_pitch=-0.3688 left_roll=-0.1407 left_gripper=0.9993 right_x=0.2547 right_y=0.0958 right_z=0.1802 right_yaw=0.7432 right_pitch=-0.2719 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.253, -4.6974, 3.7265, 0.8767, -0.0415, 0.1148, -0.0464, -0.2667, -2.5915, 6.8718, 1.2625, -0.2955, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2653, 1.4609, 0.9985, -0.5529, 0.2848, 0.1589, 0.0306, 0.0475, 1.0191, 0.9047, -0.865, -0.4683, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3386 left_y=-0.1397 left_z=0.1154 left_yaw=-0.6293 left_pitch=-0.3929 left_roll=-0.1611 left_gripper=0.0306 right_x=0.2546 right_y=0.0955 right_z=0.1796 right_yaw=0.7423 right_pitch=-0.2749 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.7726, -7.5145, 9.6889, 1.4042, 0.0904, 0.1099, -0.0415, -0.0479, -2.2222, 6.8855, 1.3016, -0.2906, -0.022, 1.0232]",
      "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]: [-0.1265, 1.5806, 1.1427, -0.667, 0.3336, 0.2562, 0.9955, 0.0475, 1.0191, 0.9043, -0.8658, -0.4679, -0.5316, 0.0514]\nstate[eef_state]: left_x=0.3665 left_y=-0.1013 left_z=0.1148 left_yaw=-0.605 left_pitch=-0.4487 left_roll=-0.1853 left_gripper=0.9955 right_x=0.2544 right_y=0.0954 right_z=0.1793 right_yaw=0.7422 right_pitch=-0.276 right_roll=0.0382 right_gripper=0.0514\nstate[joint_eff]: [0.253, -6.5573, 9.6889, 1.2283, 0.3834, 0.1832, -0.149, -0.1026, -2.3726, 6.7761, 1.2381, -0.2418, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b3ab228dbf58c9af47d45780644caf79621d146f275d7fadb4bc4d4d13779f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2feb9953526a07c4aba50455a32e96f76952019f92a68c02e19ed879d4821e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081b88fe2d285b727795ec4097d4080f38863331e7b3696a792f69ad969f8c54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMTwHyNYUCW3IBmcH9nHXBgFhJK6ybr4hQZkVDESxLbiZjlt2vTtOGxDG0npdxX1nOgVDtfV0v5bm1jn6-KSUtGwihdNvUceUDtPFPVsbASaLvW4lxEWnyy3m5bcurSym0gsWuJcgLmCLWLx-dnhflEvVnDTaoEfDSplMcjJF-GHYonoT-eK5wpZyMGuQMTqIKyrxP1bhre0eGvI76cEPD9pNfrs-y2rjdYIysbHk2bSFxiOXpMYVY8b8FNo1rv78gLA6rXKY8SJQQSfUoVLEN0QAqcelETcIM2gxYE6mFJXo-TowsV1M9r88iq1zjV4NHJXkL5caJ_IXRnpwp5aiX_okoLYatb7CBApGgFQKo6gCqND3NCpfT9Iw5QOkbvPNY5ytEeYKnso2cUIHFVCkcSuJ6nj1AncJi7kw061JQNPbO_AfDwoLFtmTFcCGFATWiKCT1T2NDC2NV7DOrx2sQTMWjyk2CpLApTPr_pl1dZv0MX43AU-B041Y4su-QM7v1j4vDCtlg2bd4C_OOb0Ep_pmI9rXgMbW08tBfxnyryg1Vnrk_cPSO3tkbeOtYMMtPpPiRvNsn785l0lo-CYaIX6ZBxzXmEvt10HkMRjiKORJSry0cbk95iVMKNMIuvVVy9VoONz5plAq1az7ot3Skcr088Il-SyLOtScTfI4okXQ8NRzNaHkdDa0zSpvPzagGeFh3Fe8YyjcljbWDuXbJbhHEyZWSM2D0M1j_eMoHyxN-p4RWoYpEM3Otla189OY1XJYY47EyU9BfNdxSFxgNVAusqk_LSTPZSZ7ZMUI-K3uAHMA0i0G-GUxmnU0Sl2PscsnC9jhw7ra2z_n3qYUpYl5frQcGmCfZrOx7SHuhsHn-spCANDCuLXgIsASWogDB5mW7H8PS3HyDkUO9jXVQGyD1wokiNrqJXh08oZV7t5wq3Y4ccvMjv7ydI7uXzTkZhxaMXNhjt7zLwID12UlQDxTmUKHat9MTjq6QwjbHGnQLJwxsW1JRGuOBMrQ3jZvtgFqDsnT5ZjoV3WIocAFTAlpFl8nIRx1ohMx3upjbKUPZVYRYxni1tzXm5_oSRTtK8GnxdT9HaRX4UD9p97YgLKDmTykgmJsaSeiJ8UEaAphkUZMl8iksup20Lzp1dPzl99ocmX0TQ6ghcQs5BssmXmKxmi9vltqebYSHDgyYzguGtgWmjuj7t8pAA0PHGoU2QwOs931wLREjisVaJfT8DweoeHzk11kdXAjGSIFE4m103Zxkp0bhxohS0gDDjTvUefcZwtsrWXunWtZNvDwn81A8VA_9arU9Qvep_z0W8FCE=",
  "id": "rs_0485aaa1d7e09028016ab45311de4487d08f05b32363db0045",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The reopened jaws now straddle the cap almost exactly on centre, with its long axis perpendicular to jaw closure. I’ll descend vertically for the retry without changing this alignment.\"}",
  "call_id": "call_ihO6GhCH8HLDlAkRWZ7HKOZP",
  "id": "fc_0485aaa1d7e09028016ab453122fd487d0ac30f96bd0100a96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ihO6GhCH8HLDlAkRWZ7HKOZP",
  "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]: [-0.1249, 1.7622, 0.8661, -0.2028, 0.326, 0.2619, 0.9963, 0.0475, 1.0203, 0.9043, -0.8665, -0.4679, -0.5316, 0.0544]\nstate[eef_state]: left_x=0.3685 left_y=-0.0997 left_z=0.006 left_yaw=-0.5992 left_pitch=-0.4458 left_roll=-0.1721 left_gripper=0.9963 right_x=0.2543 right_y=0.0954 right_z=0.1789 right_yaw=0.7425 right_pitch=-0.2774 right_roll=0.0395 right_gripper=0.0544\nstate[joint_eff]: [-0.4581, -4.4786, 3.4393, 0.8523, 0.1832, -0.0513, 0.0757, -0.0479, -2.4547, 6.612, 1.2576, -0.2759, -0.0269, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6c8b6c343f223e0d6174a56683310587ea0a051b93f7bd363378c2cc9787e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbaa1938a575ed558f40fa58f02b3cbb1cb446e3f4f61c9ce334ec8dbc7f0311",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef895d675c3d7f6c514cf58a9ed43905e35816d3d2f0326f8074be23d5ca5b9",
      "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 28 attempt 0 · /responses · status 200 · 4.318 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]: [-0.2493, 1.7538, 0.783, -0.0162, 0.2958, 0.1844, 0.0308, 0.0475, 1.0187, 0.9047, -0.865, -0.4702, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3638 left_y=-0.1421 left_z=0.0039 left_yaw=-0.6333 left_pitch=-0.3612 left_roll=-0.1433 left_gripper=0.0308 right_x=0.2545 right_y=0.0958 right_z=0.1798 right_yaw=0.7436 right_pitch=-0.2736 right_roll=0.0387 right_gripper=0.0509\nstate[joint_eff]: [-0.294, -7.6239, 6.5983, 1.0867, 0.2759, 0.1734, 0.3004, -0.1709, -2.4, 6.5709, 1.2821, -0.2271, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1265, 1.5806, 1.1427, -0.667, 0.3336, 0.2562, 0.9955, 0.0475, 1.0191, 0.9043, -0.8658, -0.4679, -0.5316, 0.0514]\nstate[eef_state]: left_x=0.3665 left_y=-0.1013 left_z=0.1148 left_yaw=-0.605 left_pitch=-0.4487 left_roll=-0.1853 left_gripper=0.9955 right_x=0.2544 right_y=0.0954 right_z=0.1793 right_yaw=0.7422 right_pitch=-0.276 right_roll=0.0382 right_gripper=0.0514\nstate[joint_eff]: [0.253, -6.5573, 9.6889, 1.2283, 0.3834, 0.1832, -0.149, -0.1026, -2.3726, 6.7761, 1.2381, -0.2418, -0.0317, 1.0281]",
      "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]: [-0.1249, 1.7622, 0.8661, -0.2028, 0.326, 0.2619, 0.9963, 0.0475, 1.0203, 0.9043, -0.8665, -0.4679, -0.5316, 0.0544]\nstate[eef_state]: left_x=0.3685 left_y=-0.0997 left_z=0.006 left_yaw=-0.5992 left_pitch=-0.4458 left_roll=-0.1721 left_gripper=0.9963 right_x=0.2543 right_y=0.0954 right_z=0.1789 right_yaw=0.7425 right_pitch=-0.2774 right_roll=0.0395 right_gripper=0.0544\nstate[joint_eff]: [-0.4581, -4.4786, 3.4393, 0.8523, 0.1832, -0.0513, 0.0757, -0.0479, -2.4547, 6.612, 1.2576, -0.2759, -0.0269, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6c8b6c343f223e0d6174a56683310587ea0a051b93f7bd363378c2cc9787e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbaa1938a575ed558f40fa58f02b3cbb1cb446e3f4f61c9ce334ec8dbc7f0311",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef895d675c3d7f6c514cf58a9ed43905e35816d3d2f0326f8074be23d5ca5b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMWahqyhL6Sdcyem84IT1t4xP0m2CkhOTgi3F4M6UkwnlLAv5nmm0BU6Uky1PT_xf4-fBxvPkcXYlvgmuGVePeSaGT3mXzlNy476fqImZBkwjYlQsWiWGqNEFRukrdk-qqzeiGDsqPvg2GKm-S4-SFr5gL-KQ_a-dS18Z9lnYSyeC8T3JYGzl44IEigAxDPZQE0D-JNIV3NnCILJz5A2jlt5pukCiOJJBqapkci_7IBpIPSFkwrTlLUhcbXfTyVTxwTxJ_WstIt_5-dd8mzeqzelrexSYDRFotcpVxygCeOAa2FtyNuPiV0p0gR5Y3OGHgZj59qa8vxyortRQ-7zh0z7z2WZ9vvl4pgiXPVeWEfjeBTRITwabPzl7EhmVDERUMC607nYtrD6Gx5osq12AScXgwkYJzNHIAzUk2_bVbXnQH4z95ZUoJm-gVnPkoydUWbnU8cnIE0qimBPG8rwMBCy6QwZRuO3cc7zUlnbDmdxLfE-bCdR39XzM_MuJwRXPNbECMqTIqLqzXItxFhjYzYpI908rRquLFNxsnvOfPiYxcWalyWfZMkTRV9O4b0qVfN_FgU0-ztQfDw3UEeBM6rcEGDlmUssF1qiXkZ9XVXP6FAHxBwvNUXJpV2QT9NTvE-IE54SaDPbZWwJsvVJasN5nypuTcLK6BRqvYArGqeqJq14GUUbLqznOSk1KaPeQetT49p2asaP_igRCsFlnPSCgD9YcCgnUIZWWVTWuwGPtScbrCBk0hBQYHI_gbRHa6MH_7lku3l_cJY7DF0zxpRvVmR1fdcSHC_44CTwvdgNl0gtaq8HmJN-8JaN87uCHhfq7WCLs-GKndPZPhhW95iKo6B5EvOoexl4gwiXNEHeLu3O80k0qQAJdAaPlonWHUzZXMNvvGpmmoV2kYywNJrhy7a7Xgfbr01QdrQmCH0oLXprpKG1P_UDWtvboN768AclvBbG_6kSPfzVZk-8UA0pagvGopBQ1rJN1moSqT10zT36sjUg9HpMx_9vhDcjrmTg7cqTjyzr9nC-h86VTbWJbpdJ1xe_n6vjLQoOe2xAZfQ6k0-YhD6dDu6_ceI1jyHBIumXxPHITf1sYTGRwYO35HLkH5h2x5tAnIJKW2TLTNhLeWRvRjrvVe7IrbX7D54jBUL-zK91ortWD1Q0Jx5F8HRNiuuavSvUknkM6lW_pk89F7gLDAPY8V9fDRvygyny4qn__J11HMaW4Nf_14h_IFKHbeQBJQxDI1AEn1-hqMuvjzJj-yNtoK23xrtTnZs6QptFCrlRASHyW40AO_3vYiUqodQKd4fMEnSkktF-Z1Wy82Nw2rUTCvwNB_fgdf9FnkEdUmqjF5IdawpJb4y5XClLVIdsbZIisWpGUO0cnoxMS0Fr-aEYqewj8BF7eQq8RnlEmZ4JyoBZ2Q27AemkQ40zKgyaDUDpp4MnzPWWWRuIRB5eeWFemZgYhFYKG-7oYvYA6RQlB5m1gVhakmkJVqgPQF48U1sgclcD5E6CE0=",
  "id": "rs_0485aaa1d7e09028016ab45315001087d0a9f8e0ae99bac63d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.08},\"note\":\"At table level the cap is centered between the jaws. Because the rounded cap slipped during a full close, I’ll close only to about 8 mm jaw spacing to cradle it without ejecting it sideways.\"}",
