adhoc - adhoc_947fe035.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 237.6 s
total steps: 397

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe cap is the short black piece left of center, while the long pen lies diagonally to its right. I’ll bring the left gripper above the cap with its jaws oriented across the cap’s diagonal, then refine from the wrist view.

move_to

left_x0.4000left_y-0.2200left_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]: [-0.02, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3771, -0.0231, -0.0154, 0.9991] state[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5111, 10.5231, 1.7753, -0.0513, 0.1148, -0.0366, -0.759, -1.2103, 9.9077, 1.8046, -0.0562, 0.0122, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.15,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is the short black piece left of center, while the long pen lies diagonally to its right. I’ll bring the left gripper above the cap with its jaws oriented across the cap’s diagonal, then refine from the wrist view."})

tool

executing move_to over 20 steps (2.0s)

step 20

assistant

agent noteThe cap is now on the left wrist camera’s jaw column and reaches the fingertip row, so the lateral and radial alignment look good. I’ll descend vertically to table level while keeping the gripper open.

move_to

left_x0.4000left_y-0.2200left_z0.0000left_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]: [-0.3943, 1.5631, 0.9142, -0.0315, 0.2436, 0.141, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0235, -0.0151, 0.999] state[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.124 left_yaw=-0.6873 left_pitch=-0.0854 left_roll=-0.0333 left_gripper=0.9998 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0014 right_pitch=-0.0153 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [-0.5538, -7.5419, 9.6479, 2.0098, 0.3053, 0.2125, -0.0366, -0.1026, -1.7709, 6.694, 1.8486, -0.0562, -0.0415, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.0,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is now on the left wrist camera’s jaw column and reaches the fingertip row, so the lateral and radial alignment look good. I’ll descend vertically to table level while keeping the gripper open."})

tool

executing move_to over 8 steps (0.8s)

step 28

assistant

agent noteAt table level the cap has disappeared beneath the left fingertips as expected, while the longer pen remains visible farther ahead-right in the wrist view. I’ll close the left gripper on the cap and check the settled jaw opening.

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]: [-0.4, 1.9274, 0.7841, 0.4263, 0.2695, 0.168, 0.9997, -0.02, 0.8001, 0.6132, -0.3935, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3972 left_y=-0.2151 left_z=0.0035 left_yaw=-0.7304 left_pitch=-0.1147 left_roll=-0.0393 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.1299, -7.0359, 4.8068, 1.0916, 0.1783, 0.0708, -0.0415, -0.335, -1.4154, 7.3231, 1.7216, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table level the cap has disappeared beneath the left fingertips as expected, while the longer pen remains visible farther ahead-right in the wrist view. I’ll close the left gripper on the cap and check the settled jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 38

assistant

agent noteThe left gripper settled at 0.01, which confirms an empty close. I’ll reopen and lift straight up so the overhead view can reveal where the cap actually sits before making one corrected attempt.

move_to

left_z0.1200left_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]: [-0.4, 1.9457, 0.7834, 0.4576, 0.263, 0.1616, 0.0097, -0.02, 0.8005, 0.6132, -0.3954, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.4003 left_y=-0.2152 left_z=0.0009 left_yaw=-0.7211 left_pitch=-0.1046 left_roll=-0.0364 left_gripper=0.0097 right_x=0.2943 right_y=0.0018 right_z=0.1792 right_yaw=-0.0012 right_pitch=-0.0233 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.0889, -10.4, 4.9983, 1.2821, 0.1929, 0.0562, 0.7497, -0.3487, -1.3197, 7.241, 1.7656, -0.0415, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.12,"left_gripper":1.0},"note":"The left gripper settled at 0.01, which confirms an empty close. I’ll reopen and lift straight up so the overhead view can reveal where the cap actually sits before making one corrected attempt."})

tool

executing move_to over 10 steps (1.0s)

step 48

assistant

agent noteWith the arm lifted, the missed cap appears as the small dark piece ahead and slightly right of the left jaw column; the first attempt was too near the base and left. I’ll correct outward by about 4 cm and right by about 3 cm, staying at hover height to recheck alignment.

move_to

left_x0.4400left_y-0.2500left_z0.1200left_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]: [-0.4, 1.6737, 0.9401, -0.0185, 0.2619, 0.1528, 0.9947, -0.02, 0.8005, 0.6132, -0.3969, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.3936 left_y=-0.2122 left_z=0.0908 left_yaw=-0.7172 left_pitch=-0.1499 left_roll=-0.0574 left_gripper=0.9947 right_x=0.2941 right_y=0.0019 right_z=0.1789 right_yaw=-0.0009 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [-0.1162, -10.0171, 9.5521, 1.8437, 0.1343, 0.1685, 0.1245, -0.3487, -1.306, 7.0359, 1.79, -0.0366, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.25,"left_z":0.12,"left_yaw":-0.75,"left_gripper":1.0},"note":"With the arm lifted, the missed cap appears as the small dark piece ahead and slightly right of the left jaw column; the first attempt was too near the base and left. I’ll correct outward by about 4 cm and right by about 3 cm, staying at hover height to recheck alignment."})

tool

executing move_to over 4 steps (0.4s)

step 52

assistant

agent noteAfter the correction, the cap is no longer visible ahead of the left fingertips while the pen remains clearly farther right, indicating the cap is now beneath the grasp point. I’ll descend vertically for the corrected grasp.

move_to

left_x0.4400left_y-0.2500left_z0.0000left_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]: [-0.4282, 1.8317, 1.1946, -0.165, 0.2619, 0.1421, 0.9987, -0.02, 0.8021, 0.6132, -0.4049, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.4266 left_y=-0.241 left_z=0.0967 left_yaw=-0.7423 left_pitch=-0.1978 left_roll=-0.0811 left_gripper=0.9987 right_x=0.2931 right_y=0.0019 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0343 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [-0.4718, -10.0171, 9.3333, 1.6337, 0.0464, 0.1099, -0.1538, -0.1162, -1.4017, 7.3368, 1.8339, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.25,"left_z":0.0,"left_yaw":-0.75,"left_gripper":1.0},"note":"After the correction, the cap is no longer visible ahead of the left fingertips while the pen remains clearly farther right, indicating the cap is now beneath the grasp point. I’ll descend vertically for the corrected grasp."})

tool

executing move_to over 7 steps (0.7s)

step 59

assistant

agent noteThe corrected low pose keeps the cap hidden under the left fingers and shows only the pen off to the right. I’ll close now and use the jaw spacing, then a lift, to verify whether the cap is secured.

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]: [-0.4328, 2.0495, 1.1133, 0.1123, 0.2619, 0.141, 0.9986, -0.02, 0.8047, 0.6132, -0.4122, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.4351 left_y=-0.2475 left_z=0.0081 left_yaw=-0.7477 left_pitch=-0.2185 left_roll=-0.0888 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0012 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [-0.335, -8.2667, 5.3949, 1.1404, 0.0904, -0.0171, -0.1538, 0.0615, -1.4291, 7.3368, 1.7656, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The corrected low pose keeps the cap hidden under the left fingers and shows only the pen off to the right. I’ll close now and use the jaw spacing, then a lift, to verify whether the cap is secured."})

tool

executing move_to over 10 steps (1.0s)

step 69

assistant

agent noteThe second close also settled at 0.01, so the cap was still not between the jaws and may have been pushed or hidden by the arm. I’ll park the left arm at home and reopen it to expose the full tabletop for a fresh overhead localization.

move_to

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

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4328, 2.0628, 1.1122, 0.1242, 0.2623, 0.1368, 0.0096, -0.02, 0.8047, 0.6132, -0.4122, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.4353 left_y=-0.2476 left_z=0.0033 left_yaw=-0.7459 left_pitch=-0.2212 left_roll=-0.093 left_gripper=0.0096 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0442 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [-0.0889, -11.7402, 5.641, 1.3407, 0.1294, 0.0073, 0.7497, -0.1026, -1.306, 7.0222, 1.6825, -0.0464, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"The second close also settled at 0.01, so the cap was still not between the jaws and may have been pushed or hidden by the arm. I’ll park the left arm at home and reopen it to expose the full tabletop for a fresh overhead localization."})

tool

executing move_to over 23 steps (2.3s)

step 92

assistant

agent noteWith the arm parked, the cap is clearly visible near image x≈80, separate from the pen near x≈125. I’ll return to the first hover but slightly lower, then use the wrist view to make a smaller, measured correction rather than descending immediately.

move_to

left_x0.4000left_y-0.2200left_z0.1000left_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]: [0.0105, 1.013, 0.7979, -0.5911, 0.0586, -0.0811, 0.998, -0.02, 0.8074, 0.6128, -0.4133, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3031 left_y=-0.0036 left_z=0.1646 left_yaw=-0.0072 left_pitch=-0.2357 left_roll=-0.0951 left_gripper=0.998 right_x=0.2922 right_y=0.0019 right_z=0.1735 right_yaw=-0.0012 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [0.253, -3.2479, 9.853, 1.5311, 0.0073, 0.0611, -0.022, -0.1162, -1.5111, 7.0359, 1.7216, -0.0073, -0.0366, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.1,"left_yaw":-0.75,"left_gripper":1.0},"note":"With the arm parked, the cap is clearly visible near image x≈80, separate from the pen near x≈125. I’ll return to the first hover but slightly lower, then use the wrist view to make a smaller, measured correction rather than descending immediately."})

tool

executing move_to over 20 steps (2.0s)

step 112

assistant

agent noteThe wrist view now clearly separates the cap at the bottom (column ≈90) from the pen far ahead-right; the cap is slightly left of the jaw column. Before descending again, I’ll briefly close in free space to reveal the exact fingertip convergence point for this pitched wrist.

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]: [-0.3958, 1.7191, 1.0611, -0.271, 0.2462, 0.1192, 0.9986, -0.02, 0.8108, 0.6132, -0.4137, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3853 left_y=-0.2038 left_z=0.0775 left_yaw=-0.6941 left_pitch=-0.3237 left_roll=-0.1249 left_gripper=0.9986 right_x=0.2924 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.4581, -8.5675, 9.4974, 1.7216, 0.3687, 0.3443, -0.1538, -0.3761, -1.5795, 7.2684, 1.6581, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The wrist view now clearly separates the cap at the bottom (column ≈90) from the pen far ahead-right; the cap is slightly left of the jaw column. Before descending again, I’ll briefly close in free space to reveal the exact fingertip convergence point for this pitched wrist."})

tool

executing move_to over 10 steps (1.0s)

step 122

assistant

agent noteThe free-space close shows the fingertips meet at about column 105, row 205; the cap is at the same depth but about 15 pixels left. I’ll reopen and shift the gripper roughly 1.5 cm toward the arm’s left so the cap moves onto the jaw column.

move_to

left_y-0.1900left_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]: [-0.3996, 1.7317, 1.063, -0.2733, 0.2401, 0.1131, 0.0094, -0.02, 0.8112, 0.6132, -0.4133, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3847 left_y=-0.2042 left_z=0.0725 left_yaw=-0.6906 left_pitch=-0.3379 left_roll=-0.1279 left_gripper=0.0094 right_x=0.2925 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [0.2256, -9.306, 6.0923, 1.3504, 0.1978, 0.0513, 0.7692, -0.1299, -1.2239, 7.1726, 1.707, -0.0122, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.19,"left_gripper":1.0},"note":"The free-space close shows the fingertips meet at about column 105, row 205; the cap is at the same depth but about 15 pixels left. I’ll reopen and shift the gripper roughly 1.5 cm toward the arm’s left so the cap moves onto the jaw column."})

tool

executing move_to over 10 steps (1.0s)

step 132

assistant

agent noteThe cap is now centered between the open jaws and aligned with the fingertip convergence depth in the wrist image. I’ll descend straight down without changing the calibrated lateral alignment.

move_to

left_x0.4000left_y-0.1900left_z0.0000left_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]: [-0.3645, 1.7317, 1.0481, -0.2775, 0.2436, 0.1345, 0.9952, -0.02, 0.8112, 0.6128, -0.4133, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3864 left_y=-0.1892 left_z=0.0665 left_yaw=-0.6726 left_pitch=-0.354 left_roll=-0.1229 left_gripper=0.9952 right_x=0.2924 right_y=0.0019 right_z=0.1725 right_yaw=-0.0012 right_pitch=-0.0522 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [0.4034, -9.7709, 5.9966, 1.243, 0.2076, 0.0659, -0.1148, -0.1846, -1.306, 7.1043, 1.6874, -0.0415, -0.0513, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.19,"left_z":0.0,"left_yaw":-0.75,"left_gripper":1.0},"note":"The cap is now centered between the open jaws and aligned with the fingertip convergence depth in the wrist image. I’ll descend straight down without changing the calibrated lateral alignment."})

tool

executing move_to over 5 steps (0.5s)

step 137

assistant

agent noteAt table height the cap is visibly centered between the left and right fingertips at the closing row. I’ll close on it now; this alignment is much more precise than the earlier attempts.

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]: [-0.3347, 1.9003, 1.0088, -0.1123, 0.276, 0.1959, 0.9986, -0.02, 0.8127, 0.6132, -0.4133, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.3962 left_y=-0.185 left_z=0.0065 left_yaw=-0.7116 left_pitch=-0.3813 left_roll=-0.1266 left_gripper=0.9986 right_x=0.2925 right_y=0.0019 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0014 right_gripper=0.999 state[joint_eff]: [0.2393, -7.159, 5.3949, 1.2772, 0.315, 0.1832, -0.1587, -0.1983, -1.3607, 7.0222, 1.746, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"At table height the cap is visibly centered between the left and right fingertips at the closing row. I’ll close on it now; this alignment is much more precise than the earlier attempts."})

tool

executing move_to over 10 steps (1.0s)

step 147

assistant

agent noteThe jaw reading is again essentially empty; the cap likely slipped out because the wrist was pitched about −0.39 rad at table level, making a thin round piece easy to eject. I’ll reopen, lift, and command a compensating positive pitch so the fingers approach more vertically for the next grasp.

move_to

left_z0.1000left_pitch0.3000left_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]: [-0.334, 1.9137, 1.0084, -0.1051, 0.2695, 0.1879, 0.0106, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.3967 left_y=-0.1836 left_z=0.0015 left_yaw=-0.7016 left_pitch=-0.3899 left_roll=-0.1286 left_gripper=0.0106 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [-0.1573, -10.3726, 5.7641, 1.1502, 0.2125, 0.0464, 0.8132, -0.335, -1.4427, 7.0085, 1.6972, -0.022, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.1,"left_pitch":0.3,"left_gripper":1.0},"note":"The jaw reading is again essentially empty; the cap likely slipped out because the wrist was pitched about −0.39 rad at table level, making a thin round piece easy to eject. I’ll reopen, lift, and command a compensating positive pitch so the fingers approach more vertically for the next grasp."})

tool

executing move_to over 23 steps (2.3s)

step 170

assistant

agent noteThe lifted wrist view clarifies the objects: the black barrel with a gold tip under the left arm is the pen, while the thin dark piece near the table center is its cap. The pen currently appears parallel to the jaw-closing direction, explaining the repeated empty closes, so I’ll rotate the wrist by 90° to make the jaws cross the barrel.

move_to

left_yaw0.8500left_pitch0.3000left_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]: [-0.2527, 1.7599, 0.5713, 0.7902, 0.4782, 0.0231, 0.998, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.393 left_y=-0.1818 left_z=0.0785 left_yaw=-0.6841 left_pitch=0.2143 left_roll=-0.1502 left_gripper=0.998 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [0.4444, -8.253, 4.9299, 2.044, 0.2222, -0.0024, -0.0024, -0.335, -1.347, 7.2, 1.7363, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.85,"left_pitch":0.3,"left_gripper":1.0},"note":"The lifted wrist view clarifies the objects: the black barrel with a gold tip under the left arm is the pen, while the thin dark piece near the table center is its cap. The pen currently appears parallel to the jaw-closing direction, explaining the repeated empty closes, so I’ll rotate the wrist by 90° to make the jaws cross the barrel."})

tool

executing move_to over 10 steps (1.0s)

step 180

assistant

agent noteThe large yaw change drove the low, extended arm into an awkward IK posture and shifted the grasp point several centimetres, so the pen left the wrist view. I’ll raise and slightly retract to a more reachable hover while preserving the corrected cross-barrel orientation, then realign from the camera.

move_to

left_x0.3800left_y-0.1800left_z0.1500left_yaw0.8500left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8452, 2.1876, 1.285, 0.1658, -1.1648, -1.0546, 0.9986, -0.02, 0.8196, 0.6128, -0.4171, -0.0242, -0.0154, 0.999] state[eef_state]: left_x=0.4395 left_y=-0.2454 left_z=0.0784 left_yaw=0.6048 left_pitch=0.2722 left_roll=-0.3478 left_gripper=0.9986 right_x=0.2923 right_y=0.002 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0644 right_roll=0.0019 right_gripper=0.999 state[joint_eff]: [-0.1709, -10.3179, 3.3162, 0.525, -0.7839, -0.2222, -0.1538, -0.1299, -1.4154, 7.0222, 1.8193, -0.0171, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.18,"left_z":0.15,"left_yaw":0.85,"left_pitch":0.2,"left_gripper":1.0},"note":"The large yaw change drove the low, extended arm into an awkward IK posture and shifted the grasp point several centimetres, so the pen left the wrist view. I’ll raise and slightly retract to a more reachable hover while preserving the corrected cross-barrel orientation, then realign from the camera."})

tool

executing move_to over 6 steps (0.6s)

step 186

assistant

agent noteThe corrected-yaw hover still leaves both objects occluded and outside the wrist view after the IK shift. I’ll park the left arm once more to expose the tabletop, then re-approach the pen from a stable high pose with the correct yaw already set.

move_to

left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8543, 2.0094, 1.4006, -0.6434, -1.2201, -1.6344, 0.9986, -0.02, 0.8227, 0.6128, -0.4194, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3959 left_y=-0.1966 left_z=0.1361 left_yaw=0.8085 left_pitch=0.2019 left_roll=-0.3751 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1681 right_yaw=-0.0012 right_pitch=-0.0698 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [-0.4991, -12.7111, 7.7607, 0.5934, -0.7204, -0.105, -0.1538, -0.1709, -1.1556, 7.0769, 1.7265, -0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_pitch":0.0,"left_gripper":1.0},"note":"The corrected-yaw hover still leaves both objects occluded and outside the wrist view after the IK shift. I’ll park the left arm once more to expose the tabletop, then re-approach the pen from a stable high pose with the correct yaw already set."})

tool

executing move_to over 18 steps (1.8s)

step 204

assistant

agent noteWith the arm parked, the short object at left is confirmed as the cap and the long object at center-right is the pen. I’ll approach the cap from a high, stable pose with the jaws rotated 90° from the failed attempts so they close across its length rather than along it.

move_to

left_x0.4000left_y-0.1900left_z0.1400left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1566, 0.8455, 0.5491, -0.2653, 0.1921, -0.337, 0.9986, -0.02, 0.8288, 0.6128, -0.4351, -0.0235, -0.0151, 0.999] state[eef_state]: left_x=0.3039 left_y=0.0175 left_z=0.1659 left_yaw=0.1607 left_pitch=-0.0216 left_roll=-0.3769 left_gripper=0.9986 right_x=0.2902 right_y=0.0019 right_z=0.1634 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.0022 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.5521, 10.7556, 1.7265, 0.2759, 0.1099, -0.1538, -0.1436, -1.7436, 6.9675, 1.8681, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.19,"left_z":0.14,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"With the arm parked, the short object at left is confirmed as the cap and the long object at center-right is the pen. I’ll approach the cap from a high, stable pose with the jaws rotated 90° from the failed attempts so they close across its length rather than along it."})

tool

executing move_to over 19 steps (1.9s)

step 223

assistant

agent noteAt the corrected yaw, the cap appears at the bottom-left edge of the wrist view, so the gripper is slightly too far forward and right of it. I’ll shift about 3 cm back and 3 cm toward the arm’s left while maintaining height and orientation.

move_to

left_x0.3700left_y-0.1600left_z0.1400left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7879, 1.9247, 1.3991, -0.6418, -0.9615, -1.5455, 0.9986, -0.02, 0.8349, 0.6128, -0.4412, -0.0235, -0.0151, 0.999] state[eef_state]: left_x=0.4019 left_y=-0.1935 left_z=0.1313 left_yaw=0.7445 left_pitch=-0.0252 left_roll=-0.3742 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1605 right_yaw=-0.0013 right_pitch=-0.1037 right_roll=0.0025 right_gripper=0.999 state[joint_eff]: [-0.4991, -10.3316, 7.4735, 0.5885, -0.7155, 0.0317, -0.1538, -0.3214, -1.8393, 7.0359, 1.7656, -0.0317, -0.0024, -0.0122] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.16,"left_z":0.14,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"At the corrected yaw, the cap appears at the bottom-left edge of the wrist view, so the gripper is slightly too far forward and right of it. I’ll shift about 3 cm back and 3 cm toward the arm’s left while maintaining height and orientation."})

tool

executing move_to over 3 steps (0.3s)

step 226

assistant

agent noteThe cap is now fully visible near the fingertip depth but remains a little toward the base and left of the jaw midpoint. I’ll make a smaller 2 cm back/1 cm left correction; for the grasp I’ll avoid a crushing full-close, which can eject this smooth rounded cap.

move_to

left_x0.3500left_y-0.1500left_z0.1200left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7975, 1.8488, 1.2736, -0.7082, -0.9882, -1.626, 0.9986, -0.02, 0.8368, 0.6128, -0.4412, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3721 left_y=-0.1649 left_z=0.1226 left_yaw=0.7875 left_pitch=-0.016 left_roll=-0.3247 left_gripper=0.9986 right_x=0.2897 right_y=0.0019 right_z=0.16 right_yaw=-0.0011 right_pitch=-0.1056 right_roll=0.0022 right_gripper=0.999 state[joint_eff]: [-0.3761, -11.1521, 6.694, 0.9402, -0.7106, -0.1587, -0.1587, -0.3077, -1.306, 7.1863, 1.6923, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":0.12,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"The cap is now fully visible near the fingertip depth but remains a little toward the base and left of the jaw midpoint. I’ll make a smaller 2 cm back/1 cm left correction; for the grasp I’ll avoid a crushing full-close, which can eject this smooth rounded cap."})

tool

executing move_to over 2 steps (0.2s)

step 228

assistant

agent noteThe small low-hover correction stalled about 2 cm short in this folded yaw configuration. I’ll raise to 18 cm to let the IK solver reposition cleanly at the desired back-left coordinate before descending again.

move_to

left_x0.3500left_y-0.1500left_z0.1800left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4419, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1598 right_yaw=-0.0011 right_pitch=-0.1068 right_roll=0.0022 right_gripper=0.999 state[joint_eff]: [-0.0889, -10.5778, 5.8872, 0.8181, -0.7106, -0.0122, -0.1538, -0.0205, -1.5111, 6.9402, 1.6581, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":0.18,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"The small low-hover correction stalled about 2 cm short in this folded yaw configuration. I’ll raise to 18 cm to let the IK solver reposition cleanly at the desired back-left coordinate before descending again."})

tool

executing move_to over 4 steps (0.4s)

step 232

assistant

agent noteThe arm did not move at all, confirming it is stuck in an awkward folded IK branch. Following the rig guidance, I’ll first retract substantially and raise it, without changing yaw, to free the configuration before returning to the cap.

move_to

left_x0.2500left_y-0.1000left_z0.2500left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4423, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2895 right_y=0.0019 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.999 state[joint_eff]: [-0.1026, -10.5778, 6.147, 0.7888, -0.6813, -0.0171, -0.1538, -0.0068, -1.4974, 6.9402, 1.6874, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":-0.1,"left_z":0.25,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"The arm did not move at all, confirming it is stuck in an awkward folded IK branch. Following the rig guidance, I’ll first retract substantially and raise it, without changing yaw, to free the configuration before returning to the cap."})

tool

executing move_to over 10 steps (1.0s)

step 242

assistant

agent noteAfter freeing the IK branch, the cap is now clearly centered on the jaw column in the wrist view and appears nearly perpendicular to jaw closure. Because it still has a little clear image below it, I’ll advance about 3 cm while lowering to a controlled hover.

move_to

left_x0.2900left_y-0.1160left_z0.1200left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9806, 1.4117, 1.2728, -1.3468, -1.0176, -1.9511, 0.9986, -0.02, 0.8429, 0.6128, -0.45, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.263 left_y=-0.1161 left_z=0.236 left_yaw=0.7796 left_pitch=-0.0271 left_roll=-0.3963 left_gripper=0.9986 right_x=0.2886 right_y=0.002 right_z=0.1567 right_yaw=-0.0011 right_pitch=-0.1205 right_roll=0.0025 right_gripper=0.999 state[joint_eff]: [-0.3897, -6.0513, 8.6769, 0.3541, -0.7009, -0.0366, -0.1538, -0.1846, -1.6479, 6.9538, 1.7802, -0.0171, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.116,"left_z":0.12,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"After freeing the IK branch, the cap is now clearly centered on the jaw column in the wrist view and appears nearly perpendicular to jaw closure. Because it still has a little clear image below it, I’ll advance about 3 cm while lowering to a controlled hover."})

tool

executing move_to over 8 steps (0.8s)

step 250

assistant

agent noteThe cap is centered at the fingertip row and crosses the jaw-closing direction at a useful angle. I’ll descend to a slight table press while preserving this alignment, which should keep the thin cap within the fingers.

move_to

left_x0.2900left_y-0.1160left_z-0.0100left_yaw0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9089, 1.5192, 0.9051, -0.8425, -1.0176, -1.8561, 0.9986, -0.02, 0.8436, 0.6128, -0.4583, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.2809 left_y=-0.1102 left_z=0.1218 left_yaw=0.8027 left_pitch=-0.0137 left_roll=-0.3459 left_gripper=0.9986 right_x=0.2873 right_y=0.002 right_z=0.1549 right_yaw=-0.001 right_pitch=-0.1297 right_roll=0.0027 right_gripper=0.999 state[joint_eff]: [0.6906, -5.7641, 5.7915, 0.5348, -0.6422, 0.1587, -0.1538, -0.1573, -1.5111, 6.9402, 1.6825, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.116,"left_z":-0.01,"left_yaw":0.8,"left_pitch":0.0,"left_gripper":1.0},"note":"The cap is centered at the fingertip row and crosses the jaw-closing direction at a useful angle. I’ll descend to a slight table press while preserving this alignment, which should keep the thin cap within the fingers."})

tool

executing move_to over 9 steps (0.9s)

step 259

assistant

agent noteAt table height the cap has moved out of the wrist camera beneath the fingertips. I’ll close only to an 8% jaw opening (about 7.6 mm) instead of fully closing, to capture the rounded cap without squeezing 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]: [-0.9039, 1.8793, 0.7101, -0.3248, -1.0908, -1.8225, 0.9986, -0.02, 0.8463, 0.6128, -0.4652, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.2884 left_y=-0.1072 left_z=0.0105 left_yaw=0.7966 left_pitch=0.0692 left_roll=-0.29 left_gripper=0.9986 right_x=0.2864 right_y=0.0021 right_z=0.1529 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999 state[joint_eff]: [-0.0205, -4.9436, 2.5504, 1.0037, 0.8523, -0.3883, -0.1587, -0.1573, -1.2786, 6.9402, 1.6581, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.08},"note":"At table height the cap has moved out of the wrist camera beneath the fingertips. I’ll close only to an 8% jaw opening (about 7.6 mm) instead of fully closing, to capture the rounded cap without squeezing it sideways."})

tool

executing move_to over 10 steps (1.0s)

step 269

assistant

agent noteThe jaws reached the commanded 8% opening without obstruction, and the overhead view shows the cap still just ahead of the fingertips. I’ll reopen, lift, and advance about 3 cm toward it while keeping the current cross-angle.

move_to

left_x0.3200left_y-0.1150left_z0.1000left_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]: [-0.9035, 1.8935, 0.7021, -0.3222, -1.0847, -1.8233, 0.0853, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.2856 left_y=-0.1044 left_z=0.0049 left_yaw=0.7956 left_pitch=0.0655 left_roll=-0.2706 left_gripper=0.0853 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999 state[joint_eff]: [-0.2393, -8.3624, 4.3009, 0.3639, -0.5788, -0.0024, -0.2125, -0.3487, -1.306, 7.0906, 1.6239, -0.0073, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.115,"left_z":0.1,"left_gripper":1.0},"note":"The jaws reached the commanded 8% opening without obstruction, and the overhead view shows the cap still just ahead of the fingertips. I’ll reopen, lift, and advance about 3 cm toward it while keeping the current cross-angle."})

tool

executing move_to over 10 steps (1.0s)

step 279

assistant

agent noteAfter advancing, the cap is at the fingertip depth but about 20 pixels to the right of the jaw midpoint. I’ll shift roughly 1.5 cm toward the arm’s right and descend with a slight table press in one controlled motion.

move_to

left_x0.3200left_y-0.1300left_z-0.0100left_yaw0.8000left_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]: [-0.8368, 1.7214, 0.9054, -0.5884, -1.0649, -1.7058, 0.9954, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.3162 left_y=-0.1145 left_z=0.0823 left_yaw=0.8048 left_pitch=0.0516 left_roll=-0.275 left_gripper=0.9954 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999 state[joint_eff]: [0.4991, -9.2239, 7.3094, 0.4225, -0.6374, 0.2711, -0.1441, -0.212, -1.4154, 7.0769, 1.6093, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.13,"left_z":-0.01,"left_yaw":0.8,"left_gripper":1.0},"note":"After advancing, the cap is at the fingertip depth but about 20 pixels to the right of the jaw midpoint. I’ll shift roughly 1.5 cm toward the arm’s right and descend with a slight table press in one controlled motion."})

tool

executing move_to over 6 steps (0.6s)

step 285

assistant

agent noteAt the pressed table pose the cap has disappeared beneath the left fingertips, with the long pen still untouched at center. I’ll again use the non-ejecting 8% close and check whether the jaws stop wider than commanded.

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]: [-0.8585, 1.9987, 0.8555, -0.347, -1.1198, -1.7248, 0.9986, -0.02, 0.8513, 0.6128, -0.4652, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.3174 left_y=-0.1188 left_z=0.0077 left_yaw=0.7933 left_pitch=0.1101 left_roll=-0.2101 left_gripper=0.9986 right_x=0.2865 right_y=0.0021 right_z=0.1516 right_yaw=-0.0007 right_pitch=-0.1442 right_roll=0.0032 right_gripper=0.999 state[joint_eff]: [-0.5675, -5.9692, 4.2051, 1.0574, 0.7643, -0.2906, -0.1587, -0.1846, -1.2923, 7.1179, 1.6142, -0.0562, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.08},"note":"At the pressed table pose the cap has disappeared beneath the left fingertips, with the long pen still untouched at center. I’ll again use the non-ejecting 8% close and check whether the jaws stop wider than commanded."})

tool

executing move_to over 10 steps (1.0s)

step 295

assistant

agent noteThe cap visibly squirted to the lower-right of the wrist image during the partial close, confirming its diagonal angle still lets the jaws eject it. I’ll reopen, lift, and rotate another ~45° so the cap’s long axis becomes perpendicular to jaw closure before realigning.

move_to

left_z0.1200left_yaw1.3000left_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]: [-0.8627, 2.0102, 0.8551, -0.3408, -1.1133, -1.726, 0.0849, -0.02, 0.8513, 0.6128, -0.4648, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.3163 left_y=-0.1202 left_z=0.0035 left_yaw=0.7886 left_pitch=0.104 left_roll=-0.2049 left_gripper=0.0849 right_x=0.2866 right_y=0.002 right_z=0.1516 right_yaw=-0.001 right_pitch=-0.1438 right_roll=0.0029 right_gripper=0.999 state[joint_eff]: [0.1299, -9.2103, 3.7675, 0.2906, -0.6667, -0.0122, 0.1832, -0.1846, -1.306, 7.0906, 1.5946, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.12,"left_yaw":1.3,"left_gripper":1.0},"note":"The cap visibly squirted to the lower-right of the wrist image during the partial close, confirming its diagonal angle still lets the jaws eject it. I’ll reopen, lift, and rotate another ~45° so the cap’s long axis becomes perpendicular to jaw closure before realigning."})

tool

executing move_to over 10 steps (1.0s)

step 305

assistant

agent noteAfter the orientation change the cap is no longer visible in either the wrist or exposed overhead region, likely hidden beneath the left arm after being ejected. I’ll retract and raise the arm to expose it while keeping the improved yaw.

move_to

left_x0.2500left_y0.0000left_z0.2200left_yaw1.3000left_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]: [-0.5732, 2.0327, 1.3998, -1.1744, -1.0653, -2.0979, 0.9953, -0.02, 0.8513, 0.6128, -0.4648, -0.0231, -0.0154, 0.999] state[eef_state]: left_x=0.3664 left_y=-0.0482 left_z=0.1008 left_yaw=1.254 left_pitch=0.068 left_roll=-0.2183 left_gripper=0.9953 right_x=0.2866 right_y=0.0019 right_z=0.1516 right_yaw=-0.0013 right_pitch=-0.1438 right_roll=0.0027 right_gripper=0.999 state[joint_eff]: [0.294, -11.3983, 6.7077, -0.3053, -0.6667, 0.0269, -0.1294, -0.3214, -1.4838, 7.0769, 1.6288, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":0.0,"left_z":0.22,"left_yaw":1.3,"left_gripper":1.0},"note":"After the orientation change the cap is no longer visible in either the wrist or exposed overhead region, likely hidden beneath the left arm after being ejected. I’ll retract and raise the arm to expose it while keeping the improved yaw."})

tool

executing move_to over 9 steps (0.9s)

step 314

assistant

agent noteThe retracted wrist view reveals the actual cap: a small yellow piece far ahead on the jaw column; the black diagonal object at center is the pen. I’ll approach the yellow cap with the left gripper at a neutral yaw, staying at hover height.

move_to

left_x0.4500left_y0.0000left_z0.1500left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5381, 1.5311, 1.2385, -1.4673, -1.0416, -2.0949, 0.9986, -0.02, 0.8558, 0.6128, -0.4648, -0.0235, -0.0154, 0.999] state[eef_state]: left_x=0.2785 left_y=0.0155 left_z=0.2064 left_yaw=1.2946 left_pitch=0.0339 left_roll=-0.2555 left_gripper=0.9986 right_x=0.2868 right_y=0.002 right_z=0.1504 right_yaw=-0.001 right_pitch=-0.1484 right_roll=0.003 right_gripper=0.999 state[joint_eff]: [0.4171, -6.3932, 5.7368, -0.2466, -0.6911, -0.0073, -0.1587, -0.294, -1.9077, 6.9538, 1.619, -0.0562, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":0.0,"left_z":0.15,"left_yaw":0.0,"left_gripper":1.0},"note":"The retracted wrist view reveals the actual cap: a small yellow piece far ahead on the jaw column; the black diagonal object at center is the pen. I’ll approach the yellow cap with the left gripper at a neutral yaw, staying at hover height."})

tool

executing move_to over 14 steps (1.4s)

step 328

assistant

agent noteThe yellow feature was a distant fixture/reflection, not a task object; the overhead view again clearly shows the short black cap left of the long pen. I’ll return above the cap at its updated coordinate, using the earlier yaw where it appeared perpendicular to jaw closure.

move_to

left_x0.3200left_y-0.1200left_z0.1200left_yaw-0.7000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.049, 1.5097, 0.8085, 0.0597, 0.0303, -0.308, 0.9986, -0.02, 0.8577, 0.6128, -0.4656, -0.0238, -0.0154, 0.999] state[eef_state]: left_x=0.4271 left_y=0.0192 left_z=0.1159 left_yaw=0.1771 left_pitch=-0.0902 left_roll=-0.2566 left_gripper=0.9986 right_x=0.2867 right_y=0.0021 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0033 right_gripper=0.999 state[joint_eff]: [0.3077, -7.5829, 9.9761, 2.1123, 0.0855, 0.2369, -0.1538, -0.3077, -1.7162, 6.9265, 1.58, -0.022, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.12,"left_yaw":-0.7,"left_gripper":1.0},"note":"The yellow feature was a distant fixture/reflection, not a task object; the overhead view again clearly shows the short black cap left of the long pen. I’ll return above the cap at its updated coordinate, using the earlier yaw where it appeared perpendicular to jaw closure."})

tool

executing move_to over 13 steps (1.3s)

step 341

assistant

agent noteThe left arm stalled in its extended IK branch, so I’ll free it by retracting high while simultaneously bringing the right arm above the long pen. The right jaws are rotated across the pen’s diagonal to prepare a bimanual pickup efficiently.

move_to

left_x0.2500left_y-0.0500left_z0.2500left_yaw0.0000left_gripper1.0000right_x0.4100right_y0.2900right_z0.1300right_yaw0.8000right_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]: [0.0414, 1.4654, 0.7506, 0.0406, 0.1349, -0.2337, 0.9986, -0.02, 0.8597, 0.6128, -0.4648, -0.0235, -0.0151, 0.999] state[eef_state]: left_x=0.4087 left_y=-0.0033 left_z=0.1064 left_yaw=0.0411 left_pitch=-0.1171 left_roll=-0.2601 left_gripper=0.9986 right_x=0.2869 right_y=0.002 right_z=0.1494 right_yaw=-0.0012 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.999 state[joint_eff]: [-0.0205, -7.5829, 6.8034, 1.7021, -0.0122, 0.0122, -0.1587, -0.3077, -1.7573, 6.9128, 1.5702, -0.0464, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":-0.05,"left_z":0.25,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.41,"right_y":0.29,"right_z":0.13,"right_yaw":0.8,"right_gripper":1.0},"note":"The left arm stalled in its extended IK branch, so I’ll free it by retracting high while simultaneously bringing the right arm above the long pen. The right jaws are rotated across the pen’s diagonal to prepare a bimanual pickup efficiently."})

tool

executing move_to over 25 steps (2.5s)

step 366

assistant

agent noteThe right wrist shows the pen centered and vertical between the jaws, ready for a table-level grasp. The left wrist simultaneously sees the cap centered but a few centimetres short of the fingertips, so I’ll descend the right arm and advance/lower the left to its cap hover.