  "call_id": "call_kDMcODHCGdTlasScpS4SbJnm",
  "id": "fc_0485aaa1d7e09028016ab45315dc8887d0a5083bc030ebae0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kDMcODHCGdTlasScpS4SbJnm",
  "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]: [-0.1249, 1.7729, 0.8562, -0.1982, 0.3214, 0.2611, 0.0852, 0.0475, 1.0203, 0.9043, -0.8661, -0.4675, -0.532, 0.0552]\nstate[eef_state]: left_x=0.3649 left_y=-0.0984 left_z=-0.0006 left_yaw=-0.5985 left_pitch=-0.462 left_roll=-0.1766 left_gripper=0.0852 right_x=0.2544 right_y=0.0954 right_z=0.1789 right_yaw=0.7424 right_pitch=-0.2773 right_roll=0.0387 right_gripper=0.0552\nstate[joint_eff]: [-0.0752, -8.7453, 6.1197, 1.0672, 0.2515, -0.0366, 0.1294, -0.0752, -2.1675, 6.6256, 1.243, -0.2418, -0.0073, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4cc3702cd6d531fdbb823a561e74c509adb48626ec20f05e1ea1b1bf52f9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126630badc17b22c96d06ed2ec65d3014f3c0010af0a172c5a0d5ae5d09bbba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2e4745a6f77bff6bed23b98034e5f7f5a8488894e2933a6300d9870c9bd168",
      "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 29 attempt 0 · /responses · status 200 · 3.191 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]: [-0.2653, 1.4609, 0.9985, -0.5529, 0.2848, 0.1589, 0.0306, 0.0475, 1.0191, 0.9047, -0.865, -0.4683, -0.5316, 0.0509]\nstate[eef_state]: left_x=0.3386 left_y=-0.1397 left_z=0.1154 left_yaw=-0.6293 left_pitch=-0.3929 left_roll=-0.1611 left_gripper=0.0306 right_x=0.2546 right_y=0.0955 right_z=0.1796 right_yaw=0.7423 right_pitch=-0.2749 right_roll=0.0377 right_gripper=0.0509\nstate[joint_eff]: [-0.7726, -7.5145, 9.6889, 1.4042, 0.0904, 0.1099, -0.0415, -0.0479, -2.2222, 6.8855, 1.3016, -0.2906, -0.022, 1.0232]",
      "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]: [-0.1249, 1.7622, 0.8661, -0.2028, 0.326, 0.2619, 0.9963, 0.0475, 1.0203, 0.9043, -0.8665, -0.4679, -0.5316, 0.0544]\nstate[eef_state]: left_x=0.3685 left_y=-0.0997 left_z=0.006 left_yaw=-0.5992 left_pitch=-0.4458 left_roll=-0.1721 left_gripper=0.9963 right_x=0.2543 right_y=0.0954 right_z=0.1789 right_yaw=0.7425 right_pitch=-0.2774 right_roll=0.0395 right_gripper=0.0544\nstate[joint_eff]: [-0.4581, -4.4786, 3.4393, 0.8523, 0.1832, -0.0513, 0.0757, -0.0479, -2.4547, 6.612, 1.2576, -0.2759, -0.0269, 0.906]",
      "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]: [-0.1249, 1.7729, 0.8562, -0.1982, 0.3214, 0.2611, 0.0852, 0.0475, 1.0203, 0.9043, -0.8661, -0.4675, -0.532, 0.0552]\nstate[eef_state]: left_x=0.3649 left_y=-0.0984 left_z=-0.0006 left_yaw=-0.5985 left_pitch=-0.462 left_roll=-0.1766 left_gripper=0.0852 right_x=0.2544 right_y=0.0954 right_z=0.1789 right_yaw=0.7424 right_pitch=-0.2773 right_roll=0.0387 right_gripper=0.0552\nstate[joint_eff]: [-0.0752, -8.7453, 6.1197, 1.0672, 0.2515, -0.0366, 0.1294, -0.0752, -2.1675, 6.6256, 1.243, -0.2418, -0.0073, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4cc3702cd6d531fdbb823a561e74c509adb48626ec20f05e1ea1b1bf52f9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126630badc17b22c96d06ed2ec65d3014f3c0010af0a172c5a0d5ae5d09bbba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2e4745a6f77bff6bed23b98034e5f7f5a8488894e2933a6300d9870c9bd168",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMcIFK6eelcPIZjaseohQXlVg3amRwJmV58P5XstMHsLctvy8k_fDRI9e7PAyCAvGmPEkCdzWiVcxb2UnCqr2K5TURtXds5wUhVs5nbWGK0Djb4VRYejarTB9lXHGmwBZsq3bW-tml-bnlC8slDXmdVPh-48ORHLWrjYgg3-N2YXFFpDbrpOQmRH3qQT4Y35HmcrJQa5tHOtuAZ9rAJCoc5x3-cvtzxYl2j0Bj0Oo98zI9OkAREPTb5N9p-V0VO_itC3_WOzI5rPoqBVito_Cp7f_Lb2btbzbMhLwplRte-E1uB01YFP8wGc4WXyd5tXHWzexNMmybyIh1SRZH8oVKMtp_-dLfjpPbSAi8_mkYlAgeZcrMj7XMYuoDX35Lyc2QAUFzRju81e4MJBJseByt_DxNIDDeejV9rUyHMlGMmyhWMp13P2DDUZDvpQvPgJ4uWsph66GuyOH0yBsVqhrIO55MZZsHjPSN5spxEQxHe5jFX7D8txwaMpGZwRpXoZv1RK6YDJdAbzIh8fso1nliVErhF4M5RKHnXL55oUAzGMz5vPJxQqIuKvlo9u92uKHPiqV3Ka_3IEdlExN9bNEsVgkm5iF9U4cGWYb4fs4oeVRNrKMhwtt5AV9e2GwA5IKXd0pTaWtuHwcT2ki8DL5MSrausSvjQjChc0fetQPQLKI2CTjszl6rVlhe6JEusT68vyaucb0FYg5zjnXThWatnQeNZiPtjbne02llPhwvQXVhIEJ3YG7r-NKBdKCrYnolv4t9076YbfLZAVJ0KVwMzTuIgp2CP43XtEWPWIKC5-ReR-ZGjxXSmqM9-yROnV6fOMuulFItLhzZaQwsb7n9_zuHvitTOy_9llSTBp1rISp3P7RD1HkpAQn_Z4HKFcMn65KRRgJXYbFsmNtT3cYp98xd0V1ixGMV0WUBRdJz2lsZysV-binSB7BUg3ttVMg23UmI8vcYJL1mTJrHDUegU8bVUMDCWvXM4JkLGBUR1eZsCdM1Q5VcntuMJncXGP8iqR5NrHri2BTGp8Fvhm_v7KeTjlEuMt9q20gj5X_xQFYJbWrdy42ONJte-1JgnjHZYR8EG0ITsx4cne-1iVPAkg_gisrk8w0nttvD9da7cosu6oCfqcTSCfGxgrhumdJ_O1PCvDXS8RdWfpyRSP2Cpc_wPrKVC8Nu35Ad_FDtQAzx7R3L3KCBpoHP_Qcjr7qI8xxyViHwyfmx-YAhw6oMwI3pbN5mM9EkipAEudt2Fxi9UHSH3tp90H4O9JCYUfB0uZkTNs6OIcyjJ1KKYAM6xk2KdYmS6HIW9--2frRGAbPjDObj3JJp_DcQzOVonO2AdgRwBBi3q_EzvuJ2ZzxtkzHG19_nOBkXd_x8yoYwJfzBfitkbE-FBqaRQs5QOPYoq4iQ7zlkqPLDA7_pKfw-26J7IRJU10CVdcfIYksyuNSftIKTlf5bg03gjPx_intLTG8giREFXH4LyJ8CrM-QX5khz1iqwjF2XYzB-y3ByMw1xPQ5AK8NXBNERG_cR76NOaDojKDAJVhPOrbWbVIlK2Qhj_f8DnrSXpcA7RvpM2gSYLdlYRuLzRaA5CyKcI_BdgpXygY8HBsf-XZN4_7poEXUG7nOL5n8UZAkiwgRncNGMq69fXu55Kt0KqXXQKbsPSCjNhGMrX95RIZlZtDhct5CNNG1rvArPGgjvBsmmWd-wfa71tn5g7yR55frcoCOYbvbG3s9CLZx7BuEvItypRe3FyzbfxrE8pKCVIsE55nXwLhO6wUGKfWKndmtOf7A_VHtSmXcvUfoagVVBtU0PfZZaTACp-5UzCJWs4O0X6cYY-NnFTmkPDyS8x-qjUgRCI4oo0t1I8geG18iGOFQPum4nFkk4js03K7o8qTuUf7MAlI4Jyyc2Dkh3gJLcCjHUeGVrRqlhx_edZ3nq73wNXY_YOCIZR-wcfHxOvGlaS-8RMBb99oGqY-A3pw4n1Neq5hc0mVRKPV7EEWhP_Hphvw==",
  "id": "rs_0485aaa1d7e09028016ab45319f03887d0967217e989ae9b5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.395,\"left_z\":0.08},\"note\":\"The partial close reveals the cap is still a few centimetres ahead of the fingertips—centred in the camera but not yet at the grasp point. I’ll reopen, lift slightly, and advance about 3 cm radially so the cap reaches the jaw tips.\"}",
  "call_id": "call_51qn1lyR9w3sbMW2v8aVHknS",
  "id": "fc_0485aaa1d7e09028016ab4531b632087d0b836c3bf210df962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_51qn1lyR9w3sbMW2v8aVHknS",
  "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]: [-0.1181, 1.755, 1.116, -0.5404, 0.3187, 0.2539, 0.9952, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0587]\nstate[eef_state]: left_x=0.3826 left_y=-0.0975 left_z=0.0539 left_yaw=-0.6009 left_pitch=-0.5211 left_roll=-0.2119 left_gripper=0.9952 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0587\nstate[joint_eff]: [0.3077, -10.7145, 9.0188, 1.1062, 0.1734, 0.1148, -0.1099, -0.1026, -2.2632, 6.5299, 1.2234, -0.2564, -0.0317, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c5ea0d4e850a51acb083b3cf313eaadce2807db8a49b2ed8430e37db14e582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6f89b1f1270676208011d37803c0bf52f04f583192584bc7c7add73535a33a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53819a665e1042b3bbd8f0f654a06cf134b7ec73f7efd951a96ae7d34742f060",
      "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 30 attempt 0 · /responses · status 200 · 3.299 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]: [-0.1265, 1.5806, 1.1427, -0.667, 0.3336, 0.2562, 0.9955, 0.0475, 1.0191, 0.9043, -0.8658, -0.4679, -0.5316, 0.0514]\nstate[eef_state]: left_x=0.3665 left_y=-0.1013 left_z=0.1148 left_yaw=-0.605 left_pitch=-0.4487 left_roll=-0.1853 left_gripper=0.9955 right_x=0.2544 right_y=0.0954 right_z=0.1793 right_yaw=0.7422 right_pitch=-0.276 right_roll=0.0382 right_gripper=0.0514\nstate[joint_eff]: [0.253, -6.5573, 9.6889, 1.2283, 0.3834, 0.1832, -0.149, -0.1026, -2.3726, 6.7761, 1.2381, -0.2418, -0.0317, 1.0281]",
      "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]: [-0.1249, 1.7729, 0.8562, -0.1982, 0.3214, 0.2611, 0.0852, 0.0475, 1.0203, 0.9043, -0.8661, -0.4675, -0.532, 0.0552]\nstate[eef_state]: left_x=0.3649 left_y=-0.0984 left_z=-0.0006 left_yaw=-0.5985 left_pitch=-0.462 left_roll=-0.1766 left_gripper=0.0852 right_x=0.2544 right_y=0.0954 right_z=0.1789 right_yaw=0.7424 right_pitch=-0.2773 right_roll=0.0387 right_gripper=0.0552\nstate[joint_eff]: [-0.0752, -8.7453, 6.1197, 1.0672, 0.2515, -0.0366, 0.1294, -0.0752, -2.1675, 6.6256, 1.243, -0.2418, -0.0073, 0.8767]",
      "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]: [-0.1181, 1.755, 1.116, -0.5404, 0.3187, 0.2539, 0.9952, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0587]\nstate[eef_state]: left_x=0.3826 left_y=-0.0975 left_z=0.0539 left_yaw=-0.6009 left_pitch=-0.5211 left_roll=-0.2119 left_gripper=0.9952 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0587\nstate[joint_eff]: [0.3077, -10.7145, 9.0188, 1.1062, 0.1734, 0.1148, -0.1099, -0.1026, -2.2632, 6.5299, 1.2234, -0.2564, -0.0317, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c5ea0d4e850a51acb083b3cf313eaadce2807db8a49b2ed8430e37db14e582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6f89b1f1270676208011d37803c0bf52f04f583192584bc7c7add73535a33a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53819a665e1042b3bbd8f0f654a06cf134b7ec73f7efd951a96ae7d34742f060",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMgGSfd-HCWp7BJlEDoc4nfreXbmsOGZ4NCMKCLipaJn1vh4tPp_-r5AYSBa-bcmH-6voV3sgRM1CGqNIoI6HMqOaXvbJtI0vkLyM9gmS6_0B3TI-8MN7GZFTtAMOZOpPrawJ4Iv63u6ectQNtYzUqBruHgnVdzd_6l2LrEv9W_DBwIzcaPCb-WpnR0dEn4LFwWSeLs4zsmD9s91rkN-khj-u8W6v93YyjQVQZgKnUO56XhEy4fLzqrzOmjtxKyT1aqndJ0rd7_JY6fww-7crPo4-VN4wGV8DjTf6kuz6YYO33PjLcLJQhoz2xdQqQEIJPtJ0xqRosUevN7V37fCuXP3sajpbn1vVvjHZ0xkGDqke3JEWj5kkgZJS4Ky29HKu6U6B16GZv9CH1yjnd38iqores5i4RyLe35ITV4a484FrdV8Us8fPPe5JqtknTQidZx7xq2RjpXAEvIaFcm-vCmrk79TulMMp5ThRZBOVfv0UuY0iIecKS2MWKrN6tpJgAJX4Af_r39BvaAKicooqWB3ADQ2_ZpRmOlsPAAJvmz1IL84UsyYsYq0T7Qa-W0tHha_3Nni6NgVOtVKAaQYAV8vyKstomWX6B382FnTKLgU9HPkJil4anWkPsbTXRtdneHdue8T1FPuGi1omVc0qMgli4_R8pl7sImpNf9aGlPgk7MpbkpQC5bBPoVVMVdYL1R3l-gMF_9_V101i27PuFkjZyszRYj9KkwIBBLMu5-TrH9M5SR-rHYD0ToWbvAdNwiqVGNcBc5TiexhXJtQMW-0LVnuq_vc4KHFrtJsOwC3dkgaBCGAKbCu4NdlqJgZ_uX-MxQMg_OVCqVjpf7aoC_m8hIrAyFwMw3yr4VuwdhBLAqX1LtmLleZbs8g26pLhx_sZ7bFtqosrHWzRh2TSB7yh-RxdmNNqbzUJHbt5LnZdqN5dO0haKxui4GrTptGi9xlu2giyI8_xdF-x3VvqikZpATmOUAQHc3p82iJkUueLySps-l7Rw1pijTDrp2K9GLWpfQFu2nrqf5Fw9tCuX_sEWKZxjowvCiGovIiDSOuD3AcSTiaGpGRdUMSEEpQaT9h8FMwCqTKN1nL5XlGYjMC8t5sqSgXCFUDsru6gWRDM_dxvGRkY_Dxt9hCDPQPew0bm6_U_DROeGP3YcC-3ppdURrHNvCP6wDiI2ztaJY8mBz8PbP7uTLZKb7pyUXHQmHW2jmr6iyqXIPCg_72owZcKGDj9yqPUaA5o3il8FqWbnjd8rCt0I0TrGdwWbJRM4dcffPoqHWEnKZJ8uDN5QugJAXkDtL7r0-XcQT4Db5KQPZFjqP37QCvsVJU-TsmrDDvtB9owr6eo98W4Syz_Tpob9xv5ruW78uOGJ5T3dtAGehUshj9IPeMP6mgpl5HWPPrYVn6SN1SVvVlqWyJ4zLw-sr8TYni6t5Bm0TVgrNLXcDk0Y1JIyKeFBDAX3hDS8WvCvaDRHRK9F9B3uqrSbCQkGu5w3vuO2oJSlaU70asBAfzykpJNynp-8smvQ9Ms5OzNUx9SNLEXFETQeo25WW3tBaz38Te9m2g_whsQEDYYz3Zr8i05AhDEHc_EqUqeBYitXkYnkIvrYclQhppD9h-tr9sfN89av8jSjM_sZrWJ8dHOd0IkhmnUzNjHcFZBVjPsOTek5nG_Gcg5cODXq1HUCsqAqeFeGOcX0d2fFM9IicbLSnh4-d0Eg3et1khut8",
  "id": "rs_0485aaa1d7e09028016ab4531e51d087d0b6e5a19c131568c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.11,\"left_z\":0.08},\"note\":\"The radial advance brought the cap close to the fingertip row, but it is now slightly right of centre. I’ll advance the remaining centimetre or two while adding a small opposite lateral correction.\"}",
  "call_id": "call_91SuLGNyqoBlfOgi2Atumpl3",
  "id": "fc_0485aaa1d7e09028016ab4531f29a087d089333b4b60ec5c7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_91SuLGNyqoBlfOgi2Atumpl3",
  "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]: [-0.1303, 1.7874, 1.2072, -0.6277, 0.3115, 0.2375, 0.9963, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0611]\nstate[eef_state]: left_x=0.3891 left_y=-0.102 left_z=0.0631 left_yaw=-0.6046 left_pitch=-0.5515 left_roll=-0.2289 left_gripper=0.9963 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0611\nstate[joint_eff]: [-0.6632, -8.7179, 9.2239, 0.9206, 0.1245, 0.0855, 0.1099, -0.1709, -2.3863, 6.5026, 1.2137, -0.2808, -0.0171, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6b17f5df23076d9a80c252c2feb9c92ef220afe2be76a841111f78216809f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9441dad06f623d2854c0718fbd8b819c2f27e887537ef8566e8bb957d6e28c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb471b486fbc8995bc3a0167cfefe61dd8803e3da056fddc42902f89e85ae45",
      "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 31 attempt 0 · /responses · status 200 · 2.89 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]: [-0.1249, 1.7622, 0.8661, -0.2028, 0.326, 0.2619, 0.9963, 0.0475, 1.0203, 0.9043, -0.8665, -0.4679, -0.5316, 0.0544]\nstate[eef_state]: left_x=0.3685 left_y=-0.0997 left_z=0.006 left_yaw=-0.5992 left_pitch=-0.4458 left_roll=-0.1721 left_gripper=0.9963 right_x=0.2543 right_y=0.0954 right_z=0.1789 right_yaw=0.7425 right_pitch=-0.2774 right_roll=0.0395 right_gripper=0.0544\nstate[joint_eff]: [-0.4581, -4.4786, 3.4393, 0.8523, 0.1832, -0.0513, 0.0757, -0.0479, -2.4547, 6.612, 1.2576, -0.2759, -0.0269, 0.906]",
      "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]: [-0.1181, 1.755, 1.116, -0.5404, 0.3187, 0.2539, 0.9952, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0587]\nstate[eef_state]: left_x=0.3826 left_y=-0.0975 left_z=0.0539 left_yaw=-0.6009 left_pitch=-0.5211 left_roll=-0.2119 left_gripper=0.9952 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0587\nstate[joint_eff]: [0.3077, -10.7145, 9.0188, 1.1062, 0.1734, 0.1148, -0.1099, -0.1026, -2.2632, 6.5299, 1.2234, -0.2564, -0.0317, 0.6471]",
      "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]: [-0.1303, 1.7874, 1.2072, -0.6277, 0.3115, 0.2375, 0.9963, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0611]\nstate[eef_state]: left_x=0.3891 left_y=-0.102 left_z=0.0631 left_yaw=-0.6046 left_pitch=-0.5515 left_roll=-0.2289 left_gripper=0.9963 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0611\nstate[joint_eff]: [-0.6632, -8.7179, 9.2239, 0.9206, 0.1245, 0.0855, 0.1099, -0.1709, -2.3863, 6.5026, 1.2137, -0.2808, -0.0171, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6b17f5df23076d9a80c252c2feb9c92ef220afe2be76a841111f78216809f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9441dad06f623d2854c0718fbd8b819c2f27e887537ef8566e8bb957d6e28c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb471b486fbc8995bc3a0167cfefe61dd8803e3da056fddc42902f89e85ae45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMjuovM8ZEZdVaVblosNb3bYRNiZFaAa5C_0pi07plXqw_iOU_9isMR7NLPz9VkgfaZ54_OSfVKRfLUdMgHB22LDR0T4IpIfaY0Nd5VB_o2cUMhaJeH7UV8WK2rjSMbg4B71wdvh0Q4shnUC8Yx9RhB9lt0KzLDHf_sX21LDkLTuG5k6IpCRLYkFv26KbPYeQR1zduJTuTcPJ1-m3mwb2G2pMhSDZeSHYR1r5MDgdbU4YhhCQ2MyeLbx9QA_mA-V97DO-wm3l0fOPs9bTMxyMUOsMBnMxO_2eS4AluxQgPK7FUDyNZdtKT2dIRJOqS7sCMmof6ipKYAEpq4alB6hU5fHIMAmjf5WPjOU0qdeT6nSQ17khAEwRgAgpbjSAddbZ5QJkFM0X-skrRF4sDDl8sEerMYAGUWKfjyyNa5GNV6ddiOWXwv22duA1_5iXS_61vTo2Kf1kYU7oPRCg5xhctSor8fLtGB7XyDcC6h_gTCQp5LJZkMOGzD2b8Gq4Mkw6fsB5bHsjd4nEeWCuFDdN7azdpX4kxPSsAOOi4DCzh_rv4wtuNA-GxvIi6-4nUeIckuQJJxwvcqoGZ854qtGywI1ODogwaV6F_MNY2jtZi2oWZj3Il6WdBlkDszXnAx6PRcSHkQ3WrdtvoAaxUtas3jbuuxyC3HX1TFRCQGCdPS_7j8mVJOSo5QqYQn_lf3QCahJCErtzswqA0qY1KifUsuhAJRtAgtfvTC4p5n2urc381U2SQxWqzKc61dI-2vrFdlU0_zVUXl9yDIlgHJXSHMOjYG6OQ618Ck7OOHUe1X0Ehp8gQ5l297VeZV1ObTe36SrR_GTgYwFDLM9XkYmgHG9R0Ub5w5Wu753ZmCcheQMCRm5HWsl2xO22z_fx9o0JLPaAjRH3gxTX7k-_DHEBkd01DzOH0Abn9qPQnpfdnpGEvJgY2cBeoQZavJ249RLTJ66TB7f7WHZNddTysnNlc8_m95XBD0E4nebkTZs97D2UDVsrdDywaZdfmHzPk7lDHSDeTGehyz4Vb3AGpG0IOWXWYIZ0zirRQBKe_N5nF8Evvkym_v6I9KONjpA4RRSQOaoXC__TGqlyQy-d2boBuM0lfGMqcmqTBJNWYgAFKr6PbQYDBYP7DVgemiZ-fSMKl5I6YA81npUhAqSTPZOBF-NYvya-t8xi-STo_6Im2-2H_qAOdRGl7TXY04mr8WHucBJplfLVIX4AQYJazm5c9uva63kDV_I0U6nyjwXSQOlIrhZdn3iLBDqC5h1abUG1liHV4SESw60VqVFxJkqqQIyC88n1fHHBWSojHRZw8cNQk3-usPSUdwmQx80LwMq8Wp",
  "id": "rs_0485aaa1d7e09028016ab453225d2887d09e6f5c96d5b80e06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The cap is now nearly touching the fingertip row and only slightly right of centre, well within the jaw span. I’ll descend vertically to table level before applying the controlled partial close.\"}",
  "call_id": "call_rH04L8Oily3XjdcLQjwW2IZ6",
  "id": "fc_0485aaa1d7e09028016ab45322c47c87d0a18dd9632e38ec4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rH04L8Oily3XjdcLQjwW2IZ6",
  "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]: [-0.1322, 1.874, 1.0801, -0.4194, 0.3145, 0.2298, 0.9964, 0.0475, 1.0222, 0.9043, -0.8658, -0.4679, -0.5316, 0.0636]\nstate[eef_state]: left_x=0.3864 left_y=-0.1029 left_z=0.0085 left_yaw=-0.606 left_pitch=-0.5559 left_roll=-0.2387 left_gripper=0.9964 right_x=0.2546 right_y=0.0955 right_z=0.1786 right_yaw=0.7428 right_pitch=-0.2783 right_roll=0.0403 right_gripper=0.0636\nstate[joint_eff]: [0.1299, -5.0256, 3.9179, 0.8327, 0.0611, 0.0366, -0.0024, -0.1573, -2.1675, 6.5162, 1.2527, -0.2613, -0.0611, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea6bd420642ecb6e9a09f7cdfd4cda7d6f216b6ffb9a4510bc9d697183b772f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edef4445bf0bfeb234b14c6e1935ac722aa5d7458f5dbdc343099bd9c8ea0346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49d27b7406c82d954b054c71e0155ed2e4adfb319a3203a5a3244e9aa316986",