move_to

left_x0.2800left_y-0.0500left_z0.1200left_yaw0.0000left_gripper1.0000right_x0.4100right_y0.2900right_z0.0000right_yaw0.8000right_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]: [-0.2478, 0.7902, 0.9257, -0.823, -0.0425, -0.384, 0.9986, 0.5312, 1.779, 1.2003, -0.1944, -0.189, -0.1684, 0.9991] state[eef_state]: left_x=0.2543 left_y=-0.0529 left_z=0.2358 left_yaw=-0.0162 left_pitch=-0.1377 left_roll=-0.2631 left_gripper=0.9986 right_x=0.4012 right_y=0.2784 right_z=0.1166 right_yaw=0.776 right_pitch=-0.1967 right_roll=0.0086 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.0598, 9.5658, 1.7509, -0.1294, 0.0366, -0.1587, 0.335, -8.7453, 8.9778, 1.7118, -0.1734, 0.0855, -0.1148] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.05,"left_z":0.12,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.41,"right_y":0.29,"right_z":0.0,"right_yaw":0.8,"right_gripper":1.0},"note":"The right wrist shows the pen centered and vertical between the jaws, ready for a table-level grasp. The left wrist simultaneously sees the cap centered but a few centimetres short of the fingertips, so I’ll descend the right arm and advance/lower the left to its cap hover."})

tool

executing move_to over 8 steps (0.8s)

step 374

assistant

agent noteThe pen nib is centered at the right fingertip row, so I’ll close the right gripper gently to about 8 mm. The cap is still ahead-right in the left wrist view; I’ll advance the left arm 4 cm and shift right about 5 cm to center it.

move_to

left_x0.3200left_y-0.1000left_z0.1200left_gripper1.0000right_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]: [-0.2043, 0.8333, 0.487, -0.4194, -0.0322, -0.3828, 0.9986, 0.5365, 2.0327, 1.0672, 0.1654, -0.1986, -0.1806, 0.9991] state[eef_state]: left_x=0.2674 left_y=-0.0459 left_z=0.1099 left_yaw=0.0209 left_pitch=-0.2153 left_roll=-0.2511 left_gripper=0.9986 right_x=0.4066 right_y=0.2865 right_z=0.0066 right_yaw=0.7975 right_pitch=-0.2211 right_roll=0.0132 right_gripper=0.9991 state[joint_eff]: [0.2393, -1.388, 7.6239, 1.8535, 0.0659, 0.1685, -0.1587, -0.212, -8.4034, 5.094, 1.1404, -0.1538, 0.0659, -0.1099] camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.1,"left_z":0.12,"left_gripper":1.0,"right_gripper":0.08},"note":"The pen nib is centered at the right fingertip row, so I’ll close the right gripper gently to about 8 mm. The cap is still ahead-right in the left wrist view; I’ll advance the left arm 4 cm and shift right about 5 cm to center it."})

tool

executing move_to over 10 steps (1.0s)

step 384

assistant

agent noteThe pen remains visibly between the right jaws, but the 8% command did not yet contact it, so I’ll tighten to 3%. The cap is now close to the left fingertip depth but still right of center; I’ll shift another 3 cm right, advance 2 cm, and descend to table level.

move_to

left_x0.3400left_y-0.1300left_z0.0000left_gripper1.0000right_gripper0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4, 1.1584, 0.6304, -0.3233, -0.1566, -0.5179, 0.9986, 0.5365, 2.0468, 1.0618, 0.2024, -0.1993, -0.1898, 0.0853] state[eef_state]: left_x=0.3044 left_y=-0.0949 left_z=0.0985 left_yaw=0.0134 left_pitch=-0.285 left_roll=-0.2306 left_gripper=0.9986 right_x=0.4091 right_y=0.2882 right_z=0.0043 right_yaw=0.8021 right_pitch=-0.2039 right_roll=0.0024 right_gripper=0.0853 state[joint_eff]: [-0.3214, -3.9043, 9.6889, 1.7265, -0.2271, -0.0513, -0.1587, -0.335, -11.5761, 6.1333, 1.2137, -0.0708, 0.0317, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.13,"left_z":0.0,"left_gripper":1.0,"right_gripper":0.03},"note":"The pen remains visibly between the right jaws, but the 8% command did not yet contact it, so I’ll tighten to 3%. The cap is now close to the left fingertip depth but still right of center; I’ll shift another 3 cm right, advance 2 cm, and descend to table level."})

tool

executing move_to over 7 steps (0.7s)

step 391

assistant

agent noteThe right wrist is now empty after tightening, so I’ll lift it to test whether its object moves with the gripper. The remaining black object is clearly visible at the left fingertip depth but about 3 cm right of center, so I’ll shift the left gripper right while staying low.

move_to

left_y-0.1600left_gripper1.0000right_z0.0800right_gripper0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4717, 1.5948, 0.5476, 0.165, -0.2306, -0.5602, 0.9986, 0.5365, 2.0468, 1.0615, 0.2085, -0.1997, -0.1913, 0.0313] state[eef_state]: left_x=0.3359 left_y=-0.122 left_z=0.007 left_yaw=0.0321 left_pitch=-0.2923 left_roll=-0.1926 left_gripper=0.9986 right_x=0.4099 right_y=0.2887 right_z=0.0052 right_yaw=0.803 right_pitch=-0.1983 right_roll=-0.0 right_gripper=0.0313 state[joint_eff]: [-0.1162, -3.7812, 4.9983, 0.8181, 0.4274, -0.1734, -0.1538, -0.2256, -10.4821, 5.6821, 1.4774, -0.1636, -0.0073, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.16,"left_gripper":1.0,"right_z":0.08,"right_gripper":0.03},"note":"The right wrist is now empty after tightening, so I’ll lift it to test whether its object moves with the gripper. The remaining black object is clearly visible at the left fingertip depth but about 3 cm right of center, so I’ll shift the left gripper right while staying low."})

tool

executing move_to over 5 steps (0.5s)

step 396

assistant

agent noteI could not complete the task within the remaining control budget. Both pieces are still on the tabletop: repeated grasps either missed or ejected the smooth, thin objects, and neither arm currently has a verified hold, so attempting the final cap insertion would be unsafe and misleading.

give_up

hindsightUse the two wrist views early to distinguish the long pen from the short cap, and verify jaw orientation with a brief free-space close before descending. For these smooth thin pieces, center the object exactly at the fingertip convergence row, make its long axis nearly perpendicular to image-x (the jaw-closing direction), then close gradually while watching for sideways ejection; a commanded partial opening that is reached exactly is not a grasp. Large yaw changes at low reach can force the left arm into an awkward IK branch and shift the grasp point by several centimetres, so rotate only from a high retracted pose. The right-arm hover near x=0.41, y=0.29, z=0.13 placed the center-right object accurately on its jaw column.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5892, 1.6455, 0.6029, 0.1493, -0.3046, -0.6399, 0.9986, 0.5365, 1.9305, 1.14, -0.0132, -0.2016, -0.1925, 0.0308] state[eef_state]: left_x=0.3346 left_y=-0.1556 left_z=0.0081 left_yaw=0.0216 left_pitch=-0.2791 left_roll=-0.1903 left_gripper=0.9986 right_x=0.4071 right_y=0.2874 right_z=0.0523 right_yaw=0.8067 right_pitch=-0.2236 right_roll=0.0077 right_gripper=0.0308 state[joint_eff]: [-0.4581, -5.0667, 7.1179, 1.2869, -0.0171, -0.0757, -0.1587, -0.3624, -12.8342, 8.4308, 1.4286, -0.0317, 0.0073, 0.0708] camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the task within the remaining control budget. Both pieces are still on the tabletop: repeated grasps either missed or ejected the smooth, thin objects, and neither arm currently has a verified hold, so attempting the final cap insertion would be unsafe and misleading.","hindsight":"Use the two wrist views early to distinguish the long pen from the short cap, and verify jaw orientation with a brief free-space close before descending. For these smooth thin pieces, center the object exactly at the fingertip convergence row, make its long axis nearly perpendicular to image-x (the jaw-closing direction), then close gradually while watching for sideways ejection; a commanded partial opening that is reached exactly is not a grasp. Large yaw changes at low reach can force the left arm into an awkward IK branch and shift the grasp point by several centimetres, so rotate only from a high retracted pose. The right-arm hover near x=0.41, y=0.29, z=0.13 placed the center-right object accurately on its jaw column."})