      "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 · 4.63 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]: [-0.1249, 1.7729, 0.8562, -0.1982, 0.3214, 0.2611, 0.0852, 0.0475, 1.0203, 0.9043, -0.8661, -0.4675, -0.532, 0.0552]\nstate[eef_state]: left_x=0.3649 left_y=-0.0984 left_z=-0.0006 left_yaw=-0.5985 left_pitch=-0.462 left_roll=-0.1766 left_gripper=0.0852 right_x=0.2544 right_y=0.0954 right_z=0.1789 right_yaw=0.7424 right_pitch=-0.2773 right_roll=0.0387 right_gripper=0.0552\nstate[joint_eff]: [-0.0752, -8.7453, 6.1197, 1.0672, 0.2515, -0.0366, 0.1294, -0.0752, -2.1675, 6.6256, 1.243, -0.2418, -0.0073, 0.8767]",
      "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]: [-0.1303, 1.7874, 1.2072, -0.6277, 0.3115, 0.2375, 0.9963, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0611]\nstate[eef_state]: left_x=0.3891 left_y=-0.102 left_z=0.0631 left_yaw=-0.6046 left_pitch=-0.5515 left_roll=-0.2289 left_gripper=0.9963 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0611\nstate[joint_eff]: [-0.6632, -8.7179, 9.2239, 0.9206, 0.1245, 0.0855, 0.1099, -0.1709, -2.3863, 6.5026, 1.2137, -0.2808, -0.0171, 0.7741]",
      "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]: [-0.1322, 1.874, 1.0801, -0.4194, 0.3145, 0.2298, 0.9964, 0.0475, 1.0222, 0.9043, -0.8658, -0.4679, -0.5316, 0.0636]\nstate[eef_state]: left_x=0.3864 left_y=-0.1029 left_z=0.0085 left_yaw=-0.606 left_pitch=-0.5559 left_roll=-0.2387 left_gripper=0.9964 right_x=0.2546 right_y=0.0955 right_z=0.1786 right_yaw=0.7428 right_pitch=-0.2783 right_roll=0.0403 right_gripper=0.0636\nstate[joint_eff]: [0.1299, -5.0256, 3.9179, 0.8327, 0.0611, 0.0366, -0.0024, -0.1573, -2.1675, 6.5162, 1.2527, -0.2613, -0.0611, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea6bd420642ecb6e9a09f7cdfd4cda7d6f216b6ffb9a4510bc9d697183b772f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edef4445bf0bfeb234b14c6e1935ac722aa5d7458f5dbdc343099bd9c8ea0346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49d27b7406c82d954b054c71e0155ed2e4adfb319a3203a5a3244e9aa316986",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMmWHXs8fxLsxYgGAyh_I7S7LtTGgWGMba4j1shLFiggUxwlvr0mwuexRqu7oQp-DpQzbWA2jhzyr--KwuAwOccUAMXxze7mBaU-MFsq1QTLqLtmNrZ-y0esORtsAKkiQrFEmXlbt0ZZiv1nzvHti0jTwTeTiceYqTiPhRyyX4NMzA7Ek7w3Db-aTiJWP48lh1CNM-j_KFCbR87sY8QYnhy2JgDSXzwjmG4WtnOeGvAUVXL8Rz7qp7FXUbnkf03nn2KCTg1pGNXStTUeaX4hE6yIjlEG2cciArHXRIoFFr-bAKE3cO7a80FcY6SaCPC6yySbHrqX36dwE48bk-SE_eIq8SQWhi8Wki8EJPlP-yWupZMq2l-0LN1yH5-cSaT8QHrv4h0i6ohKXr6vhYUlUfU9REuvu0zyRwc6ytPmJjeVgPqt497Naf_XIKDlLTdaEhLTKcT_vwOhdJAj9V_92JV2vUA5fnhFAx4HNfjeYG_DlyFE2937FRfOGLY03vZtOv0msO8ZYIWETRNYgECuGeSV_6iiB-SPEroaWC1Yf2OoYUC1qJeVvqltZeFuWHs3QAqI10ucLg3G4R3IjUTHOXszqRuWlLy_4gbmbeumNyMZFVP67S7aBoBV9FhfMKT5ZZ1QI3CMz1kY7ivz0QLpNjxYbpZdiKHI-vE35KMiKvyLGH_fpqs5fMW4DBe0vcZvz2SpHzIQMhWVu5LW_rxBkk0BQPD7alxt7LyDBJ7C4kJ73NuNeJKMFEDdresrfhA8GpdXcM6Nr5dsgHG4-lyiYv45psn8o0ybYRduQUm8m55qVAMzkTHXd3_DXqF9k0xCW2tTish7TWQNqpJaogb6vUFThsOwzpRdTXcJYguSU4lCa5Vh5QbPk9nv1WGLt9mUYEeAOq7qlv3uEO3D3ImvhLAk-heyl3rjHa-3cviDiIpJfYOZUs0foDpA4H9XmfKBAmqzcJm1qCHBjIf0nXGcWorN0XFiq5_fwAMhQN9DQ_mqd8Vk5Ekr8usmbXgyiTN5zFKixXpjgtLn73L4fdNvS1ppok_d1Dyds6xJSwXhF0Eaz-fLw5kXHBCx3HDddSDdpvsEw3DPnqzcGKMJ7EdmJIMxxHvaGyqeh0X-5RXg4eMbvm0U6uPtQw1YPCL09yXNt0z6HDTHUH4McnSEiiq8klQlkEN_AdpJ7QNo9gBCVuU0ifzFNtt0PpHQJIg3oLs3c5owHdyNm1yIvSN-msRrQytwFVM5x7W7xD20tPqtfDqzd--VrTZacplLrx_6XZMEaEK5KhW7a6a9ya6NGzptkO2KQFw_GhoeesC5niv6KzsKmOVnc8JuxMJZ3NO3NzUev9N",
  "id": "rs_0485aaa1d7e09028016ab4532593f887d0abbb9acccfeb6ee2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.08},\"note\":\"At table level the cap now overlaps the fingertip line, unlike the previous short approach. I’ll close to roughly its diameter again, avoiding the sideways ejection caused by a full close.\"}",
  "call_id": "call_Nkr04Yc1DMSyMswrPvhSOP7q",
  "id": "fc_0485aaa1d7e09028016ab45325ea0c87d0b8baa3f32953b2ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nkr04Yc1DMSyMswrPvhSOP7q",
  "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]: [-0.1326, 1.8824, 1.0714, -0.4271, 0.3141, 0.2268, 0.0853, 0.0475, 1.0225, 0.9043, -0.8658, -0.4679, -0.5316, 0.067]\nstate[eef_state]: left_x=0.3807 left_y=-0.1022 left_z=0.0021 left_yaw=-0.6113 left_pitch=-0.5784 left_roll=-0.2533 left_gripper=0.0853 right_x=0.2546 right_y=0.0955 right_z=0.1785 right_yaw=0.7428 right_pitch=-0.2786 right_roll=0.0405 right_gripper=0.067\nstate[joint_eff]: [-0.212, -9.7026, 6.1607, 0.9646, 0.2125, -0.0171, 0.2173, -0.1983, -2.3316, 6.5162, 1.2625, -0.3004, -0.0122, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557e8bab465b9c3bc2c151c8f6399cd3ffffa95802bec03de2b876fa112dbeeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729b4016438aa3ed851eb6dbf2bd7a9b4568183eb3681c874b614cad9fd6d3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69a5418a7fdcf1ad0ecd52b230a63183217bd2e46e0bf741623cf80bb20a5d3",
      "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 33 attempt 0 · /responses · status 200 · 4.54 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]: [-0.1181, 1.755, 1.116, -0.5404, 0.3187, 0.2539, 0.9952, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0587]\nstate[eef_state]: left_x=0.3826 left_y=-0.0975 left_z=0.0539 left_yaw=-0.6009 left_pitch=-0.5211 left_roll=-0.2119 left_gripper=0.9952 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0587\nstate[joint_eff]: [0.3077, -10.7145, 9.0188, 1.1062, 0.1734, 0.1148, -0.1099, -0.1026, -2.2632, 6.5299, 1.2234, -0.2564, -0.0317, 0.6471]",
      "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]: [-0.1322, 1.874, 1.0801, -0.4194, 0.3145, 0.2298, 0.9964, 0.0475, 1.0222, 0.9043, -0.8658, -0.4679, -0.5316, 0.0636]\nstate[eef_state]: left_x=0.3864 left_y=-0.1029 left_z=0.0085 left_yaw=-0.606 left_pitch=-0.5559 left_roll=-0.2387 left_gripper=0.9964 right_x=0.2546 right_y=0.0955 right_z=0.1786 right_yaw=0.7428 right_pitch=-0.2783 right_roll=0.0403 right_gripper=0.0636\nstate[joint_eff]: [0.1299, -5.0256, 3.9179, 0.8327, 0.0611, 0.0366, -0.0024, -0.1573, -2.1675, 6.5162, 1.2527, -0.2613, -0.0611, 0.6227]\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 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]: [-0.1326, 1.8824, 1.0714, -0.4271, 0.3141, 0.2268, 0.0853, 0.0475, 1.0225, 0.9043, -0.8658, -0.4679, -0.5316, 0.067]\nstate[eef_state]: left_x=0.3807 left_y=-0.1022 left_z=0.0021 left_yaw=-0.6113 left_pitch=-0.5784 left_roll=-0.2533 left_gripper=0.0853 right_x=0.2546 right_y=0.0955 right_z=0.1785 right_yaw=0.7428 right_pitch=-0.2786 right_roll=0.0405 right_gripper=0.067\nstate[joint_eff]: [-0.212, -9.7026, 6.1607, 0.9646, 0.2125, -0.0171, 0.2173, -0.1983, -2.3316, 6.5162, 1.2625, -0.3004, -0.0122, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557e8bab465b9c3bc2c151c8f6399cd3ffffa95802bec03de2b876fa112dbeeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729b4016438aa3ed851eb6dbf2bd7a9b4568183eb3681c874b614cad9fd6d3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69a5418a7fdcf1ad0ecd52b230a63183217bd2e46e0bf741623cf80bb20a5d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMs9AMzqaKG4NGjFHiTQsyTuumRwmjJ-HoMTPPZOMdxAexFFdI27jquiEtv7MjQwP0SvdWrmDIysbgRICuHpYdzQkaxtUIM0ue-q9-r441dQf29bra4GrGU1Z-Es-y90W63AlaQch02z30algk1Sl3vID0jUc9HsEegT-xinKDgnhHEC5myqvrhMybUnMRbnsXAoerRzGkqk6vYTCIB4Z9YDa-x89aVFnZmhBwwUZsT7PWleAyGLTKk_kjAFCNxwlErXoXfSjpCdSWSnurETck6FLhpNNzIRv8vBzN6XYfk57QRbUuqVPKNyoNdDD0tZyCzaC232zcgt_0V6GFW1vrxvzXb3x_lilBGHsaUIAInE0Fy46UzF3SyuUIc4rjKXNoyPRXjX4dJsJw-_OmrbWgSh5jhiKD4Zy9O_oMBDlcB9t190l5PUt3UvPi_IXjKtNUYg2-ICR9CQ4f8l7tczcGMme2BV-RrvdZYSTXOZnN1arkeCeKcPEbMc6AKkrZ6jzkXi39OHiddQ4DBQNnAGz6s_5sEWyDJ-7Q0U4nitvHH6ZYbgT2Db6fC5kUFkfd72uKYwjDwyfQhk0rvZ7ZvP-3HNRMDD-txAXIFVv7zynVJDBLshiwjbd5QbkzufayU-o8DEVIrobv931wvdnOuYRz05cqWAA5ggJ7HqiuIDtC0HBahzGPWM3JOdwG-mM9UU5oPbsG6KGlgLliFr59kmQqSnZjdWLJDtdSNJIlKYBrSv67ryHzSAVCvJmK6NotgtRYc5nDrwsFpNUK9NGxuCdF4gBfsuGv9vGM2X_YsYjHbOz4AGrn7X5qAO1Dwua1KUhYpc4CNNFpDxcBlm2h3p2joHexVuRHpKdOLcgTe3-U26beoYBee2HBjLD_Y97lcPv0x4vh_43iC47bBRijIjMhYWigQxbTv9umR3uFz2nu1MQS0SgvL6NwNsBZf476qpvPBldKfgy7-hKjGXi5otQFqvd3KWEN7haASdpiv4DLoUOlYIq4zPpld8WoAIsmV6sLO2cbgjLKWQ9Se7u-plMRU1W5dsmHbGZCPAsS7JSpd2OxlOr0rrrIVu6bVuPit2atzHGZVPo416r4CNIg-6hdqRPnRVZdMHCoX0P7o55fRw5ttFjYSP41xbKagtEQQClvhtZRCir6rTlwqXEsFFtTwkkBmrRJg8zBcthkH8Cd5iCf-mMktxnyJLD7yIBPX7eE_RzThOiDtOgmeuRSjzO76X9UfBHFtHrV4sCLFq4nkXyu-Mvb98nXdUjE9O2CDj7k7boyjHqiXP9DVTFBpk-injMo_0HjTHYZj4Fzd7SijP-6qAA77UZSX1U5xiUc_BZbvPBwgMfK02Thd2EYEiiGsiVY3hiejyrCfpV1LS7_ik3Q39_UMWT5ZvOcUSoRehlFph_e0J7PYBLsaLtewJ-LOPcaFr-t9wxz0-oWFAxb3v5C2yJaA1223cfWScQB8tvGW2sSfr5MxhWHteibq11iOsjBzFR7CmAXd7VxVOzVhlFSwLdyAzvsEhHMQXEqoXpQVklJfH30L4ejgZTJeVPtVlaba6nVzY7Rt8CHFarzMl18Ta0t5qHvnzevYFbO3RJBnQDpgiThiCCbOK8NC96RyyiRu_jLqmxqt17tpuPnJQjYFqlBloqP6QG8krk2sUoxOwf146VE-mtLIu8wdw-TuFc0nRwWRSFXVWPdSwWuIXZGShGEzjFmXX7leIZfxVRGB3NPPIOSbMwEIN80ZqOZmhV5numHAhaAXgLa7Q2vyjlB8SCPjYUyH2YbBK1M2R4tMXm6fthViYYDEP6sRvTS67Qm0aWWoKWpyqu7QRxLXUpH42XQTYORPV3vNVq0ts6ppszwA24rfraob2R4Ks66B--K1yhp4-JxWIZMN1JRXtMD3e0j-HolbIKaYpsbbxeK65V77KWTHjA3k3W056TyrYx6XhdTeIKfH6LO3R3AFSCJfSVTDetbB9c70mx0Zh1Birc3f0hlxd9StHe_N7ZzLDQRG4et9f7569dx13Yj7IVFLOLxKjAgMy6ee7MYxx11VXNWuLzngGPlivl1I4Wwv5dqbPIzvwzIeHmpWNjPi1OV7VNhQ9R7tGRzBnnWVwUrZ9yW695G-Snr6GW_IO40Ebasc-vc5E08k1E9hDDGqPRhq4dwqP0cF2DjeX8wgWnbITqajP57lpQjB8vMCKDT13aCGIGKGeD6nlPov0aad1Q7-0Gy_S1fR6N0jTkwVtmS8rp0l6tq229Q5I7H2wwC6gRbLrUBPtTLrg9zkIGSxmXgeR3t_QEB9CGl-wJkrS8uFHZ2F2PxdbbGK2A4JMGQzMczD6o3eMPOgYub932u3ag4=",
  "id": "rs_0485aaa1d7e09028016ab453297fd087d09554e79e9377b4ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.42,\"left_y\":-0.13,\"left_z\":0.07},\"note\":\"The cap remains fully visible with a small strip of table before the fingertips, so it is still just short of the grasp point despite being close. I’ll reopen, lift, and advance another 2–3 cm while correcting slightly left in the wrist image.\"}",
  "call_id": "call_K3o7a2YO5OaktFnvKK9NscYK",
  "id": "fc_0485aaa1d7e09028016ab4532b829c87d0bb76558f368fd517",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K3o7a2YO5OaktFnvKK9NscYK",
  "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]: [-0.1856, 1.9202, 1.3727, -0.7071, 0.2939, 0.1585, 0.9952, 0.0475, 1.0225, 0.9043, -0.8658, -0.4675, -0.5316, 0.0697]\nstate[eef_state]: left_x=0.409 left_y=-0.1252 left_z=0.0566 left_yaw=-0.608 left_pitch=-0.6109 left_roll=-0.2744 left_gripper=0.9952 right_x=0.2546 right_y=0.0954 right_z=0.1784 right_yaw=0.7425 right_pitch=-0.2788 right_roll=0.0403 right_gripper=0.0697\nstate[joint_eff]: [-0.5949, -9.0051, 9.1556, 0.9988, 0.1001, 0.1001, -0.1148, 0.0068, -2.4, 6.5299, 1.2869, -0.2662, -0.0122, 0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee505af464e8f7a5d9f2ec53257114afe51da9d89ce244f4b26bd8c83e47891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f396a00821b3df558c4061cb1da7ee110ac7cd82738333b2dfdaa5a71581a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76344ebaf1ed49892ad60f5422f0a892b08bb9d00e6ee89b54b9d8a230ac44c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.285 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]: [-0.1303, 1.7874, 1.2072, -0.6277, 0.3115, 0.2375, 0.9963, 0.0475, 1.0203, 0.9043, -0.8661, -0.4679, -0.532, 0.0611]\nstate[eef_state]: left_x=0.3891 left_y=-0.102 left_z=0.0631 left_yaw=-0.6046 left_pitch=-0.5515 left_roll=-0.2289 left_gripper=0.9963 right_x=0.2544 right_y=0.0954 right_z=0.179 right_yaw=0.7427 right_pitch=-0.2771 right_roll=0.039 right_gripper=0.0611\nstate[joint_eff]: [-0.6632, -8.7179, 9.2239, 0.9206, 0.1245, 0.0855, 0.1099, -0.1709, -2.3863, 6.5026, 1.2137, -0.2808, -0.0171, 0.7741]",
      "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]: [-0.1326, 1.8824, 1.0714, -0.4271, 0.3141, 0.2268, 0.0853, 0.0475, 1.0225, 0.9043, -0.8658, -0.4679, -0.5316, 0.067]\nstate[eef_state]: left_x=0.3807 left_y=-0.1022 left_z=0.0021 left_yaw=-0.6113 left_pitch=-0.5784 left_roll=-0.2533 left_gripper=0.0853 right_x=0.2546 right_y=0.0955 right_z=0.1785 right_yaw=0.7428 right_pitch=-0.2786 right_roll=0.0405 right_gripper=0.067\nstate[joint_eff]: [-0.212, -9.7026, 6.1607, 0.9646, 0.2125, -0.0171, 0.2173, -0.1983, -2.3316, 6.5162, 1.2625, -0.3004, -0.0122, 0.3346]",
      "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]: [-0.1856, 1.9202, 1.3727, -0.7071, 0.2939, 0.1585, 0.9952, 0.0475, 1.0225, 0.9043, -0.8658, -0.4675, -0.5316, 0.0697]\nstate[eef_state]: left_x=0.409 left_y=-0.1252 left_z=0.0566 left_yaw=-0.608 left_pitch=-0.6109 left_roll=-0.2744 left_gripper=0.9952 right_x=0.2546 right_y=0.0954 right_z=0.1784 right_yaw=0.7425 right_pitch=-0.2788 right_roll=0.0403 right_gripper=0.0697\nstate[joint_eff]: [-0.5949, -9.0051, 9.1556, 0.9988, 0.1001, 0.1001, -0.1148, 0.0068, -2.4, 6.5299, 1.2869, -0.2662, -0.0122, 0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee505af464e8f7a5d9f2ec53257114afe51da9d89ce244f4b26bd8c83e47891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f396a00821b3df558c4061cb1da7ee110ac7cd82738333b2dfdaa5a71581a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76344ebaf1ed49892ad60f5422f0a892b08bb9d00e6ee89b54b9d8a230ac44c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMyEsrP0294wRNHBBZzIfqxq1Vq6jc_4thUQJRSPcE7t7zXc7lWF6ew51sPpJjl1BO4hR9CYWYxPz78QVKQLucjGBL9sj7fYfon0Oy7qh9ye9jxXu-kk98h9srQF5ud-1_KNWa1pEzLumAF1cqansROmotljWToUJR6CTsAElZySWrDpxfOy_BUWXS2p0XwMrIYxDKfj5vJX1F5bCg2593Pp8I5ERNNxHEJYAihLwWQtMwPX8e_FlxpkQk1RwGu3E4TikrkNUrYj2WuKwhfRQV7BJ5Hwfd2k5eHOqO7-zmh4QWlcm4ZQzQ9QFPut7XbCACxGnzvuykoU9dNPFJgKPB7RQiHmALc95Tm9k9C_wIAOds-LEgE25EX-xolgzhh2XgpxjajyN6mpvYTMBQw4ftIZr5wOPb2arPP7rmcI-bUynvrKo3ER16gf8WAKdyVlMiRj4gHq3KaRWsv9Y4JF_H3ZTifEmsOCmVfuJakrsy6pYU9BJiPrMqmBgBkzmKDI0iVGX4Gy4YJWvRAa8_Hn1j_QVgkf_jb1EuPDzhPkAk6GegPGlcmJjsNNUtkyPQZLsqETpXxVYQ1hc5ImrY6lS2Mra4yYE6RZu_ZYxljwGqTu2SFIvGQTB1Dnv0B8llH5mLGW2tm_Y0KYS3pxHK7mrz9XA1KKyVq0s-DM5m2D0QYVZRRwYI0X6AViod8kZTTF25Hx7QJFWBExT7dMjS2qv7KZgyKDU0DWuGzhNsF49ysF8h5ytPFHH3tejbmsZlTw1eO_1CbzFpOS0glfDjha-S9naAZWSOVCloTITLLsDNYbAiUT_6UWCOXQ9b4umFw4RNvVNVV-3J2L5svYFvQm-td6w2IyO4L8yQlp7qS2zXKOmL324zl7GLMTFlTR_aHwU6gFXUR9wDMvwqgoSwlLeI-w6Mk_H-l00_8codIeQjJmojRhw383qqWHob1BHQlHVul3vTTvgSRcN1lrxoIY5U692jARRNGNzNi76qXG3LZZvyTy3ptlTemCkk7F1M617FAU0G4SuFh8bCDldRKiPJhI3qCgC14-4vPhjJK51g13r4LKEJ0gg8Qf0JSX7eaD_VWoeotkd0FgXetSgBH7VaA2tqWVOMjMB3lyErvpoBIphgzqHDqoL4v492QmJYuSBlOV1GK6rOa_RZbVI4f56z-4B_2h6m-VkTKB-7BzrOujVN36oHUgXOjF-7S9v6IBaSJoLK2AJCQfmk9G2zX2gTNhmKs--Z97dqldHz-cUuBwkOvhbbG2nx6Q0YOVTvcTsViCm6KxnJzoRxuzesc69-Kuj8ph50RrJmNNGXJ3Mouk8x_4xwmro2yrTPlYr2P1zRjm4W9WLjKdI2lBmkjIRMWhjccq_u1mbv4mkeyORWjHD_ucUlBao7f2YLlwRwkMZYLQt9Gs0RAT34UmpPBMEvDaYu6kWBOZnZRgm2hc8hq3CgI_dKLVR6c0s0k1cDQYWqRm_74WEy9Q_7pEdqYMSxEq76jugrP36RDnHteZ7i5XcD33WolA3877SUMit7CCJ4Ev0mCEsnifvWuxwX79rsMehy9pwjZLkb2cJSzzsd43TT4FPARZVlOhg3RU0y2t_LUT9guzaGrgyJp1JwLjSvbs_emEiyDXKbN_P6TZti7mqjTKq1UmPWfLsnCeilIclcZig4HUh868NpddRchPAM__1VKUQpsJ5b3m0xtUQq5uKw3K5NN4W4EvlhHy5aK4I_sKlY0vJd9iJuj8E70chUytxWb-3x3gHtgUbfLDzerXxFrWo3ENqTa3MBUtjGXkkK6YoER7SvEGY2m4Fg8ypaob1xcTAje5MUTYrDsqxyIj9Vm5eIH3bkB6bu5iPFNIxbjdJwR6ja6l4JI8e_4jjV_oRZS002iVsTA_qLRGCEeXW-84n_t5nvJlJBN0VPxOyCYiY3eBuAXXzmDBJ_JxR5uL_ysMi1AlZTOJe5kx22UMOuBOIhz_URPy4oAj2nJfaoD7p-zarUZeRRG0b2FTeOy-VIecJhpLzeUv_aeKkCLyEPuM-BRmsiLJpzfWuNe4TyKKtrD2-81o2yXZBfly4DSGUh2n5jC0-DQzZFl_2GP3815UNQkRLkuqY2jWvBCY-CkPKwfIO9swNCuSMd6lihc3EgM5o4I_YUWHlLkqRpDCHYJ6IFrtJP-z3kXbcJ1vi6x-Qb24dsxOZLBfFn6ssv7_zP8WkKHaKjGhRfyy8ycf-Feae4Rgxx1wf_faw99Sq9CqetKsq5uB5gJFHDZb8h_g0MEria-6aJ6e2TcW71Z1-P4r-7g02iCHo3CC9jGgFMQIocK4Yg-VYRTaqfT7brjT0k4j9YvK-JPfH-KokGyd_2PysjxLiOW_3TNUsxqmGMlIjUKVoD-aUkz4dkILxqCDQRP31bZYkWoZ5kpCHFi6H5EoqZzlOGUWwkAzoNZ5WsFIveOpI9Lg2nrhOr1zpMzjIXNB3rlgTQe1W-4s-6CxJ8=",
  "id": "rs_0485aaa1d7e09028016ab4532ea9b087d0b8cb846fbf4a497f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The latest advance placed the cap directly on the jaw column and overlapping the inner fingertip ends in the wrist view. I’ll descend at this corrected radial position for the grasp.\"}",
  "call_id": "call_2PwBqDEC2ji4b87YX7jvR53D",
  "id": "fc_0485aaa1d7e09028016ab45331638487d0bbeda5a7868109b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2PwBqDEC2ji4b87YX7jvR53D",
  "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]: [-0.186, 1.9778, 1.2495, -0.5117, 0.2947, 0.1581, 0.9955, 0.0475, 1.0241, 0.9043, -0.8661, -0.4679, -0.5316, 0.0721]\nstate[eef_state]: left_x=0.4087 left_y=-0.1255 left_z=0.0102 left_yaw=-0.6047 left_pitch=-0.5974 left_roll=-0.2682 left_gripper=0.9955 right_x=0.2547 right_y=0.0955 right_z=0.1781 right_yaw=0.7432 right_pitch=-0.2801 right_roll=0.0418 right_gripper=0.0721\nstate[joint_eff]: [-0.1573, -6.7214, 3.8632, 0.8669, 0.149, 0.0122, 0.0317, -0.1026, -1.9897, 6.5299, 1.2625, -0.3004, -0.0464, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a699455fb011f43c3a241979695095bf858461533072be3a2219b8c53e2cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb7994c647a3aec28013f8f77d5a9b9ebe5ac96a84c98fc52c507ffbb5434dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a663aba9a5de18ef16c74955408058d0e148bb77aec04821741b09214180aed",