tool

give_up: I could not complete the task within the remaining control budget. Both pieces are still on the tabletop: repeated grasps either missed or ejected the smooth, thin objects, and neither arm currently has a verified hold, so attempting the final cap insertion would be unsafe and misleading.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 12.16 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3771, -0.0231, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5111, 10.5231, 1.7753, -0.0513, 0.1148, -0.0366, -0.759, -1.2103, 9.9077, 1.8046, -0.0562, 0.0122, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4eddba8fb8ad5f9950e5bd53ad07bd8dd5c9683aa230e8677f73bd3699ffc7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af7d7bf3b04a26d534355e1b74af8ee5476c8a4451f9632ceb6fa9d3f5b0e15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e1bb97ad1e570933c58691ffd79a079cdef7398ed4552ce09910bafe81afe7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.823 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtE_iUiFX14XwKwZq9PqvuPq_7k5rgXT6k2dBXN2HakHALjTTFmlUhlTUkDxts5ucnuYixmm14BoD9PAq9WgscbtvgxAJCMaavLJ95MmEwU1uX-t22-LF_8QtfTKP2gyVr7khjcle-2xMJpSoq_xNt-IMiiNOxHSXI66vYJPyjmrxslUiQCWwzn-tkE52fyTwnTaktcCTs0DN4zHIOZ-tr6zgPCTAzy8hxDhUfTregdVVYxzBt0L78ZD0qD4uZGy6gKP-7Z2TUeAHNuIo_2a7coDolWzjVVXMRzHW3_yhAgO07p3GrLYwCM1V4gPGxXc6fPhenr3-KXPWKOsjdLa5FQ0NRDbgYUcjbJoC7WoQ9r5N4gBXslDVsnyjfH-CqrR6-9O7qmuebK1bXtvgwEh1R-X5FCCd4wlsJUkNroPxW7HBHt8mKavmk6Qbwjh71LVdNlNflHFCAbwmcA32BTvnZEFMGYiqZRolqsErTWLkdP2OFUbaBUr7xlAlajqjwyWmakuTEuEDWMB7hVCx6B39s3fWu6ebJz6Gs7t6PO5miz-S39uArPXTFe-IMVntYDLaAfzCUr2gUWsuKKjD5X44aUEo3Yn58s7kuBCjlikbFkjZcrBxwjxoBjr15llR1yFpt-pUwfsDGq_cQSf37-Ya-_k9KVxmoWYuihnN5UZiyxErQl4Oj-PmuWJB6N-Wk-o5PcbJxGuiIpYkE3mzfaxFGk5toAR1G86KbAxhHIGFmaeUj602kr57g-2692WZSEPwtns9YKHchh3ahF89WBVJ5yH0FuLBsLabaZiGfvh9CimZ-XNV9aWgxBlqfV3TUaUfBO35PrZ76iZGvSrc5BnjreAYA4h5F54Gn6Hzhftk_fwsJlcOohBw33OeovDdWLN4v517nE3pp9JGIt6tZCnctsful0DVgV90qPhBQFhCaKkdwHOQuB1327y457GvzxFtrLWga8dXHCu6pG8oLOQeiSoy13U5j1ptHdLl8hhiYpHVFijjdAOUxDg0upV8CZPl-DCrA7EqCMqrrUqWMPwbpgVh74vKTMo0Jt6VGq1pKMaiv9JWkPNdceSvJwRHN6Cir18Dy0BGJe2i7lvbvCySnPPNCusHG-xiL0_X1JRBwq8N8s-45cvqP8zAkK8pWrhsXUtn9jjPmL2NupeGrGXW28jcLGAANhDoZSYVm_w1jTmgTuv6DTdKp_GeeFExl1J4Pe0WIEAijhHl5nemX5UTqphjp3_wSSK6oFhpsB-MkMIrTODs8RTfDsR8viImXgCG14t3uqJlHaVep15g_C9XQqJv5qaGFf7XmLuRyafPYsawNAnWgrcJVm4XgrmgsrX_3F_SxybUl_Th1b9l36JMbnt8TLxosUtAoAjH2bErBzwDMqDdzZt2Tn89kQ2fsFpXAbfKl-I_f89K_osQMFTR4fLFu8CA3x7TSd5l3zaKzDMAQ12y-v76ZPm3d20YlKAydtZKqmBdWCRFuLcg6DBeo4_GglR2jsx7auLHLe1csiBdCBqSINLUiwWiPVu3YONLVHcZkvLWBYpnHPVHG_KFZrBNfEGZyE3l9JAzJM7KAiMfw0kZTxdMbJWK1tjcnL_V3up2AH3Sv4mMigcVq5H9CtW03GXxXtQuvKaLzQMSRAPQIZLGwF4UnN5p31FlCMDVGl5kDQaLlTnuAwxyIPEf3BPLAxDjjT8BA8LYCTlNJ9SmrH7UDol6g2np_SglOu5HZZEd9vRDiiFBETDlOLKRGBP9qvT_ChgDKD73WsJu99o5OuMusR9B5hshb0bB7lohJ2vAA90UfwLv_icdayaoPoi52qvXFvNUQW-4_t3yDa5pt3CdLfbUIa9bJsfttOappqcOXx6hSTffvsFNhl1OTsTsBJWFVieibjJzH0xVOrMI0ybHc2SSu-2ud8ja8ykws_35SDmKdaxYw9U09rO8xTNOSOxF3_XocOmCXOgpGex_aMhB8eR4LpLu9iUIDnXjED2v6ro_zuDsg9CkNhwh6lQDAX5_JbXg4gM2hkGeGI_R_o4B9Fm7wCSBV6JuvgWp44EJjFUFDL-z39rMRVJJuvUl2JSC_BT-f7q6i6MTxOq-WAUAL-sZt_gMR1m3vM20uV80lJqKLF549xNl9lWxT17_bugkw0vI_i9abjeaHBlI7eopLbvGsofu9DsOgDDSbXmwSNh8Z5ChHnbFDMOjTMmnILaPNUnVD1gWDCckfukGgvdVVgCeEqXS6bqLuC82aEKFh_YoaLfMhYcUk0Qyt-XDUo75_i64PS_tx2woCpnspyaoM9ZXBB-zNJ3axRyc5ubFPHua3-7w23Hz2BYXXTYBZmx1bB8eGmZqEyM3qPa9Of6UjT9fZc1Ts8PP-6f5L9v9MUxQq9Q2glnW0I_atwbkqLm4pARkWAQ2jZVtJ9oZCxAgxYvGP1LL_tyHV3aYAkJ2LLE93FkkA7-LhoIC2pqqyK655CQOqOUe8SzGWDIYbILTWDLYN_Y-hav0ONN9kmZgLfoxuPrm3n2eRKp1vff4L22pG2JIZOZxiPXPdgKbWMA64DSGDvk0TfACeUYHjiTNdz0ehOacKzCuLi-ilYH4ZGbslIrxdDjjAx4etXacaxZYOqidYWd4-jWByFqh4otrntB-87jTN4V5YnrxYeaPk5FCJJ__pmnDf_legdfGbj_nL_wsWyUUMGkFaTID2KkEQ5dbxgHF4BP4_WU16gF1KXlsoYicQVpCDrZfE02goMkJKEhoA7m6QuRQY1yZuiWitZsraedcC9x5TkQC2G__wfJRlWJxm0IzTbt981ZNwD1HpVWy4IYIeJMrJ4yK531WtbGwCTQpytsiM77BvrVgh809gixgxB5eP4m1hGVGaZj1jDRteAEpZlf-pb_IyytIu58LIUIXZ9HKSVFK-Jie8JmiNI7iBd8Mjk5qBibeJqfGAYUuCN5Sy0B8yWTH5sS-PepoeGQpQJQIlUHoJLSszimEvCN15jp6k_p8dR60GpATfPXXehx0zWX3cqVqBZqGvEKlPtIQmvOPXf2YfAZGehqHUPUp09LDh1Yo4UcLaqesjJ67fXi3MRnAwnbRV-GKVd3ZvfrkQwM_Xtw4hx5kbHqJIGRMHaIt3rP0Xb0or_aPXoMBHKUqgPOjefHoCjr-eH1cohwX_6IL3547SoTGuv3WRcN3QuoRLKrCEk2oLL2drsPanKCJor67Kd2FVilVwkv8uBtOols7N4Zel5gPl2W3M_zOURgiltvN6pEy2zqPYxDUAg-OYsRUesLH9uhlis5Yh6DaSAiPAFoA2VL49d9oxQrvy3e4Kyl9akmjZH0eAoXfz6Tgv6GH_7itdUl8-vSdzvRGeU0z6ZGFl01jPGneC7uzE4EoXsvNo5IJtmRHbqT8_mrBRJfw5aWndmJgaMjGYUyegn17PGLRBASDX7z8zz0hfl9idghOUUGffJaJ6Qhs6OONRrXG0yW4c5UKhfes2hzgNmAnwbc0pywhfHNhGtroCVCT0doV2eX_ew6SoW4UP4Ze_u5iCAe54GmQqJiYWeZZCI0ZK6Gt2SNaoSKrh7tOhf6Tgposh1VRE0AZHPr4EmPDzBTvm7O-FTKS9eQMym2QujmZmTR4sx_SYpMO9NsZ0RIttJhN8bZ1hE1DPlzD-6QAG5tDf-HcEyB--1C7hymwb-psQ6rdRTZmjAqLQMALgVe8NS5sXrzwgzCwciOFfcDt3h3--DhkxFHEl6bjd54XfczCKw6p1UvT8ITzAkJBRPPz07EIE6lraB_CNMv-OtJjj0OX-642TI-dOX7BAfGxywvQhARZEXkfTWkveNnlT6wG1HIxhPmEaaY8h_EMiDpejnLiq0QPkH3Q923Uw9iy22POQ_h9sU8XzGeDsa3LqMd-NxllpBLBwy0lsOdPAytbSeCVR4PLBqQslV1wRvrvWUepyquDNE-f3XNan7DQrGjt30yXgu35hbiNJoDpbdWxOqo00FEh4R8j788epWp23NYdyLCcMdiBkRScTNgjmB3SQi3LXSSjXow=",
  "id": "rs_029df17d9205921f016ab44fd725b887d0ad910a5b0445a550",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE_iaPppDoVmLieDmuyLePJTYXAurpq2kfsTVhwvj01MQllkA5t3zFPAO5kRDDbMtIw2ofta6-UVTflQoGuRAC5t_VL6SClTt0zgjvg_vUOGAdwyroyOtzCTzNdnOhGYHHnCWE83NLS0scxU7zrjN9OSpVBMdSN_R4x0Ze23Nd-nYQpm5rptj2A5ERIqiTGnjQhXrRkAKtWnhBZtget05u1cOr7UKVNBNXAOImPLxLknDfyW2XjrjNiucSbhkmuYU3vOUCG0p8LOMZUWyPEX21tsrJla6wkI4WsTTyuKblxbQ4QWq0nS_GRaYyF6FBHmYmjneThec-omKOqaO7G1SrP7-VPfz39Xb55I11i5mkNXiP_zZ6A6YMyTxu_WdL5NefA-prTsezMpWkHndx7F1nopFku7waFmzOp0xi0kqd5dMuRNERM3zt2zCnqMIhT9SWZpTAbNVp13HywstiOidbFBvnMB_m19N3fkPle0ECa0mPh7vkW6RTwhtUvNH59LqOT9fbMBSndJ_pxq2SCPJzLF_7gWyzbUklI3kAkQxVfj12siucqHaUapm-sIUVdiM4hEG05clX9Lwp7QvFWdIEv3lJqsnMzzEV9n9DUirYM5p98MP7n1hmv74kpf46I_ZAqaG4vlzI-06X7Rmah7F1X7r-hoOsSkhYEHmq9gROwCuV26NexNsyyF9FKjMzB3YKDsbRx0JOf13NkSRIB-ekj3Ujk3Px8asSwDQTGNeyuHcpy-jz18IynHFffsPImEm2fuhc0l8F7V2r4vjQnpBYEDEtkDGVC1yvvbgH6ecSOee78fT7WLC1VzBoCRMym8rwmQkTAxArCvm7RRYmnJkBfK0HJzsAiQu1UWHk0RCdZSWXPwJ1nsq_YXsdkD9yYJfBMsecLcG3wCheIAmGcXqx28zlmkfqOQoOiW47vvLxupXZsFQ6h26-YQq_nngJctnk9z2JR5lbWbaU9IutrD6MzsNvP0vXsH2qqfXXqUEjzieZZZkCHSlWPuvJlJkAHtwZ7JhV5bc4QjaCiXSl3VPvOztb7JO1sWsNzUeVqjeHwvUD7geYPaIiQ0O9emdc1mgy92r6Bh-gRc3mP1rpRGvlgwPC5hOBcKhC_mY6MbNhOPRNjsPIrzz931WsjQ8ZRmj7JZX5amdDmOu9jqJw9FbfCa4E4MkaOSu8liEVd9LIXq7VbM0r9mE5mlDvI5F2V8Nh0W8bCVMwzY3TcPfAxqVdGCTXf0KaO9FDA_w0-tTieYLedUF2wW1qRudCm9qhE7Yymt_uPY6vkYca153Rwni6SSB1i5JF0WuZlMx4wEUZs_v-eNDZ6v6hni3v6Lk9FcCW1h5CSpFUGAL4pYq9cVwp3kkvzJEq1ivqH0AT8fwrOY2lCONHYMirWYuXe55lHbFlhKrnhmKFztp6B2QkN04MENHy6Fe1OMz04mUnkeC2DTynEhH52DoFDYhTwKolyYgcgH6rc9tu02bAB7U8IJU2AIOAJUHUmhDGd42-TrFU1-UnDmV7JjQrrZGf8OdCI1Sq5TZf7m3_D6W8Bab-qq9hYlUzCok5TSwpZGLwn0JTQEnorhtO6_Itfg4dom4O3wx423ADR56SiIrQqKAuW8e7zQO_DnMjXhABibwwlkTtJ0nngPlr2ZhxJglygFT6iZsDBz6JPdU14VRkwVopIf8CoX1MACZQhKe-a87YRB4hZEdikiO9xE-BvY1jzqDHCIYPwUW5eaESyfO2jBJObsj3qlNtGqXzYoxX1Pnzy-JYmDHmmcSE1DcnH6DVeiWQA-yPQ1skRD0IcpoF2pVnyK5jPsRb3Bz1o9NINEmSNfWySoWcVOTeO8gh3t3CiNAeP-J9TpPwGbWil9NXG1s86x7MQF8W-a0xM5Xrz5SYF__xxJEafXgbdRGpL56VtTHiIGWk6YGicqDh3uF7sx8bkg_k4L0-fKeBgrY_q0mDxGNH8W_C3LoB2JmG46y2xXznZOXtLd34oDpvnOzGZq5RLrA3VaqvWi5mwmFzQbqYxBt_PRrruVhHvJqxnA04TNIRyMQmrHUgnQ6os_UmGJsjaYnasQxgbbspPin5UjKH4pPGdHMuiKwJp0d9vvgMu0heLLB_Hs6A0b73rSm25QeL9VGhqi926LDxO1qXbjSEeEAe6x3AffadJFcLpa8l4uoRslB4x2r1HyV96UNAWyDtgIwigfPhWnneqiinC2iwNo0Ma0y1NPVDH_75b9BckhaME8Hp05TAbcyHhZ9SHyLa6lEYl5MKKak52WVD3ETQF2_VpTxjtDHoYPpqRivfutBNyNCi20njmmE1PdwABRfjnfAHzA-o_SHXyXjhEUWsThVczYls_G11TjPecUoWccNxa7MlLxy1gUzHOeSCeaYCAIugUtI158mP4012N6Nl1E9bp0UZ6ip_XU-qdEl1er74Q8xwWWZdoeHAM-26EnAIWe0qkrypC28nN-yBOfRsOv11jY2HYYLiSzG0bcyMHhmQonLDmYGKpiG0E8nICA4kVyTgpCixlJ2nDqJc2jjUKSU7zJJqbF3bV3mR0MsT59DYB4y8AdDC8XGUcqt3KS-X-ukTil-IXHZ9DddKhqObDUiymunYTw8Mt3qy2lL-zjoA1x23KixGr0bIvsL9-RexJq2pB95GkLoekTi24wJBJ7vfOOqIGDN7jSoZAC5Cr4xy7cfDwRzCrwu19MWWJ9-G8ITgxYehLKUhD-ttm6TzLn_BLrk5Mq2ARrgmGTC2aGhg4mY33vXecBgB8EU5WYzva0JzrUL61YJwL_ReZWc7cylwb0CpRGCzD-AOkCtd3rF7Xqql71CaTp2bB-5eoKHnhucxpXkydrU7Bymdltm1SkF9tZwbSvAOFHVyfiCkietXQlI-HFhRNLc_yOXnOHahzj33ud_mHMkVgelUQ6KreakMhGGILxpSyCsuGwb8sGZ9RIcMPEgIwsiX09TIq4kYDQybZRfA==",
  "id": "rs_029df17d9205921f016ab44fdd8bcc87d0a62f1bd10ce9d1bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.15,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is the short black piece left of center, while the long pen lies diagonally to its right. I’ll bring the left gripper above the cap with its jaws oriented across the cap’s diagonal, then refine from the wrist view.\"}",
  "call_id": "call_dtWHdK75tcLOKoZzydvlnqaj",
  "id": "fc_029df17d9205921f016ab44fe150e087d0a9b131ea408adecb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dtWHdK75tcLOKoZzydvlnqaj",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.3943, 1.5631, 0.9142, -0.0315, 0.2436, 0.141, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.124 left_yaw=-0.6873 left_pitch=-0.0854 left_roll=-0.0333 left_gripper=0.9998 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0014 right_pitch=-0.0153 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 9.6479, 2.0098, 0.3053, 0.2125, -0.0366, -0.1026, -1.7709, 6.694, 1.8486, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eac9aa01d41836551a4af0a3ff785d87e9b66e7924ead9d2ba034975fd8adeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651101982384e8cd75ee07763e5229a6c25ca5188b59af99793da7c125d20f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55b97f6cb6e3e054fe04b121d27fd89fae2836c8fdb2572e6718c808fdcf10f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.221 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]: [-0.02, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3771, -0.0231, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5111, 10.5231, 1.7753, -0.0513, 0.1148, -0.0366, -0.759, -1.2103, 9.9077, 1.8046, -0.0562, 0.0122, -0.1099]",
      "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]: [-0.3943, 1.5631, 0.9142, -0.0315, 0.2436, 0.141, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.124 left_yaw=-0.6873 left_pitch=-0.0854 left_roll=-0.0333 left_gripper=0.9998 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0014 right_pitch=-0.0153 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 9.6479, 2.0098, 0.3053, 0.2125, -0.0366, -0.1026, -1.7709, 6.694, 1.8486, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eac9aa01d41836551a4af0a3ff785d87e9b66e7924ead9d2ba034975fd8adeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651101982384e8cd75ee07763e5229a6c25ca5188b59af99793da7c125d20f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55b97f6cb6e3e054fe04b121d27fd89fae2836c8fdb2572e6718c808fdcf10f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE_oGZOQgL2HD86E425_WqUkPzzXCjq9nnEjrgF5_i8e1eePRSDh8vJ24WRB25HCMZmoQpWDdQRXw8pD4q2eKMjy_qnBFL-bjVT-Kt-nkGAsm4ef6Q7EWVrlIflW6TbVr_fntudj060eMYg4eyDv6x8mE9RDQtjZsFK5W1vSdXXRRTho1fAkOEBXYqKV1Exu4ALy-fNFfhVyv5kUPh9E544jvso7TWe37baoFSPWSlyrCqP1v7TmUXi7lcaD9lAkfc6fREPvqYYZKJLUIWmj3nLljZXgLzUdjgfJLYkCgODMpmIwR5-wcDcj1N1HLCOG_kzY3_ddmz-iAyWy3ih7mrJ0gtePN1kMNA7joVbSwiT861dR-lAQ-QTz-JmcG2hEGmhfLqzW45npAAzU6IMmazbul-_pPFjLirxaESIM2qKs3R_4uPL8IuRWmHavHF4MX41qgWPcGVfwKeT_II4vZ9d9Zw9dVv4KCqofj8lUJUMCaZ25kbREgj9O9QgHJb-3QmP_qqztNT-7WIVeqsjG8nubJUBH3lF_bsrrJ54m9A8oZq2OmQqeQak9VB33a_awxAu89ALf_IjxFYZl-vZyP5iCi4cLnb7HuoaEqsHzyJzG03rCXhMde94SgkDD3msJCWUOubiTO8ieczwohcRLyXPOoGkKe5wQ_wakkwnsyrS4gLsm325Juuwcbkz9JOrgSF-io5XkFsJigPJmihAMew-H9yH_ukinG9XDzcf3mu0f-RevJALjlww6KbjRgtu_bfsB73Yfg75-vAh3fSMmkbW-2mxTJC2tOQ-5b_fLh-kSh0laT7xwPkrPFOON8Z8zWzeY09rZS7aUYHWBDgfiF8JCgf1NDaD1BGkzF1AGPr76zE1fvtM2iBACAhWFPeFxZpilOc6x2afGgUnD9_Qp7YUJWlBBV-f1MH2gkgSNXLsBovcxQE4AVg3Y2Pql5XxP3GSaracfkI7TKlGr63IUPFXQShUAIp2DQK2gM3e5TQMi3AmuVhPODmxux5dN_0Sh0hpF4P3aSTe3Wg-mYjP-yLpgw364-yZWsRsIO2PSyud6440ytgt5ZEIA5-PTdmr50hDKAMI_tZiL7uYtBVJ8R60jOSFn_a-pRSZHiicudvRD8ZVOntYKdVRijp8zCkFqeqOVWjNQ8aqB3_nHOeBO4td2asXK2e2YbVV9Btv3zFulXBPeGv3QuEQ-VjfzhdAeqhDQ3HRwzffMO_shfZeVnSIN30gSyy8uflfAc1snGxeyiGD-OoBc3MQGyCw60R78AyfDy-N3mOoO8CZMWk6xpdUuV16whXq-rP1phc2ltX_Glxv9GIq4SJ0vdJ2eAy8_Vf85BNfqE6fy_lFmPxOsWMAcJWbZJXl9K6C9MS_aVxg1Td2zFPi9SGSwVLVLhzkeiLgEKAA_IqN09KnEkHWn8ORe6wW-e-7h9JbuZfpn0Do6ob5hqoDwTEcoH8CvChBcQUWl3zSKlW2yv4NEm7pQYBUZA8hAu327p9iv_8lt5w7slDzaE7x5fZESmhal1O9oG7P3EnPgoScAcsmjWN8us_Ej4n6LwvPOwhqN2N0FNCDS9SoIhxpu7K-1CnFjlvew4rxdraVUZtwyp0lDCvr1Ynrp8Blyh7iLIcKB9ypXlC9Z_vx-Qcb7g45EJXkYfJvcwH4uiOOlQAoZpFF65GwtPFqo12H6SYBbkwUU9i4SwTwdVU2eXLbShOTRonHt3mbsQYDHTZRDJNpc8M6HR46NUvKV_rHFwr1odyK8E_FzoN9r9xLKYaaKofnpoaujgecyaHNUifFSFwVZVroFoDsae9-A22WQN774NucHhN8KErknOUf-wEPNcHxAmsnTz2YkTvgBXIacc4A3NZ59MXhVm191sHc779ICHTK8jnsmQ3tsB421LCpxQU2SAR988g_nMQjEkVwQMzrA5rAnh99yw-lCfL7CJPodd1ZFOSzwMhT7eqSB0sX81Csf5ymmY83AugH2_hlKZITScn6G-QNZxmcLETqc1JpQX9YM-dxQvwpNsVl5aIdXbAqfji92rZybXUp-N9Qdp4JDifoHZf8RdmtAQiVB6iLXfTV2y8N_1biVdtU=",
  "id": "rs_029df17d9205921f016ab44fe52b8487d080fe98a25e825da6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is now on the left wrist camera’s jaw column and reaches the fingertip row, so the lateral and radial alignment look good. I’ll descend vertically to table level while keeping the gripper open.\"}",
  "call_id": "call_0iwfPyS4redZmIeqDxRPooRH",
  "id": "fc_029df17d9205921f016ab44fe7089887d08b7b9fa7bdd2daae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0iwfPyS4redZmIeqDxRPooRH",
  "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]: [-0.4, 1.9274, 0.7841, 0.4263, 0.2695, 0.168, 0.9997, -0.02, 0.8001, 0.6132, -0.3935, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.2151 left_z=0.0035 left_yaw=-0.7304 left_pitch=-0.1147 left_roll=-0.0393 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -7.0359, 4.8068, 1.0916, 0.1783, 0.0708, -0.0415, -0.335, -1.4154, 7.3231, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5ebf48bd4cbacc4fd46f262376742baff08145af0d38842fdf819d58c43e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a9f9743b6ff5ee5247af41361baae799f0829d2d39a04ab4495138e2a634a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bea45cf82fadf7623b27cf75d5a665edf2fea390956c64c2fa45a325490e00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.763 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]: [-0.3943, 1.5631, 0.9142, -0.0315, 0.2436, 0.141, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.124 left_yaw=-0.6873 left_pitch=-0.0854 left_roll=-0.0333 left_gripper=0.9998 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0014 right_pitch=-0.0153 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 9.6479, 2.0098, 0.3053, 0.2125, -0.0366, -0.1026, -1.7709, 6.694, 1.8486, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4, 1.9274, 0.7841, 0.4263, 0.2695, 0.168, 0.9997, -0.02, 0.8001, 0.6132, -0.3935, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.2151 left_z=0.0035 left_yaw=-0.7304 left_pitch=-0.1147 left_roll=-0.0393 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -7.0359, 4.8068, 1.0916, 0.1783, 0.0708, -0.0415, -0.335, -1.4154, 7.3231, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5ebf48bd4cbacc4fd46f262376742baff08145af0d38842fdf819d58c43e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a9f9743b6ff5ee5247af41361baae799f0829d2d39a04ab4495138e2a634a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bea45cf82fadf7623b27cf75d5a665edf2fea390956c64c2fa45a325490e00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE_uIcTmhti0C1Jz5PbPMxRyxrbhwa09apa-CFVj5ZtR-yGjd0fhfEsZBTUoSWOH7O1u-N3WtiP7GoWL4GKYoQ-YTsIbl0LV3RQtaHVteFyCv0aeuh7B2Rfk3yw-FyyKYU3LclqM-lDLedRPdp1dHHX28Yfehp4aGz9s75WekNPfJ6n2YOZJUJY5C6g8xk32DKVaoG5ohRJhOVNiLmqcIBU3W-oMByM3z1zHHoTj3_jZz51QORUBES6ox1YwmXd9OwD4PwpnHhfFBZcMSsq-7r9cXUrnF90yb6ym0dAC1aU92AuhZ5t_YlOhQxBWk5a5yob2-cRXsIxvnbYWXHV1WtSvS2V1Wl60szZ7UYJY0fJ0OTMDgYuv2yMfYljTu6n9W7ku-oPICLiwlz53nvS-lLZ2W6De5ShNK4LmkWsxqKnbbFoA3_XJ67TaFWCjCDx6eXOOypHjHlif6oSE8r_2JAdPDaOqctAAgnO9bQGL85nWqGjlrth-M1AQWHr9aLno9R8wz1MwDK5LHDkVX_45wL6MzoyG_K1Xq3maE14APp6w_jErGptkjnmykMtxA9u9Zo22SY3lqrznXJYrN4PzqTgexmD8UdgjzCX2keZECZsZl1jSEDCj0lDo1bqUeqbAXPVTmlhJ8v18FQi2ud_O0gcBWCxrcHbnxy9V0KzJ7ye5KidHmbC8Rg-iuqcLS5zmYWmagSv0OBYx36SkqcRhAMqEsFCs2eF0keCfi0JcSS_9scNVp3R3zJ-XF9XkQd-VO99rrsICQyuntHUJuDmVurAqlygiKBHzqcdxdO8NFUSqMUBzup2vVGfgRS5zQZXafRHsX4niKfyMcNM-r62z0VgF8lDW12fmCDTFLH3chY7xogDrZYi2CmnT7Wb85EssVrden_REb_a48FbectORRM-0Jo5hSDlJUCA9uZUmQQGm1YE0HmSxdAuIjhXAxRWfq5S4i6nofk_oMWxKRpUOJhkDCPdyqteM6JZr_SbN6HmMJO0eAtybRImV3WHw9m5JFpUBVj_s6dHL0UljlbXOEDgkvYRe1ww2Ix_vjyDlHR5cTOiz0T2oV1smk_p12l0Nlm90AwrvYh_0_FNgwiQzqKW7s30CLsgV2-V-tTfbrlpgs-88fkYWe3X8__vjcXtcuGKOxR7J5lr_t_lm6R2WGevPkTn-VHeTTbfppHjOX6jxQXI3pyHrtXWrYpv6g_bDTsfXdPKwg4eLLYrqM43SQp20iBAEyRXwObpQxKqXQ_0Ujl2t0bmgjoU4_ZeeqJ5Z0p_x06JmJsD_fdqnVJ10IKJtmLSr5pXIDk8ed9RPW9VLi-ikQN0bMsiQod6Qkk2yhXeOvUiG3TP7CgeVHSOdRuAqNnU1ya2AFcU_B5lrkhLdXAskNlSRycobiJjLI_Tk5lSpgyZ5BFpLH50MlYqFli1B2yXlCxQinBlZKHmCUc_YejsXVZSpMr3X8km82A-hQrYHqx79S9bRHLDDNxAz2SaO7u-jPWaJifQdtX33eKxoWDrjGrqhHXdzaveO6mkDJhNgpbTiqFp09nGcLTSkMatT0lOytcdpQjygUPT3xGvMz9-HZX9LfqdFdSV2y8BFko0sTu1M0GQxkFJyUA-lxa_nkhIhKI2da98oHtxOLInhSO2rmg-1EZRi23OWPeC6AW9nPdW0pbls2qaTS9pDJE6CE4gvsZbqwrfeLYTIfBfNHOtMf4-wmoE_RtF5Yl83-Oa7pPUaFnq25EinTfjIcqYBlRqkGyPGx32f-WuJlVGzOVNHSCQI6LQ8dQYbYDVZDYxulcXKSRISkzar1oXtL5hKXLlzl7VR0ToNrDCKFL10V31vWBIugEKWJcbMiJXZ-EN4OdUNlFWEbirEu_xVdDMbXSbIDjwyowIGMYmrQfmcUZJOwq-KPqLlE__MIqbFKVWGDAfv0gfUwha9RtiwjkmSHbU57OpeLW6PaXONb2i7aGnU8qa8Ag5Zdh3KU0ZzcMEXcqq__kARIxTzQF4Z9ObOqcv0mtjSddQUP26RVp9hAO6K9Gn1SCqkC7I1Uiuna3DM-3xRgTxUtECFBpu2tMGxvqTsKhrzRq0vNUNPRu3_i0TomMskq6_1cAnlTTn6W3f4fBC_M1CNRVKWLkenloa2meK11bfUFbrkrFTqpyq-22BoFjGkYOZxToxJMb4Pz1t8kpX8m-4pwXhRFs0-lXAnP9uxRTkPQ2estfkY6a_5gEmTGzMLEFXPSdmdYKlgkJJtCHEvz5Cxn5p3Jzq7f_iFPt3bWyYI_LQd2HVFkh-PsRHufG86huS25_Qr0EF8RtaLMMhpBEbcwcDRKsOnfOO1MHEp76wv8w3L7vHCoqHeg88QszFTv0rMLgBZt2cOYyz8mH73MTRRM1OmHTZYJV6ir7sAo75e7HRjoN6O3iPOuFtRT1KjaFDagkeYQOB0-e6mtTf65IrxhFko5TQ4Zf5QJ1omjJYU4JXF_52xpiUClQtn9VG30tAwrGQ10aLxcvM7_IQRSvzYUy-nVy_yyF_O69jjmaNFRCRRRNwz_U0XLFGLWdlskDHXZOonzDqQQ9hU7P2ZrdA-c1FgZr59VYiWe1dUFsKHFwi4iw5COlEyMEAlEE_lNjla7_Kkq_ZFQsSiGu_Zc7Q4yT-l-oszEdykmpT6CftutQ12_Tq9OLjLoS8UKFpC8ABynsOUyRElu5J3xqxZYacQiRiLtQxcF4n-1AUIq5TdV9ZGqqKn999YvRWpT-AjACq-q_g4BthdVjG_S0K_FdKtMWViaoTfY5CVq_pgmK3pVftzd8lTWyh04WDNqa-nJq3o6ZoBORqJFaawx55djfJ8gHFxVsJzp8An6FvlKe8gaem85tW5QdkmK97-te2J-k2nj0sjX1L89Accnt5QRNPtniMgiHfSF37FjRNZE6psDD33dG7VCv8loqmeih2oGGXVtdJuED7tn92H0rBixbnaQh5LELJXVrBNRm0E3EbxPf4HurRI5Zd4LF-fPGCTa0eJpICH1QKAstxIZid_DE5pjFT_1JYoyy6c-g==",
  "id": "rs_029df17d9205921f016ab44fe9d3e087d0b5d1652b5f33f3ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table level the cap has disappeared beneath the left fingertips as expected, while the longer pen remains visible farther ahead-right in the wrist view. I’ll close the left gripper on the cap and check the settled jaw opening.\"}",
  "call_id": "call_QqpdqtfXfqmqsnRx2YQac1S9",
  "id": "fc_029df17d9205921f016ab44fed3fb087d0bf8953a97faf3ef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QqpdqtfXfqmqsnRx2YQac1S9",
  "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]: [-0.4, 1.9457, 0.7834, 0.4576, 0.263, 0.1616, 0.0097, -0.02, 0.8005, 0.6132, -0.3954, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4003 left_y=-0.2152 left_z=0.0009 left_yaw=-0.7211 left_pitch=-0.1046 left_roll=-0.0364 left_gripper=0.0097 right_x=0.2943 right_y=0.0018 right_z=0.1792 right_yaw=-0.0012 right_pitch=-0.0233 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.4, 4.9983, 1.2821, 0.1929, 0.0562, 0.7497, -0.3487, -1.3197, 7.241, 1.7656, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f8831fb93f71a5840b0145be9a8fe30d7c964190b3a213e338302bba032d72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b816b0865ea1d5b9478428d465d2bf86d902ad0a109c316a4efaee5b6a4a880",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abe64326c39b393f22550c5d6765b4c464855324886c000f8a04f705fefa76a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 7.32 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]: [-0.02, 0.7925, 0.6018, -0.3809, -0.0219, -0.0246, 0.9998, -0.0185, 0.791, 0.6086, -0.3771, -0.0231, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0016 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5111, 10.5231, 1.7753, -0.0513, 0.1148, -0.0366, -0.759, -1.2103, 9.9077, 1.8046, -0.0562, 0.0122, -0.1099]",
      "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]: [-0.4, 1.9274, 0.7841, 0.4263, 0.2695, 0.168, 0.9997, -0.02, 0.8001, 0.6132, -0.3935, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.2151 left_z=0.0035 left_yaw=-0.7304 left_pitch=-0.1147 left_roll=-0.0393 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -7.0359, 4.8068, 1.0916, 0.1783, 0.0708, -0.0415, -0.335, -1.4154, 7.3231, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4, 1.9457, 0.7834, 0.4576, 0.263, 0.1616, 0.0097, -0.02, 0.8005, 0.6132, -0.3954, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4003 left_y=-0.2152 left_z=0.0009 left_yaw=-0.7211 left_pitch=-0.1046 left_roll=-0.0364 left_gripper=0.0097 right_x=0.2943 right_y=0.0018 right_z=0.1792 right_yaw=-0.0012 right_pitch=-0.0233 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.4, 4.9983, 1.2821, 0.1929, 0.0562, 0.7497, -0.3487, -1.3197, 7.241, 1.7656, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f8831fb93f71a5840b0145be9a8fe30d7c964190b3a213e338302bba032d72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b816b0865ea1d5b9478428d465d2bf86d902ad0a109c316a4efaee5b6a4a880",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abe64326c39b393f22550c5d6765b4c464855324886c000f8a04f705fefa76a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE_xNRlEE-dNBZF1db8Hj5U9RE6KazvXRVTN11njhxlBe2KZmMZj-k-pHc9tQsA1OXkkPqEp73OYBlx_DW0sxYTR1uRlz-Ss6LPFSqwSmaIbcGOYQlFxBuaUkR3gfEVHB6WZ6BDLuOvAZsBnE7392Nmyvses7XquSQT8G46Lfj3y18gbVjyRgLddq7dsy8ld3jtoGMxMPns8nNpxxRXKFEhJZDZLJwhRCTVSS__-jk6kuZsxzcWemtCsjOGq_-fFnL0R8A4D0aT3WnomYXelJ2ks00-AMvoM6qQiNLmcCJhVBI1zx81oxeRtkhKwRMI_qRKlnl-VRh7mU4vJEMyKtxZB7z9pVUXCennlm0AW-QFccaQi8AvCzz4SSlmjReFWfoAdV7CiMtyDX1eANMecfTL1nb7gStGNAsggYDhmjt5tz2_ijsWrRi2DEr8MEtYSREIlXf_ygIkfa9xUED0g9rp8cl7DnLNabKbJFlDwJsSYkSKLyjwcBOjVyNyHG1pQpSXkKzNw0c7pgODQRk3kTaJbB9q7M6NEvo4H9xzQxXD44EaY7twKoN_QIkyEiXcm7QPFmwEMVzKwiAYQdwg1ph-LPSnQR0Lmz65oBqpt5aMiwrrYS4q5coIWUx7MXkqyFePHEu-ZDVbNd2TxD0g6c0PZNmeIz7jU7E96IB3hXa25mTziAkVUEDu2QFgIFiO5B9skbb0UtkX1BEChVX5Iugs8CssSmdGLdQhmgvTLSeyQZ4GAwy9M8dL82HBsIyX2Q8qfReZDEvS851hgYpUeSqVI00-VEBDIzA15hjeLqAfoMDEMGIyHo9sb8RlChPPVQe91M4lwOFoJb4MRwUbUFLtJO0A2S-ItbCUd35Xx8m6chsvCk_JepNnxowJkiyuh2iZiWSXjCefhcqeC4VLqhTaocdnAABvE5jxoFXXPn6CNM-_72TYcflg_0j42mTmwk0Yj36Wy_Ncyq2EiKHWlmoie40vT6UvtwxHdx9ovBIWBIhWzDKOqE3aGYDX5Uwsvp0fzCtUcUEpNLbQ1qy2HxThdsMQzptg_xEA8qdXdNR0FhBYqPGjcAl_ZFT_lqM2JxGqIwr6gFaR2J-Mttfg2XfGBc04pI06j7uE9cAwtK4TReVGQhRI8PaujYQGWwdysnQnsxKvUd6uHshxd7F8wXdq2UHBeCkRobebgspkq-N0PqbaS7VAlNQw7S1wTbqVlxZ0Rrd99oaIIveChYHAwvIJFO6OfBM4ZlB3c4q3fzFH-WVgV1vzVgluxwZsSupduxObg1irqCjZx8JNR5obKG3ZjSoy0-XrmBAdrGM-59BrUhDi0nDzvTPhkqePf5LNpc_4twRiRvorx2w0L8NepSrezToDhO1fq0i9yO4DGKgn6ulkMVWKMpDqCD_NzjcEcZm9AKCQY930O0m6UBJuOhTBzcGGDZ9TC2C6BEkbtbRraqwDHHAie2dfKQk4l24pgeoXHIVu3tMpdNK8-QKLjI_h5l1tnX3U0Uev4hdrT6bXYCQ4=",
  "id": "rs_029df17d9205921f016ab44ff0270487d0ad658983b23d533d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The left gripper settled at 0.01, which confirms an empty close. I’ll reopen and lift straight up so the overhead view can reveal where the cap actually sits before making one corrected attempt.\"}",
  "call_id": "call_nuhe69Xvn3ZkMDVrnADosBtu",
  "id": "fc_029df17d9205921f016ab44ff0db2c87d0a41fa1659f97ef51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nuhe69Xvn3ZkMDVrnADosBtu",
  "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]: [-0.4, 1.6737, 0.9401, -0.0185, 0.2619, 0.1528, 0.9947, -0.02, 0.8005, 0.6132, -0.3969, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3936 left_y=-0.2122 left_z=0.0908 left_yaw=-0.7172 left_pitch=-0.1499 left_roll=-0.0574 left_gripper=0.9947 right_x=0.2941 right_y=0.0019 right_z=0.1789 right_yaw=-0.0009 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -10.0171, 9.5521, 1.8437, 0.1343, 0.1685, 0.1245, -0.3487, -1.306, 7.0359, 1.79, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b29598c5bdbbea7089ea13ac5d501f2e1c9fd2c63d5e3628ecb90b8a8a1012e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3897a2db8e2821cc773aba1d3206488716ffc9287be6979badfdea27ac8f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6bc7cde0a473d485fe271f4f87aaddd74865fb6269764194c6f88886e0f243",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 5.762 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]: [-0.3943, 1.5631, 0.9142, -0.0315, 0.2436, 0.141, 0.9998, -0.02, 0.7979, 0.6132, -0.3901, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3887 left_y=-0.204 left_z=0.124 left_yaw=-0.6873 left_pitch=-0.0854 left_roll=-0.0333 left_gripper=0.9998 right_x=0.2948 right_y=0.0018 right_z=0.1811 right_yaw=-0.0014 right_pitch=-0.0153 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.5538, -7.5419, 9.6479, 2.0098, 0.3053, 0.2125, -0.0366, -0.1026, -1.7709, 6.694, 1.8486, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4, 1.9457, 0.7834, 0.4576, 0.263, 0.1616, 0.0097, -0.02, 0.8005, 0.6132, -0.3954, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4003 left_y=-0.2152 left_z=0.0009 left_yaw=-0.7211 left_pitch=-0.1046 left_roll=-0.0364 left_gripper=0.0097 right_x=0.2943 right_y=0.0018 right_z=0.1792 right_yaw=-0.0012 right_pitch=-0.0233 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.4, 4.9983, 1.2821, 0.1929, 0.0562, 0.7497, -0.3487, -1.3197, 7.241, 1.7656, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4, 1.6737, 0.9401, -0.0185, 0.2619, 0.1528, 0.9947, -0.02, 0.8005, 0.6132, -0.3969, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3936 left_y=-0.2122 left_z=0.0908 left_yaw=-0.7172 left_pitch=-0.1499 left_roll=-0.0574 left_gripper=0.9947 right_x=0.2941 right_y=0.0019 right_z=0.1789 right_yaw=-0.0009 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -10.0171, 9.5521, 1.8437, 0.1343, 0.1685, 0.1245, -0.3487, -1.306, 7.0359, 1.79, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b29598c5bdbbea7089ea13ac5d501f2e1c9fd2c63d5e3628ecb90b8a8a1012e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3897a2db8e2821cc773aba1d3206488716ffc9287be6979badfdea27ac8f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6bc7cde0a473d485fe271f4f87aaddd74865fb6269764194c6f88886e0f243",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE_54JugPloCmUP_NN4IPNmFmcTruS8EPWLWdUF44DPidHpPF-ScDY8ulekEXjcCav-wFrAs12LDD7CkQ0WGbQdzJNYu1YjkKm5_6SA9cb9kP78tEB0T6fijkDLjK7ZyXlzCpM3aYDdzTMIPYsf8kEgnxt98QUzBIwWNjE3ilT7hnJlVbhnTNp-znnpbFQJOLHHQl_imD4fiY_-m0TnJUoeOceotrA4iNaPx-AgzR2Vv5sMrJjMAO_PX4DftMAFnpzGlo3wdSQgUvjiJVF7iMjmwmIyKIDm6ySgkzlw3H24U2HK_UZQ0iOMN-RSu7evuWbeLWlAyDhDkFiLLoS-2Go50UZMynAwGO7nA8acV4f6M3HHrGbvy2aYDxBimRFSqIrPPHL9ZdUq6W7TWuQ1q1Tj7YzUGeSgT7-YR7VAF3gcQFn3t6a6ZgigZ-3qsV2oCaZRpvZ1QNoGs2jLqw3Fqdp6OIDs4ceujXBrNDROLA9Ym16RPPpnagz4UEY_cEX5txpfLRJJqG182nkpQgLNry5m_ozASMfbUit5UucnzZwdpMTpB68gOJ84l1zXJ6zhunGycDREKnOcsvSo9-ohp1xYW0TpT99PA8SwJjBZjMUAsmjUtgrsaY9HTZIE0OuwMlmppOaFCfgl6l6qy_r8O9HaInsazrhnHCV3Bfp4gPFbL4lAHVmZviCrvw5w1DiqfF5bdT3cZqrr_NTJ1PAjA8omdLQziLFehLa_C9WrNnQplwWVC5ZxR6zdjGQXnqCIHKbM4bX37h69u-J17ILiKi3blpPDLF-yQ85Jns_97Br3lhGDxtTYsLYqXOiX392qz57YtMXxly9JztQ6txTgrrAYn4VWRmJBGvm02WUk50hSIrc4_2jSmy60xFYhZoGFnG2xGTty4KqF_KRWLy8rj7LldyFqnW9BW9-2jmehxKTHdGnIaFpmELJiyHxsHvdbAoOaG-7JJHbdMHH3WDZ-l5L9DdewXR-Szul0XpxhivCw_ljDRcUH-D8IYof3RJ01JqZKbfgoC9UCVpE8SiTF2r9-VK-3AKOTGj6tgZJoUX-TqaGl5rfvcAZMA8aFGTWzJ41UwpvE81Qud2IGfNHwVPT2u9M8CzBk5NK3fCF_zP2NGFjZKiFhgVpkpajTi_HEWDucngH9n7XBUDETnhh22YrvgAIbC1bmupAInst-HTf0BvIFmoRy4lNZ7kLbpyvV8Z-AvU8d-Iq1KTuPxg1yDMYDC4gneQqVBV2eStGLfsnwtUydO6-LoGrCe_V-QoFcp8M3RheJO17nAB3keemxfDIeIB2idsv-ZGn7gSUdl2Row1MZwA-m47NJy7ncJWmubFT8pvsggd1TV6LnELZ9oqtH1vQgTVT960Q37xT1--4upboxDGud5ZzL5abW7aP_l2An_NDZ-myXCDiwMkpbZXFxFNmhnY2dqWnbkeF-xTwyCIPbU4WICnboxG5PRU0PPPvhLNso8dG4KbhepoPq1xgHOOzaqZBpdIUyUqgJBhtiCogmMbcIsK7cFZejaQLBRoUzzzbOtR0viQaz-LBPm4APd-K7Vhp56ksEt68BnwlQlPajVXRoiCulJfdVSoWmueVT-kZRbiqW0cUuYYcAq3NmSZe5BvyEqBN3uNpWBJ8HljVd5uJM5N5NU8S1cf0J7y72KAWKi7y8dm3McoF6LehRg_Lhmo9xkKKgg6hvRlftCC7Hkh78v74xvXVdSH2BAP6ouhhq_3mmRrG1umyl_W6PV6JGSkl5wVGs93xVJcK5X2tDTB3A9i0ZpGNI72z5WZfH3f3Y0gbGNNKZB4SYyldbJZ3fErc2EbZ7qIyZ117uOI4ZNXq10xVOEO8a7CTpIKiZcAkzSfd_H2esPpzGPWBKOBGkLLuY1WPLsvtkARb4BZxDnDLOnsRYPtSIokgJ3hjTwvxtMUZizdm1gcEyKVVy6S4ZLDE4tWlFpyhRP-4XzOJe19qn7X1wayv5t1ZvoQ5WB8pW5ce6f5yrH0jIK7zdJ3t32Nb11CQ_GzrmuE4BzBwh4cG86xXHO8C7X0FBKyrnu5sbJPkmMXNS2En-GBVA-sTpBb7rLqY0mgapjVF71sp-GGgQlyVTTeR2ynTsXvjZMSfjgBRsB-rimGPecc6EW65mbqqJUCfj5Wd5-ZYfbyG9ypRbLYm8BIoUybOalPjoyJ5GGGGJ-GdJeKyCW6R-_ZmjM_5F354oYeSxT97xxmWPVJdtmzAT6AUochVxyNcCaisQu8QOsnn-9_RJR9rMBl3lziBuWq1WF-2tcr-XbLnlX4rvxq2D2_P4ed7XpVyr3V2MTSa-BEtocCbZidGkr_WPexJdMh91bBQgQdQ1xB1iApeQjBFyQhNiRvhQZj5idTT2QaynH4BjzZ0U07vkxyTIhRzWcLhVSOu9oW9O2arLvmbwfABLYkCd-Cl0xEqUwnVAweC5vetTjsgfYJ2eLNLFIMq7dnh1eNbMBGb58_4xG3iTm8teaCYf8RPONfoDqcnV27kNnuh3PhxsRws-uz8PH8_4lCAw_6WVYEnLrsX89Q_XQ8NRQzE4fDV7h3Wro83E5nG-Z1iND0FLpl1Ghhb6z1FaIFmlUAaOYDey3CyFESacNKp57OgElV4rFLBdblFomcQvJuVMPYod0DkukQTIriPj7Rh9f_gO6igS5XCRRvz7Yxyy8KQ-4R1KO49jPNVidHppqhfUyN9OesIuMzMyz0sRdLa_jvwBwFHCygSmwjc4yvsG3Ow1WETkTA69coj7h3IctR3jey-CUJzUP9sfgXoSHT5BM2IpA7fUt7lLZiPbSGZLNHzU1V8Vp9a5Z4pyMfe8N_Yu_Yt0iOzM6qRtDw5_9j_LNbILDu-jF6mVClHyST3VkHvtiXKpmh1gtGXIlx_7VrQIIpuWyemsepg5ruvZ9pxf_hggyCCmvNmK3ovExhKVckfiB1wVT5uQwWBe9g0diSoB-PUkT7EC3MZW5UAbPrt8Xg04XWh-NaLqG6vFRGe1CQjphpK8zFuMHwk8Mr1O8ASmSEy4rrmYO-56TenFp2UoeVPDZobCex-lPHAWau7rUaLCn03J10wT7w4JD1nEdUsJxxtHSjk5uYNxg-7GYSHuCLDbk86TLGYWBtllcYtmgOQNkMIQ-S81yEKNxAiaWu9v0aOrzX3b5MYe4eXk9-l-bCTRgAtWLuSQPnMfKkNcuWd4jJ_RV86ONpvrd8_QknaD8Sk43lzQzNEzDA1GxW0iORSFtQzUIE3skGTwBSxNMavXWj0UXj8k-0jTD7wBbDP58fNKQStn48AQInG-NtoMYuJAQX0rWZmXM19CxKkK8w1I7IdShRRzXbrn-ncqtBYrCwum9LYVuJvMYVeXBbyvT3Q1_cACb9MqjqRaYye1gC-dun9ChdA1dYz4GP7VUd2oBWJZfSQW115PRmQ4_vLk1aCuZzuMxG3M=",
  "id": "rs_029df17d9205921f016ab44ff3d20c87d08ca7199abb8799a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.25,\"left_z\":0.12,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"With the arm lifted, the missed cap appears as the small dark piece ahead and slightly right of the left jaw column; the first attempt was too near the base and left. I’ll correct outward by about 4 cm and right by about 3 cm, staying at hover height to recheck alignment.\"}",
  "call_id": "call_I7buvMsDz1CqTL0AHdCan0bw",
  "id": "fc_029df17d9205921f016ab44ff8a10887d0945eb04e94fd4835",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I7buvMsDz1CqTL0AHdCan0bw",
  "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]: [-0.4282, 1.8317, 1.1946, -0.165, 0.2619, 0.1421, 0.9987, -0.02, 0.8021, 0.6132, -0.4049, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4266 left_y=-0.241 left_z=0.0967 left_yaw=-0.7423 left_pitch=-0.1978 left_roll=-0.0811 left_gripper=0.9987 right_x=0.2931 right_y=0.0019 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0343 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -10.0171, 9.3333, 1.6337, 0.0464, 0.1099, -0.1538, -0.1162, -1.4017, 7.3368, 1.8339, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb1ac4d7671899b67de0e8e3539e80ec3a4956fbd580248b1c96fc55ec577c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a158aacaf0b2bb64c2130f5e75649ae4e66f4c8387929c1e7c4ef433ac302f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515c60bd6434f0e8b44952b5a359455678846a0610cc20ae0fd625f3afe9b95a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.219 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]: [-0.4, 1.9274, 0.7841, 0.4263, 0.2695, 0.168, 0.9997, -0.02, 0.8001, 0.6132, -0.3935, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3972 left_y=-0.2151 left_z=0.0035 left_yaw=-0.7304 left_pitch=-0.1147 left_roll=-0.0393 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -7.0359, 4.8068, 1.0916, 0.1783, 0.0708, -0.0415, -0.335, -1.4154, 7.3231, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4, 1.6737, 0.9401, -0.0185, 0.2619, 0.1528, 0.9947, -0.02, 0.8005, 0.6132, -0.3969, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3936 left_y=-0.2122 left_z=0.0908 left_yaw=-0.7172 left_pitch=-0.1499 left_roll=-0.0574 left_gripper=0.9947 right_x=0.2941 right_y=0.0019 right_z=0.1789 right_yaw=-0.0009 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -10.0171, 9.5521, 1.8437, 0.1343, 0.1685, 0.1245, -0.3487, -1.306, 7.0359, 1.79, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4282, 1.8317, 1.1946, -0.165, 0.2619, 0.1421, 0.9987, -0.02, 0.8021, 0.6132, -0.4049, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4266 left_y=-0.241 left_z=0.0967 left_yaw=-0.7423 left_pitch=-0.1978 left_roll=-0.0811 left_gripper=0.9987 right_x=0.2931 right_y=0.0019 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0343 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -10.0171, 9.3333, 1.6337, 0.0464, 0.1099, -0.1538, -0.1162, -1.4017, 7.3368, 1.8339, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb1ac4d7671899b67de0e8e3539e80ec3a4956fbd580248b1c96fc55ec577c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a158aacaf0b2bb64c2130f5e75649ae4e66f4c8387929c1e7c4ef433ac302f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515c60bd6434f0e8b44952b5a359455678846a0610cc20ae0fd625f3afe9b95a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_029df17d9205921f016ab44ffb4f0c87d09dd780af09d25f7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.25,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"After the correction, the cap is no longer visible ahead of the left fingertips while the pen remains clearly farther right, indicating the cap is now beneath the grasp point. I’ll descend vertically for the corrected grasp.\"}",
  "call_id": "call_WkJ6UkU4n2nfL21fpkqFjSUE",
  "id": "fc_029df17d9205921f016ab44ffe666087d09f3bd8e577052c5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WkJ6UkU4n2nfL21fpkqFjSUE",
  "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]: [-0.4328, 2.0495, 1.1133, 0.1123, 0.2619, 0.141, 0.9986, -0.02, 0.8047, 0.6132, -0.4122, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4351 left_y=-0.2475 left_z=0.0081 left_yaw=-0.7477 left_pitch=-0.2185 left_roll=-0.0888 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0012 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.335, -8.2667, 5.3949, 1.1404, 0.0904, -0.0171, -0.1538, 0.0615, -1.4291, 7.3368, 1.7656, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707633b61f5bd7e6a5a892405ea3e0cd001fb27c3a93d1b1648f799ea7a8446a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220150478b0bcf7cee280c250524c8dd556f093dc20b9c9bc25e12c1be1266ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7c35d41c15f7149a7504ade496be917a1a6d0cd074a4ba0f7a1207214c1c48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.861 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]: [-0.4, 1.9457, 0.7834, 0.4576, 0.263, 0.1616, 0.0097, -0.02, 0.8005, 0.6132, -0.3954, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4003 left_y=-0.2152 left_z=0.0009 left_yaw=-0.7211 left_pitch=-0.1046 left_roll=-0.0364 left_gripper=0.0097 right_x=0.2943 right_y=0.0018 right_z=0.1792 right_yaw=-0.0012 right_pitch=-0.0233 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.4, 4.9983, 1.2821, 0.1929, 0.0562, 0.7497, -0.3487, -1.3197, 7.241, 1.7656, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4282, 1.8317, 1.1946, -0.165, 0.2619, 0.1421, 0.9987, -0.02, 0.8021, 0.6132, -0.4049, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4266 left_y=-0.241 left_z=0.0967 left_yaw=-0.7423 left_pitch=-0.1978 left_roll=-0.0811 left_gripper=0.9987 right_x=0.2931 right_y=0.0019 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0343 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -10.0171, 9.3333, 1.6337, 0.0464, 0.1099, -0.1538, -0.1162, -1.4017, 7.3368, 1.8339, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 2.0495, 1.1133, 0.1123, 0.2619, 0.141, 0.9986, -0.02, 0.8047, 0.6132, -0.4122, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4351 left_y=-0.2475 left_z=0.0081 left_yaw=-0.7477 left_pitch=-0.2185 left_roll=-0.0888 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0012 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.335, -8.2667, 5.3949, 1.1404, 0.0904, -0.0171, -0.1538, 0.0615, -1.4291, 7.3368, 1.7656, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707633b61f5bd7e6a5a892405ea3e0cd001fb27c3a93d1b1648f799ea7a8446a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220150478b0bcf7cee280c250524c8dd556f093dc20b9c9bc25e12c1be1266ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7c35d41c15f7149a7504ade496be917a1a6d0cd074a4ba0f7a1207214c1c48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFACJtQfcA__U2HkDlqMHLT1ZkgmBYzodTcrhAV4avAwF-7mGPx3bAlT2VUiQPtulfu2TR27wEyn7qppOcj5DCH1gPheBQJQtcFA9K6vGWyTgZuMmzatlmi6gItebjmgeI6eRnXr2g6yQL-8kKInImswQpDt06bUMPFUi3flxGUgJytJ4j7Bx4roQpVhVV8kloorBD9sByR4Br-lNd4VynaF-d9XaqyI9wfB8QfajVi3utsNtHrDQ3YPERl4JGEAvJBMbO6gfFPvKp7sxKIBW0I1koMbXnwCiAAScewVlAKqd1ZISMykkiJpVuyHNN9ae5GlXmdYLGo-EVTgEcP8lMhQ0_tTnQvkYPlOrS_7kuNcCdd2SDxumNruxgArLqjQ8tWCwEI3Jo4kLZEQQsJ4X56a-0gSJYFg1YYvFxvH8O7NCuhQahSbD8mjqxlmEpQrsvqCKljOA-elqFGNflmIesClzReTjUrfEEqmTn_jY8WEB0_bU8_6zeNjs-8OdqcZyJRjIiKf8dJxbssUMWJg8phDi3uygYQimi7rQhb1Aj4ANWPuKu6L1_3Z4B76PG4Dqay65ANrjE9vLLgWQGV055cjWhIYcuR38-95VhAqL-9tMSWbyAjUGX73FCIVnV6cEcRmkTFv48C97R0o5grBEp5fK_kbv8B6l_y5vAms3kS0Y4jVJjiNHxRuOGNuP7ZOSaAPaoWE_mVVTVOUe7jOXMp5yU5_vRU1pyKs48BkBwAwbSeZzmIAnGd9RhHSCCSQFGG1_UmdKFn5vMWBdVx9kfDHqjbeTKoIwUw8o5m__e6fH7oSSltyBm2C0Gpe5gMa3yJzc1rOWwRMW7c42v9H0FZuboPiZ1NSGcZqFTDfS1J1Sr9ZFwhQDwbc9wO0n9z96ZCH5MMkFEDTNfgTVsKEnHj7WmD6ZoaacFTktycz27DQd7G8xvIfEv2Ry6dKICNW1ZWZiAhfW1MaQqW1JVMCPiW4z2oeJu-IE1uwLi0tkt8Pr5dBWMQtGL3orsMw-3k_mPbCbcGjibHykd0pPdL2i6arIqIc8SAVyLK3eXIc3fUf9ONU3nCE14MWC5c-RQdpt7n6pDQNVDBEOxKWHWKS5zSeVnfYFVaZm1-IUdl3fWCsQPB_dRas9O1P-d3s21No2bAw7l2redHce5IrkyrCCbkp9Iwmosdiw8FMg8eAShgReKU=",
  "id": "rs_029df17d9205921f016ab45001e9d487d08a93e1435b5c01ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected low pose keeps the cap hidden under the left fingers and shows only the pen off to the right. I’ll close now and use the jaw spacing, then a lift, to verify whether the cap is secured.\"}",
  "call_id": "call_QNbVYSNTcXbDRC3u47g3Lvv3",
  "id": "fc_029df17d9205921f016ab45001f99087d094356fdd1c129898",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QNbVYSNTcXbDRC3u47g3Lvv3",
  "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]: [-0.4328, 2.0628, 1.1122, 0.1242, 0.2623, 0.1368, 0.0096, -0.02, 0.8047, 0.6132, -0.4122, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4353 left_y=-0.2476 left_z=0.0033 left_yaw=-0.7459 left_pitch=-0.2212 left_roll=-0.093 left_gripper=0.0096 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0442 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -11.7402, 5.641, 1.3407, 0.1294, 0.0073, 0.7497, -0.1026, -1.306, 7.0222, 1.6825, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4318c17306a18ce710747f2b7084be47430ea896253af5f27a4f0ffa69758604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a912583a47069c30050f8c5728ed3e4622fde258f381f63ebc0b56be39b39d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a318e9abd55d67c7aa378ead6217829ba9a3eb80396822c2a55620a2683234d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 8.703 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]: [-0.4, 1.6737, 0.9401, -0.0185, 0.2619, 0.1528, 0.9947, -0.02, 0.8005, 0.6132, -0.3969, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3936 left_y=-0.2122 left_z=0.0908 left_yaw=-0.7172 left_pitch=-0.1499 left_roll=-0.0574 left_gripper=0.9947 right_x=0.2941 right_y=0.0019 right_z=0.1789 right_yaw=-0.0009 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -10.0171, 9.5521, 1.8437, 0.1343, 0.1685, 0.1245, -0.3487, -1.306, 7.0359, 1.79, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 2.0495, 1.1133, 0.1123, 0.2619, 0.141, 0.9986, -0.02, 0.8047, 0.6132, -0.4122, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4351 left_y=-0.2475 left_z=0.0081 left_yaw=-0.7477 left_pitch=-0.2185 left_roll=-0.0888 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0012 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.335, -8.2667, 5.3949, 1.1404, 0.0904, -0.0171, -0.1538, 0.0615, -1.4291, 7.3368, 1.7656, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4328, 2.0628, 1.1122, 0.1242, 0.2623, 0.1368, 0.0096, -0.02, 0.8047, 0.6132, -0.4122, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4353 left_y=-0.2476 left_z=0.0033 left_yaw=-0.7459 left_pitch=-0.2212 left_roll=-0.093 left_gripper=0.0096 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0442 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -11.7402, 5.641, 1.3407, 0.1294, 0.0073, 0.7497, -0.1026, -1.306, 7.0222, 1.6825, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4318c17306a18ce710747f2b7084be47430ea896253af5f27a4f0ffa69758604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a912583a47069c30050f8c5728ed3e4622fde258f381f63ebc0b56be39b39d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a318e9abd55d67c7aa378ead6217829ba9a3eb80396822c2a55620a2683234d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAG4z81u5g5Luzzkr68joNBruEMtAOcdYcySMfojjhZ-TtsOir1TFRrKBue2a8F9veTLhAKbeKSilRgIITkziwU88U0NAxCrj7gdnOAGutXbriFaIYzS6_LjtLNfaPHlrlKs6zZ8SK3ymJCPPtNhJSYzEdep_FMmAxeTUaSPrGb6eYRTJgclsJaq1FvjGKeLcN5jSoYoKYhs0nfuz4JKqL0n26YlL3o3QXkcWtZ66cjLQ07-zpztEwQu-wiRJj8NEoRzg0MOVZ0R4_NmQbxk3_51d5G9vq3TkhPm6tvgUCAVjjzjNH5OSSc21ygSS0Q8jUyV9eskKUrmeokcT8LrBiP_OD1-FjoBQH7Qor_7bSsp1-VTxNXwIjpH1xF-crJSMIzqkUImAE2s1JympIpepKQMMuD8XXOjdlrD0tYeZ6WwwVk7--6HyFvy4T3FBo20VfhllAn-LQtbdFR6VP9_EkXgLBelHOH3VOm5BUonL7sZwDRLGdVltDDN1dI3NJ2CCiH75IrTv2W8XtvY7p2ljcCQCtgjmNxRsX2UpSR1Ihzjzlx9Eq1f0F1CkIX6AYDgHvF8Jx-pACq5jbRAc7l1veiDvlRKeof4_FNmgvhwvLvoyi-ycl5xhc3_ael25mpNYxXDS_NTbKAVaD-bjq6C1WLNWowXP1ofYS9ymmXOzsxNq2WFGlnc6qv_sNJmN6O4TekWE4DvWpEyrStEJfIquQHmmX5IcDY3UluPTmtBcPZ41lc7CNThp-Z2QI_RAVy4VYZswBlNb_SXJW1yv3bhqx4-fEkN61DTwCPnidvIloNzIdk8pvMlFAs5d0rER9lg4Kir3BLoHpSuB-JZSUdugq6mOriPOEKuCCrzDSJ2rOz069E0s0MevYlItG_7HCFGtqevXjgquxuhbIdq0mKrvBUh03YrWqCGZ5swi_aPgdLbML5vtCI-pWvYL4psVDe5nZlTHxVSTY-59U5xcCAYl-2rGYhGW7IXUVl6JyYPDi-0OLVWUN3WtW7h7z1nQZ9GwK1_VwRWMbnbPCNPK8f_1KPiTS-t5jqy9osyTwghQZjAOR0NVtlORmwuXO_y6xjpwijykkse6MCWhm7mSFUuzI0EyB8msWbiK3NJTx3T-KTk05NLJaRkTEKMJ0RopDBCETWJU7UzgzITOqYaoY1Fe3rr9lHNS--MVbXQfut_B6kfzl5RyMlMw5m_1HBQFs_eVNqHz6Otk9xLRoh5CTAAE8-7EJ4NnuyH8OvacSXgtXRW-0u_sUWVpJx7T7q0yh9vNHe4Zea-zOz4QycVWWXJ2LlsbBy1tR2Ubez1Hc--U_cE4NQ8yVM6_bkJ49lxiw51TUT2DoYSenv2ko3DbCyyh6Kw_LXbow14-JcDccTs9EJUr5dMDlD0b642HoMA5oeg49zXjd9UzukhJElBkvlEaY7NNxbRk4wTsvGrkWZAj0IeZpO7COpWkA7Q11OdW5qPemoP8-NfywCfBBZhnJxWDo_8paEBYY9In8RtWvTJd5CWtE2nd9sn8hyy7lISTZpHdk7V-Jd8-FGQcXSQAmld_sDs7IL8sAa6kF8EBwfaj28TkQi8eIGF0xh4jEBGphxkyFApJRSQiUBmrUBUMeGXFKUru7A0sDlE_wq84hA8zyJ8Lm_qZ8tbv9bMNt_qR-S5eoGBXngO9A6fvHKze5LHtCX6a5HjiXpa2QHjuhwP-29p9KsfTANLMCP-kYW12Lsl72kNVoLHpH1mDpz2EdevYEJ7g==",
  "id": "rs_029df17d9205921f016ab45004e0d087d0be0e105ee8facdd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The second close also settled at 0.01, so the cap was still not between the jaws and may have been pushed or hidden by the arm. I’ll park the left arm at home and reopen it to expose the full tabletop for a fresh overhead localization.\"}",
  "call_id": "call_S4J7jcug34VzOkgW96QEVbvc",
  "id": "fc_029df17d9205921f016ab45005db4887d0bd8c1f75984ab97c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S4J7jcug34VzOkgW96QEVbvc",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0105, 1.013, 0.7979, -0.5911, 0.0586, -0.0811, 0.998, -0.02, 0.8074, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3031 left_y=-0.0036 left_z=0.1646 left_yaw=-0.0072 left_pitch=-0.2357 left_roll=-0.0951 left_gripper=0.998 right_x=0.2922 right_y=0.0019 right_z=0.1735 right_yaw=-0.0012 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.253, -3.2479, 9.853, 1.5311, 0.0073, 0.0611, -0.022, -0.1162, -1.5111, 7.0359, 1.7216, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7376187f97e5a951340f42810a3693d960e670e0a87829924be0f526b9aa5387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea85c6bd30c21c96acab976fb2e57fa1f68064dca8d5c226eaff5f1ffae31908",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5daf9c8acd8572f02954830ac0923796762961eecf8efe97f24cda0ea63e5b23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 8.194 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]: [-0.4282, 1.8317, 1.1946, -0.165, 0.2619, 0.1421, 0.9987, -0.02, 0.8021, 0.6132, -0.4049, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4266 left_y=-0.241 left_z=0.0967 left_yaw=-0.7423 left_pitch=-0.1978 left_roll=-0.0811 left_gripper=0.9987 right_x=0.2931 right_y=0.0019 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0343 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -10.0171, 9.3333, 1.6337, 0.0464, 0.1099, -0.1538, -0.1162, -1.4017, 7.3368, 1.8339, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 2.0628, 1.1122, 0.1242, 0.2623, 0.1368, 0.0096, -0.02, 0.8047, 0.6132, -0.4122, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4353 left_y=-0.2476 left_z=0.0033 left_yaw=-0.7459 left_pitch=-0.2212 left_roll=-0.093 left_gripper=0.0096 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0442 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -11.7402, 5.641, 1.3407, 0.1294, 0.0073, 0.7497, -0.1026, -1.306, 7.0222, 1.6825, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0105, 1.013, 0.7979, -0.5911, 0.0586, -0.0811, 0.998, -0.02, 0.8074, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3031 left_y=-0.0036 left_z=0.1646 left_yaw=-0.0072 left_pitch=-0.2357 left_roll=-0.0951 left_gripper=0.998 right_x=0.2922 right_y=0.0019 right_z=0.1735 right_yaw=-0.0012 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.253, -3.2479, 9.853, 1.5311, 0.0073, 0.0611, -0.022, -0.1162, -1.5111, 7.0359, 1.7216, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7376187f97e5a951340f42810a3693d960e670e0a87829924be0f526b9aa5387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea85c6bd30c21c96acab976fb2e57fa1f68064dca8d5c226eaff5f1ffae31908",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5daf9c8acd8572f02954830ac0923796762961eecf8efe97f24cda0ea63e5b23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAR-Gv9tjv1SDaxQFzxyNxoTs-F2AIuobHgsxXtb6J-xkpsR5n4wHCqnTMo4nwWy8JcvYHmG3UXA2ydbFs_bKTzj19BERh_nAPQDUBg2MwcYy1Vu-EHIu_o2aeVmy9G2gijBbyv9e-ISlzsgVwNNUVa27hSGiXUcKGpPzPuwlwyLbZtEGJT99fncHttbYjenFzxe0JJQZc3DeQB92WXdWKXRia1Zq5L8SU2XZ6K-RC8Zga487IbclCvolehb9um0WqzS-h3ozpZBWRKa-fWdx49R_Gsad5b3iXWxvYPHaVa8lKsEA9bCPNJ2WD0X0rTXA5-R1krEnk3vyE8RF5dv2-ngzk18zH-S33rPpLEmA7Mx7yZZPT9hp-OYNmDKs2tmw825hfXsr-1I-R0TT8eTPJYxzOi9I0yJmNEMUEsiUwX8ixvdYtAOe7UWCJ69h2udDKv2JF-CLybXT1ajEB1ibmgmJISZb1CdU9EzPIJyv8-z5--GI9QIDKBdq8GSdPX3OuAst3bdGBgoyGRXOoVqS69gu0mPD1X17C1kT-gN7WUJuPHSDxphxhAOcrpELpJ2p60bo6JRgb6uQi7o1NdSPWtqIcTlhYG0V5SYGgjFO3-hL1ik25N-5qTl4066HvEflUoQNQdkj4KZbnNRxtUARWICjhygH3pToL-uuWGkdEcE3oKkwOP-oxrB7Pso4pLboz-oX1mB21P5at9QbYD5hk3gabbsJyqJ9qtRBvWQKix4nFROpgte7quDZ0K-bPl8Z5X50ZPPCcNTbe1rHk772xHk2hfF37SL4anonTkvBx-Uq10wpqUNr9AERrJ2WDNvBDvz5krTakEMNIQTTG_uCi8D8VmHWWDHC7AJsaZ4CXcteUmqfqfnqGf4KTjoytcLZj4GOk9dCDpoulnZw_lTDRbIlKuMWB1pOwfNoIhuW3Dp9I_4duvwnr5YxdCbAsaekoQ1vdk6HiD1bh5csjmkn8mbvLmhnth5uzSqCt68EUgT8tH0EwoaQTpUZHUKTYBNyXu-6YNZkzAP_OUQaKWcvleCnKQqPDqQ15H4fFplNyMkWT5TRIOfjsG0WUX2E2tyPkaYvFNUh4s-UNhXRdOyAkzehN3ESQTOskfdhvFGvWmdkFBq25OfyI-iznIXmv4FewGSkwHsgtKQZEKTZWMKJYVI5si8seHlQJUIjE3Bf523cHgDJX7a3lxgFUT4Q0gfa49acdfLRkYugcHVSLm0sxcrHY3YWzSL5h3ojQ4JvrzQKFhOaBmL1cVywHmB2BvjS6fUXHd_Vl5PRexhmB6fGiFj34EmUFs7usTlc4FIFc7Zf-uLEWiFFxanMYfPbj3W3ZmwBuwIb5WWW-FcVIF59GpcEow1NokXxpi17-mMk46TAkY4NeXc2anZm2VlHxJ2BUWY-Ic_2ajp4lKIETgBEQwOG-igARM5-a8ivaXF0pukSjIxG4SzfKNKNX-5Cb3XVRXZsLUOwGqbqmtfpeal5EIFJpzEIyLKpMevbhxX9Y_tyhuSakElf6OlIlH9WR2t3GKR_uFTN2wPK4SGecVV525YWtH9e9elHUHhfWJznmK99OADRYWchuU7x0MrWKIiGLv9EXZ0MM10t3a5aeFShoKn3ipEVsFg9R4IoDI6FABOikMo-pl88WO2VntRPj-hzCYJnmx4AHVFBKIY9ZBtGRks_UL3k5LHahQt3y0S1K8E2wuE9s_cMBhmC04Rk-ldXw7koXFT0nfBzDka3tfDnWIjqP6OpJ1cDwR5v15uIBwD2dfYf2H5LzSfLc2byKTDtxdQVwHGRxEEF1pSBwVvCIT5ZDfBTPzTmIvwuq7LyXQJsJoVJLdVF0dpIavVBbldHAFrPhpPzuyJocbk4cdkdoNQmSmGahFsyQrzLfWbsVp_S648gfQ4ROqaWkyzb23hwmSrxWaRSWDWpEUnv6R8VQMPU6rXHa4wQDLay3NFUHoUQN1vkuY6zMARkkJ5r9XqTrVGhamERxTdpJUJJ9cli3ZXHjCqzxbCVyH0yhsRVQnvRSJpuLfmtIhbC2WJmUvrag5ChXRpY_lKwTiRp01jtLHh6qFUBsLIkBVkbqE1Y20MwbQ360yLplnOOxA45lYnHCGbUNJScfp0ASD8kkCRIWIgMi14XtNdgBiJ3KozsStGh7OkNNraDZB2IKjTckFSVyXDJCvX8AGlPkchpfyssdTZ99jd0tJjyIDfj8ist6NYwWVagjczWRWcNjcOEFyC2n4hUnSq_kM7z0NYgITTzYq03aYeDLpVEGZCccDgr63-t3tph6fGgz9Lb1xGaoezd9Ua6lVKgkc3GEnTQIA_Zsr2pbXEyb8_4rl5lvpYcv684IvXgh1aPXI2Y_CH5a71mkiY3UmAil9ZRDCUitwvdgg0_6m0iyCL1wXBNSLvu4WBIhXQ4VzXSfsqCN1IsSbPwuhB7nrQcg_8iMffe2POC7LYbbEybr9YiPRUy2E_QscuNa8wmWTPIHppfofV8pzqbHaMDf0KUHnQ03wd3hoY8TGeyOFGekxTE62TcL8iCMYRSQ8FZDeCsjMjwQk40OUgjKYauOuJDZhCt4OQ74TcbYMKp98HIukNntqRfXEuZV6nwWs6WfJ9aF0bXzt9k5ZnVhH7Q49-6ppLIn0UPIrW9umYqLVsBK0Sb5xJLkxby6ElqV5dQ8GgIYrITPXXCP-ZeQDfqHioodj-WGApzga42MqVbmyBoIoXZhGRBTaHCkyZ9CXnnjELL_xSn5vGj25qdHKVBsOtn7OSXx1PQ-oEgonuYGdy6Jls8GTJdkmpztfJtaUzalppKi6oCohSzOng0APaUpqZFVIIHqht-2OY08zvrZetGTLySWOtKgjncHV9p5tXuHoe54hcCeSdmHnqTTyMuN6YesSqz05Eg0zTvVae96a09s01OFNwAjNw92KntNYCr_U5wE46qAKaZAK6ZF-N2i_o7GnBuhpNsLrqFpVYN07qAWf6d5gcKhqCkJA2TIOgKCpCG6Nqkd7AadWDOx_OYt-8t-zbWd2sFkSD8APFYQiauBV7qA3XOFDC3hGEwM1KS1x6SbhnKAwtt9gDAkw4t5ONq764Tg1ivIo00BIWKFRJkkRFLTJS26fZLhdSJ6bbHBjU9yvxqEKVgFA7UAvzP-0HdBEzchxdR4Xi-DEWoTxyTopKIBL6k6vpNnuNYx1iP_u3PCVs9YQ5re0R25akUGupHtSRWik-vu1CyBQB7GkRUrUQ0DI15wm2OGeYv7KDZZiPNWKWJHlj_133bPuNIM3RcjbRvA-JE3rvRfkNW_5hM5MVY3ib-JsoosbG9Qm2S_WLLcy7s-VAdmaKGCNs-ceRkk6trfbP4BXfnzxtXw8SAq8l5xpDuTahOCqIeNzL_R7HEvRDLaWv7-s2AZZQaY0_cvipo_mCY2JcjpM_Apcpy7X8f-uF3ev8dcd7CYHBhX9KObbMffzTk1aeg15Yk-EGn51PtDzc2DeB3Hh8v_Niq2yXFlNnyRnc8Ng64eC1PrrHCOkhn9vQwcnu4i8ASHOJYG_1QE--9rNbHYg7dYNj6kosGgHLOm6-xaQw3LxnEEsf5SPXEehpni951YtybIw1z4IV1zG0nij-HhVZbUMey-iKKSzUmNqkG510JuDOSZ3_uJ62EFemDK8-VoppaeO1bZREntKu1QIxOT4JK5E9NkbuclwBt5qDc1OhilIp8VSfUHVbnqIM77lvlhUj4wIxiy_Y8NrcmWpejo8ztIwkA1euXsoOh1D18K897iivvs6hHGoCqnlgWgf6kExLtCTpNrwuLWopWRdH6vdj7v2669H3HexHqev5NZc_8--33a5L6FyBUuMCcpjc1Gpjf3sHyBicVzoZK-Juj5uecIs-myDJGCGN3rPect3cSSYc7sobOJXij0bQwstFc0Q",
  "id": "rs_029df17d9205921f016ab4500a501c87d093c23aed63159bde",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFART-GsI-p-ohT2BOPmJhg1HTcZd3hhJ33UrL6axt534ACj4lnJhVW9xw8Yg1f0AUDCKsMs5tPaktnyvqdMJrOtmsczXyEd7eCO1I-MIroEbzRKRLCazlVUXrvTdjg549nNOKnD2xNDRBhlfOka4W-NrR83enj0bIjRKo_CSSLV-Mw6CSP1TWASZYKkqTEXa3hoUYWZuecyPllXNkmxU_lrdhItbeT35luExd3CwPu0nlKJy0pTLSr9WZa--DHjgoyuAEM3Y_XfZXPn8MMKhQDqPH-kuM95hQqm6eNhHPkn6kWYZOLXFngh5TVLvJ3DbYT5TEsiWjM2dehK92PZdpg8p6CiNFKrIc_OM6185nlZBe9wtIMhsMLJfWR-A0miyhLI4BP_0eH7-pTPs8jGdHZZDN21pUR3u1D5OV3omxrrHnb7UUSSNeUDaqLj8b4gky10PR60SOLiAj_apCHsSlcL_VUGr2LtfmW3GjFxUj5-TLLJEUku6Hp4REM6JcMZGLC-dZxhKXMV0WA6LGgD_FRhWQQH1dV5lkexYnMAoJjDK4-ArvQofVDcDwYayAPfaiB0S2t-qMCtiqfMwt3NXpJW-qBO-qKPKzBo5fRtOLF3w7YINanLYAO40hTuFPP8lKgV0hwpAO4OZj50p33_kOYUz5evYUTnAkr4EeSjGN6vmEWn0qNWA4tBbeqwtOqjmCFFP7iYBpAiIh_rj9eqYGoH5ESEWGh--c4KxMf-FRnxE2HvcPPdPIS9DT1YEA0sXhHzRpSvujXB2s5yXEPqXX4oyI4BiMkR0AwUXS3CmFDPIsxjOle2ZXQaJqKxP-noHc4I-B40Bb2K04OWMfZaJrJ93_jimGtWTnHBr3iHTU4Bc5A2DMIxUSP8FTFkaZ361YA1kyCQ9ZD0KvN3aa2wkdLJvll61Ng5vZStsJz_rdizM5lGc_JtUiFpRx7BTeOwetx7wVGtTiz-SJj_Gj9WUfKEkT2juSQ6oIf44kzbOOZxbFC8RhvYluxwoNlZS3hIsDzYCycVDwtnfXGO2ibotwf3jXR0jI1FYFNqjksXUY17IfF1dVCQvgPY9GiuHX0Ot64OGYFvuDbPwnxmUkc6ohHsfO-TIpUMg-ea5ZBuDIVRqWOIegbx-uGhVOaiHSTWrak_a9QxBEUAS6r9g_XCON60aw53IXXzupyjyTRILs6RN67VcUUWyyEdDWIZGtd2IW74IPrdK2druX1XAINB9twKwV_gFbnr6qFhn3VpA0qj88fc46nvyIvPEpWFSSnKz2W6m-VXTOWtLsbyEqx350duJEhc3iMBXINO50y-kvgvmgxMKoeLJV3r065PITLKE1YiDa_R2xNMhTuygUeNz2caone3MnFEcYP5l7_9Eac7iBa7OHVr3OSk8yXAVzPa9NNKvYUsV2wxSMkYLEtzPRcelZAZvsxlKIc7AVcbWOx86UZ5ehdZG35APFzvHFJKH09xlj5iHgkCtAal0-wP6xJ3Az3kFhtP0JVm5Vk6dZ_bxKiT6MwpmhQ6qBoTNtyMrsBZXaNdA7f1eAzstUvJuNZVjYaflh4S14k4LItNnWBqzqI6fTNpn8FP_kKSiYSAyVRudMkePZJ-WPQnVjW1v3rcTaK3ActuA-gKkIB0tCWCx3BwSWRYgGoJADyp2zUoiCw96GODN8pbfN01eF6xfJJOqKnfFwbrb4A5iMTFBHMDBjo=",
  "id": "rs_029df17d9205921f016ab4500fa4c487d0974ec2b5572a473a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.1,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"With the arm parked, the cap is clearly visible near image x≈80, separate from the pen near x≈125. I’ll return to the first hover but slightly lower, then use the wrist view to make a smaller, measured correction rather than descending immediately.\"}",
  "call_id": "call_vNQpQrtTwyDNaWCXDuyxtCiN",
  "id": "fc_029df17d9205921f016ab450109c1087d09c7ce144c459de1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vNQpQrtTwyDNaWCXDuyxtCiN",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.3958, 1.7191, 1.0611, -0.271, 0.2462, 0.1192, 0.9986, -0.02, 0.8108, 0.6132, -0.4137, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3853 left_y=-0.2038 left_z=0.0775 left_yaw=-0.6941 left_pitch=-0.3237 left_roll=-0.1249 left_gripper=0.9986 right_x=0.2924 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -8.5675, 9.4974, 1.7216, 0.3687, 0.3443, -0.1538, -0.3761, -1.5795, 7.2684, 1.6581, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91be000a8e7c3b768642f5cb87b9d04b08dcd17b9c1ff4029acf6b58b8ac6805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d749e881aebd97b46b5073e66cf59037198a9a63ed721f5b22eaa9adf8a5a9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fb9bc1691dd32a720602b08ca5964545f680c64143d4f6fcb1bec37bb3f90d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 2.867 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 40 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4328, 2.0495, 1.1133, 0.1123, 0.2619, 0.141, 0.9986, -0.02, 0.8047, 0.6132, -0.4122, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4351 left_y=-0.2475 left_z=0.0081 left_yaw=-0.7477 left_pitch=-0.2185 left_roll=-0.0888 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0012 right_pitch=-0.0442 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.335, -8.2667, 5.3949, 1.1404, 0.0904, -0.0171, -0.1538, 0.0615, -1.4291, 7.3368, 1.7656, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [0.0105, 1.013, 0.7979, -0.5911, 0.0586, -0.0811, 0.998, -0.02, 0.8074, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3031 left_y=-0.0036 left_z=0.1646 left_yaw=-0.0072 left_pitch=-0.2357 left_roll=-0.0951 left_gripper=0.998 right_x=0.2922 right_y=0.0019 right_z=0.1735 right_yaw=-0.0012 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.253, -3.2479, 9.853, 1.5311, 0.0073, 0.0611, -0.022, -0.1162, -1.5111, 7.0359, 1.7216, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3958, 1.7191, 1.0611, -0.271, 0.2462, 0.1192, 0.9986, -0.02, 0.8108, 0.6132, -0.4137, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3853 left_y=-0.2038 left_z=0.0775 left_yaw=-0.6941 left_pitch=-0.3237 left_roll=-0.1249 left_gripper=0.9986 right_x=0.2924 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -8.5675, 9.4974, 1.7216, 0.3687, 0.3443, -0.1538, -0.3761, -1.5795, 7.2684, 1.6581, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91be000a8e7c3b768642f5cb87b9d04b08dcd17b9c1ff4029acf6b58b8ac6805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d749e881aebd97b46b5073e66cf59037198a9a63ed721f5b22eaa9adf8a5a9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fb9bc1691dd32a720602b08ca5964545f680c64143d4f6fcb1bec37bb3f90d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAb4ka--aBAgZ8CKHF83MW4jSdW6h9-NZiZmgcGcFiUpirM5SqyO-koP5xP16AG6bqVlIRT33WcPlF4EYN5UKb89I4xnTuYntlZIpoNbuEw88rP_D1Hxh-0C-WLCfsrOtKTW7IOEpkMjx7eZoAs-qjGEuFAQXZ1RL-ZvwfkZ5f0aKB3BDQlCtMGBnVv-z51PUa6f3KvL2HBRLN5ETuqNQUkz_iaPrJxGSyhRFL8ku494vk8v-WRnKD-hyLCrgYUjPkNupSyHtgkQURcV27TdBh0LhIRJVcqSekh-1ilJYIrn3B-54YB2qYXEkMPlbMpy9-znN-RZVua4go6g8hUqUNVYWycHlgq_8V7BzSpsBbUbwfcncToMlYnWNPDm_GyGXr_KwSadoofLrIcOfpxEafXgVqNG8QBuGgGs1n42u_e94R0cVCN8aBDcbFkqlq5JOb0lo0t7JgNkhm67JwFMsR3qjFZs2Y6buT4qF7AwM3zQoUN7cf2so97qP-g37GtDIS8vO-3axgHuSu19jK4zQG08mmQpog8arj34uSGM3Q1HU9FkHXUDiZufEwlcifcWiMH26gok4R5gbqq6t6oUmrllaAhUyCo_Sbc9w5N-VK8EBKZPPvsbPO9ORvKi54nUDGmbL4nkhoX_vwb_GfwXby5AcVibmwMy690w2fp3B6S2wO_Ll6SJrSDBimG0WrCUkFdLyH_ULgMaS7Q8fYB3QEYJIYD5ZZYzTCeAEJ22aMEaD1qSPHuE4vUgDIwgx2fNW_BPS7QVzL5oaujL7S-ezxLpajh2849aRSf_rwoVCQRQ6rUS6NQiqhTEetGGtZi1XnQTh6xeBoD7dAFL8CHQyyf2d6afWgm3oIyzus1gl_AAZ8oYMbjUnMSPtsXmuwGV72ZYvuqCaorpBp9DVKd0lRuIWiRvXa8qS7ol-9o6xPyRM3wY9PiIOsDREwi91SbDIasVxbU1cvMWudCUNZAb1Jyv-TKz20BaRFqnnO5Ujaimrtf3OPCvZoh7OZZjKl_Mz-4vCs4JHLFxJaMOB49GnG5P4SZ6XivV9ssoN6hvc0kqiAaYhV_ZGwE0-ClUX_nse66Ua-Sd7p17JD204zS4FLERUEYlAQUlsWqbiI4x_4mRnXfsVWcQir2omzIim-lmJRgjnc15-oapTVG5Iu0N7Rt60vZJ5fOkF9b9zmt11SUdbmUuz5yRHvuevxEpOXsT04aLc8vZJ5-Pt1z6IcB4pJEjOEXwMuGpdpSRK8ZHlGA1cPJAwxlj8_TkxjWwAGv686uFhfRv42-pz88WtVTwaubI-I3pQehwTLupqNIh5hUir1DN5jS6ynR8Ki6pNLzzjgH_jY9ldqlyntWQmS_TR3K3lnL2ATu81G3C5NTa6VUne-oYzWyjqePETzTEbQEKH15PVcSdG2Wy7Dws06ZrG73zW-iVvThNaNUEBoschGlq4eEEs_-PhnS-BELiFv8-LLkG5EVOGXWu6QUpK70dvruW7l7-9_OBUePwksPcHrC_M5nYiC-7jWPZYavLkREKGXD6CQs7BYppXGa8mLJiGD5SPJ6L_LNOYtL3OSnYEn7ilnop4GL9QPkF7qysnUc9k1KaYPdBzU641TOgx1fuCgii9znJ9JRq9UMVP-ffYHoE7PN185YMCCmCcbnd67tGBoCv5Bt4btIzpgMeBRhJvsuAII10dWv_CVwV-eE6-VO1fgwnhA5hyHrGaRIsWLjQVtRbd5lfaKfNvNqnDKnojxHS8xM1XEmRF02QvRLB4jjclWbsQ8z-61TCiCdSzdHVauJKxkWMXIUcaTg7gIgJnfmX9ZeIQEq97OrkWovRwOK-pbgpAPOnoySaszGKWXfhJCJKe220PvQU5423V12KQoV0PZnqq87REM69KJI1pLOzblvJ6Mb7yhpXRtgMmsk6TbLO9vhvhtHg8eXxdPa9C-prxLmsqk8Zh_rsPtN0f6kERErLAZJcYfZPuCH4YaEr9biNFHmFd_H_IAdnV_kcx9OB0Fb-30yXyc6V95MU5asTcwjAbsYxtsl20ZdVFoDKqjD0lsOUKNf8a_83ChpLSBAlZSxDGmGZ-YLA-pRgh9H99mv_wyJhapaelyVCtR2KXhAM65fh0E-LlJlOlquOGB-BiUaIis0gC5qdjt8D6gAEjfPhVurZAdzh5h2asQO3p069FNIx91MrltN-UTy2FexCLuaRF5_POPnvqn088zu2pmT3ECAPcVT-R1Ofe-Lqam9-f9VIi8c9_VM-q12UVFxgey5zR2nPPpbQTn74H3fRiNcgDUZI_fmZvZ0K81Jw2KY",
  "id": "rs_029df17d9205921f016ab45017123887d0ae1e332032580627",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The wrist view now clearly separates the cap at the bottom (column ≈90) from the pen far ahead-right; the cap is slightly left of the jaw column. Before descending again, I’ll briefly close in free space to reveal the exact fingertip convergence point for this pitched wrist.\"}",
  "call_id": "call_XVLJe97YkjRdrzTTh8XEz5Bz",
  "id": "fc_029df17d9205921f016ab4501b0a7487d0859ea8ff75a45c0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XVLJe97YkjRdrzTTh8XEz5Bz",
  "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]: [-0.3996, 1.7317, 1.063, -0.2733, 0.2401, 0.1131, 0.0094, -0.02, 0.8112, 0.6132, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3847 left_y=-0.2042 left_z=0.0725 left_yaw=-0.6906 left_pitch=-0.3379 left_roll=-0.1279 left_gripper=0.0094 right_x=0.2925 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.306, 6.0923, 1.3504, 0.1978, 0.0513, 0.7692, -0.1299, -1.2239, 7.1726, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760b2a10394b3a28e5fe6db12b4a69eb13480de5eb2285c97b8dcc6c5661f742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9530cee3e8b1b7f18665dca52a1fb58ad8ee1dc7fb4cf443d5f72c8773f5d097",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4dfaba71535b3838a2557fdc8a6036510adf1d6c91c05cfcd4458007e48ae9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.752 s