      "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 · 2.769 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]: [-0.1322, 1.874, 1.0801, -0.4194, 0.3145, 0.2298, 0.9964, 0.0475, 1.0222, 0.9043, -0.8658, -0.4679, -0.5316, 0.0636]\nstate[eef_state]: left_x=0.3864 left_y=-0.1029 left_z=0.0085 left_yaw=-0.606 left_pitch=-0.5559 left_roll=-0.2387 left_gripper=0.9964 right_x=0.2546 right_y=0.0955 right_z=0.1786 right_yaw=0.7428 right_pitch=-0.2783 right_roll=0.0403 right_gripper=0.0636\nstate[joint_eff]: [0.1299, -5.0256, 3.9179, 0.8327, 0.0611, 0.0366, -0.0024, -0.1573, -2.1675, 6.5162, 1.2527, -0.2613, -0.0611, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1856, 1.9202, 1.3727, -0.7071, 0.2939, 0.1585, 0.9952, 0.0475, 1.0225, 0.9043, -0.8658, -0.4675, -0.5316, 0.0697]\nstate[eef_state]: left_x=0.409 left_y=-0.1252 left_z=0.0566 left_yaw=-0.608 left_pitch=-0.6109 left_roll=-0.2744 left_gripper=0.9952 right_x=0.2546 right_y=0.0954 right_z=0.1784 right_yaw=0.7425 right_pitch=-0.2788 right_roll=0.0403 right_gripper=0.0697\nstate[joint_eff]: [-0.5949, -9.0051, 9.1556, 0.9988, 0.1001, 0.1001, -0.1148, 0.0068, -2.4, 6.5299, 1.2869, -0.2662, -0.0122, 0.2711]",
      "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]: [-0.186, 1.9778, 1.2495, -0.5117, 0.2947, 0.1581, 0.9955, 0.0475, 1.0241, 0.9043, -0.8661, -0.4679, -0.5316, 0.0721]\nstate[eef_state]: left_x=0.4087 left_y=-0.1255 left_z=0.0102 left_yaw=-0.6047 left_pitch=-0.5974 left_roll=-0.2682 left_gripper=0.9955 right_x=0.2547 right_y=0.0955 right_z=0.1781 right_yaw=0.7432 right_pitch=-0.2801 right_roll=0.0418 right_gripper=0.0721\nstate[joint_eff]: [-0.1573, -6.7214, 3.8632, 0.8669, 0.149, 0.0122, 0.0317, -0.1026, -1.9897, 6.5299, 1.2625, -0.3004, -0.0464, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a699455fb011f43c3a241979695095bf858461533072be3a2219b8c53e2cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb7994c647a3aec28013f8f77d5a9b9ebe5ac96a84c98fc52c507ffbb5434dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a663aba9a5de18ef16c74955408058d0e148bb77aec04821741b09214180aed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM0cKc-5buzNAhRlVx9F6LdZ0_0InW-PHW0LlGWoHgrMoJcHgrNWmPMPdl9KLBTys6HhgUOGb6f88pD7NfS0SNRGOSJ56sMYpTcc9sXf4VPtRM-Hn-wCKPirYb0EWvkDVnhgiKkQgYz_60iX2gi8vOPRiUt-k_ELuoZEPRvTc9qWf3a1rGYxo4uOX7cEEZLM5c84tO_z94jwCaGsd7vgaMrnI79xYDEPTSP7aM_wdl3C8ursv6vYom8hMvbrTSR4MULJZp8q3IVl4DFVAjJ_WMTEoYZ6u3F6Hk1OewN8wntQSYMDwVeCnVqzOc-YfA1wk1BGDJ4LEYJ0mo8gx13hx-L46agsMQEDvV7-e2b_Qf2Qw9jMcAmJ6eCGOCGZvbtSFFshUtWMjbSwB_2rXxXaIoQh7k-_WOzRMjnBd1a0y34kk4o_2AyVT_xhYOPMCRo-lNHuX6rLHN4JU06gfK9JCRZz5Mhr2QPDVZwzZHsyj5WiNYJzAjdMICFruH2gEBRBsCsEsQkR3fekJKCVLc8fOzJj9WYJFxa-CEOU-XTOPRZukPQARhk8jOurW_QKMqXgm7zoSRXgADPfUxIDwNaolyCEoqLh5w5GwgtF04BpCokSGlop5pe5Qiib1mmSFbb-hH6zc3ZjAjb5fP9KiEQSaKDWQKOHKk3Z-Vm1s-vqvIolMIac-wHhnU40ZNZ6wdphAel4jdJzR3RLsl0RWXmi0NoXMdbcq1cELMOmo30p3qsRcug9OT0fehl8toE1hBgmsX83VeYC0QeXPPHD5i-kW2ANo0fEfqY0vZIjioFtryoDZJhBu__AEInXvdtoVhn5PBAH74y8Lq2W_tF840X5OzjRKduZEJ5GbRfruabJj7M9ZAppmOtCEuaLQwpL6bt7x2j9vRnhczKzlVIUSQPn_8fGrDaitCwfj20RlBG9fpqF-EkS272ErKqGFLRDDMpMyigi-xmR9_ktruRQ76paIpS1TD1tdYSLePuqXnTRLkrUCpWGWZ3QO1xJQ9TSAmT2Cqx381Vim4rwjSTEjyRBDeKNVorRmaolKISlcl5QFAWzy4QcmnG6DQSgmjFajyxLYuKWtfdvcO-6yhsLtz-E-y0kfRZ1SCZYa_96Rw80-Buo_N2M4DG7DKBP0mOokYUEz2FyPXgw2kfD84ZoCR6NJLiM6G_LND0wV7U_DYZHUoyr8JS_zM-gaZDEDZAMnrIUSYQNPb6GFfiHyPyp2vu4QP8T6YcH0KUbgiiulLR7OErwHI=",
  "id": "rs_0485aaa1d7e09028016ab45333db2887d08e70d36fba9621ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.08},\"note\":\"After descending, the cap now runs into the bottom edge between the fingertips, confirming it is finally at the actual grasp point. I’ll apply the gentle partial close now.\"}",
  "call_id": "call_hCXgj5tOiEv0itxt4hn8NxIL",
  "id": "fc_0485aaa1d7e09028016ab4533406c887d085ccf0e2be3ebb1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hCXgj5tOiEv0itxt4hn8NxIL",
  "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]: [-0.186, 1.9816, 1.2407, -0.5121, 0.292, 0.1577, 0.0853, 0.0475, 1.0241, 0.9043, -0.8658, -0.4675, -0.5316, 0.0735]\nstate[eef_state]: left_x=0.4054 left_y=-0.1244 left_z=0.0058 left_yaw=-0.6057 left_pitch=-0.6104 left_roll=-0.272 left_gripper=0.0853 right_x=0.2547 right_y=0.0954 right_z=0.1781 right_yaw=0.7428 right_pitch=-0.28 right_roll=0.0413 right_gripper=0.0735\nstate[joint_eff]: [-0.3214, -10.3863, 6.5162, 0.8718, 0.2076, -0.0317, 0.2173, -0.0615, -2.2906, 6.5573, 1.243, -0.2662, -0.022, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862d27f79136ced18ed11320ee74a6063f66bfa0e8ca7fad91dbd1eb9e130afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88baa72b324e8ccce01fe38040a29034bef37e9c3a4e65f1d4d853106749109f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50751e08a37a1418b6798333fcf335dd76557ce1517c9a23b5548dd8026295a7",
      "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 36 attempt 0 · /responses · status 200 · 4.48 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]: [-0.1326, 1.8824, 1.0714, -0.4271, 0.3141, 0.2268, 0.0853, 0.0475, 1.0225, 0.9043, -0.8658, -0.4679, -0.5316, 0.067]\nstate[eef_state]: left_x=0.3807 left_y=-0.1022 left_z=0.0021 left_yaw=-0.6113 left_pitch=-0.5784 left_roll=-0.2533 left_gripper=0.0853 right_x=0.2546 right_y=0.0955 right_z=0.1785 right_yaw=0.7428 right_pitch=-0.2786 right_roll=0.0405 right_gripper=0.067\nstate[joint_eff]: [-0.212, -9.7026, 6.1607, 0.9646, 0.2125, -0.0171, 0.2173, -0.1983, -2.3316, 6.5162, 1.2625, -0.3004, -0.0122, 0.3346]",
      "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]: [-0.186, 1.9778, 1.2495, -0.5117, 0.2947, 0.1581, 0.9955, 0.0475, 1.0241, 0.9043, -0.8661, -0.4679, -0.5316, 0.0721]\nstate[eef_state]: left_x=0.4087 left_y=-0.1255 left_z=0.0102 left_yaw=-0.6047 left_pitch=-0.5974 left_roll=-0.2682 left_gripper=0.9955 right_x=0.2547 right_y=0.0955 right_z=0.1781 right_yaw=0.7432 right_pitch=-0.2801 right_roll=0.0418 right_gripper=0.0721\nstate[joint_eff]: [-0.1573, -6.7214, 3.8632, 0.8669, 0.149, 0.0122, 0.0317, -0.1026, -1.9897, 6.5299, 1.2625, -0.3004, -0.0464, 0.2271]",
      "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]: [-0.186, 1.9816, 1.2407, -0.5121, 0.292, 0.1577, 0.0853, 0.0475, 1.0241, 0.9043, -0.8658, -0.4675, -0.5316, 0.0735]\nstate[eef_state]: left_x=0.4054 left_y=-0.1244 left_z=0.0058 left_yaw=-0.6057 left_pitch=-0.6104 left_roll=-0.272 left_gripper=0.0853 right_x=0.2547 right_y=0.0954 right_z=0.1781 right_yaw=0.7428 right_pitch=-0.28 right_roll=0.0413 right_gripper=0.0735\nstate[joint_eff]: [-0.3214, -10.3863, 6.5162, 0.8718, 0.2076, -0.0317, 0.2173, -0.0615, -2.2906, 6.5573, 1.243, -0.2662, -0.022, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862d27f79136ced18ed11320ee74a6063f66bfa0e8ca7fad91dbd1eb9e130afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88baa72b324e8ccce01fe38040a29034bef37e9c3a4e65f1d4d853106749109f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50751e08a37a1418b6798333fcf335dd76557ce1517c9a23b5548dd8026295a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFM4c_Ntln04tgNJN_eLaHp8kNu8DohIMECnO16I5LPLwQHXp36rZiK87NBcGbl303emxIoRPcAEGK00XBACLl2Fh28r5ms01syUE_UWyXx1OTdSTO5qrn-GlBu7Jp_v6Y4BTXAzl5RqhyZWIhw62_SmNVk_d6gkCtF4QKU98D4qds0tK_ppM8E9QxXyCbxGJJVHSBq8_4tV5TwYJWR4ooOX3qVBnF6sxxCHOL9PjHfil0OE8k4IzOExMtumEVk41d1v5uJF4nTC12iSAOMkQkVzNxRpUe6N-7wEK7KMy6issNnAk-I4rQjNqjS54-GAFX9tconTCwzuP9F93n9EkOtRlvyWCLswNXPOKQ_OYJgS5snphAbPiFI-vQMbuoOi7qL7-sT_2NdT6a-c9-v0B0ju93pWgYUpZEW2QV2GEf3T3L5_6E33J3I4mPFWqxxhE1pkVS1hnnnmIntDigtwEjZdSa3LiGKbs6jTIblEXREfVmpPAFVmqcaWo2B3QiBck-LOth5SKavF2kKSEBqfRwgNvbguD35LmnzdQYD3LuBeuIGrA_4v4zyApb0aD_vhPqjOaXIYua877BY6HmyYsKnc1e3mvpf1YxvaeTdSfz7kwI8LrQTyllZ4YDUjzGsbzfciTRkc17gB9RhMBBLdSTKDWYPvSLwtTLHn1VkYs7e3Yc5C6uiBkuWWJ9hfTKd8FswBZH4YnyuYapmJFfAUQYoqMU-fBezKANJsj2iYzTAZYkkWd2EegPCWGbNR3VFlRG2EmE41NBJqJvWruomVIu4atNxXy-LD3_QTsSGNjjXvVjIpDqa2v8JZSU_xHLipvxxR0Qclx9fwsQqKqZiyjMhJVlRoJWYqGdwyVXb8XydXp1DossMLkMAj6B0K4FlOQb0dktiLcPW2tKnzHyK1iy3EUhtaeMeVk_Ba_4rT9iu_HrD8oGWHDGbo2xIu2Lc8KZvHwiHucG6MajqMgwpZOLuOZe-l4RmjV9SJWeUtFnie2YzW4p4O_4qGapr7jVJaqeVZWGnQ3vKr8yGT5fYhe7DK4At7LXWicwlFvu3IWHSBGQyCNRXimWEwmEMxDRKwd5sO6vaUgB5mlUgFgmLsk1uliyWxXWihKuH_RKXL52331PKZUyOnWRPVnzI46HAO5YAagm2HlSFQaj14-JwT_h3gDzIzKe4gJ47PgccZ8KpcdZTEhxSiSNhuKgwMXjECu4kzvd17nrLBHAojwZkm9MuIYX0NoiJYgS0z6UND5UvNj-QrcpmKCBxytQxbNmxsGLY5oylCvK2ARzu2Z_oXtl0JW5dWqEYF9Mahg7LhpyS0edldWWqDrGRcJz7SNZki3swc3717_IcP06sK3KeVtRDtQWp27_jUe7t3OrnXXf9AY7E6tvTRtXv0wVa_LwqgeGnj9Btu3QdGTYKsEhV8Q0DTH6VFEIKur8IYXRjgyMneUX94pMMuBftUCOo2I9vRd3-JvEjeC8CcjutmcfcebHdVPAbX0F8Uo7wreRCes_H0s1ahszRH5RB_pBrFEEI7Ushv3u8Dzur8BaMuJhaVe0v8VrbdLvl11uUKwqlyGfccfS8=",
  "id": "rs_0485aaa1d7e09028016ab45336e0e487d08f828170baa6c6d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.15},\"note\":\"The cap disappeared beneath the left camera immediately after the partial close, as expected for an object held at the fingertips. I’ll lift and retract to verify it leaves the table before assembly.\"}",
  "call_id": "call_JSG2oQLbr2xiMu5f7XW7qYDo",
  "id": "fc_0485aaa1d7e09028016ab45337a14c87d08b4ed569df3baacb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JSG2oQLbr2xiMu5f7XW7qYDo",
  "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]: [-0.2058, 1.7111, 1.3964, -0.9478, 0.2913, 0.1314, 0.0841, 0.0475, 1.0245, 0.9043, -0.8658, -0.4675, -0.532, 0.0749]\nstate[eef_state]: left_x=0.3633 left_y=-0.124 left_z=0.1268 left_yaw=-0.6108 left_pitch=-0.6232 left_roll=-0.2883 left_gripper=0.0841 right_x=0.2548 right_y=0.0954 right_z=0.178 right_yaw=0.7431 right_pitch=-0.2803 right_roll=0.0413 right_gripper=0.0749\nstate[joint_eff]: [-0.5402, -10.3863, 8.8, 0.9695, 0.0708, -0.0317, -0.1343, -0.0205, -2.2085, 6.5573, 1.2576, -0.2613, -0.0708, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e2838aafc1fcec9e80ebdd07b85d06b3f2df62350147ecee233c418f68b5aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf374ed92b20e7cf2f98a75063f0fdde262c06ba7fe5b2c22a2a8cc8f55e0df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01edbd306d2b8ce126221eebe91d16c4d39848b02b86bc88acfdde61b8c904d",
      "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 · 2.428 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]: [-0.1856, 1.9202, 1.3727, -0.7071, 0.2939, 0.1585, 0.9952, 0.0475, 1.0225, 0.9043, -0.8658, -0.4675, -0.5316, 0.0697]\nstate[eef_state]: left_x=0.409 left_y=-0.1252 left_z=0.0566 left_yaw=-0.608 left_pitch=-0.6109 left_roll=-0.2744 left_gripper=0.9952 right_x=0.2546 right_y=0.0954 right_z=0.1784 right_yaw=0.7425 right_pitch=-0.2788 right_roll=0.0403 right_gripper=0.0697\nstate[joint_eff]: [-0.5949, -9.0051, 9.1556, 0.9988, 0.1001, 0.1001, -0.1148, 0.0068, -2.4, 6.5299, 1.2869, -0.2662, -0.0122, 0.2711]",
      "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]: [-0.186, 1.9816, 1.2407, -0.5121, 0.292, 0.1577, 0.0853, 0.0475, 1.0241, 0.9043, -0.8658, -0.4675, -0.5316, 0.0735]\nstate[eef_state]: left_x=0.4054 left_y=-0.1244 left_z=0.0058 left_yaw=-0.6057 left_pitch=-0.6104 left_roll=-0.272 left_gripper=0.0853 right_x=0.2547 right_y=0.0954 right_z=0.1781 right_yaw=0.7428 right_pitch=-0.28 right_roll=0.0413 right_gripper=0.0735\nstate[joint_eff]: [-0.3214, -10.3863, 6.5162, 0.8718, 0.2076, -0.0317, 0.2173, -0.0615, -2.2906, 6.5573, 1.243, -0.2662, -0.022, 0.1294]",
      "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]: [-0.2058, 1.7111, 1.3964, -0.9478, 0.2913, 0.1314, 0.0841, 0.0475, 1.0245, 0.9043, -0.8658, -0.4675, -0.532, 0.0749]\nstate[eef_state]: left_x=0.3633 left_y=-0.124 left_z=0.1268 left_yaw=-0.6108 left_pitch=-0.6232 left_roll=-0.2883 left_gripper=0.0841 right_x=0.2548 right_y=0.0954 right_z=0.178 right_yaw=0.7431 right_pitch=-0.2803 right_roll=0.0413 right_gripper=0.0749\nstate[joint_eff]: [-0.5402, -10.3863, 8.8, 0.9695, 0.0708, -0.0317, -0.1343, -0.0205, -2.2085, 6.5573, 1.2576, -0.2613, -0.0708, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e2838aafc1fcec9e80ebdd07b85d06b3f2df62350147ecee233c418f68b5aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf374ed92b20e7cf2f98a75063f0fdde262c06ba7fe5b2c22a2a8cc8f55e0df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01edbd306d2b8ce126221eebe91d16c4d39848b02b86bc88acfdde61b8c904d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFM9MTZrng32plBU4NnHeF69XS2o4Jw4OZNQGFxqhtXXwiQd04GVf5qRNbBRxAj6ej7mFD2zGvDvlxAn_bkb8A_uIV09RTr3vKtlFybYt2NqHjLQVfQggdEF213_bZ1Zgr7N4L3j3PVwA0QPlJDM2BmoE3NiPjA0UDThrKnMcJPXjPcz651ppFuRFMvsBhZYo-6JB8sbGkmo0ZnYGb0DfEJKUZcZkq8Q_bwonsvYOjtXlkmPxFf8OP-7cVdxV__lL7Iwj5XpSl1recD7j0ue4ijjkloIgOzLqZnqT7U9iRb2kKziDI09K2QlcO8LMI4ipXkFAHZGk0FsHiPklNTrpC8dJbsH3nJblpAG-zNzx3xZJgWGglq2ygzA5xV_mfI6xGSvSbIQf97qZ3ll9O3T-UVCnfYId-C6D9fL_EU8L_ui8QGPPCBDaYlQQqufhZEngTXiwcl32reg8rpSIn4QvK9Eydqd_FKgF5CQI-YHJPxPFdb88cL-usN7kPxdpOMPJxhcy6DuyeIhn5bby0qVmIjISBZdSeZlClYq3s3Snn1diw7jHxEjm0XEUDdgspXhXqNqpGEBWG-T4Yyc2Ar82zcU96HRd9frhwWNJx8Knv5fRRDEPHYP823mvuG-khsgFvgPpJ44hpmjho_UGGys0KPQAhkFi94G8MvRMJIS1e-saelsyHvRqJf2AL4977RS5ZNZl9q-w_d3x4kFnmGp5IZYUPXg6ngtkNBVqmyMCvhSgB9N_7wp6Yv3KCcAQD4AXfnD_F2HX7KN3nir5_-0mrtOxffIWvw74I8p5WSsHCi9kdipdA6TeB8D_2jNekW5a_3xNEf0Q1NnwrKWjb7QgL1SuRDI_pDkC4wTqIC6UWtGpHWDbiURCLoA4DTAoSb_BMpcKJ0125jW5o6kNJ509fsOZKwaH5XQ1DQMujLEMzS56-tWl8qNuHsErP5XOQeC2yKl1UqLgTXJ0ZWGA6WfWQTA7RqLJBk8llEPChMXmnOVE45eUSuC1ADaRhQfs6QiGBAkmYf8B3sccBpscv_v0GeUGNi6-ip1tIRzj8dWf_BRE43HtuGHPv9nCjz2oJYsKt_wpuotBGsr5mhvxZAD_eJceJI8WSNBlx1kXyTzSHOAHkLHOqWRSMr7tjV13cK9PWRq1HLGkQe8slFjRbCdWkPU2ay1PoBr_spVbpFynJ6TFkCwCuIXotumLU1RFCaHuGg5t-8ZJV5dT0MsNfQTD6scO74rLvELbhPThvPvrdBASvYkyMtdMfaTw1Bm9vg3tCiKRVt82s6FVPxutCB24eLzj63F43hvTMkGUR7CCMuENrJVsv-7YyJW0Csg0sKWq0J7eZNVtuyi4ffcny5u5iO0AA4Rb8DbdVQC7zErOOt3ojT0vuL722CwLI0CPvxs3zU6I7ERhfpw8jacGV8d6dAdtCjSWeXFrc_ofL18N8MUNKG7TFvXL1-QN2obKEYVHyZDp7RfSrhDFG0ALGNIlXxxCIowOxjMyfTYv95Pa6qHD-S5E7i-mxxe7dPcWuHuA4lbY7YTHSjbdlWXKaUqBNp3IFnDmwidEIiKH5Rp3x1pI60NjjceAtzMQAjvTk4ox9kRD04vsxm2siwYeFbrjV8p5xDq4J17R4Qywu_gSAutPf6EE3-Mw24wejaRgCx2TgtMUQizfS9L6XEeOWxToDpptwCkrbaVWA93jia5oP3FCrSDTMJdRaDjZTYkp8drE_uGl_yBglz5Sb95xp__JNA5XyD9HgNwkIToBti3XCmYbbVjAAxHCIJX8wd67xC9j5-JkxwKHiML35WlZTVq8vjwaKkG3g1YehqfkwddEb7ABsbd8Tx_tyt20HEb6i9-iJu6xx1zILykQpvrDCg4RSIj42wms-q1toQx3-TZLuWzPK4SAUUfb2BNAeYx7s_3tt-Kemcbcx1mI_4nAHSW_cXQNDrbCvYHB9tpR1TCuCJNQOD1dsxygJVYaEZZFFO1_7On",
  "id": "rs_0485aaa1d7e09028016ab4533ab75887d0ae0320d9debba7a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.125,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The lifted view shows the cap still on the table, so 8 mm was too wide to hold it; the earlier full-close failure was caused by being short, not by squeezing. I’ll return to the now-known radial grasp position with the jaws fully open, then close firmly once at table level.\"}",
  "call_id": "call_R7mIVaQpUxOfG6trmtl1JjX3",
  "id": "fc_0485aaa1d7e09028016ab4533c4f7c87d08ec63a33e091fecc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R7mIVaQpUxOfG6trmtl1JjX3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.9026, 1.3563, -0.7612, 0.2958, 0.1364, 0.9956, 0.0475, 1.0248, 0.9043, -0.8658, -0.4675, -0.532, 0.0766]\nstate[eef_state]: left_x=0.393 left_y=-0.1217 left_z=0.0549 left_yaw=-0.6097 left_pitch=-0.6618 left_roll=-0.3138 left_gripper=0.9956 right_x=0.2548 right_y=0.0954 right_z=0.1779 right_yaw=0.7432 right_pitch=-0.2806 right_roll=0.0415 right_gripper=0.0766\nstate[joint_eff]: [0.0615, -9.2376, 7.4735, 1.1355, 0.2955, 0.1978, -0.188, -0.0068, -2.4684, 6.5709, 1.2039, -0.2564, -0.0415, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db4c9c26f45c2ef5262c72cda8dc3716b0a29efc1daf9d8d4118011e663bdfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda38793898db10a38a0977951e153e46684397245805bd38c865490e3577a03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c0906bb283d7a7151f3972eed3646f29346977279d19cd8379336a02a62a46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 2.467 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.186, 1.9778, 1.2495, -0.5117, 0.2947, 0.1581, 0.9955, 0.0475, 1.0241, 0.9043, -0.8661, -0.4679, -0.5316, 0.0721]\nstate[eef_state]: left_x=0.4087 left_y=-0.1255 left_z=0.0102 left_yaw=-0.6047 left_pitch=-0.5974 left_roll=-0.2682 left_gripper=0.9955 right_x=0.2547 right_y=0.0955 right_z=0.1781 right_yaw=0.7432 right_pitch=-0.2801 right_roll=0.0418 right_gripper=0.0721\nstate[joint_eff]: [-0.1573, -6.7214, 3.8632, 0.8669, 0.149, 0.0122, 0.0317, -0.1026, -1.9897, 6.5299, 1.2625, -0.3004, -0.0464, 0.2271]",