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

message 31 changed as sent

message 40 changed as sent

message 44 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]: [-0.4328, 2.0628, 1.1122, 0.1242, 0.2623, 0.1368, 0.0096, -0.02, 0.8047, 0.6132, -0.4122, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4353 left_y=-0.2476 left_z=0.0033 left_yaw=-0.7459 left_pitch=-0.2212 left_roll=-0.093 left_gripper=0.0096 right_x=0.2922 right_y=0.0019 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0442 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -11.7402, 5.641, 1.3407, 0.1294, 0.0073, 0.7497, -0.1026, -1.306, 7.0222, 1.6825, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3958, 1.7191, 1.0611, -0.271, 0.2462, 0.1192, 0.9986, -0.02, 0.8108, 0.6132, -0.4137, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3853 left_y=-0.2038 left_z=0.0775 left_yaw=-0.6941 left_pitch=-0.3237 left_roll=-0.1249 left_gripper=0.9986 right_x=0.2924 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -8.5675, 9.4974, 1.7216, 0.3687, 0.3443, -0.1538, -0.3761, -1.5795, 7.2684, 1.6581, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3996, 1.7317, 1.063, -0.2733, 0.2401, 0.1131, 0.0094, -0.02, 0.8112, 0.6132, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3847 left_y=-0.2042 left_z=0.0725 left_yaw=-0.6906 left_pitch=-0.3379 left_roll=-0.1279 left_gripper=0.0094 right_x=0.2925 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.306, 6.0923, 1.3504, 0.1978, 0.0513, 0.7692, -0.1299, -1.2239, 7.1726, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760b2a10394b3a28e5fe6db12b4a69eb13480de5eb2285c97b8dcc6c5661f742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9530cee3e8b1b7f18665dca52a1fb58ad8ee1dc7fb4cf443d5f72c8773f5d097",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4dfaba71535b3838a2557fdc8a6036510adf1d6c91c05cfcd4458007e48ae9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAfFDQFPeXifoAHOeoD-dHGkZTH8QdXuUXgVD3xmbLzRE2Mgk59_iTQXq4wMlUQ_Maa3_2GKfnIxVY4N-I3-oKWql5anDp16-WIXEl_vtokan3Nm1D4dDEZ2sSSuyzoKAfZtVT64QKuKYpAF3uSX9DJXuMUVjqEJbsjkLBfLwirKXWQ-g7OOSdqL43cG3iLV4gQPHMRsbLhTFWm_ogYxySc28fGo8Cv-inQx0d9P69mN-7ePcXqwHEd3ITm3EIyZJ1509iuwDu6rrIjpEJcsifHGe-vh0KoV4kOJOuY67EJ4CM6vo8iv27JEJIAjCfEZOGxbynAeX9HMGz6pvwEJJ5OVSYGpCHJak9lzYEgrYye4NCS0oZp4qB8UQq_6s64BW65CtZTQldY1EjPMpV3mhaINSaXLFAY0EMFlh51wECxYurCySyHk-F_EuhgkH5-_ICsEbKv55Rr_i_kcfSB7NsrAN-8Loni4N41Zg3Efj4EqA0RHSyOD0gD5CWyMJhon7n-qe71i__kz0sISDwd6r15knd0uqWs5WjC7124rH7VyIJPCKQWBKjdLHW90tUGtEEkL5X_CoISGcEpmgzkOVLNb6WHtLJT-aJXSCekcncoeniDj-V4aGINQ16oFPOpwcQ1bBUSxFfHjSwx_NNmsbUN0SdotmO8tQ-JDR-1BiZriRqxiRWuIZm3SHIhpYL1DIQxBJJFdbw0CWq5P6e3pRc4ZiO-vSpT4MieqX8B-eg-RFxl6_XWB8EPHQwub2rDDVe9n-TP3KZWxiHg-qFOEWO5f_dT25WlhcBBF5WhJlU9FPiSBbE83eRbCJ8xkmq-7DbUePa22dS8_f-w6BuWDBG_kj-vAiwsiv4kW07_QZiVt60dD2VxjXYG8obVz6vYgSHUdgLZ8mVFkH55u3_tX3hylF_qj6EdU3bUMhwosXy4goX18ImFl5PryV-xuYCdJbLa_XvqlJbjXu7egHknktomMU6KmDuU2uBsl7H1GNUbcbpdp6zLzadtXz3llxfdzTkQoiKy7u6LvFLLB5tliATbaDU_qmkq4bRv6_IBI-eGCHE5Uryrv7JyatoMd5UChCVpMGyLEY5ra-GEnzHnMTSNijKr2EuP1VsBP_9PNMe-4Fo6ORP6STwCvqGnfbRP1AZ9rS3cpko_w9abbns2rGX9ZB1WWnl3X7JmVQbje8t7dLHs37nmne-Ju7lP_ISH_bf-kWz5EloeigIdReMxW0_ngw3o5pYOgtuU0_OcEmPqA_QaFd4yLKx9fGE_wetNo6VyormSLpnbAOqlGixCUSIuCwYsLSVJVoC3RbdVoJJy9Qq2CNshAX2-Thd6Y8-XJ7GlDGtf5W3lp0px9mMzNVzHTsQeQHybUC2_3CFcZ5WXc_9U6GnRvzAWOCzPKOk6nrEB5xYW31mFf15MTU4Nz2yPf_TKIsfcYpZ2_yb1nK-gce5yfzLCc_ZODuWC6wCTLp8mskSHLZ6GE_LnMeEBs2rflzk4SDFLVw0rwtq-yTHvcoC6mOLm0yxeeeYdHnKEgvSEmUEq-7AQr8WEnccR8-gGzDl51hdiFaVRG7DjNkrLhbm5C_SVg2LBPCjSv5ZrpVYBJjtl99-nch8S_jFO3iCaeA==",
  "id": "rs_029df17d9205921f016ab4501dc1a887d0a984373c4a1f397b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.19,\"left_gripper\":1.0},\"note\":\"The free-space close shows the fingertips meet at about column 105, row 205; the cap is at the same depth but about 15 pixels left. I’ll reopen and shift the gripper roughly 1.5 cm toward the arm’s left so the cap moves onto the jaw column.\"}",
  "call_id": "call_AojINdbiLY0Ir5279cYGCFS9",
  "id": "fc_029df17d9205921f016ab4501ea8d887d0b22eb776d0d2f9ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AojINdbiLY0Ir5279cYGCFS9",
  "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]: [-0.3645, 1.7317, 1.0481, -0.2775, 0.2436, 0.1345, 0.9952, -0.02, 0.8112, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.1892 left_z=0.0665 left_yaw=-0.6726 left_pitch=-0.354 left_roll=-0.1229 left_gripper=0.9952 right_x=0.2924 right_y=0.0019 right_z=0.1725 right_yaw=-0.0012 right_pitch=-0.0522 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.4034, -9.7709, 5.9966, 1.243, 0.2076, 0.0659, -0.1148, -0.1846, -1.306, 7.1043, 1.6874, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5ef9e8ccb2248428ec2c007145d617973239ea55f66e760985db82dce65f51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04072d164b101cea158847f60db6d8bec17ef86980835211a20fb8b2a9b572fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d304bff617fc76c785dddaea0b1b655467b8b043f4bbf31365dfd48046bd4ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.989 s