      "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]: [-0.2058, 1.7111, 1.3964, -0.9478, 0.2913, 0.1314, 0.0841, 0.0475, 1.0245, 0.9043, -0.8658, -0.4675, -0.532, 0.0749]\nstate[eef_state]: left_x=0.3633 left_y=-0.124 left_z=0.1268 left_yaw=-0.6108 left_pitch=-0.6232 left_roll=-0.2883 left_gripper=0.0841 right_x=0.2548 right_y=0.0954 right_z=0.178 right_yaw=0.7431 right_pitch=-0.2803 right_roll=0.0413 right_gripper=0.0749\nstate[joint_eff]: [-0.5402, -10.3863, 8.8, 0.9695, 0.0708, -0.0317, -0.1343, -0.0205, -2.2085, 6.5573, 1.2576, -0.2613, -0.0708, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.9026, 1.3563, -0.7612, 0.2958, 0.1364, 0.9956, 0.0475, 1.0248, 0.9043, -0.8658, -0.4675, -0.532, 0.0766]\nstate[eef_state]: left_x=0.393 left_y=-0.1217 left_z=0.0549 left_yaw=-0.6097 left_pitch=-0.6618 left_roll=-0.3138 left_gripper=0.9956 right_x=0.2548 right_y=0.0954 right_z=0.1779 right_yaw=0.7432 right_pitch=-0.2806 right_roll=0.0415 right_gripper=0.0766\nstate[joint_eff]: [0.0615, -9.2376, 7.4735, 1.1355, 0.2955, 0.1978, -0.188, -0.0068, -2.4684, 6.5709, 1.2039, -0.2564, -0.0415, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db4c9c26f45c2ef5262c72cda8dc3716b0a29efc1daf9d8d4118011e663bdfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda38793898db10a38a0977951e153e46684397245805bd38c865490e3577a03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c0906bb283d7a7151f3972eed3646f29346977279d19cd8379336a02a62a46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFNBUoUZZln41fS4FSVsMgwCfoAVR3d0mebie5s013B8hCkhFzm-MJgvE9dfhskcMlokX8Jqu_vPQ8hjqL3n6FGCR2MV1YnBzNfNpirDz_tJWbxc44AZ46vIrnJVmzJsdgndcC6-9F6nxqiMZ9punnM-SaC1ZfnPOOXCyb2o0GQKLHNxIhCbQt6jm-7-0hYpWIEPgjOzJayJIHxzsKIHzAOX4rCrivmy43xN3L7Dki_7PB1-C9u3wIoyELg8mUjNDKiJz6pdCgFgCQwoIOm22rki38gurgvF9O2q5CagoJ6u9I0qPD1iLdXEoptUZc6kBGYWps_hTdhjrA-3RZbfGSrmP0OaeWk0z7FWE4Wd9i-rIzGznWG1mVLpzSsMH6Lrlh56HSDHBpUMQ8a350P9n0uydyiC7BwgNO49ekn92VkDKaRzVk6WLo8Tyu9gj8ZK9P6ZfjGcsndt50BTsscWwgavJPVLOe7Sq-EXXIg3tyIVfWAoZ8NSl4_7tA6kUtFYnOfjNt4h0plrk4iSOKH8snuaA2pWn7kloGAWdCIT4HqwYEk8TTE4SgpXC1jWSuCu47ABmsihBl8PcM3Xw0zNLT2pcpL9ys9LqxuruyprrfaKwQne_v24rcK5ezKx1O5GqDPQf60Qejf-ae4VbhIPP6_F7K6JKdU_Ohl9GEHYIIyUCNXPF9BrCEP9PP5lgXCRaoOz3Wl5Ny58Q5mjngBzzx-yQKnu1__22tatkekWA8cFQW6EeJCcisl_RGnKglS0QGZAU8zFNqUiIEJK8D6oJmk8X8FbnBt4NDss5B7nzuKZ8UJe9CJf9iugOOWJVouWGXOsHmclR8N6cutjz5o9sZtQzNpYrxIb3Ca_yNrqZpOUyZ5qOd6-stYsfhGYDT9zn0jwcDF6OInHGjSjgqRPu8U3GY0pUxNh_FUEy0iAvrKGPPFsDCKKlE1uIa1tAwOiIChJtNOn2avwVTEDdi0OG-p74TGVzTf1R-O2XtA2Dva_L635_Sr6Y0mb-Laokas6Y0amvfIwzXaUtpgGu5-I_fe2cta6NR72yMPLtCp57MhXZR6wYfaZW5beIiwhDRi56N7u-j4MOUDyQxqJ4onpuwY3ZQgXbaMOikz3-vedVyVoSbzKO2GxkDIHL75zHRaT_5eKQZuiHk2Kvk9vLYWGE02yJUk1VG6qlffGO9pCMDQOCJPmAaPP9qchlgOKpdp7EfgtWlIRX15-KjZVXzV8uOPxiDWR-jkMktvNR59PDpjc7Xmfur_7swhwtcC_KE-4yw-2",
  "id": "rs_0485aaa1d7e09028016ab45340111487d087357131c5967805",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The cap is centred and its near end now overlaps the open fingertip ends at the calibrated radial position. I’ll descend straight to the tabletop, then use a full close to secure its narrow body.\"}",
  "call_id": "call_DQn2R1Q3TngrzrbwiJ9DODJQ",
  "id": "fc_0485aaa1d7e09028016ab45340463487d0a587b8ee9648386a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DQn2R1Q3TngrzrbwiJ9DODJQ",
  "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]: [-0.1761, 1.9263, 1.1763, -0.5034, 0.3149, 0.1352, 0.9963, 0.0475, 1.026, 0.9043, -0.8661, -0.4675, -0.532, 0.0779]\nstate[eef_state]: left_x=0.391 left_y=-0.1215 left_z=0.0104 left_yaw=-0.6026 left_pitch=-0.6052 left_roll=-0.3072 left_gripper=0.9963 right_x=0.2548 right_y=0.0954 right_z=0.1776 right_yaw=0.7435 right_pitch=-0.2817 right_roll=0.0426 right_gripper=0.0779\nstate[joint_eff]: [0.2393, -5.2034, 3.8359, 0.9353, 0.2613, 0.0171, 0.0659, 0.0479, -2.5094, 6.5026, 1.2381, -0.2418, -0.0171, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caeea9b7ccb143bbfe94e41c9455be00b048f937370d5a5fda30253e54013b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ccf1c7304642ca4b52cbbfcaba39ed78c70e79ec9823e8ef3acf43a8883fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd2508d6bbccf91f7d892a93f49fc34f49d002cc17805ab53cde71be930c8d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.44 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.186, 1.9816, 1.2407, -0.5121, 0.292, 0.1577, 0.0853, 0.0475, 1.0241, 0.9043, -0.8658, -0.4675, -0.5316, 0.0735]\nstate[eef_state]: left_x=0.4054 left_y=-0.1244 left_z=0.0058 left_yaw=-0.6057 left_pitch=-0.6104 left_roll=-0.272 left_gripper=0.0853 right_x=0.2547 right_y=0.0954 right_z=0.1781 right_yaw=0.7428 right_pitch=-0.28 right_roll=0.0413 right_gripper=0.0735\nstate[joint_eff]: [-0.3214, -10.3863, 6.5162, 0.8718, 0.2076, -0.0317, 0.2173, -0.0615, -2.2906, 6.5573, 1.243, -0.2662, -0.022, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1837, 1.9026, 1.3563, -0.7612, 0.2958, 0.1364, 0.9956, 0.0475, 1.0248, 0.9043, -0.8658, -0.4675, -0.532, 0.0766]\nstate[eef_state]: left_x=0.393 left_y=-0.1217 left_z=0.0549 left_yaw=-0.6097 left_pitch=-0.6618 left_roll=-0.3138 left_gripper=0.9956 right_x=0.2548 right_y=0.0954 right_z=0.1779 right_yaw=0.7432 right_pitch=-0.2806 right_roll=0.0415 right_gripper=0.0766\nstate[joint_eff]: [0.0615, -9.2376, 7.4735, 1.1355, 0.2955, 0.1978, -0.188, -0.0068, -2.4684, 6.5709, 1.2039, -0.2564, -0.0415, 0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1761, 1.9263, 1.1763, -0.5034, 0.3149, 0.1352, 0.9963, 0.0475, 1.026, 0.9043, -0.8661, -0.4675, -0.532, 0.0779]\nstate[eef_state]: left_x=0.391 left_y=-0.1215 left_z=0.0104 left_yaw=-0.6026 left_pitch=-0.6052 left_roll=-0.3072 left_gripper=0.9963 right_x=0.2548 right_y=0.0954 right_z=0.1776 right_yaw=0.7435 right_pitch=-0.2817 right_roll=0.0426 right_gripper=0.0779\nstate[joint_eff]: [0.2393, -5.2034, 3.8359, 0.9353, 0.2613, 0.0171, 0.0659, 0.0479, -2.5094, 6.5026, 1.2381, -0.2418, -0.0171, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caeea9b7ccb143bbfe94e41c9455be00b048f937370d5a5fda30253e54013b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ccf1c7304642ca4b52cbbfcaba39ed78c70e79ec9823e8ef3acf43a8883fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd2508d6bbccf91f7d892a93f49fc34f49d002cc17805ab53cde71be930c8d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFNEWWKLFfawLG5k2rm2QQl7R0Oyyite-KWX2Cn558ohCEAephecW6NzN17wGO4s71uUtvm2-Zuhj6Z26qiP0F87SM8BixCEHMMlfxvmHcp2lErG6CinEf35P7nJDUeYrLEcHfeu11c0cKL348vRDjweuDVQUVg9Si2aA6hIfG98ZmtgjAD7OHFYQvMcLf8FqYqyO5imI8MLhypn_pFMD_em661Qbj1pXfqsPKzSgPTycFlIEX8hqoXln_6fsEwKU8axWmaOWJYmcou5c8juu8tPU6JgZe-pDxv66HT4e7Y7xNECi3rUfTvrC81LDX53TDJmBCa72sdKHunhbhEeAry1P1xioU1FsIi1SV3_RA9c-mWl8XNGenkH1tfoPT1_tpFwfuyIwU6jk6G_0S5I1z_rDe96lTGY81DwrEloloZSiu-ybb-RA8n76W_sYt7oAGJ_fW5MGcomzogqADNbg4BFJnx4SEVMnL7bEePJT1kTad9OgRTHvAvfZK0TJNqtCO7uBAqZVoukYOLCGpCbgMPnrmW3y8fyM2kYjBxrS1XN5ndbTuPvdCE3xs1e_kmV8lu1R8VgctH0HFxBd5pxMSWUdop2nyJpW8Zlx-9LmigPMqgHnZw7jmCha-TZrNCzaJ8qnGqC3jeRk5-h-jWKjnlGYRlL0Pwll_34bLOGlXkHDhxySnBw64sbISQkAk3VfCv9XiIauxgBGya4FQchA2UKPKhxfNeNNnMQNSQFluPGCbBBrHDEziJi88eGHN9RwVL5EzskT0A0axbtvW6uMSkJJUNkBfjy0ipfKgyjhQGGi-JEfgFWl0e6e0CBIetbtWVr9RCH2IcIt5D69y6CAAnb2xd-WcBGqzT4Zmrvisqun3ZqrkVPI4cWmeuO9baZ-vEhFomBwgFlzZ5kPWhrCMGvei9QLt_ecH7qjeOEEOIzlZLUsaqBizWSXc_RHp4BAcYwMlzDMbAKTn6IC7XikIK32DCk_oO9THsfzFEzUKXueDolmSMy-lpnKQb2AK0lTzQK7PtPSQIK7IPVPMxR3J5NCYRKfNTDwDh2j_gN5guy2wlyxTEhAsiCDuFC3PCTAX1eeYcEHwcy-mV-K9rCnVNCJdVQW9ejNsXeJDzg1WRbKeZh3A7RQNyvB4kCLgZuE-0Wk9mQmwxTsYVuP4GMoQAx4CmuUBomBpDV5SYhOJHN-RNRwqd2J4Ix4zdz7681WABqbQUNCFwg1IkM9sBh47_q7w==",
  "id": "rs_0485aaa1d7e09028016ab453432dbc87d0a0623f5f2574063d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level the cap lies directly across the jaw gap and fills the fingertip region. I’ll close fully now that the true grasp point is confirmed.\"}",
  "call_id": "call_AaBitm46CJt6qsqXZxxZs5Wb",
  "id": "fc_0485aaa1d7e09028016ab453433b8487d0b9d34bbe17893faa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AaBitm46CJt6qsqXZxxZs5Wb",
  "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]: [-0.1741, 1.9591, 1.158, -0.4187, 0.3225, 0.1349, 0.0081, 0.0475, 1.026, 0.9043, -0.8658, -0.4675, -0.5316, 0.0784]\nstate[eef_state]: left_x=0.3998 left_y=-0.1235 left_z=-0.0008 left_yaw=-0.5981 left_pitch=-0.5717 left_roll=-0.2986 left_gripper=0.0081 right_x=0.2549 right_y=0.0954 right_z=0.1776 right_yaw=0.7432 right_pitch=-0.2814 right_roll=0.0426 right_gripper=0.0784\nstate[joint_eff]: [-0.1709, -8.0205, 4.7658, 0.8132, 0.1783, 0.0317, 0.5495, -0.1846, -2.2359, 6.5436, 1.243, -0.2369, -0.0317, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d9a7f28c3817e4e8ffad2aea70cd6ef93a9cf25009a4374cfc919a55847608",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac2da11ed8a1dca94ec27269284d9690c21bcf5c384cb35b87d9b1e19b6efa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd36a9235fe0f8a82251c3b3f8b8e2fdbbdb3b573f3f11108c7be3a3c0683cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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