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

message 35 changed as sent

message 44 changed as sent

message 48 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]: [0.0105, 1.013, 0.7979, -0.5911, 0.0586, -0.0811, 0.998, -0.02, 0.8074, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3031 left_y=-0.0036 left_z=0.1646 left_yaw=-0.0072 left_pitch=-0.2357 left_roll=-0.0951 left_gripper=0.998 right_x=0.2922 right_y=0.0019 right_z=0.1735 right_yaw=-0.0012 right_pitch=-0.0484 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.253, -3.2479, 9.853, 1.5311, 0.0073, 0.0611, -0.022, -0.1162, -1.5111, 7.0359, 1.7216, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3996, 1.7317, 1.063, -0.2733, 0.2401, 0.1131, 0.0094, -0.02, 0.8112, 0.6132, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3847 left_y=-0.2042 left_z=0.0725 left_yaw=-0.6906 left_pitch=-0.3379 left_roll=-0.1279 left_gripper=0.0094 right_x=0.2925 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.306, 6.0923, 1.3504, 0.1978, 0.0513, 0.7692, -0.1299, -1.2239, 7.1726, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3645, 1.7317, 1.0481, -0.2775, 0.2436, 0.1345, 0.9952, -0.02, 0.8112, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.1892 left_z=0.0665 left_yaw=-0.6726 left_pitch=-0.354 left_roll=-0.1229 left_gripper=0.9952 right_x=0.2924 right_y=0.0019 right_z=0.1725 right_yaw=-0.0012 right_pitch=-0.0522 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.4034, -9.7709, 5.9966, 1.243, 0.2076, 0.0659, -0.1148, -0.1846, -1.306, 7.1043, 1.6874, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5ef9e8ccb2248428ec2c007145d617973239ea55f66e760985db82dce65f51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04072d164b101cea158847f60db6d8bec17ef86980835211a20fb8b2a9b572fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d304bff617fc76c785dddaea0b1b655467b8b043f4bbf31365dfd48046bd4ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAj1s8DCVh3WPaSQ77zSEeVefYv0Uaw46dM1--x5_gw6PgdfnveyQ0v2UiHbqzOy4V1W9AYNsrrstkDgz6k-3kgffUmkF6dEtpif8Cy82XpzNKAVijUVuRw-8aaa1J9xZJ8OJ-5n7acSmeTLU0DEJuJKcaf5oLvqus05w_tMl5-KvTauN6RnQnLes55uFY-gCbVMzISzeljqJEkwm3JXxoYvqnOX68eBya9ltTV_GGmUVFnR-w_yPLFJRAPkwlM4DBaVtllI7JB-REATe4bCCD6HomJF2HrxsZY3deFxzPcMCz1KqVIIcNHn5iMnSomyhPCetM3DHhn6m0ZRhG1696gRFZsKxR57-rU4rP0wHQQr3TwJBrmHUtouDeLkDowFV5d4gL9nApux2jKYv1p_QsoGux56ykD5oI4cew8qKqNvJYLvMEQjIM4BgtPCc77OUX3Mwf9gZVDtSebGRvERuUabgzWmEJ_Sq2aPaKPKLxynzt-s0aHr126_C7O9JzwN_zhngqSZ-dQoibZz1IH83TQf88O36qAF3h85iY6VWHBOejyJuTxcCPPaJl1VXldC7VmStt__J9gMCYoW_nmtwbMitvrVVXmkHRNLPgaD1Dq9Ets3HmwnNdDIshiGXu8WFtl1BUuc95oWC2X67_P2aDP3Hfq_Q5Ltohw3i1Uljfx26LFzKA42A7ZKgPdfJ70RVOivmIHICUncU6PjBEksMnRefM3yj2jG2zHlMzeP0iOjF5ZHUGKNo4-4XDYIi9IEbuASCtWoRjmQWftJzsk10sV3vZCPZbQWRXgMQHj1Mj0F3Axc_jeevowqwAj83hy3_qouhVZUIvvrFRH06lGfyJV4h6PuChEghSRnb8T6h-NIcyB2ZyWBY2dLXM7BL0CAbf3kcKxMm6e4moGLKFplJMvJv6S1EyJIUGuvorI3T7_rvWWj7lIXi9cWZQ_MQj4rs6Cxj6KAtXOuWOPXlne0NxV6FcRoJzgl_t2WkaZ7KgJGXsZ_qECHi98CK2lnXoWpKbZ0uXsnjnDrvjEnIFR09sSB9454RV60LyH3tqJW3B39EUV4Iq-O7QAvVCeX79mBW8FTcBCwnhdrnu-7q5JJs_Fv7gQg-1OANQVBX_PwBoFuBZsfddxVdhbyXkHo5oKt9LnIDz2jbqrCLBHPOx5xpa_Ada53ea7oXAf5YDQ6_iNzS1pR-GOcO1oCTTYG4hACbrio_gsTgnxTEJP1Va7PCWkufe3E40DayuzylVG6ke31eQFZZqbeI6Qpe5XSSQEbK5jocVhyM_m828z1WqykcVvyTOajXabnOa6-5kBd22OLDBgBmtbZhxVv5q6bpqok6DDjP6c5odWTzW2Y4aqwahp0W5xO184UD9HGvuTEVABJq1erz9f3TIrKEZM_Umt8xzBlLWHXEwmVuilQGa_i-3W8y-LqsDCw1u5vf4s1b72SitnfqLEMGtSN3bhOt638LVUDZS-YAZF0lmevMi7V0uR2hHcneKif7kM_DcbeLawXBtw2a_4oUHK-758YBZ89l0bUPDMhdeUW-VKtHrEfpG_dtxAK0-pi5TXGb0vA0jGhb2PGP3Ju6Ua1yneSnlaOuCTUU4S6yEvSnzfTge3PuZvvg==",
  "id": "rs_029df17d9205921f016ab45021762487d08cbc812739de9f60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.0,\"left_yaw\":-0.75,\"left_gripper\":1.0},\"note\":\"The cap is now centered between the open jaws and aligned with the fingertip convergence depth in the wrist image. I’ll descend straight down without changing the calibrated lateral alignment.\"}",
  "call_id": "call_LvIMvBXvMiAEHoAPGKEeQ2y4",
  "id": "fc_029df17d9205921f016ab450227c2087d0bf05ecf0147f8d2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LvIMvBXvMiAEHoAPGKEeQ2y4",
  "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]: [-0.3347, 1.9003, 1.0088, -0.1123, 0.276, 0.1959, 0.9986, -0.02, 0.8127, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.185 left_z=0.0065 left_yaw=-0.7116 left_pitch=-0.3813 left_roll=-0.1266 left_gripper=0.9986 right_x=0.2925 right_y=0.0019 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.159, 5.3949, 1.2772, 0.315, 0.1832, -0.1587, -0.1983, -1.3607, 7.0222, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b2897b4624bbc594d58e9278eaca9d78b10fdbb4d8f8fd22068383ce59ba38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac7af87f2437b74eaaffd9dd65f1f329af41c9a2a069829e1a43752027b4751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7fec38ba5824c9c3302f4766fa3e22fe04be190ec97f1e11173bb2c1111320",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 7.882 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3958, 1.7191, 1.0611, -0.271, 0.2462, 0.1192, 0.9986, -0.02, 0.8108, 0.6132, -0.4137, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3853 left_y=-0.2038 left_z=0.0775 left_yaw=-0.6941 left_pitch=-0.3237 left_roll=-0.1249 left_gripper=0.9986 right_x=0.2924 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -8.5675, 9.4974, 1.7216, 0.3687, 0.3443, -0.1538, -0.3761, -1.5795, 7.2684, 1.6581, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3645, 1.7317, 1.0481, -0.2775, 0.2436, 0.1345, 0.9952, -0.02, 0.8112, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.1892 left_z=0.0665 left_yaw=-0.6726 left_pitch=-0.354 left_roll=-0.1229 left_gripper=0.9952 right_x=0.2924 right_y=0.0019 right_z=0.1725 right_yaw=-0.0012 right_pitch=-0.0522 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.4034, -9.7709, 5.9966, 1.243, 0.2076, 0.0659, -0.1148, -0.1846, -1.306, 7.1043, 1.6874, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3347, 1.9003, 1.0088, -0.1123, 0.276, 0.1959, 0.9986, -0.02, 0.8127, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.185 left_z=0.0065 left_yaw=-0.7116 left_pitch=-0.3813 left_roll=-0.1266 left_gripper=0.9986 right_x=0.2925 right_y=0.0019 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.159, 5.3949, 1.2772, 0.315, 0.1832, -0.1587, -0.1983, -1.3607, 7.0222, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b2897b4624bbc594d58e9278eaca9d78b10fdbb4d8f8fd22068383ce59ba38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac7af87f2437b74eaaffd9dd65f1f329af41c9a2a069829e1a43752027b4751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7fec38ba5824c9c3302f4766fa3e22fe04be190ec97f1e11173bb2c1111320",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAmxehQLoLmOwMMSZvKP4pgGIsatLBl_IJYTkFrRuJucohhS5nk8-OPvdVLY99iV7NCBxCS0CGGJJq_H-nDwykYjEDRiR9vK0YkO0IdhzFQieJfDG6a8Hm-Qkf7w4Q27rhLLNbhdWaCYBjrvzYDZrDM0akLwbfNQ4ubkp_GF0m5XyR_2ssPQk3Ozkkrxy6EWdwOdt1zuMu71D_At9HwkNmZdvSCZYN_xxq4MkA1OtqF1uAGkEpKDmaYdSUBDuFpnoSiy3-H501gwR-i5q8U2Pku06bZMyaC4bBLLqN7fB_BND6aw0rGH2Z1OTglp4ucWDxBz8e_OG3QXRCeezVxqKIGgKYyrZ-D1-IMt7a5j3WTenz8Rj-zQQ9we9Lz_MEJ__k15UDSKeXKzLEruUdUZ_8sMnaPF2h0FjA8dtQH7PLJNCtzXk3vwdS0w5eMOF-6mPjmKY1w11FKolR0X3ZNMyG4hEA78RkP5ORLqdG5-bvTC0GEMmmQpdczzckHjrm9VjmbL19zLHJoXWXuP2WsuCwRtFldlKTPhi9rC7IPCf0IShWT7_tdmroW0Q84lbYl0dB_s5y7N81DZb8WfhoyhRzp212e3gIhlQTnayYwyT5IpSJpFBLUFTrsvzTeGFCfvuoPpSccNwN-XQLBPdsQ0PuAVTVfpZedRiWCb3YyTAs-4fYg44utsZTpedx9JD0n1bUHqcbbGSQs7a3N2K2OZejuLfw5HEh2qBwEly3K2Ui2d2d1F725MvNe4neUcynzAcZVPhrgyfy6jxAaYr-8U04roQ4_wf4aAio8ljj0nVx5Bw8Y_J4f7Qp4O675gqbEZv7re5wM8Jm6nnX68MGQQ_zoxoSigSNLOPihvia3lGJBedt8Hnv4LVuTBtDbGUHNSqd6dxO8vStrs3qbxllmOL4cJOzVYSzivf_hXmazGkwZvcU0DVfFHZtUnItBJ3w9yCbvDuD4O8-MnUkRz-7eglWqL9bneFZa_f6owaX1lXd5i-CQprT8Fx6IwCiohnR-8WZyFRgKjoACFltQ3vYbCS-0prUSfdYWvYhGA6jw1WXIl3S1UBRhw4ymbwBsk4CXlcGIpGExiZ4_T8cdChY29UvCx4A38wGqRLCyF70MNO51vb96JgZhQJ4nnRObyV8gCeZDJRMaD2cXbzVTSDXELNwjhUTkxlESD4HI7bKyYYitluLPEK50AtpW5yHNWx2goPrS1xrhBEuDD4MYLxd0CD59FAj0p2QeuZSa1wo_vE5SGxVDq1HK8A-5vtrKTgAn4OriIryoODfMEEc8zIAyZkl6w5yi1B04Hs9WKsVERN49p7LbM1l2suQuJAv9XQmzgb9Vkc2J_rX1FCROc6iV06R2Edyl-sqQj-HpjHQ7TjDeil6Gov772TSv558GVel-NgX1_O8YgBxLyL4MzSSfm0UNBAdm-EZ4t91RvMZLGb4yf4g=",
  "id": "rs_029df17d9205921f016ab45025252087d0a62b938b3d8e801a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the cap is visibly centered between the left and right fingertips at the closing row. I’ll close on it now; this alignment is much more precise than the earlier attempts.\"}",
  "call_id": "call_9qgFe7KEYvjFXtzzUIDoQPRZ",
  "id": "fc_029df17d9205921f016ab45025d22c87d080dc2e131a3a971e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9qgFe7KEYvjFXtzzUIDoQPRZ",
  "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]: [-0.334, 1.9137, 1.0084, -0.1051, 0.2695, 0.1879, 0.0106, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3967 left_y=-0.1836 left_z=0.0015 left_yaw=-0.7016 left_pitch=-0.3899 left_roll=-0.1286 left_gripper=0.0106 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -10.3726, 5.7641, 1.1502, 0.2125, 0.0464, 0.8132, -0.335, -1.4427, 7.0085, 1.6972, -0.022, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42db698a275f300f0d604ea40ea12b99745c21c8f59a47983f29da5f1e44bbf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbea05e18708977701897774f455cce65939d34da07ad9fa08da478fe78ecc1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86cac4b28acf625b43c2fba9f9fbcddfa4d0df6d209945cb9f0407bfdde3b01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 8.565 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3996, 1.7317, 1.063, -0.2733, 0.2401, 0.1131, 0.0094, -0.02, 0.8112, 0.6132, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3847 left_y=-0.2042 left_z=0.0725 left_yaw=-0.6906 left_pitch=-0.3379 left_roll=-0.1279 left_gripper=0.0094 right_x=0.2925 right_y=0.0019 right_z=0.1727 right_yaw=-0.0012 right_pitch=-0.0519 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.2256, -9.306, 6.0923, 1.3504, 0.1978, 0.0513, 0.7692, -0.1299, -1.2239, 7.1726, 1.707, -0.0122, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3347, 1.9003, 1.0088, -0.1123, 0.276, 0.1959, 0.9986, -0.02, 0.8127, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.185 left_z=0.0065 left_yaw=-0.7116 left_pitch=-0.3813 left_roll=-0.1266 left_gripper=0.9986 right_x=0.2925 right_y=0.0019 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.159, 5.3949, 1.2772, 0.315, 0.1832, -0.1587, -0.1983, -1.3607, 7.0222, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.334, 1.9137, 1.0084, -0.1051, 0.2695, 0.1879, 0.0106, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3967 left_y=-0.1836 left_z=0.0015 left_yaw=-0.7016 left_pitch=-0.3899 left_roll=-0.1286 left_gripper=0.0106 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -10.3726, 5.7641, 1.1502, 0.2125, 0.0464, 0.8132, -0.335, -1.4427, 7.0085, 1.6972, -0.022, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42db698a275f300f0d604ea40ea12b99745c21c8f59a47983f29da5f1e44bbf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbea05e18708977701897774f455cce65939d34da07ad9fa08da478fe78ecc1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86cac4b28acf625b43c2fba9f9fbcddfa4d0df6d209945cb9f0407bfdde3b01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAvxQDtLm23Z6e9mfLU4Kgy-i6vk6mhXah_MBu47YK77FqbJYXtrZbWwc6bucipQB3yV3DIGp89tFqjETmWQQ7aK_yzyMeyBnHT8AbW2k2KacfH4ygsw6w6hq2iFX9KqSdOcJnJhgjYKxsTFJxtukcXslsH7bxb71hyU7sIy2kljmTsXAHALfYlpVsaMUJ-6vSTLecRiRk7lhRl4bFpm5ojnGKhzkL9KdPD9w3ac69yuhlxFdXVef6qapkUnB_zFTRXQPK3ANmFoWavCGSo765892Y5esOd5I0HobF1IF2PWtIpNNnLMWgtFDLrjaFAmwbYlsWoO9Vkm7H4odjsaC9SG18WEannx4gignvjpW8UMUHT2Cvbq511dDg2fA9kfkUHAchGqVe-mDrB9bA4aouEd1GCCUar_wP5vT0JsTVT_Wu50eojfjGNi1njc7cq32K1YroWcEVf2oMZMqY8nIcc3_r5DrG9AZiWwcQIHsO4BpRQw5Edj0YSQGgy4sMJkEkySNV8IKGb-FekQQw21xgNqeEOmpN3DyqqiSLPcPVUavwshnt8M11O2HOgQiK2OXxA5Oqzl_EC2CCPgqyxxNEttdQls_jsvNJaBOYU3LAjHEa2vFxTGo6LdHGOWhYmmVgVww3NVVGtuckrFKLJsAu7yeZ7og526syNAtC6OrkuArKlv4q3m0-WFpz3ijMR14MuzdrBKTrUWbR70HpuR8GuY6BX0Z4WJRCZODpkYGLSQrvbBvPVEbkPVcvaQeP4OFfee6H9YZawsj-VpWkW3Kt2urnw1wlyCf7RYGMnQLtcZdtvzDEZ2bKlF6U31w1sH6-s-WYZVmxxaDCdjmeLy70jnezYvcBZx2fl7obRHhogBUBDhCmyh6NrlyKalCzHpFXnaNIil50VhDwtUb5Ug9WrfWps-Llk6Yfw0WEdjHP6YmnHRL6mXyESta1jGOq69HFcSXIBfDkq_18aNkbPMm3CeWGsv9zWCjiAlDvjSftEjk1UEymEJ7GRLI0T8WERrS-OJdoerF_RygCys0vhjvjHrmTQvP2Z0Dg9DiiZ-1OxiEWrpavS6YcIx9oE-I7ZvQxY0lVNnJDepCpmjT5-3ib5QKbRt9iBRrRISICVCcEvSpkq-ulx0bU3YZ1hJUKllxxJTIdTmDX4plALk24B52GNzj_R9rQ5A-3QCFA74n4LBEHgnTRCIML87PwhSL8xLvEy9mINlfTKzGyWSMl1L5PtZ5PjLf459P_BUFQtR59lsj5UIFx4-YORA-i7UNbkY961C-9SvmQ9rDZOg3bDUe4kuPlJxuV3pjttOkOFSsvk2C4CWf_URIRKMaI7MNkNyijPv46INm6gn8ddhjDuoBZGMCkm7ZUygSxqi0lEVkO0e12lVa8SgsRkVfBVpFx2lAkv7oPxzlOs5yi5RhZWBSLnZTBBLPkSzVL0qjovOikF7s9woOgJIpfCuWfQ-P79TEgH6J1J5_npnZV0CrUgUTb6fPNCPaM-Z86rPtv1BDRbjRr2n4BxFFpt9SgVqSPNrzuSjmvJxaltwX3ZOAFGAYrx3d83VfHQTD-ZTBY4zJjMVEDG8BV-DCm8h7M3oOFyL52jcfJTRnRcDqTopIYXR1YHGkNSOP7iDSh_8IGp49dAZEzmk5FCR4rMeZ7So_N6Whf15Cxza-_3O8cvD9YAwOtrPQ4OWvhE7PHYkViYFp8yFan32pTf2ERvk1mYRnGVQoYA1DA6Ci4eiEnSniyZmVbvKMtQeBmiHjKvH0Etjkh27qW6cLQuMceZ0fDlEwfj84HNFi-n-LCwiaTTfJsJ0Po856YjiKKOn_bXsIWtyClWal8pZAUG6F5LaBJZDuNMHfSrvMNyFiB80OXBMyTbGJLQdEle6xkPYyOwh9BDxbj_GI-yRiwIeQrnGDW-eCkdhYkp-nLuHOCgl7evDQo4HooRw7y1uivUj98D41lDOUtolVA9hJBAssgyu_d_UKuy6fyEeQTs9Vd-3nFGE9Oz5_ovUTSaIiL-tR3qkIdzpc3_Rq5nOjY00wuYjKJwOHfNBw9saw8G_FoGjB9YFsQv6ND-o-DTNw6ZxOKowrfuP0nq89b4-mQmOhy5PpzbU2xPChAxzjvMzoEdLiexpr19YSojotHOKxBUDe1mBjkPHWbGJxBEnFVrJX6B0g6zjIWQswWrlKQqzuy2vFmGkEFFlmhjm4M3htyLMHzyktVgV95wGxzsiNiWZbE8GxoXPcQmLAVxtZA-6eOB7Vq_UJQwHYR0kMUAQfmP9fcxLimSNdGxQzccFMc2wTAN3j9QVtT-g203Rtk-31QaXejPhXMpTeFAVvOejC_PEwezkuojYhGjhN9cvlGhMcOUYM91tw6snnX3ABML64DThYblOkk8RCXK3DZKuWS2PIjMTssjldR7Sb-XeivT4Zye34bNvH5SSByH0I8BXM1SDccXl5nwd_RvvJKuAxO2Rg_2owtXlxDZYOiFpGWqz6khbtPhTp-xRBW1PdPts1pd4U9OY6JdoN94Lpb5xaKHupC-PXuCciBtmpSW3n_AjlQGlQ9KscgQXPLNtvEGWNaewQM2hWQxTnbvKByGzTItWd577d0Zmi2tU654oR6fiDXyfLi4yYikKTeBbH32n46Gv0GGrU_WP6bqglzR0eH1uVxz2XarHlAC9yXA2PmI-j7qziJVaC5emXc4s__9lfu8zWJZ2iwpNDAXcpS7rF_hD5cs54LiQMolnShsANUPy7hfJRhDjQCymqVUjgyT27G-nAFWyjxrxPAWkfFLIFkA7O3flin1PYnBs18BZJ4QW6BJPkL0zhaK3o_TUd7cMGywSNHVaQTvkGxOu0QoG-3VebvGqcuG6jbjM-Ql6hpkk_Br8vDWjaASm9s6SQPBqBNbA5f6sEUIVI7sgzi_4yA8PXJyYxnZopywo81STZ34YhGBp7sQkYiqRLq01Sgot5OXDP5SDgc-aOTag3nIeDn4JE4sTFmBh17xC6g7rC3m2IfO-zOden2QDciruIV8R6GYaoCAQA5bOCm9A8uT0ASgzZU4oWQt0nPP68d_WjThxJ4gpx0GnuvZUp_ZCMzeeE_6tWg6akG-Cz-1bhw3Q2cGxAQ4HdB6d-MRdJjxlGWUz6J84FDkhn_6dV-BIO_vXc7J3ZJT_MnFHEqTi1sudeymtTpRATkiCxE1fGVIEfYPU9mf4TP4SYJA_LTsf9xLzkSMkKdGRmRPoyxOuJiLGp2pkJuIOn7cXfu-hwxt-3EUHF5UQYk4uA9GGWcMy11i43IGJqpdwjrRls7xuYyUCFVxXd6BO5EcAU-j97gVvhqxBFYkSKzrtw1UKOv8Z4CPlGd3SX-bNmzIXEgvW6Gn7HImWD5U5rrrh4I6Y-GZyuRWalAmpVRJJRalizQuJwOfrLMVvtDX3WOq9cN6TAQ1_V_NlJuBEFwkyuxQPiLQFas5OYWflw1QM5X3hztdFWQAuZxMiFM6rJ1_OiiJvYG05CSWH5YjXmZbQmoxcq42biDiR-vIiP-_9--BFp4rX6A3yw_QUBVvw43T0WT4E55ZfMaSFy0pV3tzqHOGofuFJZfWiSCl35hRTFjMkUVh91apCy6ojc4mUW1xg2JQ8XeJ2vGWvmOOMW11-S0LBCuwJXRcvpmmgcBb8lTe0OUovOUX0M6ddMQ6UO8cIW0GUZv2s18HT5y6z2WDeKFGrBIAnXEkiLrIASHLA33MyEWb5skM0tXUfIp53QtWm7Xkr27scy8uEUTM9PbhFOA11l9-htBO-uO31Cycfaf5QywgyfGrYXe3GbIee_sB25naxH7_GTUewQWpeX5rYlzT_N0yIFkUIGrpeS5jhj-1AtxQZsgQbZsjBC5nGK2CUh1vwB1TtQ5DMcGkpTfWxdhBDXt4cVWYcA_LgpEhGqNFEVaHLnGRYED1NzQXcZt1oupPi7ByLraWqq8XNJ2LgRiJUSIGGF6jGhMrkhPz3M70O6kgMbJ1u3i1Q548W8QDRijNjuD7cf3uKFO2c3zlEThzM3Zhz5vT8-pxZMXHAwqnpJAkLVo0IylWNt8U1pNN-NuqWQ==",
  "id": "rs_029df17d9205921f016ab45029096c87d08307222ba2c19cce",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFAvlvUN_WcO4Q5Q6Igabhbb1--ZK2fKWOOGrbavMyRkIgDhWwvK_5zIoGhCVPAQ1as0NNw0XHnDu_QxuWHp3lShFqyfqvMTukDBAwtmmN5cJSZ6YFIC8q5AMR4DjcQ3XZrhI5bGqRyxhLGSaj_W344kBh5XoRJ5_Tmv2GQha5jRADQ2it8ZxnAvDb0iMiFsWSCJOP5vPET4z2s0I3_LL0yFkRFes4m2hc-5GMNx4ls3NfRvX2cbaLNp3HbQroqkqc3N92V8v3acheeacYom3eFrIlEju5oYoyIgOE5ZIZkaLTgocQCz2-GwoMV-PR7J1oZe3oSUN3dUqmdSEyXJRBLVoEXB0bIcZpRgmUriUO2Rf-Kwj9r_9zhHYd7RkZ0vZs5d2FjtvTba0jr_n7T5oS_TVZ-TnpQebAqy6bieOQMQitzha7K0rHg_iYq5SHomIYQipZN9QQc1drmZoo-l8xAO1vfc4b66hHLH6QasHtcclEqKYA76v17B14fa-IEvLvk-A3_HYhZvhQ8Vy-CVVimwMb45lLY1nwqCx97fIjl2JCAKAV4uYntMltzYvr4Hbapl87Xj3Go2kej4HXuODLoztcOEhhzGJlWSukFBIwHh6nhm_H2E32C8RXgIjGU9iieoi_7dXf9UVbRCbARmFK4t7j0rSvKW2RM7RjXoy7yx3SsNDSEnJZzB8hk9XuTJAQ3IchBbKblsxQsmkMTqkPAUqFCWSndfLALlg-Kv-aRmI8LnbiAtzCL5Wlfor0Mtfp4xagBGk3dfnNLqM5hd_C1LGRbfwTEZgFX-nlJBRk0j4TD8hnRrdyHqMyQfEUhbci0Sr6h916nfhF9hyMWVkOgk3l_IS2qlXkcq0PaagBA0tPOiA5Nan5pR0ny4BnF59Ohq7pokQLOKWYeYJBDy_KVpEKMnHXkPRIMjAwHaAGIjNDj1BXYBxKehjvL9yuNy2bcWGY6k7z_Q3fPzA00TuYeDwJ5jKieulcvRpPp6Fwe4FWf4hS9Bd6ZM4xrEbEwMkTmKHN3rAo7tfidZ2BO_PBgvsqh9k5-jaO77Fqv9ZbjuSrTJXM4ocbyFXVjdESkXC95yWXc1UA6cSiWgMa7n672Dm_Xv3Tyy06o3vvZy2uroQCP-uL6i_5lgcQwO0pmP8gqJrxvos8YrA_kYlgJqsM0wjDaNEAnZXcNk6j3Fm-pCo2Suopwz1VDnIq5be8PYCXzGn9SPEXWmq8DeIO0E5yH2nsfvztN72WA-xkSf032Of3tKelnUMA-yQZgGGk7GR7yJudkTE7Th1EnN0sdaKhv83LZEjw96RfVR4poZH27OEaCFPJDpoIaeukGgBC605mQMX7tPbPR3seDWtd3b1IFnCIObiRVOyiErn9nNYdhHJ5g=",
  "id": "rs_029df17d9205921f016ab4502dffdc87d0b00430e5e9dc6024",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"The jaw reading is again essentially empty; the cap likely slipped out because the wrist was pitched about −0.39 rad at table level, making a thin round piece easy to eject. I’ll reopen, lift, and command a compensating positive pitch so the fingers approach more vertically for the next grasp.\"}",
  "call_id": "call_Tojx85p2ZmkiGb8pUaoP7YA3",
  "id": "fc_029df17d9205921f016ab4502e5af487d09486b5194c47b943",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tojx85p2ZmkiGb8pUaoP7YA3",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2527, 1.7599, 0.5713, 0.7902, 0.4782, 0.0231, 0.998, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.393 left_y=-0.1818 left_z=0.0785 left_yaw=-0.6841 left_pitch=0.2143 left_roll=-0.1502 left_gripper=0.998 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.4444, -8.253, 4.9299, 2.044, 0.2222, -0.0024, -0.0024, -0.335, -1.347, 7.2, 1.7363, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfc40c4a818c22c12af37e1ecde337c50bd8ce58f7daeea0dbbda4ce4faf976",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c9ca325bf42d2ac55fc798b21a2317e378c70fc264624925f4528756921d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8810923fe49dc7cb508f89a7681dfbf7a4c1f385febca4ed8f495449d2a6ab27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.23 s

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

message 48 changed as sent

message 56 changed as sent

message 61 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3645, 1.7317, 1.0481, -0.2775, 0.2436, 0.1345, 0.9952, -0.02, 0.8112, 0.6128, -0.4133, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.1892 left_z=0.0665 left_yaw=-0.6726 left_pitch=-0.354 left_roll=-0.1229 left_gripper=0.9952 right_x=0.2924 right_y=0.0019 right_z=0.1725 right_yaw=-0.0012 right_pitch=-0.0522 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.4034, -9.7709, 5.9966, 1.243, 0.2076, 0.0659, -0.1148, -0.1846, -1.306, 7.1043, 1.6874, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.334, 1.9137, 1.0084, -0.1051, 0.2695, 0.1879, 0.0106, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3967 left_y=-0.1836 left_z=0.0015 left_yaw=-0.7016 left_pitch=-0.3899 left_roll=-0.1286 left_gripper=0.0106 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -10.3726, 5.7641, 1.1502, 0.2125, 0.0464, 0.8132, -0.335, -1.4427, 7.0085, 1.6972, -0.022, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2527, 1.7599, 0.5713, 0.7902, 0.4782, 0.0231, 0.998, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.393 left_y=-0.1818 left_z=0.0785 left_yaw=-0.6841 left_pitch=0.2143 left_roll=-0.1502 left_gripper=0.998 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.4444, -8.253, 4.9299, 2.044, 0.2222, -0.0024, -0.0024, -0.335, -1.347, 7.2, 1.7363, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfc40c4a818c22c12af37e1ecde337c50bd8ce58f7daeea0dbbda4ce4faf976",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c9ca325bf42d2ac55fc798b21a2317e378c70fc264624925f4528756921d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8810923fe49dc7cb508f89a7681dfbf7a4c1f385febca4ed8f495449d2a6ab27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFA60Me2bwefd4LAhz5dVtPjdzoXwwkQGqAK0R62LWBnXY98Y7v6qkRHsT-CybWMzOjHOHv2kjfa9J_AIMJ7KUaj9cx4K1jvTeLrQE5jlVTdzA9SmjwLf_DyYYf8ztXi1btCxBse9N2v366aTdiUZ1JT-J8AqEA4Gehhiut6V_4y0y_LHb7C_KBRU5eicqmTN4Q4N9I4MJjzgYqALiC3YPaHkDiaaEmoYW9dkLICsv1CKzkmvsNhiv9OST39FdqhbndsOO8zDwpf5r_Zne3A2v6EqwlxZgtssms7APcExVKn2OzZSOIfM1AzSg4TQZ-owQ6qrMKJnyCwyDq9jR5ye6Lqule5ynJVASCaB5okiH2tRUrKayOGgX5C4zfWrWgfCrSU34BfsgHzigI2nDMvJsV_14mpCWx-PocmpRAjaHfSi3XE1qM1tRwEKJlKUo_pPoIVlya2mlSXW1E1ADJN7x7Ay1t5zbQ40jNZf3BPIeYWSF0iZirU0NNUW_3CGSiPRqtPh1E3U7KmewxafK5wisd7MfEYwh9EEuDs_kXPY2ErmnR84tsEQZYKqWJCrsX__Buz2vPmplmuQZB8f4uQ9gO8lsRiexfa95jnoo-kBsYQ9dewLvhxpFyzprmBdzMcgozcP9vmPa3gGHB6Q4KA_3rlNgOySRwajwy-kockoXPBQoV4-vAnOk6b82Ij7bUI8wwM_5uVSlOYm9HC1AKY4Ot7LRhdnIioM89xHyg83cuslIPW5Bdf5Vck9b1p6KpP9uNfH29n6BdEqGBEt9eM5zqRGQZ4-z8LKv4B237WZ-YgSTf3ACo3X1QzURS3uzug8XPwt37YQPocPVw0AG2KEfFpNzCVWYavLE7hu730S3DTsbTO8AfmRdo_B2AXZOxvepSbey8bBkcZlr2KjYxxiohgIBFmc-TPpEuEnLDF8XstZPJmM73jlF-VMYmVR44ZSK_MugDWha6y9LAb8c3yxZ81XAldGqxwHXqSmh8nsCLTiEnqu7fdzjO5FuJyEKYAW4VrGIkWoWAueaw7gvgwcJ6EOFFWox56obF7wEgF0dITLOw8JjDxCovy33Ra9xohewnmVYnMTWRNWTskNTdgoNEY4Rz91Ui-Uu0-SQi-2_p6QXPuq0-Qph_fuueeW64T9z7PhW9ZGCR0PdPE8I5rvzF7yxv_wQnZ3gRf8HkCVrzWCbxNUo9lGrYg0SQkFirP0-X7wpNh8fKuTUnK2CLoxd6gWgQUqL6qtiz3tdj9n3KXy6eDh9okQp1Lq-koVT6CnDE-B6CNH_cA1oAgRqE8wOK7kVS4aWGTvFplpD9tAqzNl-9HUqCDolRKGwhsVarAdsqx0F-GczLqJTBztuGKe-W8Iojqsb4h-LXTZSwnDWFibViR86SpjpDD-msWgA1XflMQ6K7_rGdSmn5-H9pik0tynnt6if03qdcEpcMNIbj39h7otWo8tM47E0tupKngFF-H1kzOe9_ogNNLlkGTC1_iPyjy1bY6S6iggG-pAXUqgzpl6m-9FU6T6m41SsWRsKCt9VC_rldqWhxHlsB9QOaY_VuwJEn_khJiM10xwLt_ZYEWMiFE7GYoBGDnwW6XFZED6SN3GgOrMDiGR845q86uRo_UjRaqhPT--8Y3kp1mL70GFwtMtSxo_nymDtgthHeYZzQOJXfIPVsqgfZQ9i7u-lqZg2OTogUoJQBkvEiiWqDU-jIjg-Xre2KdX4S-Y39xCiB1OpwaeJCJx7VZfWWHjobgBBwMrBuUcsxeb6H_mHWv1ekI5j_-P_S2gZMASmHx3JQFbYjLn6NYlGdQzZ-sxoT-6XobGQHcb65TSJg9jBsvTkwVC0GIF9JWa1Kn24a_i-xeajqcZgXUMM197js5RtK7ZxOsvBJrGom_Il1zJdNVd-cCqhd02ttlqcBJc0GGmVgWB9Vzy1Zk7tJbp0kQy86xs3SezPcfVXCtB6s52Cw15bW_gQg69HTyBk7pR1hnIJXIc67q55lLWAmFBwQcloPG9g4fZYGbouohpCuJRfg9H5FwMwcljS1VShklLYP9IjXVy--Wrb8mmmvCdvdAI4HkBOLFJ4TwCPavnpqWMvr0QaGCkquDTukndPAHZBvEi3RiCYxyTzWG7g0L1QPZqKxLO9BP80vmQOxpz-jKf11SVUpqQpvhAudpYeFRbHBpzBacR-BsHHAYXsJgEMUFXMu1neIUNbQARG54qSF0SoKOzgIqI3ylSeZxzJY486WP_glUOXW0XzQe1AN95Et88YaOEELJ2rsPVElnq1kQs4edD_MvDW77E2z_2Y68MsZmaxBBXByJfCPO50-ouFxJJbrjByUJrKa9nr0CI1An7Pvm6rY8JSIq37Nwfb_ljzu_t5AH6N6TAyj5iUOadFklDd4oY69h8-ibPPFESnWwSpKNwhbRL6AVGSoI6PFdUuCV00aU8F0vjgH9Ra9QUsed6wF1C8ff1e-bZpTH82fO2SF_w-PAIGSniRNqOabNJq6S3b_bEu3Shbjy5LaunKbSNX3S_7ef-LrUHjvIi96fXzWKQ5wYDR050zOizpSuaEzzmN3n9kNngc3o2zbncUFMd8kmJ0cMTKj6eTgyz_FDSOY3wzXpdPD3_cbMPs7BZ_kWlni0CMuncH02xG_a3MhUY3PZznIe8yxZmH_KxUeocd3A-jsDuZEF2e4DyCL_chzLtV-gYyaQSVW6fi3nJ4BD-equpyiIn56V-HK_IE30wvt4e8eL6aCT_qIpjZPKc50LJ7URy3QR3q2UJwAgh6oXDSF4IL6SxQ1gFH1pnj7o5OWMDtEwlYMX_Yluxu_0HF5wld6tQwxdN21Kj4lMb7bScykaBRm0qFtoDpWCeJR_I1d1JxS1tobl54CjQ2RIXd3X7moRj504mUOQaymELnyk1g3HQsC24sY2MGDQhARQKzrevEn4puzpJ7CUujWq4ydwCtRMrYOjoQiNU5MqDeGJ2tpO8A7c7BqAuWsNeMnLHDRkf794ZuydGWt1i9V3RL-3quIWdut_5iTmWxxqIl5d_P-8M5pUkwQyvF1YKky9OJ1cjnzM8_qcSsszH2NfnjHxbEZfCmlg4Efne_IXpYr6NrXuwA9vmNl9zS-WC1qgTWLnUgqM0xJUlfZ4OOzwkT__lS94nKo-J1J_3NnDsCydBLj5qUAeEwJGVUL4QBMfYbxL44TYgnnwFQ2DC7ElzxtcMkqRGtUtomwjllLRNAV0fytyqdBTidwJ0AiXumEN6VWfpqtqvzuRMXDyH0AUhxuCKZCgBgeVEHW9fEc53gPdLNXZO0n32G1L0mbfXq_I6mFCMVqF0yBcjiO8odoYGEZErCVOQyq5mhT7IfNTczdn3IK1Sjj1x-mMC6JZiGJukUcuJvqgqMmGBrqieBhHUe5--EhywSn0n8grMR5XTU4Awuf2i4X2WKnnSpOyRqC50GZ4U_rAfTbXLCNCew5f5yl9kBOodOFG1A1cLe97PjjTn6j0x4ZLrry2Nejd3lMWlc66C78yLICbHpBTPMrqprhg1Yu1LbVihadyi8qrQeaC2KqUluy4H2HfLcWEF8Rv3YbXtLIygyTyW_cJXo_Z7LdY9jGJeeobaUoWaKDyQqll3tcNY3taNB8CEPasZm5cz_Fv6GRgyPxBzMXkUvM1VAZVwYj9UpwLLjBW6rG1jMsNUw==",
  "id": "rs_029df17d9205921f016ab45032e5d887d08a5cd668f8102d9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.85,\"left_pitch\":0.3,\"left_gripper\":1.0},\"note\":\"The lifted wrist view clarifies the objects: the black barrel with a gold tip under the left arm is the pen, while the thin dark piece near the table center is its cap. The pen currently appears parallel to the jaw-closing direction, explaining the repeated empty closes, so I’ll rotate the wrist by 90° to make the jaws cross the barrel.\"}",
  "call_id": "call_8dsFnGVPUoU1n12epxhQ2IAu",
  "id": "fc_029df17d9205921f016ab45039296087d0869f144ef9bc6755",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8dsFnGVPUoU1n12epxhQ2IAu",
  "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]: [-0.8452, 2.1876, 1.285, 0.1658, -1.1648, -1.0546, 0.9986, -0.02, 0.8196, 0.6128, -0.4171, -0.0242, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4395 left_y=-0.2454 left_z=0.0784 left_yaw=0.6048 left_pitch=0.2722 left_roll=-0.3478 left_gripper=0.9986 right_x=0.2923 right_y=0.002 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0644 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.3179, 3.3162, 0.525, -0.7839, -0.2222, -0.1538, -0.1299, -1.4154, 7.0222, 1.8193, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7984357e5f9a3d715b2edf5f85f5414a9fbb54f26cf97e2841ae28e6e961fb41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebea86d99f544fd714535b5515f93d060248ddf26f64ee2e9f48f78def322d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:affbdafcabfff43b5e8e268dbca39feb08a647dea06aaded42191679c0862b02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.481 s

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

message 52 changed as sent

message 61 changed as sent

message 65 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3347, 1.9003, 1.0088, -0.1123, 0.276, 0.1959, 0.9986, -0.02, 0.8127, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3962 left_y=-0.185 left_z=0.0065 left_yaw=-0.7116 left_pitch=-0.3813 left_roll=-0.1266 left_gripper=0.9986 right_x=0.2925 right_y=0.0019 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.159, 5.3949, 1.2772, 0.315, 0.1832, -0.1587, -0.1983, -1.3607, 7.0222, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2527, 1.7599, 0.5713, 0.7902, 0.4782, 0.0231, 0.998, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.393 left_y=-0.1818 left_z=0.0785 left_yaw=-0.6841 left_pitch=0.2143 left_roll=-0.1502 left_gripper=0.998 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.4444, -8.253, 4.9299, 2.044, 0.2222, -0.0024, -0.0024, -0.335, -1.347, 7.2, 1.7363, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8452, 2.1876, 1.285, 0.1658, -1.1648, -1.0546, 0.9986, -0.02, 0.8196, 0.6128, -0.4171, -0.0242, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4395 left_y=-0.2454 left_z=0.0784 left_yaw=0.6048 left_pitch=0.2722 left_roll=-0.3478 left_gripper=0.9986 right_x=0.2923 right_y=0.002 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0644 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.3179, 3.3162, 0.525, -0.7839, -0.2222, -0.1538, -0.1299, -1.4154, 7.0222, 1.8193, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7984357e5f9a3d715b2edf5f85f5414a9fbb54f26cf97e2841ae28e6e961fb41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebea86d99f544fd714535b5515f93d060248ddf26f64ee2e9f48f78def322d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:affbdafcabfff43b5e8e268dbca39feb08a647dea06aaded42191679c0862b02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFA_xYkjcI9Amot-ttwntvcIy_QhIV9zRsLFpxy7h-cNsieWYxGhX_EzfbtABML8viZg4AMWwFHgdTRFgQfmaM_SjywrhIn5s63odIQx6o1C7VY5igzs6MglfGET5G7va2lSi4fDt8RZOfAYwydYv1Zbq3JV5mg9EWsQSsLVER7GXLU2pGSwevcFlQE8pb8GcGXtpN11KYcRLIhFHgQAH19Eq6NGvt10EAE6fYtMynRMY33F5s71xwfim5J1v-_aRAwLQUKZ3mDmI9zWU-UmtwnlajKME86EV_T4wzEPuG2FiPyARMwp11pbG02x4ibYu6UgCm-D3oB60mSavRWh2wMj-FWAPlvBG9MlYbKfC6ua_v5Xn_L6qaaE7usy2mUbfvcRX9hv1KEVJDMgzOvwWVSewbncECMHvetEF0YoH-McpcMPkhyuR7a6LQiVZxlPd_LZzJsfiJezmnqUaj2bAc7yg2M1DQQ1a5U23ZPjNWFGSdGV3sok9_ECPd61ppSCSXIvEC_S8_Y50uzhztaqbtsm78WvqnKc_GSHY9IZ5vE3U6Ugf-2M7QYBzIc-GomvbrSVVZGu-zQ3Ax5E5445fkoGTTpN0O6faaFkHW1nr28x9oQC2DfzPu7G70cXnPgvQhkJycNoT6oplduNJYVwHxP94FwooM_MUY08xbt1Mpa00zreIkQxPXMY_BzvvZVdM3HQYFdEzubyAQ8KMktL4ae0ygbJyNuSnoBo34za5SL5JXvnUkvOttK6gPOrF1C-M09wGoa34rdD3oEwNcz65CcD_YcAIIsqhaN7gkVOYhKT1aVsnVA-EVbe7QW4OiKnduQnYn0DHUd6rl0c--vWJftkTKWCGv_Son0d8nHfIbE6_mEMKB_8jhSkLMXlR9xJ6h6I9EYB_ukCeq6uSNwswkGBHUnIgGyy9mwQnB-K393E2BsyupdsqsY7A_61m4D5G01fGrf4w2xKNaBuwgxgWCdbBZXtmY4xWhoWTMxZztXH48TzZdgXYQDf5LNsCtsLT1S0zaXfseRmqhOYfVPILc0FVJO8uNi3iZ5fdigBpF7oLZHPp5NyGOLNrHIlNDIDC5EAedUlg7VlmJO7tE37H9oVbWYL-Q2gQ-mK-3_9LRj8aXE717b8DrVFhzdDs3UyA085wZZrokUNx7UqoSkeClLTBnLiXvj-WLsBjVZEmdWpvMQupmBmXiYAAYVzHd-y0_87x3fddvbJV6eibICJeIEyicyxngmN6jbk8fP64metALtO7-75dnSoBTFKxYZpNoYhtYTsxo6jP_h7SMdRPtgqpaZSt8obRxSeeHupxCWrg2j6-F8tZBrCkcInXc46O3l0YT9lwSOJ8atopecG-0B-50l7x1jDL7HfOfk0g-Q8vfzg9gTpESFCbFv3yj0c36c6tdersfqUwAQDjNXr7CrG0hYkGHI0TC7WvMee6ODnw5McJanMh34doUTe3slTlQO-53k4ypipCEeLy6b-cDXbi1tUNCv0yfsp0omKpgo_coPs8bDbKjEGLVkvluJOyRgvo4QdHq-D6E67e5eVAIEwsgSvXerArItmlLVlpSC9WARLtTT2CAHCysnHHGOhNbEFowmPO8A5TjEJnvBFjWHwrBX_B6DPPsxnzuvEgsYBGohakkj0SEcte9wgkXtcQeru12BEW20ijgmu9-1N-Q-K7iiw4ifW71RvSLtJkTk3jc_bMgeXfOLsiODoM9yUkK_pTIt9I0V-CKy0kJWiKZlmRY6Fc5X8-aCsD6n7jI2D9lXipkt66X1gi8ac-Sb_V_-f3oXSUIFzUmig7NTxn9EML7EIIKX_kbJIsZAzKk22hjef_nS5QekzvauHHII2pK7azfwtaeg93EmfJt6BBW-TMGMnzAEh-y8TCbbnD1Xcty4=",
  "id": "rs_029df17d9205921f016ab4503cf56c87d0b894a78c1918bd52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.15,\"left_yaw\":0.85,\"left_pitch\":0.2,\"left_gripper\":1.0},\"note\":\"The large yaw change drove the low, extended arm into an awkward IK posture and shifted the grasp point several centimetres, so the pen left the wrist view. I’ll raise and slightly retract to a more reachable hover while preserving the corrected cross-barrel orientation, then realign from the camera.\"}",
  "call_id": "call_vBb5MnRRHkQX7zdmmFnFyxrP",
  "id": "fc_029df17d9205921f016ab4503e41e487d0aa2c0ad8fa252530",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vBb5MnRRHkQX7zdmmFnFyxrP",
  "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]: [-0.8543, 2.0094, 1.4006, -0.6434, -1.2201, -1.6344, 0.9986, -0.02, 0.8227, 0.6128, -0.4194, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1966 left_z=0.1361 left_yaw=0.8085 left_pitch=0.2019 left_roll=-0.3751 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1681 right_yaw=-0.0012 right_pitch=-0.0698 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.7111, 7.7607, 0.5934, -0.7204, -0.105, -0.1538, -0.1709, -1.1556, 7.0769, 1.7265, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970df1829b0efa83925f7baee89b26bc3d507d9473a6a24999e47d5707036e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b794bff4ec36e77a78f9037e2a385385019d7a6c93710e82de34217992dc45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150779360105b40ec816f16b219551079b4a68e08b449e1a8904a414b129d072",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 5.356 s

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

message 56 changed as sent

message 65 changed as sent

message 69 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.334, 1.9137, 1.0084, -0.1051, 0.2695, 0.1879, 0.0106, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3967 left_y=-0.1836 left_z=0.0015 left_yaw=-0.7016 left_pitch=-0.3899 left_roll=-0.1286 left_gripper=0.0106 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -10.3726, 5.7641, 1.1502, 0.2125, 0.0464, 0.8132, -0.335, -1.4427, 7.0085, 1.6972, -0.022, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8452, 2.1876, 1.285, 0.1658, -1.1648, -1.0546, 0.9986, -0.02, 0.8196, 0.6128, -0.4171, -0.0242, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4395 left_y=-0.2454 left_z=0.0784 left_yaw=0.6048 left_pitch=0.2722 left_roll=-0.3478 left_gripper=0.9986 right_x=0.2923 right_y=0.002 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0644 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.3179, 3.3162, 0.525, -0.7839, -0.2222, -0.1538, -0.1299, -1.4154, 7.0222, 1.8193, -0.0171, -0.0269, -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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8543, 2.0094, 1.4006, -0.6434, -1.2201, -1.6344, 0.9986, -0.02, 0.8227, 0.6128, -0.4194, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1966 left_z=0.1361 left_yaw=0.8085 left_pitch=0.2019 left_roll=-0.3751 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1681 right_yaw=-0.0012 right_pitch=-0.0698 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.7111, 7.7607, 0.5934, -0.7204, -0.105, -0.1538, -0.1709, -1.1556, 7.0769, 1.7265, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970df1829b0efa83925f7baee89b26bc3d507d9473a6a24999e47d5707036e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b794bff4ec36e77a78f9037e2a385385019d7a6c93710e82de34217992dc45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150779360105b40ec816f16b219551079b4a68e08b449e1a8904a414b129d072",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFBDLTYQ3n4WHPn9RtY8naMkbzoV2_W1uHUVtItXjjSC1HRx-X0tM8lbHthD8goCbQkWzSdFyxHJ6FVb9lyaRWp0EODpvtq70ORpx2Vi0vYHE0KCsIAMZeaH9G8x4jyxOv_QOhZ1_8thZy-F0INF7XxqtHUNg1GfEqqOxBaFhaqNeyRKlEzsDBfxPVtatELfXeZBg5IDIuTOFQKRrD5fymzVjwcg29voo5PomE9ueasrI1lifKjToCH-VOQS1B8YaWx5Bw1eMCFRcYKRlcGJizvunBg_3ltTC8vyTKSbMpTlPrTJfyWQqjkMVBHRy-fxeY2pftcbv-G_Oad18jsMh9Ij5xNDuWdYiZDjt-Blw03gt3xZdJsVvODaZvZuw5H8OzzGhOzYV_ZkEoSU-k7Q9hv5Sp7F8b0Z6yJP56hA8UveHpITEvL9QcclZlCYvDs7QEMj5kjIhhgzmQ07znS0_jnfzeEHZMqOHxbyYcKiDYXNc9JfM402tcHV1NIB-OYnlhL8OBrY4LDFg-UaMfSCXhs9bw_MvQ1NgiE5NvPetOkgy4AdbH97V7qN2fpSTfurzmbiJqpldDVQsIdpaod2pa68BymG1RtotbeYPKvnZYGAITW3yy4s7OYw_6WNUWb5H049o7nshL4nT3s7Az9yu5O6Gcb7kwMv0dplXD1KglDUHuGG6sWhnwisYm4OGjAhkEebiu4xv_0nQ_OccT9Vhzv6tTroX5r1vhzNtJcn8xi8SVeqW15hjzJkqDRYBsEqUyUO_HXL4MFGlu_LHCj7Dk4JO6ny78f_PX1hMLz40_aKXm0UUpzb_df3PAEdQ4zy5m11aWMIQpDb5mn2f3MYkpEmt83rHavAi2hv1Ec7CajyDMu4wjLYjflmDAocJgQlmfp5ErgjcaL8_dh6Z9tG-cdiYxEhYsjOIHZpAj2_U6Zvt9TlQkKv8ax_aA6dTOgd4mC9-66iIU3spUeou1oTsZ55be67z5e671I225RSe1SskQsltG_dZJzyHVEX2OIw1K0yLUPehUXEHo-kHBwyTDLYjJpZOzwUrHl7kalN3vBCRR4j3l7VLIe6D2B0PWYjZcnKDGrgKvXiEJTaXR8qOIy2w-Ey33QidUQmSrmaz7ynBxXLpPWWvZG42IcSaE6UU-lJ7queSHXz3JkVI1vsBjIKA37UpdjNeVKFPg2BOkdCqr4jKKQm4hrUkEOA3LLq7SoxWzgOksEmyWU4zAjF-OdF9mfiT8aGXpl8-HDcPP2IU7FSJu_mnQaGe8tPrBmH2OkjVoGdDRKBMRU9SkjvIb4EEtetXa9tjbb1ClCQHyViTLUDxsKoSzqTMxfKpD8pNv7dXuwN7iqnAIpUP-9tPyKgrh_pWyduz5X0wnCkLWwkHS7vdNCbDE5IA6ZoNUWJePhr0OvGIU5jLtKw8DrMKQYE-rs9NXDBL5DrGaSsVXV9mYq_3VPyRNloEEmY7lQggdEBAAUqiCynlsEuEMwgA51DUW83cL6KgFhseu3N4LdK1zGqrlQ85V5bA1O3hwMDt2qj8HwngGwPqY-iWeiBenTYOXjfw0jEhMLI7JpO6RCAfGdTeBo0L6_2i99kTaKlY9zpcNIVpYXxbW8XeHI0VciJxw==",
  "id": "rs_029df17d9205921f016ab450419c2c87d0b48313f2f9b26d5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The corrected-yaw hover still leaves both objects occluded and outside the wrist view after the IK shift. I’ll park the left arm once more to expose the tabletop, then re-approach the pen from a stable high pose with the correct yaw already set.\"}",
  "call_id": "call_KcibtRZDegw28qZhEUe9ClXY",
  "id": "fc_029df17d9205921f016ab450426cb887d099e9a5fb29ecb89d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KcibtRZDegw28qZhEUe9ClXY",
  "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]: [0.1566, 0.8455, 0.5491, -0.2653, 0.1921, -0.337, 0.9986, -0.02, 0.8288, 0.6128, -0.4351, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=0.0175 left_z=0.1659 left_yaw=0.1607 left_pitch=-0.0216 left_roll=-0.3769 left_gripper=0.9986 right_x=0.2902 right_y=0.0019 right_z=0.1634 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5521, 10.7556, 1.7265, 0.2759, 0.1099, -0.1538, -0.1436, -1.7436, 6.9675, 1.8681, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ceb1383f4903b74f01b083b9e76a78deb55a66beceb01a68b1b34facf833478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8201b0d9a57c3d64f088ab272127f90e0dd52a73176953b07cc82b7c586b54da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ce8e1fcc6a0ba3b4fe81503206153d3378ed3757981c982c9afcbf88963733",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 5.215 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2527, 1.7599, 0.5713, 0.7902, 0.4782, 0.0231, 0.998, -0.02, 0.8139, 0.6132, -0.4133, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.393 left_y=-0.1818 left_z=0.0785 left_yaw=-0.6841 left_pitch=0.2143 left_roll=-0.1502 left_gripper=0.998 right_x=0.2926 right_y=0.0019 right_z=0.1719 right_yaw=-0.0009 right_pitch=-0.0545 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.4444, -8.253, 4.9299, 2.044, 0.2222, -0.0024, -0.0024, -0.335, -1.347, 7.2, 1.7363, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8543, 2.0094, 1.4006, -0.6434, -1.2201, -1.6344, 0.9986, -0.02, 0.8227, 0.6128, -0.4194, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1966 left_z=0.1361 left_yaw=0.8085 left_pitch=0.2019 left_roll=-0.3751 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1681 right_yaw=-0.0012 right_pitch=-0.0698 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.7111, 7.7607, 0.5934, -0.7204, -0.105, -0.1538, -0.1709, -1.1556, 7.0769, 1.7265, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1566, 0.8455, 0.5491, -0.2653, 0.1921, -0.337, 0.9986, -0.02, 0.8288, 0.6128, -0.4351, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=0.0175 left_z=0.1659 left_yaw=0.1607 left_pitch=-0.0216 left_roll=-0.3769 left_gripper=0.9986 right_x=0.2902 right_y=0.0019 right_z=0.1634 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5521, 10.7556, 1.7265, 0.2759, 0.1099, -0.1538, -0.1436, -1.7436, 6.9675, 1.8681, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ceb1383f4903b74f01b083b9e76a78deb55a66beceb01a68b1b34facf833478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8201b0d9a57c3d64f088ab272127f90e0dd52a73176953b07cc82b7c586b54da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ce8e1fcc6a0ba3b4fe81503206153d3378ed3757981c982c9afcbf88963733",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFBKmJEYZIE3GUmXoKyu3oz_cf6XEZ0iHJ_lQfCR5uzODRdQEiW2QoeVw_H_4rMval7FqCGTYqIJDli0YoaSWuJsfGevGrtcrSKQ2BdsguQBp5hnu1FdATowWeK4nUqBT4wyxBSPifnduAoZ6AqVLvmfpdcI3le093eaIxujHQELuhZK1_-YKOmi2RrQqJbhw8Ck39ZWHRQ-6I_zkth8cfAsQFIbjguo5YS769Ts_FVz36g34_LcJqnw838nYyxafIuOMsm8rBHJtcBCYq9ZxMxUHEVcaQJE_thn5RA8OoNLHfQegofP8fB-zJSPuUTEWpcqDkPbYg-8tMj478VVCgcVEuCO5XR4xV5AmCxbMfppt-I3sIYI8b9U68rN9WBAPBIP1bA_pWAgoBSaxoFYySbwfVax3iFrBJgWW18hjmZ3wQMnn1Ow-Ezr9o_tvROsT9ZXjqoj07VVzcg52_la5uRUTZPA6gawz9sBAfPxNCj1s5FcDeaQcHKZ0fEJK4laEi4FOo79jIj9VWJ2vlawwqemFs2TpLSA9CWu58Zdh3JLF-Ng8DWAjdA3gMUO8IHQ260_vPWoJsjOXwHW9tS3IKu2CiROSnd1fMI05tpLSHnO6uQV1I6b3r4xXqcQaNo1GKnUf4TENUP9S_-DlEXKpv4Rm8v3bdOmccgiHZZsfuMgeO9xUPcTvDAX3yxH6TQiSt-GK68kTJhooQ9oZ5lcCThDnbP1FIsRJzy5AAgrUakGRTZYp-d9T_ruQs-Fdi6B1GO4F5D21nudu-CRYc6ony7CKuuIzDohD21KGpXvwrr9u-TbrKK4kniIe3SEZcOzlwnlJ5Llq32RikKipQZeeFD0fm912qTjNAv-4jUBqWTGY2XrZXoBLCEJJu91TPirxADaiCARiuNsMXdYsG04_SD8ZBIQRwePFJcOaww9E6cleaTPsLrnSr-lkarmEHCm_nzLOzOLNMSUnEJ8Lx1D2PrPqyBv-TupobjVEKtuEHjzEZ4Xw-sAUqM78tszLGx_g3Fm-AZrwV2qBqIgdK6S2cgojsyjenWYeVYX8Uz6ynFFuNXsie3BgWtbSfoTboOVaIUO8w4TYSTL4o4Ljt9nY7khCJ9ZOlrFX7_UX1__TPGqCPsW4neD24con1dz-idywQxRAHLFUEj7rF6qU0he-cF6XyLPKq1kyn1Tehl7eDeWzucldGZPmEPM1txZkjv_Oo1WZw2U9EyxG85ofToKiwFsI-C280rIHjVBKtmsizBrxEglZM29rTeG5rJjU2yxQjWKhwYH8-H9k5zXXTAl3aJ2-vuWPJCbH2GfHlURTomKL1l_h8eIOFUsuq5z40epvuVpx34Ljv2KFH_mVQGpnCC9JUO-6GiIPvUUIMs9icGWh-KMuL9M2LFNisZd-Os8q7QPi2yyWaB18Z7NmPj-UATTafQhIeTwY04AR9d2MdDbBOkUwdPPPbmvwOK2LKgheXWcuxrnImWIDO7Dx0AINpvMy6XNJw3q-FBCCg29nsNV4mkUjIpK2BN7qyl-3aKxbn08L27T5v0DdtdusdZD6NWQdMxrvJS87BNgK-N88arHv5tXEZdYsylMKKDnh_Tmxm2VThBaHZcYWh_d3ghXJJpuvusGQQTO8h8iuCxMWumVApBYeDMROP8RQ6x2Z3o0ocP52Rt0RWw3HEHBrXA8ExNFDlZN256UaQ_3jG6tkxmnp-b55eV9Mibb36XZWrB__5uaK_KjCoMwMQFmxkmEuTUSrPDK8ETMTQ-xBV3YZDLUIWeoXqQW8rsvwLBCdRwrajQYLeGrpubny7EzxJv3Mj_9RoWFg_jro8IiYO6Rt7PDJH9m9UiIms4yJFEpzJZK0lrzcLTvych5mfXGNC0HtKBXzCIu7UxG62MZpogvIO6SOBgSIHnBERUdD6UafmNf1K6NgDb_w9kFl__27rUUXrOAYZfvx-LE7wl-ALYwm-SrkDWnuq1ohNf2SxPg88QHJLSlmikM_oLWi2FIW4Vcblo3oI3jgTp5uPP44-fY5WTW6foCauCDUlSnw1H_5fkXphYSuKzGVdK4GQlyup5hUuqspXjrCHI-2cIM49lixZVLFFc03D-1-FttBuMCuaNUeHZLQac1HjomuINF1l0XRHX-Bb_fs6HzNZqWXxuXRqU2UONPUjIdqCo93jIYhJDj1TDdeEnQpdFmpICn-XpX16hoAEZdElwtblI0ISnKD7zyi4VcBC-1SfdXlvyj7mTtFrm7N3-NVwrx59NoOZqSDWbvtqFsfpYDztWFwX-TrdWa9g5EjnGgYXZRQLSmZ7Ub0wkVJE7bNlil0ge-pp2eLIGvjErAgEuvsK-anm1LRIznTBcPlzHh900dBLj1YA0GI71-Qapua9LlTPTjZnPd1dOCDoQJu5yO_fBVVnGwAxIVylsokpEd5n1SDsXoLwI3NhR8IXX0hgIvKRh0XCZsE0-tfbFFzAOCcGurpEDq0BkqR5ClroJ89sjmuc_7tIZBPahHN0u8AXSasVfuQiX4rKyKP748fxoBeaxjK7iStYLda_C3eZNKo9F_QhBnUzOOpI-H",
  "id": "rs_029df17d9205921f016ab450476b0087d091b1415dc8316990",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.14,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"With the arm parked, the short object at left is confirmed as the cap and the long object at center-right is the pen. I’ll approach the cap from a high, stable pose with the jaws rotated 90° from the failed attempts so they close across its length rather than along it.\"}",
  "call_id": "call_CYcUvCOs4oKhPiMYc6PB0b9Y",
  "id": "fc_029df17d9205921f016ab45049844887d0bcedc087641c48fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CYcUvCOs4oKhPiMYc6PB0b9Y",
  "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]: [-0.7879, 1.9247, 1.3991, -0.6418, -0.9615, -1.5455, 0.9986, -0.02, 0.8349, 0.6128, -0.4412, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.1935 left_z=0.1313 left_yaw=0.7445 left_pitch=-0.0252 left_roll=-0.3742 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1605 right_yaw=-0.0013 right_pitch=-0.1037 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -10.3316, 7.4735, 0.5885, -0.7155, 0.0317, -0.1538, -0.3214, -1.8393, 7.0359, 1.7656, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc5e55ce41d51fc64738a456e8bb5c86d7cf126ca3f7c2a2ce08409e44bfe22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab0af35b404f0398d7c9dca613099257ae67dbcc1a5918022896326aba6eb3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbb12a54528d4dc4c7fa1b8360e91ca14e925001b5dc9ec610b6506097c1ae3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 8.201 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8452, 2.1876, 1.285, 0.1658, -1.1648, -1.0546, 0.9986, -0.02, 0.8196, 0.6128, -0.4171, -0.0242, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4395 left_y=-0.2454 left_z=0.0784 left_yaw=0.6048 left_pitch=0.2722 left_roll=-0.3478 left_gripper=0.9986 right_x=0.2923 right_y=0.002 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0644 right_roll=0.0019 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -10.3179, 3.3162, 0.525, -0.7839, -0.2222, -0.1538, -0.1299, -1.4154, 7.0222, 1.8193, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1566, 0.8455, 0.5491, -0.2653, 0.1921, -0.337, 0.9986, -0.02, 0.8288, 0.6128, -0.4351, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=0.0175 left_z=0.1659 left_yaw=0.1607 left_pitch=-0.0216 left_roll=-0.3769 left_gripper=0.9986 right_x=0.2902 right_y=0.0019 right_z=0.1634 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5521, 10.7556, 1.7265, 0.2759, 0.1099, -0.1538, -0.1436, -1.7436, 6.9675, 1.8681, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7879, 1.9247, 1.3991, -0.6418, -0.9615, -1.5455, 0.9986, -0.02, 0.8349, 0.6128, -0.4412, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.1935 left_z=0.1313 left_yaw=0.7445 left_pitch=-0.0252 left_roll=-0.3742 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1605 right_yaw=-0.0013 right_pitch=-0.1037 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -10.3316, 7.4735, 0.5885, -0.7155, 0.0317, -0.1538, -0.3214, -1.8393, 7.0359, 1.7656, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc5e55ce41d51fc64738a456e8bb5c86d7cf126ca3f7c2a2ce08409e44bfe22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab0af35b404f0398d7c9dca613099257ae67dbcc1a5918022896326aba6eb3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbb12a54528d4dc4c7fa1b8360e91ca14e925001b5dc9ec610b6506097c1ae3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_029df17d9205921f016ab4504dd5c887d0be7cc29ad5e414e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.14,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"At the corrected yaw, the cap appears at the bottom-left edge of the wrist view, so the gripper is slightly too far forward and right of it. I’ll shift about 3 cm back and 3 cm toward the arm’s left while maintaining height and orientation.\"}",
  "call_id": "call_Pw7NGPIUVUiHSFWveBVlDkI9",
  "id": "fc_029df17d9205921f016ab4504fdd2887d0bba64b8e0769a07c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pw7NGPIUVUiHSFWveBVlDkI9",
  "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]: [-0.7975, 1.8488, 1.2736, -0.7082, -0.9882, -1.626, 0.9986, -0.02, 0.8368, 0.6128, -0.4412, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3721 left_y=-0.1649 left_z=0.1226 left_yaw=0.7875 left_pitch=-0.016 left_roll=-0.3247 left_gripper=0.9986 right_x=0.2897 right_y=0.0019 right_z=0.16 right_yaw=-0.0011 right_pitch=-0.1056 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -11.1521, 6.694, 0.9402, -0.7106, -0.1587, -0.1587, -0.3077, -1.306, 7.1863, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092f6260f946cfe9238d6047e53d62fcdcd66ae5a6bfabaad256e5cf4a0cefb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce0983a2884b7d8471d568926b782eed5c64d892006600b96c7316ac20f343e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46469dfcd8e6316cade046b5b12993558d1ec0f7264f306d1a435a28733956a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.968 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8543, 2.0094, 1.4006, -0.6434, -1.2201, -1.6344, 0.9986, -0.02, 0.8227, 0.6128, -0.4194, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1966 left_z=0.1361 left_yaw=0.8085 left_pitch=0.2019 left_roll=-0.3751 left_gripper=0.9986 right_x=0.2922 right_y=0.0019 right_z=0.1681 right_yaw=-0.0012 right_pitch=-0.0698 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -12.7111, 7.7607, 0.5934, -0.7204, -0.105, -0.1538, -0.1709, -1.1556, 7.0769, 1.7265, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7879, 1.9247, 1.3991, -0.6418, -0.9615, -1.5455, 0.9986, -0.02, 0.8349, 0.6128, -0.4412, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.1935 left_z=0.1313 left_yaw=0.7445 left_pitch=-0.0252 left_roll=-0.3742 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1605 right_yaw=-0.0013 right_pitch=-0.1037 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -10.3316, 7.4735, 0.5885, -0.7155, 0.0317, -0.1538, -0.3214, -1.8393, 7.0359, 1.7656, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8488, 1.2736, -0.7082, -0.9882, -1.626, 0.9986, -0.02, 0.8368, 0.6128, -0.4412, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3721 left_y=-0.1649 left_z=0.1226 left_yaw=0.7875 left_pitch=-0.016 left_roll=-0.3247 left_gripper=0.9986 right_x=0.2897 right_y=0.0019 right_z=0.16 right_yaw=-0.0011 right_pitch=-0.1056 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -11.1521, 6.694, 0.9402, -0.7106, -0.1587, -0.1587, -0.3077, -1.306, 7.1863, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092f6260f946cfe9238d6047e53d62fcdcd66ae5a6bfabaad256e5cf4a0cefb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce0983a2884b7d8471d568926b782eed5c64d892006600b96c7316ac20f343e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46469dfcd8e6316cade046b5b12993558d1ec0f7264f306d1a435a28733956a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFBZwsVvrpG4vRe-JdKZ5kHDmGz7LuvUMCBzbOv9HEgtMJBtqR-Sw52S91T2HXeekcVIFUEjT89WPPKzaDdfk3Uh6lYcPQYXX6F_O8i_O-HgyCTny0rC3yW3QtkmOudJimM-k4x2U216887v7MRH9dGkPfrq7LrL0Z7zR_e2mV3BZJhDhNtoQGFHT3vOqPG0H9yLXVTAPeRDWVcm6huauEgVqRFdqrRrqeIGVHDq6Je1iDt7JZzboSyEN12jqr5Dlo-vj3ux1TrgBjNHj4uYdvfGx7MsJD62ZDDVDI9hsrIy_FGHOypPNlRgqdD0Cd_lVT8DwzmD7xOfzd9fQgmPVUeHZJDCYu68-smRuf2ojuiwdgimgZuu4-sZzZQ6zxD24ktLHu6HSrNtuURW5wRhfwWV86YTggTUe_dv_qB0U4PonEbq2wFoznB-F7y_CkutMY6QZEd9pcUWZObS5HcB7L6zRBMKGKUfSU2MLck-rTEI9iYzpu6TYqT2gShf8Obyne44LnyKscK7_0DTUavByRmWLdmxKf8hqsDHukoPji2ucjzOh8ih8hfuYA798t80QKWAaXS7ENbFtaxzOmHMXcA8lkpFE5pOt5fkimUS5PaMGbMYIfpbBTpxfN0sRXKw9yofjNIvDm5u-dpVZFahfEvdnAVVDzCU0csSB0guCqqoyG0Vkne_SNElVgTruai8GDAj5I6pY6vuXhWZmpwkaS3lTyCSEo5jxk_ZXx0CxTRuel2ua5sbcj2FVeYnfI_jlWkqNaR4Hsum7W0W7rjfbn_ij14aIz0ev1E-6YBHBzsDXZNx9LjqxUHnDB3-_2PCnDQQUMTIT3EV7RZdjER_KZWcfFtEyLazUWud_TN4OirYARSFc7FfZ5e97BuQOyqaPYlcjJDiN3kzc5X3Z-Alq41bQ-vhrWPuwulPlIE1VNkxnqrVE6VcCF94a9Mrw_hyPQfgZIvb2BUSvrdQF9c0cH46w1OqCOj75To1vDLKwec2nDLc09hlxy64RlTinb_TxS_kj6dWRA3B4NUBJTmytB3wR02b-DMg_HrdhQs4gtzSwzZjDUmW0GQD6o3MnVxxvGvIHuuD1ctOHPDctlYjin4RR4V1CJbYDQA25YFMy62E54viDfWKAsGTlbmAWDlHOSrq0arN9AMHGqTZW33rccNNfSw-Li8DU57xz63_mRwUZrHPswwljr_EiRazzq0X1rMIw3try96h53j-7Rrv4OAhm-WThtNXcP4qwMuRKALykwncd4BJwv-OGrCFl7TZlDg4IJvq0kOP9T-MYLvWQPXKcRgCNkxh-i0NAq9YVK8lzqfq6rbcZhuCHuR4DEg7KnJPQQCbs3xB_THrT1CcA9A1h6n6ApVVGe_BWwoh0F8bW4AL7Lt3CtM_00HekXH1JUCGwxSIyWfXU4fqQL14KLwavRx4C0_RzQ2lEF9qWs6iZThcpJGMmWS_2M3tda9Nq1n35Q9rkHGKSTtMHLvStDK3eysS9nzy4_z1CfiH-RMiDkLqr0rNAoNm3HPFww7dZEkJ7xZKbjCjJald4JYbeRdPr-kc0oDkrpo5RmY6pLzOIt_FmTc9Dk4XgdaMki0YZV4uhCMJ2JocJys2uZxGUM1VmT3Mdln9vYCPKI5WANHmKxVexI0WT0qYGg46ns7aXBtpdd_qQNZ7-dDO1HznZ8s234ncs5e7vGIf3JihUJsnIldOdrcLuVhG8dMKOeNxxGV3om5aasPFuWYdaecIr6F6qCHRZxw5OfocmNtE-n-ugzfqeccHpTxVRhoSgmFXMXI5G-9xKdCrlda2DzNH0zYG3-UXeqShp-y4Hq5oUkY3jB1OsPTN4kVsoHKcOpbEDPfI3IVzVMFeGFXlD9Jc1fdfRlaDnQRC4QJQLRp8gdI_vjlZ6q3wOhKswneqO4oJDPxZZ7IHBvwGRHRkthPQ3VJP8TFnMbKU59lee5Jey0zUfeNgyjmQ9E5n4fLdRRLChCQgpo1XTjMg6ez8VPj1lJQYwOYAt6hkFcwJH_B1djYOAvwFwuBBD2zfWAAZlKOvh_6LObkxzN3NCpi3Vw0G_4sIGIBgp6Nl1gALGkArVDW8dBmU_VOsxOkDciZzU36stbmo5dlDgR1pisq2p1JpTmOCPOzlX4LkRj0IjY6iYx9xjAfjKG7Dgz_xnbkW0Mpth_6McWOqHU3JHarbwVlugXmIAx-jRbIojqUNElg2U3AyMyCBwNYDRvq9n2dN4pCgf_BSM3XtEC-baq1MZJ7hBZTWSxFC-EDOKgTDtJ80_aB2XhzXWfiVkmCz3droU2XCSy2Br732dJFBVv2tEQ1PhTh4ytHqub25htfvcjjPaggT9rL-7-7VWrAPYruGNDduuH_7DBVrr4OcwHZDJH5YY_51l3kuJT6jamyWG9_bM10W030WiP5UduTTaaW2J6fOnnq3_5XNtUxEMYLP6R65z7_9jwslGHcxBfwRGL17Fj1SiLeJDWehAgI2sDCqHO1hNQ8qAZBQpU399hi4PRIjmiw4MgkLJtY_ghAA6RFz6Dr2Vr9bT3-cQqQyE4zQJYscnDYiTHkm_kwMX1W_P4WdM_xIfrvjp1Jiv4wO1nDHJm_03Jxg4bw9z5l6zkvAtFG08GQE5pjMPOekfKfafD6ukOjABb8TK0DugPJio-V5Te61WNRTjeofzt77uiIXcsSiKOoQMr8c4veGsflbrWllgBTredTxcqeq-yhsP8U8h-FFyBsdu0hmH0IqgyhahF3OvZIWXIeRcJ1bSOzqsmPj2S8iYKEWcmCmXEDqLQjuQGf6gQgewq5i_eC9XO3G18vmxqH1mIzZtlJCakalFNceopgBxigV7-os3PMMbrZciJqOJQn6uu0Dj9A26-LIXED2kKWlBdoCjbMkH1Guzwcq2Cl8fwD-bJ8PTwL-ck5TeCjsPQYQhF6wdJfW0PzaahlidynNp4B5ZXk8vrEgM2dpvrm3hjRbZEVeysyeMe80lQbn0p9DDmNedDG_rRqwpD71NT9TPiV7vJuoo40y-H5hbaKxWHYaC57VR3a4imG1gt3AWEc1U-_kIEaUdCOn8ODp1GnmcrspT7Am6gKhp6HfN3RN9PAyN9pwQKNLoV8Iaqx0tCBfVj0rvtpgZVpMt9HjS3qW6bfocIYepZunjDd8ZktAhAgNqXSBJWRVHpGexOFLyd4km-ac5sLcwpqGglxUlDOnGQudtQZQIpib5MxK8E7VztSlKhszXuEAII09atJXytAi_jkL0ixlIfpmx4RXHQRcp0_rosXW-U4pGkIJXN2IvhGpBkxf7N8kYjRGZ5gZUlaESjViBn8XVah8huGepRj1jZVLSA7gfNQemhRcmZ2ePHYOXzsl9NF96ReamOmbGEBIyRrmwf1rt9ARWMNrE8vgmB6V6vzbA21A_QejRWiRGbLXjlhQ4asowMyH0K7I0PmfPL-_6Gp4ESinOpH3qigrsrSJXVOuFKCscYqVVlIHY54HHFvKOvu4bdbd_eEY3ejqv0BHiZc0l-YZF7g7JE5Xcg-9kbQKTREodHnB9y2jzvvOxtcXoKr-YWiq0detMXUFjS3-ojcAjJgjiLnFVyRS22YB8CEEHwWkG_uM8tLuvBIzyyZiiRuAYTBXwNs5bfSAgB-s_XI9kK5TTyh5jpG0SWXdsI16Z22dKgxKjvVYutbSZdhLP7Q4dAHDOVyn3EfRVfKkU4v0sgPi6VICkyehBjdm9XOiyBs8I0nM3YdR43iWFPgd1wnqgs5g5_d4U3Sp8xvqbRAC-PtbrIdYyvK2jORmoaSyI0NC8Hqe2o6A0tpmHxdA3g0SG0cETop80ZuASTVn60CI_8_LgI-W8HhvuMqCH1qidWboRccY6fnAUO3FF4V1X4ln4HfgjK7pnv0=",
  "id": "rs_029df17d9205921f016ab45053609487d0be22ab0ea0b98655",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.12,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The cap is now fully visible near the fingertip depth but remains a little toward the base and left of the jaw midpoint. I’ll make a smaller 2 cm back/1 cm left correction; for the grasp I’ll avoid a crushing full-close, which can eject this smooth rounded cap.\"}",
  "call_id": "call_UXVUE4kLBG3EO7ald4DvC8Hj",
  "id": "fc_029df17d9205921f016ab4505889bc87d0bc08f6771e7b0c7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UXVUE4kLBG3EO7ald4DvC8Hj",
  "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]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4419, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1598 right_yaw=-0.0011 right_pitch=-0.1068 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.5778, 5.8872, 0.8181, -0.7106, -0.0122, -0.1538, -0.0205, -1.5111, 6.9402, 1.6581, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f41019c3650f2d2b83ec7520864632dcfdf613b4d0a8a3b8f10a30faf75607b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf6ae78af5c5fbb0d69006507eb6113742b4d355a7d7c864c44e70ae4ae63847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8022d3de8fe25c5de54ddf4037a898ce620136020a370d83213f1101e6cc53e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.496 s

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

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1566, 0.8455, 0.5491, -0.2653, 0.1921, -0.337, 0.9986, -0.02, 0.8288, 0.6128, -0.4351, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=0.0175 left_z=0.1659 left_yaw=0.1607 left_pitch=-0.0216 left_roll=-0.3769 left_gripper=0.9986 right_x=0.2902 right_y=0.0019 right_z=0.1634 right_yaw=-0.0013 right_pitch=-0.0915 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5521, 10.7556, 1.7265, 0.2759, 0.1099, -0.1538, -0.1436, -1.7436, 6.9675, 1.8681, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8488, 1.2736, -0.7082, -0.9882, -1.626, 0.9986, -0.02, 0.8368, 0.6128, -0.4412, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3721 left_y=-0.1649 left_z=0.1226 left_yaw=0.7875 left_pitch=-0.016 left_roll=-0.3247 left_gripper=0.9986 right_x=0.2897 right_y=0.0019 right_z=0.16 right_yaw=-0.0011 right_pitch=-0.1056 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -11.1521, 6.694, 0.9402, -0.7106, -0.1587, -0.1587, -0.3077, -1.306, 7.1863, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4419, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1598 right_yaw=-0.0011 right_pitch=-0.1068 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.5778, 5.8872, 0.8181, -0.7106, -0.0122, -0.1538, -0.0205, -1.5111, 6.9402, 1.6581, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f41019c3650f2d2b83ec7520864632dcfdf613b4d0a8a3b8f10a30faf75607b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf6ae78af5c5fbb0d69006507eb6113742b4d355a7d7c864c44e70ae4ae63847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8022d3de8fe25c5de54ddf4037a898ce620136020a370d83213f1101e6cc53e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFBfSGbEti7yqQfT1FmHdVTKDl-w2T4SVRtSDpnkNbxr7C8FwdCwnCBMLMR9Pw2vAShsnhfnENMGOURER_X-pkXjzPlZbi-NiCaB6OLnaatJ8wkOLJfCC4cscqFHD16pnUXX3qVSkKU_CPz1CpUY5htsNdBG-EYLYsYrqMyMW2SUCl_uomAJklEHAVihH-fGVZk_5QtvARdFRH0Xm2AXF3t2gTxep36t749S82fhNcD1vhmZUR9CPL4MNzR6uPWZwoFf45niosWTkxZt1pA04aKugNAV7oKs3FoSH6zvtOPck7tcmoa7Lxp8IvvVDR9H2orFdZ1UGw3qcWELvaZOv-4XLet0ixSPOuAFM3x-6XiPsyzlXiD9LHK8Zkh2dI-sCENMW-lBroO1KHY31EJVpMZbi8_2_vKIrb9eWp4X96ai9em4Vx02NO3BuV6aKd_uG9rVStpUqy5uIVIlPhKMn67c2k6cnsyKDxTk7iwrRzdhzytLSOR58r3KrVyeNogXW7WNg8V3ONOZTNKtX_iUmJev7NZ0ARh5_Ua9EjKHXB6NcPpQHiiw6e_qswA19wY8EP6hp9mlrWidb4b9AxJJjwafGnPr-GrrnOZkGDJw5WCfDYq320XgzSS8IwtbMGiZ-3y0IDKhf5XbFqukWGrUwJwBSdbmWSPMuidwDM-uvOOZN0fEx6F1dJXETo_aVZCFE1XAU15bTBIgCzJ8HNdrIEy9Cry36oC2ilrJsibL6aAJnJJ25hLDj-bOLi1gPRopr7H1M7j0-L3xpd3KuYOZF4bj-LrSK4rUhWQXBftwK0iYshFXYEbIbhU74QoR5jey1yOLgXpGHzxqWOGsXtsnq3SZLIMQqHhN58AH43Yal2ELRUjN8_Bj_bL1-rs1Kyoy5EcudNb7LMT2MSSt7UX6Xjb_qeMd-s0SbT6jaK6d9idKnmp17BGODBZ-obPFygIaHI49X-qcjGXbEgC1KKjWzLJTvGLo1qblTNBEpqZ3iORWXQCOKh6a7KBLlqwq_rowbfnL_ET7srmsux1EleuvGSHrYDtD-FQw68r_ebheXCFJHtvG8UifaRlngUWDB2J7CNCgwDcOLsmdcXN7ob9v_Yo3Nky_lQ9-IDxPQ2ULkuKOplGLDiMj-EDtwSsDmH8yBJzKN79M0uI2TntCN71P5n6TaBaxNQ7B3SNnecZ1RlqcNBdE9L-k_P6ht3qa_zc84hZpiuul7jb2_AJTo5vir6ZKDgbDktN5Ifpea5I_AEkQbTDWHH8fPo8K_2ng1zTpOD9ZS9LwlZEa4iMm5MnPcUkh3P8BGV_gi1sWkfGK8URSffOIl67nNiEbCut3hgNnUQif3y5_GdX5CMwSMZEBFS4PmujEfAIO7DTvhbz_Nt7B1bPQMQsqxeDUF5qhk134r_LorAqqDpt_rI5d27FuGltkYDj3zlsDJYqPbkF5rUQNa9MrJIHSFSjCRRvMFYJ69bg_0GCH82_maJgVFIIVZXfh_qcrYxOn3b4CDnPl_6GYPEqIkMYFnW3hR8usauIioANoW_H0RDGnQdMzZcHJh6C8s2FI7Aza9irH-VRBZBRyOs4M3EjEjYWcpHmXVhY7kCCrZVe0Sn6wZXKwcIz4Xfs5V9vPTDQSyqO2Bf7GgjUI8OcuDqvMSTc3woA5t8Hfwi54wcHWBiXQpQ8Wsl9PZD0qszgmKTwFF7rkEck8ByK0OfHsDsd2rMeCb4aaOmLvNsIHs91SWOVnW3q3KTuW0mkz_y8Klzcz9iCA4BTEAkhGlHJnOAjcoeA8aenh631HkyRdPYB36BIASeLxWhWUAwztziI5MkqCczqtNrCcGvCP4JCVXPWGMABnhGwC_hxOdYGhmTJzuET0xnXf4E7apiV8Cy0AYF5ZYiRHxbSqIYqBLmnGaSk1k7X1OCTeOj81vgSdiusbBRp0HfWAJ6oaBJQaVQ4Ml5J6PuYEahLN_ACKVhrL6SXtl3KsnMRzb4W0XkmaK_VNdW9_ScADrtWTOXfgmnxlPahtQ4Saqy5uqaq2yIyCItQJK_rdFt9AfccYlUCPH7gfpWCRFQNoR-Jji19FzXDFUWSmw-pXxuQN7uWlnIMxGyE2klJgnrMewEVSEkZ2AfqEkUHmYoS1w8jQA4Yk0w==",
  "id": "rs_029df17d9205921f016ab4505bcd0087d0815e45117ff0cc0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.18,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The small low-hover correction stalled about 2 cm short in this folded yaw configuration. I’ll raise to 18 cm to let the IK solver reposition cleanly at the desired back-left coordinate before descending again.\"}",
  "call_id": "call_Y8CG09vuOHnKXbH3LUg7sCHE",
  "id": "fc_029df17d9205921f016ab4505db5b087d08b5b02cff70c7aed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y8CG09vuOHnKXbH3LUg7sCHE",
  "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]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4423, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2895 right_y=0.0019 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.5778, 6.147, 0.7888, -0.6813, -0.0171, -0.1538, -0.0068, -1.4974, 6.9402, 1.6874, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed88fd682158b528f75bbf8e94f842e705301ddb6cae66264e2495adc4d483f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39f9b5fe26438609d89a5a9d4c20a97f68d348cc82b6a045a19c73471082939",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38a8dd66daa20b427d49ec6c4fda9926a96b9b23c36b91c6ff4b9c643179dfd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 5.208 s

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

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7879, 1.9247, 1.3991, -0.6418, -0.9615, -1.5455, 0.9986, -0.02, 0.8349, 0.6128, -0.4412, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4019 left_y=-0.1935 left_z=0.1313 left_yaw=0.7445 left_pitch=-0.0252 left_roll=-0.3742 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1605 right_yaw=-0.0013 right_pitch=-0.1037 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -10.3316, 7.4735, 0.5885, -0.7155, 0.0317, -0.1538, -0.3214, -1.8393, 7.0359, 1.7656, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4419, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1598 right_yaw=-0.0011 right_pitch=-0.1068 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.5778, 5.8872, 0.8181, -0.7106, -0.0122, -0.1538, -0.0205, -1.5111, 6.9402, 1.6581, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4423, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2895 right_y=0.0019 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.5778, 6.147, 0.7888, -0.6813, -0.0171, -0.1538, -0.0068, -1.4974, 6.9402, 1.6874, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed88fd682158b528f75bbf8e94f842e705301ddb6cae66264e2495adc4d483f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39f9b5fe26438609d89a5a9d4c20a97f68d348cc82b6a045a19c73471082939",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38a8dd66daa20b427d49ec6c4fda9926a96b9b23c36b91c6ff4b9c643179dfd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFBhP4LyIy2F-byNad4ZNtJmPHBZgeDmsZrW-a6bCnCYgyV0Uu3pcK-byIaFqf6q_TChuFl-alSjrjw4Vmfjj0CyTv4U7Z8Anq-oXApHfjqBGH7FYia9sBwKxqFy-K1tbV_rue9r6CIz7rAmBz_7CX6RFRDTQ-LrHDqFlsxRKqSZi3IaawN0zQO352f5INUehgAxgWvEPWkl2HBnSGeMtPOs8LZ6d-Yc1P9RCBKhdwCWV2TD9DskENOnoNrq7pDV7lLi6ALNR_ajV5jgisrMqM16WXr6c4jgTJRXajbLN7mAdrjI_6My7ktj_02bEuJ4j9UpVdfAtBXPLZRaosPf8iB6N5eKcvlHZJHDvrTBfT_Jz4K5pjTdKY7IRZ0U2Uv7HJCUesravKF2XiGgJNHJ9X3zip1_yWVNetbhNgWFlEHDmFSiFf2MPGldGwpvu1UQjuP6bFThckv1yfNyMzRruMYOPoUj4XV1wLCsU6Eka0BkSY5gW7ejAgg3kxl7SoXyk2khXDHWeSTt0fsaYGvjOofPfceHVyhjs4SinnXV9J83WJ_uvoNalFikoMYY0eyScnwiOd6Ph9MtJwDU2zN9myxS31Sy2JcoAZsQi0IAFRAQmgEg_KjbD-kIan6bAMKpEO8__3dIf003Fln1dDWbLOG_DtiMJ0Ypo0awhB3V40pxl9quAtbrWDbeoN36_qQ2mz_aRURwkyzeXRVFgzxBfTrghuC8hLENc0NE4GYmdNsRYy6TAtgq8uBvCZLgCZNXmQtur7VDHpgHhEhS9NZb26wyv_LJF2ylgCFnivxlwgrj9xpQTcw-vgT-kDQCBEyjiRE5PLQbpJ3m2NojE65wqVTTWGph9s_Jq5Q_Q3zJDZb0jO2HWC4bW7qOWCXo-3zkkNRzXTLccwG175eKJodPpNugQq3SYepsbbDgqjllmlsZq1-SD6LjTTnNjTLzijiBM7gxqXoCTHacITJEf3wgMkIcCbc1k9MIBX7Pwd_-Y4fJrgWF4_VcNdsnKZWyYk8VQ_e49s1YHRmQ_tv--7me48mPBC0Zizrq8T4nVINsbUOljpWTOXTIPhlsh67GAAdpfBu8rW1IpV1t0GqndiQOQnCE1Bv10iN9NRcO13aDcoLeLux-7TZBfAVZpqSbKjQWMqK2wNAS1rHZU5-5l28pl3WjKg0r4rQ1Exh0K1_ASUSwl1ukCgP9LpHXD5CxqEnsYfkX3tNvu7uMKc7Tj4KVnjY3JSOQ_UPq7G0kgnoN63pkecT4CzDKvxuEzqweSNja69X0PPj5E_2qudvjUndvibMqMll4MAFQ2lOs7o2eme1WoUwWC8aJIM8rjQThdd4r-zOFPwmIZ7qxjr1RBg-K5CWjbIWHUjESaVshDqwcX3QfTNcFcMW5Im3pJU29rn1zyGh6",
  "id": "rs_029df17d9205921f016ab45060834487d0bd5f1ab7120d0a11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.1,\"left_z\":0.25,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The arm did not move at all, confirming it is stuck in an awkward folded IK branch. Following the rig guidance, I’ll first retract substantially and raise it, without changing yaw, to free the configuration before returning to the cap.\"}",
  "call_id": "call_CA1f8ZplZVKiuM63gFl4OJCK",
  "id": "fc_029df17d9205921f016ab45060eefc87d0830675bb22ab0a41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CA1f8ZplZVKiuM63gFl4OJCK",
  "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]: [-0.9806, 1.4117, 1.2728, -1.3468, -1.0176, -1.9511, 0.9986, -0.02, 0.8429, 0.6128, -0.45, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.263 left_y=-0.1161 left_z=0.236 left_yaw=0.7796 left_pitch=-0.0271 left_roll=-0.3963 left_gripper=0.9986 right_x=0.2886 right_y=0.002 right_z=0.1567 right_yaw=-0.0011 right_pitch=-0.1205 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.0513, 8.6769, 0.3541, -0.7009, -0.0366, -0.1538, -0.1846, -1.6479, 6.9538, 1.7802, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a18bec725810ba25f484f5790f832d65c1b756244366ef659bd0487cd72b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13419e5794cf58f6d5493192c84ba173f8193c0e991d81eab35af3e00a0f1e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7f59f9d3353007bd30d60279d1e9ddaafe5e44bbc7e7d5f1f19087b27b3647",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 4.824 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8488, 1.2736, -0.7082, -0.9882, -1.626, 0.9986, -0.02, 0.8368, 0.6128, -0.4412, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3721 left_y=-0.1649 left_z=0.1226 left_yaw=0.7875 left_pitch=-0.016 left_roll=-0.3247 left_gripper=0.9986 right_x=0.2897 right_y=0.0019 right_z=0.16 right_yaw=-0.0011 right_pitch=-0.1056 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.3761, -11.1521, 6.694, 0.9402, -0.7106, -0.1587, -0.1587, -0.3077, -1.306, 7.1863, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4423, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2895 right_y=0.0019 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.5778, 6.147, 0.7888, -0.6813, -0.0171, -0.1538, -0.0068, -1.4974, 6.9402, 1.6874, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 1.4117, 1.2728, -1.3468, -1.0176, -1.9511, 0.9986, -0.02, 0.8429, 0.6128, -0.45, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.263 left_y=-0.1161 left_z=0.236 left_yaw=0.7796 left_pitch=-0.0271 left_roll=-0.3963 left_gripper=0.9986 right_x=0.2886 right_y=0.002 right_z=0.1567 right_yaw=-0.0011 right_pitch=-0.1205 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.0513, 8.6769, 0.3541, -0.7009, -0.0366, -0.1538, -0.1846, -1.6479, 6.9538, 1.7802, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a18bec725810ba25f484f5790f832d65c1b756244366ef659bd0487cd72b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13419e5794cf58f6d5493192c84ba173f8193c0e991d81eab35af3e00a0f1e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7f59f9d3353007bd30d60279d1e9ddaafe5e44bbc7e7d5f1f19087b27b3647",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_029df17d9205921f016ab45063f9e487d0a3b817a971d406a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.116,\"left_z\":0.12,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"After freeing the IK branch, the cap is now clearly centered on the jaw column in the wrist view and appears nearly perpendicular to jaw closure. Because it still has a little clear image below it, I’ll advance about 3 cm while lowering to a controlled hover.\"}",
  "call_id": "call_oU8UfwUVmbEv1QDs25kfAqnv",
  "id": "fc_029df17d9205921f016ab45066f6ec87d08992ac8e0d5f01d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oU8UfwUVmbEv1QDs25kfAqnv",
  "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]: [-0.9089, 1.5192, 0.9051, -0.8425, -1.0176, -1.8561, 0.9986, -0.02, 0.8436, 0.6128, -0.4583, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2809 left_y=-0.1102 left_z=0.1218 left_yaw=0.8027 left_pitch=-0.0137 left_roll=-0.3459 left_gripper=0.9986 right_x=0.2873 right_y=0.002 right_z=0.1549 right_yaw=-0.001 right_pitch=-0.1297 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.6906, -5.7641, 5.7915, 0.5348, -0.6422, 0.1587, -0.1538, -0.1573, -1.5111, 6.9402, 1.6825, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5f85ca28efd866b01b23ce121cb7782622b0deb72228504bf6e94bfe2dfa87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e00cccf5199bd4fa4e06ce90e12199b7148c71702677330b9be212c4d6032d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6278265e50e053d86f750968d13120f58607c592eea6d3bb3a15ce11c457fc0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.181 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4419, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2896 right_y=0.0019 right_z=0.1598 right_yaw=-0.0011 right_pitch=-0.1068 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -10.5778, 5.8872, 0.8181, -0.7106, -0.0122, -0.1538, -0.0205, -1.5111, 6.9402, 1.6581, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 1.4117, 1.2728, -1.3468, -1.0176, -1.9511, 0.9986, -0.02, 0.8429, 0.6128, -0.45, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.263 left_y=-0.1161 left_z=0.236 left_yaw=0.7796 left_pitch=-0.0271 left_roll=-0.3963 left_gripper=0.9986 right_x=0.2886 right_y=0.002 right_z=0.1567 right_yaw=-0.0011 right_pitch=-0.1205 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.0513, 8.6769, 0.3541, -0.7009, -0.0366, -0.1538, -0.1846, -1.6479, 6.9538, 1.7802, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9089, 1.5192, 0.9051, -0.8425, -1.0176, -1.8561, 0.9986, -0.02, 0.8436, 0.6128, -0.4583, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2809 left_y=-0.1102 left_z=0.1218 left_yaw=0.8027 left_pitch=-0.0137 left_roll=-0.3459 left_gripper=0.9986 right_x=0.2873 right_y=0.002 right_z=0.1549 right_yaw=-0.001 right_pitch=-0.1297 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.6906, -5.7641, 5.7915, 0.5348, -0.6422, 0.1587, -0.1538, -0.1573, -1.5111, 6.9402, 1.6825, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5f85ca28efd866b01b23ce121cb7782622b0deb72228504bf6e94bfe2dfa87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e00cccf5199bd4fa4e06ce90e12199b7148c71702677330b9be212c4d6032d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6278265e50e053d86f750968d13120f58607c592eea6d3bb3a15ce11c457fc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_029df17d9205921f016ab4506a81ec87d0bab71d96682ea410",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.116,\"left_z\":-0.01,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The cap is centered at the fingertip row and crosses the jaw-closing direction at a useful angle. I’ll descend to a slight table press while preserving this alignment, which should keep the thin cap within the fingers.\"}",
  "call_id": "call_RqddM6GvqmJoskfthAn573pM",
  "id": "fc_029df17d9205921f016ab4506c687087d0906fe4cef99019e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RqddM6GvqmJoskfthAn573pM",
  "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]: [-0.9039, 1.8793, 0.7101, -0.3248, -1.0908, -1.8225, 0.9986, -0.02, 0.8463, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2884 left_y=-0.1072 left_z=0.0105 left_yaw=0.7966 left_pitch=0.0692 left_roll=-0.29 left_gripper=0.9986 right_x=0.2864 right_y=0.0021 right_z=0.1529 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -4.9436, 2.5504, 1.0037, 0.8523, -0.3883, -0.1587, -0.1573, -1.2786, 6.9402, 1.6581, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c44a57a3c469be7e66a553392981864a8a6f37e378129afa15873142a924a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c266e59e183c86dd6a20ca024e00b11218ce22e82437bd91f444461be6fc845c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a513c7eebfbf0051fcc56200b2e6dce030f681f78191f16acd1d390977118a4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 4.374 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7975, 1.8187, 1.2606, -0.7143, -0.9882, -1.6405, 0.9986, -0.02, 0.8371, 0.6128, -0.4423, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.369 left_y=-0.1617 left_z=0.1294 left_yaw=0.7948 left_pitch=-0.0187 left_roll=-0.3479 left_gripper=0.9986 right_x=0.2895 right_y=0.0019 right_z=0.1597 right_yaw=-0.0011 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -10.5778, 6.147, 0.7888, -0.6813, -0.0171, -0.1538, -0.0068, -1.4974, 6.9402, 1.6874, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9089, 1.5192, 0.9051, -0.8425, -1.0176, -1.8561, 0.9986, -0.02, 0.8436, 0.6128, -0.4583, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2809 left_y=-0.1102 left_z=0.1218 left_yaw=0.8027 left_pitch=-0.0137 left_roll=-0.3459 left_gripper=0.9986 right_x=0.2873 right_y=0.002 right_z=0.1549 right_yaw=-0.001 right_pitch=-0.1297 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.6906, -5.7641, 5.7915, 0.5348, -0.6422, 0.1587, -0.1538, -0.1573, -1.5111, 6.9402, 1.6825, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9039, 1.8793, 0.7101, -0.3248, -1.0908, -1.8225, 0.9986, -0.02, 0.8463, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2884 left_y=-0.1072 left_z=0.0105 left_yaw=0.7966 left_pitch=0.0692 left_roll=-0.29 left_gripper=0.9986 right_x=0.2864 right_y=0.0021 right_z=0.1529 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -4.9436, 2.5504, 1.0037, 0.8523, -0.3883, -0.1587, -0.1573, -1.2786, 6.9402, 1.6581, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c44a57a3c469be7e66a553392981864a8a6f37e378129afa15873142a924a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c266e59e183c86dd6a20ca024e00b11218ce22e82437bd91f444461be6fc845c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a513c7eebfbf0051fcc56200b2e6dce030f681f78191f16acd1d390977118a4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFBxXW_yGDYlKZk5bXhfxG_No0vQarlvw4s5LENsqW_ybAzPC6gqa3uZUNLE4_dOi87EN0yQgsFjcb-ASEbUZbX3dpJCF7ZvT8wBgi3hOd2XCLID0yWmerGSP2IkAd71iPHJbHeu7HDecU2kcE5KV-aDNZdC-9k0qnI-NtEaT7gM25V--0gq03woVcnqrdOZcLmOkelOtK1Bl7j5ygQEBR7GWvu9YiW1QMpMrneGTp3lIHqZxWVCu-IqmZe4zlriG4p5AYQqZE84pKeOaRQDjpNcMvCwnchkzG5fH0ggTSBTNJfMZjQzlUqH5G2Xy59ivS5hY2WdO_Ou0uAbqmzWlh9ZhVnpFpFRvWahvk93vyuOoKTXXm4gYeMfMR6w-9EwqW3IjtIvKNlyaQPcJNYxUGbzWJ0P9KIK1BBXljJAcxM3fFOjKqYB9g6QOoeXb7b0wsEgNow6UduyrQ20zN5WyOEuRWGf6ah5CbOLy8lDoMaDsWEksTvRdW074-m_ZdfvYeSK3PHtDIxoEMEZKexeSr_5CzGJIlebrC5vTi00hrwHErC23ho9JAFWxss3ayqxtm7fLSba896uvE2--fZ6-5yb714WLNFq_QZTpJTrGg-zNaAmIEP9NxQFoO61asvPtEpyc2V-O98PSy3cPh3CeUL9yYCm4QkX-TCgvHKJlYdYMJNzZT5BeI4erYmFSphOI26P2IYjaXsMhL0OyjoUl8R-NLc2fhXs8nnSNGhUUeIofOoB02UUmiF6FH9lyFy1_2GK5Jmd-CLW5Jikrd6o9-ZfsIGfS1wY23oHd9Sij4LWZl9iDrOFxHkoh7MB7zB-aX_4SXRrkjeg8upPOlsm-XoHQxsporlIyIGhmteaVrA0L384IlswL6sI4N4J7RNY-yGC8vxo6WblTum17U4owOiATllx7pzfb4lqSFkskGLL2dhtVVOuV-YlBUHOH64_DZ5MgxYfiB0lVa8Izt7tI6H7btx8CwLXppls1uxsqJ_I64PDXtra-nckV-MMyaaXuVGbzw6JKATr6jem2dChKD3qoEclGLFL3U_oAhUpJnz2_SaC5K_F0xfLzdnMRblGLPWfRkDnhM3HQ7ZUBNbIywV35HFeB45n5F_UDp2_5Fqi6_ymx5TXrBG6q-QJS4xljfZqTT9u_YfVBN6DCSMWKkZs82nGo0NcpU0ljTat0KEeje6zzMXs9CYIw7bQDi6hL15J3Fj5FYnJ-c0G9V5v5liudGszD9GOmPzBpoo79Se8THewgGCCPlWlktrtTQvsMETUgHRC-UCLLSL8s_1sS6xtfcaHK1ZEMaldqHmRRLMciKuwW895XaVuM7iHRWZw944lVKzAKYvQVaqSzxpiEVkqAjClcM5enphaj_80PE4Jw-f4JcH83BF5b2oarLeTmVCDQXKRjLuDec5yXyULJ6t0AOPCr9azBLTSdBEjBEOmLtckTJ3N0CRLQy6yVOVZ7De9Dq4zPC9VIvm9Fd2wlcoqhlcG2yo6zVbVi5_Qb2Fzf-R_-OIEeiwSOwCRaZdBWwzTrcBp7Xj81PbCasPTEmFzzo4TfBqQr5GM1k7HOd9rl01_ZA3pC11cI-OdWjdYUXBcaNoM8Xc7sVlQwhGI6aZa_j9VqB_RaDY06vXTyM4ZKzFp5pT4VO5oDvebW93pVqCpsTdiM7y9y_h1NP1ErSvyjWs1gBsLGHiXA8wwRIe3HZwH5vflN185A52c9JGHZR7Yv35TsSvjjkyIhVOYijskwA==",
  "id": "rs_029df17d9205921f016ab4506f83a087d083b87911755ca238",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.08},\"note\":\"At table height the cap has moved out of the wrist camera beneath the fingertips. I’ll close only to an 8% jaw opening (about 7.6 mm) instead of fully closing, to capture the rounded cap without squeezing it sideways.\"}",
  "call_id": "call_d8NBw6IiH3kpXKDLQpHWQC22",
  "id": "fc_029df17d9205921f016ab45070cb5887d0ab118c1119468e93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d8NBw6IiH3kpXKDLQpHWQC22",
  "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]: [-0.9035, 1.8935, 0.7021, -0.3222, -1.0847, -1.8233, 0.0853, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=-0.1044 left_z=0.0049 left_yaw=0.7956 left_pitch=0.0655 left_roll=-0.2706 left_gripper=0.0853 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.3624, 4.3009, 0.3639, -0.5788, -0.0024, -0.2125, -0.3487, -1.306, 7.0906, 1.6239, -0.0073, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1553f0402c02fca321908a9ca51f4ad4a6530ff1819aa424ab507c75a538fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23d297df5fe4df5f52b7206f9ede2ba07b023c554d76ca2452aa8a25c1a072d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8740959d8e54482accfb9cfa5a74378d2c78547e2115464e7527bf4f687cc118",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.457 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9806, 1.4117, 1.2728, -1.3468, -1.0176, -1.9511, 0.9986, -0.02, 0.8429, 0.6128, -0.45, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.263 left_y=-0.1161 left_z=0.236 left_yaw=0.7796 left_pitch=-0.0271 left_roll=-0.3963 left_gripper=0.9986 right_x=0.2886 right_y=0.002 right_z=0.1567 right_yaw=-0.0011 right_pitch=-0.1205 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.0513, 8.6769, 0.3541, -0.7009, -0.0366, -0.1538, -0.1846, -1.6479, 6.9538, 1.7802, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9039, 1.8793, 0.7101, -0.3248, -1.0908, -1.8225, 0.9986, -0.02, 0.8463, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2884 left_y=-0.1072 left_z=0.0105 left_yaw=0.7966 left_pitch=0.0692 left_roll=-0.29 left_gripper=0.9986 right_x=0.2864 right_y=0.0021 right_z=0.1529 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -4.9436, 2.5504, 1.0037, 0.8523, -0.3883, -0.1587, -0.1573, -1.2786, 6.9402, 1.6581, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9035, 1.8935, 0.7021, -0.3222, -1.0847, -1.8233, 0.0853, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=-0.1044 left_z=0.0049 left_yaw=0.7956 left_pitch=0.0655 left_roll=-0.2706 left_gripper=0.0853 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.3624, 4.3009, 0.3639, -0.5788, -0.0024, -0.2125, -0.3487, -1.306, 7.0906, 1.6239, -0.0073, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1553f0402c02fca321908a9ca51f4ad4a6530ff1819aa424ab507c75a538fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23d297df5fe4df5f52b7206f9ede2ba07b023c554d76ca2452aa8a25c1a072d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8740959d8e54482accfb9cfa5a74378d2c78547e2115464e7527bf4f687cc118",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFB2xjCZaVSdC-sg21GllmuSuQPuR-lx2Wk1S2cFcV2uvqmvdQcjCP_OYx5i07s6gqijqH-dbj2umbLerbgoyv1mEvJIHPTxVdnG_iQGTit6C3IDTs55uweOgAQ75RLQMgRamIvRtZwO8ZzAW1hiGMo5mFhImCBmi1ajY1YeWZW9yqi6X7-PhoJu5D5OgzoG06a2UUXzPC4GJI0PKqhhfj0D7rb7UR3HE1A940fDUwtSvvTvKO_vBOxTKAfeWAOz6cFdbpM6Maktel4cEqJMdCwQSUTvPsM0x4IPELi_L65Ua4YqqV2wt9LlHSS2Zvp_nv5N64kFVbj0ma79O6ab7C39R_Iu2VfohGtYhy9d3iT8pS6pNjDA0AoJpz9Y5kLCTIKNMYiWHwUqzo3NElhiwjZZ6vsL2GjMhcqoqRMQi80ErVZWlIpDHpd0WdkLv_8HMUkWc3G3x-WOn2ZKyVFxmprwJzeR0HfARCzfGKDNwsvXVKhTTnPhFm83qofh_-KKffshZ36mk6y7kUmzZdYsa158QKyDS3LmWn0uFNEzsE_0bhSavMarARpRHGDtTGDlpPXPKWYxKPWido7wQzLTQpgENPloEencTBrlO_aiFfCuM8sDbQ2WSsYLhVIQKvUc45KZPYnQXGjHBNzQUhHvJyH1oDqmpq6u-Ceez_y3AiieR6s3EHSfWEzljQh4poK1GycFGKBTVjB5l2WKnn0HB3tYHjHWIQDy1vRhctcLwVazLnzmfsCqkVdi-MYVl-KjKnMV-smiHzhOK93IzeFj1uwLmHkFVkn5Y_XclpP-CLthE3JFP5OsADL_akwgO2OepJ4ufG0855oMMGP72cDBj_Wr_4w8HXM1B5MVXB-Or6jNMKgt9aiIKZsLbSyW04_JpYddw9X4eeqziUkgnypE1cUXKGg68XI6Xflzjpd2EdMLF_ULCJ-L_eTjHWoYkDU2uDd6aVCsM4YZmcsaE_kAOQ257iT2RJQWhxmBnUS9p3JolVkm1aW5sp4URxUo5V8lEMuhYYH4dkM49RrJIq1UYvcSh4-OFKHo6daTPJ-Wgd8-SS_aT714m_UhpiBY1WVMOnHtAzymhTrNs8hTxHDtzqnMRcrVU2RBryXEkGhujnfpFTwutc-KruYm8RaG4t7aQsQPkg7J6uoiTm7ObAE-ycgkCYqKCcfb9wso3rfZYOzleY4DjPkA5k6tSVh-QpGffFBT2bPgfFsnPK64bR6vezNCHlL0482WgBbe5SWVHsa3iU9rzpJ-rZ7Fy_uQp3u6Kp4Ayr-Ivma6W8b8FnewlxGzoDkquOKAfMbbgeKeNs6QdMP15PNDgrLSYcqFzscMQLVx2Ll0J3Y_T7sKVGCw4zIOmjcZtsnnTHneNKaS4v9fRiYyLZ5rm4UgCJS_P1I2MvT8S58c1wxV3Se6Y0rA4LZZwgxNFBG_eEhFXY8s9TwCCjvQhTqh0MwZBWk6sGooZ5hf_g-cE8ulNfpnB0rAz4sA5HtmafL_L8my8MEQOkxB0ixWWE7bnHz9lRu6ChO4hESP0VE9pS8vR92io7F0nBxQhqRS9WJxP966jw8nTZb0Gma30QmVJBkXPyd-U7OPTGCtBUOkz4YKcBbdC0P3OpKiDKmofwa5WtKYcpO2JEkAsOspOMv3MewiImv6M4sPLwHmvcw5O0_rmqg16fvmPQAyVqHXoDAjPMowegCkkG5YLqnbMklJ1V-p6-WKLIWZsLUvrMlECx8qeJyrmr_P2SJme0e4HXtS2MvpZGDSNjTaonMygy1FAwvZkhaJqOsxh5HLDJW7DCKeaFObRxg8FQx7ISIJSx1EjauNt5vEEbR8jvVxse5jIFZuypOi882qHG27CNLbHKjF8ozqntMhVgSANoFFo8DPiySvWNNbxYIiHKwhsBxkYGKmeHHwgVjQMhjpTZgZaRFgfYqEIYI0TH2F0wkH35iBrCCiq22oZiJSeHFbTsjxmWGKpevLUSqauf3yyvifsddLVo2L3YHLcyLsEKSXtMwW8uhCwC7TshtKPSbUAr2Gy4I5HSlHO7ofuK_ipCmZxEejbKBt_3EKI4sOxgT6ZCyig4bo2B3FpK0tzH8oGgT6tJfL7VxW1ZzTVOfGuYXezmiaF0tpHY7IIE5RGpl8Gylho5u8eLN7CR2FR90=",
  "id": "rs_029df17d9205921f016ab45073ad2487d0b0a0c56301ea863f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.115,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The jaws reached the commanded 8% opening without obstruction, and the overhead view shows the cap still just ahead of the fingertips. I’ll reopen, lift, and advance about 3 cm toward it while keeping the current cross-angle.\"}",
  "call_id": "call_EJObnhOPtRTVA1UlzOS54N3B",
  "id": "fc_029df17d9205921f016ab45075d9c887d09ca60258304ec0fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EJObnhOPtRTVA1UlzOS54N3B",
  "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]: [-0.8368, 1.7214, 0.9054, -0.5884, -1.0649, -1.7058, 0.9954, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.1145 left_z=0.0823 left_yaw=0.8048 left_pitch=0.0516 left_roll=-0.275 left_gripper=0.9954 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.4991, -9.2239, 7.3094, 0.4225, -0.6374, 0.2711, -0.1441, -0.212, -1.4154, 7.0769, 1.6093, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf154a38a5698b66d26d2708b1706eb3c87adf610aa6d096178113b2ef9a8c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b3457a2fa18aefc334ab638d458e4c1d889e02c16ed6430b513d60e2dd9c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29107ef4d1f21acff10e1a58ca6648ca0b66d2a01250839aa741245e295790d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 2.419 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9089, 1.5192, 0.9051, -0.8425, -1.0176, -1.8561, 0.9986, -0.02, 0.8436, 0.6128, -0.4583, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2809 left_y=-0.1102 left_z=0.1218 left_yaw=0.8027 left_pitch=-0.0137 left_roll=-0.3459 left_gripper=0.9986 right_x=0.2873 right_y=0.002 right_z=0.1549 right_yaw=-0.001 right_pitch=-0.1297 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.6906, -5.7641, 5.7915, 0.5348, -0.6422, 0.1587, -0.1538, -0.1573, -1.5111, 6.9402, 1.6825, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9035, 1.8935, 0.7021, -0.3222, -1.0847, -1.8233, 0.0853, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=-0.1044 left_z=0.0049 left_yaw=0.7956 left_pitch=0.0655 left_roll=-0.2706 left_gripper=0.0853 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.3624, 4.3009, 0.3639, -0.5788, -0.0024, -0.2125, -0.3487, -1.306, 7.0906, 1.6239, -0.0073, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8368, 1.7214, 0.9054, -0.5884, -1.0649, -1.7058, 0.9954, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.1145 left_z=0.0823 left_yaw=0.8048 left_pitch=0.0516 left_roll=-0.275 left_gripper=0.9954 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.4991, -9.2239, 7.3094, 0.4225, -0.6374, 0.2711, -0.1441, -0.212, -1.4154, 7.0769, 1.6093, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf154a38a5698b66d26d2708b1706eb3c87adf610aa6d096178113b2ef9a8c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b3457a2fa18aefc334ab638d458e4c1d889e02c16ed6430b513d60e2dd9c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29107ef4d1f21acff10e1a58ca6648ca0b66d2a01250839aa741245e295790d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFB7xWx8IlweKcIEqOmEHb0w8KLAx4loOqNYjKCa6hvc6l1JKC54VtgmYLs0J0N11wZq3KiXsa0otY1gRFAFtLEBUxX3XRyhsyYfADL4g7hId_-lkiOm_uRRtaPFz-eEJYbJasGzgUOLEMtNkJRDXjJq8A7no84482Px4UCwIflgJcRWzh6eJVCvQjARG0gqspgTZU2Vyxzog6ixlYcT2Dr3GaGV4TSOII2I9pKC-U9cCiNv8k4pFLPPp3NmYV5ULuwJ8aPeKcHP_y_odrYNddmtdJMiCQQCN77HaKYQi5AEsGFohbYWpECx1P2Lr5_za7Vabc5ePceeGFFnPnyOA_B2rcM7bV7R4ee_LSl6moHJ8Y2cMNX31P3J08dNsl5XlpQL0zDMfjlxyxHkB2wj1yjkw1WiGdDSBBI6t-SKwFjJJ3DcbqK-IVG2IfT6UNB0I8lBxUx6gWiNO0CcAA1aWhTKeLRa9EfaG1k91a4clVXSXf8N54c7Cst6f5wIOqqT37bZYS1oJVc9XL5DlokHFgovWlvG6jIB6jnLrzyU6jXMH0qePeXSEl3FggcdcF1ygXZsIupxPkLzTSw2TGhc57h5fm3IyzcZ3riMACv2FNs6GWnlYHOyCrcQBpAOUDuaLqwcux8OtL7pkuD194lV9m4zqJ9R0uM9b9OkpH1qqJh7LqKKwdeHNwj5IykYyEG9k4af0avEXafA_qHchJBrM4hY7zF9HiYLU155cOjtIWWaAmhXMuxlfl-7rHZAbbnB5gfWpegD-8CfPppv1NWsNHjGjCREY5_Mt24WlZOL_tq7LE7HiDBQwKTHsVScPQwJBrfS6VlaQd30BJlh9WAO1NO3oLVjL7P-rL0vEKZY-_yeSMF_-pxmBhQGRO5zim18SYLbpkBbPBSSZAKUmTT2tXNHyNofH_egdp3mppefxAhRXtIDwLbc24m1KLOykzPp_bHM9rjqGFbbS0vUxu5zKVz0ZWvJ3pnIeLHMGQQuhgKn4ElYwsKKasO3Sbnw9UIR2l78JFSpDzXZLk7j7WzybzpW7gqBCBOsXunW8dvojJG8okP4Pu5oVjgYnu0Po8hc5HSb59Nl4lmtsEZyNQkeIGNuR_TxSAaSCvwhJRm27t_zS4dD2HJETG9NIq1iEvQsaioXtTWA3dO6ji2-kAeHUS0l85exE9NV_icmn4-QO2Qi2Z7IOJqsrq4_22QYrn9Hjsxc0H-TKLETwbsE0fA_-erYtbI1oyyoVECuIQgsf5B7miN6wp60xWKU_0yk5XjalkQBpd5VIMMn6I97KhHpSuEgl_G_WLW6HBxSxPjdMHywV4KwOBixBbye6EpL0r6IDQba8zwFwhbDjdsfqadgN_vMHSakodutzN3h0vpQx-6b2LmREyT2C5Q8kMZmO6bJWq0Cxt2MqmaKSgP0AZDtA4v13MwMD8k3LyEk3lv_PQn7JvlxTtD20YiX4DZu2XJG244l-ug-BHOSMSnFalKPBeJlbcUYfIawkiygiMnMaVVJOroLmZgSsFlZVyaW1iSAwm6tQrmveXNnISMC8dPQdj1vT_UJLpG2OIJQ44NIqpEnuCvhgmcS_tUvC54FpEK7MNNi7Yb9EWVKglCvlMtkJHOBbbVt_WdWYZXxeiYuI01lk6f8BWip0PuHpur2sN3zLZrdHSi7A3EcXWgpA9TEok5zA_1nPuUfi838e67Cw1FES9LatrKhL7FiQ6RTD198t3EZORhUjAZROaM4gqKy-JDakoXhjAlq2TJmaT96Ra5NmIbAwn9-uEb5fL67y_yr65mxn3czduGc21lbuXTZI-CayoAmvFx0PXGAb7DWj2pDoBt_SnjR9bqYUuWkZ1IIQt0L",
  "id": "rs_029df17d9205921f016ab4507930e487d0839eceecfa2194a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.13,\"left_z\":-0.01,\"left_yaw\":0.8,\"left_gripper\":1.0},\"note\":\"After advancing, the cap is at the fingertip depth but about 20 pixels to the right of the jaw midpoint. I’ll shift roughly 1.5 cm toward the arm’s right and descend with a slight table press in one controlled motion.\"}",
  "call_id": "call_xxkv8vFHaCLLGgZb43Yjf0Uj",
  "id": "fc_029df17d9205921f016ab4507a462c87d09f7ceb6ffb0b74bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xxkv8vFHaCLLGgZb43Yjf0Uj",
  "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]: [-0.8585, 1.9987, 0.8555, -0.347, -1.1198, -1.7248, 0.9986, -0.02, 0.8513, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3174 left_y=-0.1188 left_z=0.0077 left_yaw=0.7933 left_pitch=0.1101 left_roll=-0.2101 left_gripper=0.9986 right_x=0.2865 right_y=0.0021 right_z=0.1516 right_yaw=-0.0007 right_pitch=-0.1442 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -5.9692, 4.2051, 1.0574, 0.7643, -0.2906, -0.1587, -0.1846, -1.2923, 7.1179, 1.6142, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3940ca44ed1f441b87cc6ad4ee2c2e20b52223259ff926ae0b6106f7c5c9558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f394b3f3aef9928b05bd0b9d975c39dc0e2e65bc2ca4e832a9c414054d3bb9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099e3bc0e832204e7d3e05bdab1212209ec4fa98d235e7107331a6a9713ed6eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 5.184 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9039, 1.8793, 0.7101, -0.3248, -1.0908, -1.8225, 0.9986, -0.02, 0.8463, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2884 left_y=-0.1072 left_z=0.0105 left_yaw=0.7966 left_pitch=0.0692 left_roll=-0.29 left_gripper=0.9986 right_x=0.2864 right_y=0.0021 right_z=0.1529 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -4.9436, 2.5504, 1.0037, 0.8523, -0.3883, -0.1587, -0.1573, -1.2786, 6.9402, 1.6581, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8368, 1.7214, 0.9054, -0.5884, -1.0649, -1.7058, 0.9954, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.1145 left_z=0.0823 left_yaw=0.8048 left_pitch=0.0516 left_roll=-0.275 left_gripper=0.9954 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.4991, -9.2239, 7.3094, 0.4225, -0.6374, 0.2711, -0.1441, -0.212, -1.4154, 7.0769, 1.6093, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8585, 1.9987, 0.8555, -0.347, -1.1198, -1.7248, 0.9986, -0.02, 0.8513, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3174 left_y=-0.1188 left_z=0.0077 left_yaw=0.7933 left_pitch=0.1101 left_roll=-0.2101 left_gripper=0.9986 right_x=0.2865 right_y=0.0021 right_z=0.1516 right_yaw=-0.0007 right_pitch=-0.1442 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -5.9692, 4.2051, 1.0574, 0.7643, -0.2906, -0.1587, -0.1846, -1.2923, 7.1179, 1.6142, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3940ca44ed1f441b87cc6ad4ee2c2e20b52223259ff926ae0b6106f7c5c9558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f394b3f3aef9928b05bd0b9d975c39dc0e2e65bc2ca4e832a9c414054d3bb9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099e3bc0e832204e7d3e05bdab1212209ec4fa98d235e7107331a6a9713ed6eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFB-vC3g7BlXwpfsVEU6C5xUjnfJfnheYZEPdDIlF2NzyogYEssPIduZofJPzSonBl2sSMvqbnKjn6atKS0qmWm2IKTKjb976E-uBoQ3yJU9SC_Yb_dZDCKdLZIRgqkC_DJppIIBtXmmeyQrmXNe_u6zXr3FXyx49A-dDye3IvkFtViEeNR4DgF5ZuLVvsE8QCocl9CINrUTNXQ9_anxzJk8VY7L_ofpeaoK7ZV_YXvc17yWRBoSgqfAei2y-ktqqSTVL3f09WxO-WWjIz1toi9kPBJrxX-Wqew0TvDXkfLGGl-ETF9yAleYmlp4QpTBRE_jfFh6LokyRdtBt4LZpeaVcwEz3EP-Cw4KYPochJSutmn9z1qgfxNT5-TBnrCjp104q0AcqtdN9aPOjIelFCBfn2tuNGcHYStiUcRjcNIikjjl9Yb9gPsheI4P4nLwGBekobVn-YyVJRGSn85VilHHIMNltFiOQZYho1OmBqJjGf_ODaDtYCTyW5WwSaTVY4fDZvdL5Ctlsa1zSvNb-vJUKIMgO-fyNovo_g9B5t6eShZjhEopo62m6DDXohS4QHrhycCfNiPDFfou4BDddicMHN6CEo_8eBpC5AGCEH-6E1g5w7aCIK-wxA9KAgKWMrFjAR0BxSFAHVlDhuAcn_6ymOCJU0qYhDl_QI5lfwekljvBS7PFrcOgZzqCn3Z6vchHITJDA5GXXMz-9n19338cdMtOQCYlF8dr_9dUnYnfyYXktvVRddz412A19i3IJh227WWFvmZDHMK2Otd6ibvU3QKW0FW-JxYo1nONHKl6THiHnqKG7wyvlhfckjFDuhvsmZvxY9VJB2TKqHbPjUe_QhcrWQPq-ZX7xtjI05vd2LS3DJvgH46ltYL1lhZuUUuDr9Qy-T2dWNsOxF3ndR7iJ7UkDq5B8l6TbLgV5qiDot2YUKbGpA52bqD_XGoDcm8iBbQMZXOstx6Vyl_KLrOrL8Elt1LszZ3B1gpbZ5zcPg6gmGAWJhjdGyc8uPVIPPU9ezs6qRjGcUhTze33qKHX9NQxNE_cd9v5yibTWVNMVsrHfEwPfBlHPlaxqZBu0s2xmgfCVoREEebmqZScFoPFOs5AwN7-nrjqCOZFf76H9-3NSZK4Ibek9JJ4Zo4tpam8t-7j-8zgVG74XDWraeVvM8kPRDxYwevSuX7lwA3wfxC6yNFQohbvEs_eRGe_qf5gHjH9ZfMZsDj-A4a_usX_xYB_wqCxB-RU0DH2rieqeO4GvTHQYsHlSy4oWhPqmjgL",
  "id": "rs_029df17d9205921f016ab4507d0a8487d0a1186d19a677be3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.08},\"note\":\"At the pressed table pose the cap has disappeared beneath the left fingertips, with the long pen still untouched at center. I’ll again use the non-ejecting 8% close and check whether the jaws stop wider than commanded.\"}",
  "call_id": "call_NPALLcKlhLIc2sWOoyafui5c",
  "id": "fc_029df17d9205921f016ab4507d3c2887d0bcc9345ef145827e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NPALLcKlhLIc2sWOoyafui5c",
  "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]: [-0.8627, 2.0102, 0.8551, -0.3408, -1.1133, -1.726, 0.0849, -0.02, 0.8513, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3163 left_y=-0.1202 left_z=0.0035 left_yaw=0.7886 left_pitch=0.104 left_roll=-0.2049 left_gripper=0.0849 right_x=0.2866 right_y=0.002 right_z=0.1516 right_yaw=-0.001 right_pitch=-0.1438 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1299, -9.2103, 3.7675, 0.2906, -0.6667, -0.0122, 0.1832, -0.1846, -1.306, 7.0906, 1.5946, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2373ff01881e916739039df3f9d1ca48b40de7022d7d9cfc5b36653fce7c66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39b481913fd13c9c21c37492e458b6e918416910689dad58d3185f4771266b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3301e655295c9fea1821882e145689cf926f40da835db89cdc9019319b81309f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.866 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9035, 1.8935, 0.7021, -0.3222, -1.0847, -1.8233, 0.0853, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=-0.1044 left_z=0.0049 left_yaw=0.7956 left_pitch=0.0655 left_roll=-0.2706 left_gripper=0.0853 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -8.3624, 4.3009, 0.3639, -0.5788, -0.0024, -0.2125, -0.3487, -1.306, 7.0906, 1.6239, -0.0073, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8585, 1.9987, 0.8555, -0.347, -1.1198, -1.7248, 0.9986, -0.02, 0.8513, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3174 left_y=-0.1188 left_z=0.0077 left_yaw=0.7933 left_pitch=0.1101 left_roll=-0.2101 left_gripper=0.9986 right_x=0.2865 right_y=0.0021 right_z=0.1516 right_yaw=-0.0007 right_pitch=-0.1442 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -5.9692, 4.2051, 1.0574, 0.7643, -0.2906, -0.1587, -0.1846, -1.2923, 7.1179, 1.6142, -0.0562, -0.0806, -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 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8627, 2.0102, 0.8551, -0.3408, -1.1133, -1.726, 0.0849, -0.02, 0.8513, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3163 left_y=-0.1202 left_z=0.0035 left_yaw=0.7886 left_pitch=0.104 left_roll=-0.2049 left_gripper=0.0849 right_x=0.2866 right_y=0.002 right_z=0.1516 right_yaw=-0.001 right_pitch=-0.1438 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1299, -9.2103, 3.7675, 0.2906, -0.6667, -0.0122, 0.1832, -0.1846, -1.306, 7.0906, 1.5946, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2373ff01881e916739039df3f9d1ca48b40de7022d7d9cfc5b36653fce7c66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39b481913fd13c9c21c37492e458b6e918416910689dad58d3185f4771266b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3301e655295c9fea1821882e145689cf926f40da835db89cdc9019319b81309f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFCEUzDb3wV5DjdynOxkRRnvictweuFAnaAUPMaWPqTmD4hoY2jMSmmXDFHBH4PLbAlf5xNuHmUKkv9OQ1OcpoLSXNJOObBAE-t4kiiyasgox2paJl4obA_9uxOnZkLovCftR8n7RZ6q5sFnGyt5viAufmy-cbEatOJFO9vZ1RHtWmeBpCruVcXOqHOqxmeP9hcYLTM7vLxiyORKp6RiWXne_BxILORc2ZftIqkDUP_Q03StA9y1_Xx9GrEWifk8f2Paduz2CVQrBhL7riEkjTURFPaUwC0E6vNqldKC18goFeONWTpyiQZ2vWYUMxlJatcdD0SEbRRgBVfR_6jVz9Qz3qgga_F1rB4UJRjzybS9rYgD6CfqbXchURLIfrwqy8kxW-EQPJZLSotuEGHqz9_N_wwfas0FxlwizsU7q7ZKSg_2m51ZEh3cqqshXF5pSmzHGg8oehgJ6IWbIfEOqg7S-gK9sUeFXT9uVi6RfScuVe0-LkZvtc2vF8KECwzleWlCLOsKci7ROLzAGPGXD1xLarAKh-BecYT3dcVU4xj335YLikTypMHijxP-qQv-V3kv1FlcVBTTCxpc1Y5OfFNmJqYZ0ge1oRo2xHG4x6B8NPD0twWV_Bhl76MIGexm7MiQTWDpwhP7df5CODhF9SSOv5FY9euC5YqUEGDHYTtJEFXMM6MOO1HjYzm6yNXFdIc3gJ90A0ktIaiRUDEcwK3go776f1Erga8-7-v2oZh-D7FOQaGGAP5DnmhB4fO9lH0pPXiTpDPw0ueK2FWAP918OCWCXYeurQ-GvZFwok9pumMtRIa5nwSbUE2WTTMPdooh0DnfcrxHVQt_OEDKjNwiY--gi7XL4McVgMLlSSYMaRvyGY2qQNsnKvOoaslv4LjpUeA-XjIsFEfN24WELkqWk6CMwvZRADv3r3cWfirF4IXmHznuYBsy6Cns1zhH312w9S2ce3BtyBPYSx4uvWHAGN_s-PFo7C_kquoKHYX4Kwb9DF_8QQTLBDMc_yZOiXrUOtJ-QAOKVvxF3Vl4BYT_ZiJwogUUyBZ-5Vlp-1QUaGv3-lcEQ-dfWTFlyHqIIkT7DIP-ZcAW1PIXT1tdujVJoxrYuWDixW5rTw5Ouyo63U8CpAn2JVW8eB_VnuAs6y05JhlMqip-r9KQnI8NCYSbFII5kH2cA_IKCYerAeiuaVsZt80KNXRHcUcEuUlbqGerqgRLcYw8PUYuV38CuCNUl2zunW3jBUx81LPXC5CttNWDMKBY40C2f9K3exhUk2RhZuqg1NFGmTR1i62LsavVg_29Te44_gBxePAW4Ih895fNrLrIv6ffC0TQx-W_Ozud6DjAGsbZ1GC0MZyctKPnZpVTUWVK4_QjNvkqMUYBL_7RprQJzWcUhhE6MtOGGGeIwgrZBx2ggx72WBd8v4MrAR8j_LzXRDJL4ZtnvSlvXQszmEZgcNbr_3P4kaepEeEcw5YV4tozN5okeRSOIOHuQ3xOjTIisPT66ukpQcDw4-CAYiUm3BcdBxpPftwPExHp-lX4JpEBcJ8GskxgU3hWdj24fpqNkq_H5IrsBmM7F0QkE_J3nnakKcUIO_wOCSioELVXETiuaq4Ux8A7T4Yg85OcBKXwvKaEQKKyLBDLLrqq-xaamSe8rMqyyk1wKqLm9UdWBkoyLpV04fhEmU_fcBTQaCx7MIJ3NuhnxdaAGLuG9vecKzT1v32cJ8k-PFkRJjUem3bGegQC0Pt6i0EDIzPJ_hXS8WUCjgyhm_bjmLJF-a7YIvsVWqdnfqLbVcXOt98ahcj50QzABBSQYuH8H-8whWY8pt7lWQhbtR8lG1HaEIZ_3nTMepspUgZamzoEESwOT7s0xQ8HyJ8PgRRNc8gCrZrbndlLqQkU3tKOHS9Q_q3I3nv85VLjo40mel9X6qeCnyzDmPIM_MWnTMUAhb5tBKGbvKGFJOW_wq8id7L0xp5LBqQE1ZD8r-Vn5wzCDkuArUMHEIIgxpRqErylQQ2UAInlj-2pofrzlDaYYRbrkLY2J1ILVTsgkzgY3TeEtmhjA4zT3XCPGrH-hRgRyMU_SFNYXDlqo112eTTizfdW3gBIhAuoJcWGG9T7Trjokg_LdTAcOnhtYTssYeO4ZtUTlusgPPnX49LB9Tp-w3Vv6i7g8Ike2kLnsLu5BQOlzMTXdeYyGMKktvIt-kRl0bN_4aFwiMKuuKMGKJOxvF0mDtLJdYT82BOTqqRjZexkflqaKXWmDIhTVUlKZqDN6XkIE0UFbYNmFtn4xyPD36tPaJs-nB4-0Fsu2IkRawxrY0QEAjsY0u_sYF3Np2BSyuDWROenVnj4LWDLSIyeNwPYKdTF-xARj7EIuCaD1rNhP1jjp638LQS_E5n6KNMou0LuOBu7rB9vNjDg5Oq5yN2b8hpukyEpxkdK5ezAHQ343ryhddPQ4jzC5ariNDW7fAZ2dbtCaTcTdclTsHu_xKEdJIDfX7ICgqatDBP8G47R-4Oz7PI9uj3JyywbUOBSTGSuxxpZZzXGHTeMl9CtSh8=",
  "id": "rs_029df17d9205921f016ab450804aa087d08c7877a7ff72e16c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_yaw\":1.3,\"left_gripper\":1.0},\"note\":\"The cap visibly squirted to the lower-right of the wrist image during the partial close, confirming its diagonal angle still lets the jaws eject it. I’ll reopen, lift, and rotate another ~45° so the cap’s long axis becomes perpendicular to jaw closure before realigning.\"}",
  "call_id": "call_5aYXQZ9MWUcMILlNVIdpvgsD",
  "id": "fc_029df17d9205921f016ab45083437487d098989ae603595abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5aYXQZ9MWUcMILlNVIdpvgsD",
  "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]: [-0.5732, 2.0327, 1.3998, -1.1744, -1.0653, -2.0979, 0.9953, -0.02, 0.8513, 0.6128, -0.4648, -0.0231, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3664 left_y=-0.0482 left_z=0.1008 left_yaw=1.254 left_pitch=0.068 left_roll=-0.2183 left_gripper=0.9953 right_x=0.2866 right_y=0.0019 right_z=0.1516 right_yaw=-0.0013 right_pitch=-0.1438 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.294, -11.3983, 6.7077, -0.3053, -0.6667, 0.0269, -0.1294, -0.3214, -1.4838, 7.0769, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5feedffc441cadb9a13871d54ecd8c28310a9b38b848e1c6ed31f650f2ad53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f91cb1e3821dc186f117457abad72b8765d9d092d172aa24a67aa38e7e503d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabd488ae48785720dbc5036bdfc9333e0eb191d34fddeda950d4aaa3d7248e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.781 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8368, 1.7214, 0.9054, -0.5884, -1.0649, -1.7058, 0.9954, -0.02, 0.8467, 0.6128, -0.4648, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3162 left_y=-0.1145 left_z=0.0823 left_yaw=0.8048 left_pitch=0.0516 left_roll=-0.275 left_gripper=0.9954 right_x=0.2864 right_y=0.0021 right_z=0.1528 right_yaw=-0.0007 right_pitch=-0.1392 right_roll=0.0031 right_gripper=0.999\nstate[joint_eff]: [0.4991, -9.2239, 7.3094, 0.4225, -0.6374, 0.2711, -0.1441, -0.212, -1.4154, 7.0769, 1.6093, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8627, 2.0102, 0.8551, -0.3408, -1.1133, -1.726, 0.0849, -0.02, 0.8513, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3163 left_y=-0.1202 left_z=0.0035 left_yaw=0.7886 left_pitch=0.104 left_roll=-0.2049 left_gripper=0.0849 right_x=0.2866 right_y=0.002 right_z=0.1516 right_yaw=-0.001 right_pitch=-0.1438 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1299, -9.2103, 3.7675, 0.2906, -0.6667, -0.0122, 0.1832, -0.1846, -1.306, 7.0906, 1.5946, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5732, 2.0327, 1.3998, -1.1744, -1.0653, -2.0979, 0.9953, -0.02, 0.8513, 0.6128, -0.4648, -0.0231, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3664 left_y=-0.0482 left_z=0.1008 left_yaw=1.254 left_pitch=0.068 left_roll=-0.2183 left_gripper=0.9953 right_x=0.2866 right_y=0.0019 right_z=0.1516 right_yaw=-0.0013 right_pitch=-0.1438 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.294, -11.3983, 6.7077, -0.3053, -0.6667, 0.0269, -0.1294, -0.3214, -1.4838, 7.0769, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5feedffc441cadb9a13871d54ecd8c28310a9b38b848e1c6ed31f650f2ad53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f91cb1e3821dc186f117457abad72b8765d9d092d172aa24a67aa38e7e503d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabd488ae48785720dbc5036bdfc9333e0eb191d34fddeda950d4aaa3d7248e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFCILNtIxydUVqpYpNRP5-670NmYuwbKVHOyIH0kM8AS43GylleHROo36A63WyqfqcRHHwVs6pvqBNDiG00L2AoafvLQFUuvhnHsUDxI6fAS0pM98lraiXGil8c4vSUDm-7l6-rk_E0t8xs9Sbe2ukGavTAqpr5NKW0ZHkdrC7RVb6H8iA_NLMGv-YFNwHAmU2_ML_yBzLUz6rY4rK4NukY0sleQ5GjWj8IGm49qYIm-ty0FdVHUCXZnCcOM6GP5OEMvmAT9kUvxvI-SOrB2u_9AxE5xNbROv6_eApi6RKgHfOiKOL8whAeA0hrkBVBGzT6k8WYWDEBOzSvU3IKcxuILYszCL_IIp_CEUuU4mq_Z65Zt0xFqe3TwVUcRQ1SITFbAvaotzR8UGtQj50gF5rQ9xkgkgJh8JYwHTDfuEQkXeUAaNszj3I7Yo6h8ZaX8UUI2UDyfpC-pjYYC6Twj9CTTF8vb4d6YgUkfZY1xw7Ew35SdbdBfrmN8Fwdp40dnxSWLpZHaDpGn4nOhWVfiFgxkf_OA4YIlFpLlnRhWYiNwR5IKxme4jciKgVKOTvY1_-QTzIcY2lat-9lAZS079qgNojI1QK-o1QzDC38YiehXRk2iCH6aebgrqEwKFUtDu76bnOedmrZHUbeYPRlAg31Bjl7aiTcIfdi-i33HZa1rc7X3_kyiwrSwZrWi182bX9UU9JB051lQFj_uXVZ64cYW5tOTgJO9LyXrfvStxQza9DognRWZbRwmAKq26ZPd-aDPaQ7Mzl-YMwHAsPHOMxP9NALTZTC2qKDMM2IloTr8EyQTTyWQgsunEQDlzcEH4zu6ZhjnGlNQQra81YPnNWestsVAAxDK8jiqEq8KbZsozHFLg05h35_XYEbXbrjpp-LitBH9LIFxV6z4ahezF04ZTpvY6gKdNzdyaNLJKhlY_hRAtmuvHptx6VySOTa-tQ6iQQyDFXLZpf-lwNpICDReDF8xLMoa7xZDRqmpIChV2gKM5BcFkCGgcOw_sFs6lJ4Rtov24Y9whPQ3NpdEOR-GBUVaef3idZqFhT-wpitFuqkfdX2gkFj0AcMDczN15XAQHjdINHWFk8-qzxtAUrGwTtpms0ON1LqdcGF-N6tW7DJfE2fPLjuooBWD2M4nKgqHL3QtipiK4yQadUO5GMpIaLHmTsu48qUYPjACWB055e8vjSdD2PmC8UOlHv8rscM1NTHzNyHimT8VHtBjzGKe2F3z1PWSoKhOmSecjfBiJDYkvQ4qyEbCvAPEpexfm_eoKQxldjAcRpcH7ZRLzAFtUr8G-pX1_0iIPPOlrORj8Joe0sHPuMTOMEGVwG2P4zWOtX4_vMpbOXFfBK6RxBIo9-mtVm-wjGvoRG3x-t-tzmUT5307Cf4CGWMH4pMmAI8Ce8g5xyUY60W0Up-5xBMvESwxwtnngj1n1tZzulrR_Mg=",
  "id": "rs_029df17d9205921f016ab45086547887d0867da5c09afb935c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.22,\"left_yaw\":1.3,\"left_gripper\":1.0},\"note\":\"After the orientation change the cap is no longer visible in either the wrist or exposed overhead region, likely hidden beneath the left arm after being ejected. I’ll retract and raise the arm to expose it while keeping the improved yaw.\"}",
  "call_id": "call_t7x3Zxgl75VCPc0HFATz0pbw",
  "id": "fc_029df17d9205921f016ab45086f90087d0bb68f7e77af0f6ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t7x3Zxgl75VCPc0HFATz0pbw",
  "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]: [-0.5381, 1.5311, 1.2385, -1.4673, -1.0416, -2.0949, 0.9986, -0.02, 0.8558, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2785 left_y=0.0155 left_z=0.2064 left_yaw=1.2946 left_pitch=0.0339 left_roll=-0.2555 left_gripper=0.9986 right_x=0.2868 right_y=0.002 right_z=0.1504 right_yaw=-0.001 right_pitch=-0.1484 right_roll=0.003 right_gripper=0.999\nstate[joint_eff]: [0.4171, -6.3932, 5.7368, -0.2466, -0.6911, -0.0073, -0.1587, -0.294, -1.9077, 6.9538, 1.619, -0.0562, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47ae39bf61f3468b5291cd07d1495ed274f5675605eb200fe877d34f7b36f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c77ed45d56df2a25c580b307ea9532e6c33d7aea2c3cefaebb196cee1fca036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:882ca01016ab308bf47835809708dfcef8bfc742ce90ddd2e050e6b9ac2eb7da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 4.35 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8585, 1.9987, 0.8555, -0.347, -1.1198, -1.7248, 0.9986, -0.02, 0.8513, 0.6128, -0.4652, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3174 left_y=-0.1188 left_z=0.0077 left_yaw=0.7933 left_pitch=0.1101 left_roll=-0.2101 left_gripper=0.9986 right_x=0.2865 right_y=0.0021 right_z=0.1516 right_yaw=-0.0007 right_pitch=-0.1442 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -5.9692, 4.2051, 1.0574, 0.7643, -0.2906, -0.1587, -0.1846, -1.2923, 7.1179, 1.6142, -0.0562, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5732, 2.0327, 1.3998, -1.1744, -1.0653, -2.0979, 0.9953, -0.02, 0.8513, 0.6128, -0.4648, -0.0231, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3664 left_y=-0.0482 left_z=0.1008 left_yaw=1.254 left_pitch=0.068 left_roll=-0.2183 left_gripper=0.9953 right_x=0.2866 right_y=0.0019 right_z=0.1516 right_yaw=-0.0013 right_pitch=-0.1438 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.294, -11.3983, 6.7077, -0.3053, -0.6667, 0.0269, -0.1294, -0.3214, -1.4838, 7.0769, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.5311, 1.2385, -1.4673, -1.0416, -2.0949, 0.9986, -0.02, 0.8558, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2785 left_y=0.0155 left_z=0.2064 left_yaw=1.2946 left_pitch=0.0339 left_roll=-0.2555 left_gripper=0.9986 right_x=0.2868 right_y=0.002 right_z=0.1504 right_yaw=-0.001 right_pitch=-0.1484 right_roll=0.003 right_gripper=0.999\nstate[joint_eff]: [0.4171, -6.3932, 5.7368, -0.2466, -0.6911, -0.0073, -0.1587, -0.294, -1.9077, 6.9538, 1.619, -0.0562, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47ae39bf61f3468b5291cd07d1495ed274f5675605eb200fe877d34f7b36f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c77ed45d56df2a25c580b307ea9532e6c33d7aea2c3cefaebb196cee1fca036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:882ca01016ab308bf47835809708dfcef8bfc742ce90ddd2e050e6b9ac2eb7da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_029df17d9205921f016ab4508a4ca087d0af81823202d2e135",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":0.0,\"left_z\":0.15,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The retracted wrist view reveals the actual cap: a small yellow piece far ahead on the jaw column; the black diagonal object at center is the pen. I’ll approach the yellow cap with the left gripper at a neutral yaw, staying at hover height.\"}",
  "call_id": "call_5FcoKJtWNApfsK9yR5kShEGZ",
  "id": "fc_029df17d9205921f016ab4508db2b887d0b6aa1bfcca69e311",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5FcoKJtWNApfsK9yR5kShEGZ",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.049, 1.5097, 0.8085, 0.0597, 0.0303, -0.308, 0.9986, -0.02, 0.8577, 0.6128, -0.4656, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4271 left_y=0.0192 left_z=0.1159 left_yaw=0.1771 left_pitch=-0.0902 left_roll=-0.2566 left_gripper=0.9986 right_x=0.2867 right_y=0.0021 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0033 right_gripper=0.999\nstate[joint_eff]: [0.3077, -7.5829, 9.9761, 2.1123, 0.0855, 0.2369, -0.1538, -0.3077, -1.7162, 6.9265, 1.58, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc030893a88fa57191948f4c101c64aaa02f463d491f5bfd5ebbe6678c5f161",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad76819653616e4202c885a4f2ac3dfe6266805786cdf42d9b316978dcaee2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b60d531a8206f15f2ff1e14ccd9ed854333e1dfd8baa4442f3031f74faa530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 6.912 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8627, 2.0102, 0.8551, -0.3408, -1.1133, -1.726, 0.0849, -0.02, 0.8513, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3163 left_y=-0.1202 left_z=0.0035 left_yaw=0.7886 left_pitch=0.104 left_roll=-0.2049 left_gripper=0.0849 right_x=0.2866 right_y=0.002 right_z=0.1516 right_yaw=-0.001 right_pitch=-0.1438 right_roll=0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1299, -9.2103, 3.7675, 0.2906, -0.6667, -0.0122, 0.1832, -0.1846, -1.306, 7.0906, 1.5946, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.5311, 1.2385, -1.4673, -1.0416, -2.0949, 0.9986, -0.02, 0.8558, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2785 left_y=0.0155 left_z=0.2064 left_yaw=1.2946 left_pitch=0.0339 left_roll=-0.2555 left_gripper=0.9986 right_x=0.2868 right_y=0.002 right_z=0.1504 right_yaw=-0.001 right_pitch=-0.1484 right_roll=0.003 right_gripper=0.999\nstate[joint_eff]: [0.4171, -6.3932, 5.7368, -0.2466, -0.6911, -0.0073, -0.1587, -0.294, -1.9077, 6.9538, 1.619, -0.0562, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.049, 1.5097, 0.8085, 0.0597, 0.0303, -0.308, 0.9986, -0.02, 0.8577, 0.6128, -0.4656, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4271 left_y=0.0192 left_z=0.1159 left_yaw=0.1771 left_pitch=-0.0902 left_roll=-0.2566 left_gripper=0.9986 right_x=0.2867 right_y=0.0021 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0033 right_gripper=0.999\nstate[joint_eff]: [0.3077, -7.5829, 9.9761, 2.1123, 0.0855, 0.2369, -0.1538, -0.3077, -1.7162, 6.9265, 1.58, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc030893a88fa57191948f4c101c64aaa02f463d491f5bfd5ebbe6678c5f161",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad76819653616e4202c885a4f2ac3dfe6266805786cdf42d9b316978dcaee2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b60d531a8206f15f2ff1e14ccd9ed854333e1dfd8baa4442f3031f74faa530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_029df17d9205921f016ab45091785487d0bc55adc65eeccf39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.12,\"left_yaw\":-0.7,\"left_gripper\":1.0},\"note\":\"The yellow feature was a distant fixture/reflection, not a task object; the overhead view again clearly shows the short black cap left of the long pen. I’ll return above the cap at its updated coordinate, using the earlier yaw where it appeared perpendicular to jaw closure.\"}",
  "call_id": "call_AzhmrRNO24bkOfBMFiMBPB7W",
  "id": "fc_029df17d9205921f016ab450936af487d0929ee2b83037dfae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AzhmrRNO24bkOfBMFiMBPB7W",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0414, 1.4654, 0.7506, 0.0406, 0.1349, -0.2337, 0.9986, -0.02, 0.8597, 0.6128, -0.4648, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4087 left_y=-0.0033 left_z=0.1064 left_yaw=0.0411 left_pitch=-0.1171 left_roll=-0.2601 left_gripper=0.9986 right_x=0.2869 right_y=0.002 right_z=0.1494 right_yaw=-0.0012 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -7.5829, 6.8034, 1.7021, -0.0122, 0.0122, -0.1587, -0.3077, -1.7573, 6.9128, 1.5702, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bcc92c7bf5ec2be9c65445361242cdd24b0bd4938b902f1bb2ccffd7aa51761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1198eb7e51ebbd8d6207d75a7e4476b3f7d7ed85036703bca8cc6a6f60ee0371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fe750edc6ebd7979d1059bbfe079451b26a549cd8ff0ad25bbcc6cfae1d917",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.133 s

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

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5732, 2.0327, 1.3998, -1.1744, -1.0653, -2.0979, 0.9953, -0.02, 0.8513, 0.6128, -0.4648, -0.0231, -0.0154, 0.999]\nstate[eef_state]: left_x=0.3664 left_y=-0.0482 left_z=0.1008 left_yaw=1.254 left_pitch=0.068 left_roll=-0.2183 left_gripper=0.9953 right_x=0.2866 right_y=0.0019 right_z=0.1516 right_yaw=-0.0013 right_pitch=-0.1438 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [0.294, -11.3983, 6.7077, -0.3053, -0.6667, 0.0269, -0.1294, -0.3214, -1.4838, 7.0769, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.049, 1.5097, 0.8085, 0.0597, 0.0303, -0.308, 0.9986, -0.02, 0.8577, 0.6128, -0.4656, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4271 left_y=0.0192 left_z=0.1159 left_yaw=0.1771 left_pitch=-0.0902 left_roll=-0.2566 left_gripper=0.9986 right_x=0.2867 right_y=0.0021 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0033 right_gripper=0.999\nstate[joint_eff]: [0.3077, -7.5829, 9.9761, 2.1123, 0.0855, 0.2369, -0.1538, -0.3077, -1.7162, 6.9265, 1.58, -0.022, -0.0366, -0.0122]\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 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0414, 1.4654, 0.7506, 0.0406, 0.1349, -0.2337, 0.9986, -0.02, 0.8597, 0.6128, -0.4648, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4087 left_y=-0.0033 left_z=0.1064 left_yaw=0.0411 left_pitch=-0.1171 left_roll=-0.2601 left_gripper=0.9986 right_x=0.2869 right_y=0.002 right_z=0.1494 right_yaw=-0.0012 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -7.5829, 6.8034, 1.7021, -0.0122, 0.0122, -0.1587, -0.3077, -1.7573, 6.9128, 1.5702, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bcc92c7bf5ec2be9c65445361242cdd24b0bd4938b902f1bb2ccffd7aa51761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1198eb7e51ebbd8d6207d75a7e4476b3f7d7ed85036703bca8cc6a6f60ee0371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fe750edc6ebd7979d1059bbfe079451b26a549cd8ff0ad25bbcc6cfae1d917",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_029df17d9205921f016ab450979cb487d0a2f24acc17ca67fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.41,\"right_y\":0.29,\"right_z\":0.13,\"right_yaw\":0.8,\"right_gripper\":1.0},\"note\":\"The left arm stalled in its extended IK branch, so I’ll free it by retracting high while simultaneously bringing the right arm above the long pen. The right jaws are rotated across the pen’s diagonal to prepare a bimanual pickup efficiently.\"}",
  "call_id": "call_EeNUmC9FK2gccZgCPJU9FrWF",
  "id": "fc_029df17d9205921f016ab4509b2d3487d0950fdda9c66076a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EeNUmC9FK2gccZgCPJU9FrWF",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 0.7902, 0.9257, -0.823, -0.0425, -0.384, 0.9986, 0.5312, 1.779, 1.2003, -0.1944, -0.189, -0.1684, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.0529 left_z=0.2358 left_yaw=-0.0162 left_pitch=-0.1377 left_roll=-0.2631 left_gripper=0.9986 right_x=0.4012 right_y=0.2784 right_z=0.1166 right_yaw=0.776 right_pitch=-0.1967 right_roll=0.0086 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.0598, 9.5658, 1.7509, -0.1294, 0.0366, -0.1587, 0.335, -8.7453, 8.9778, 1.7118, -0.1734, 0.0855, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53eda3a0105d3179946bcdc2be2d61843004e3cc289685f96540bbadb11780c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfc9d939d55a485d687cda4cec05716e38ff665be1468912f7f95d74cf248be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6934c845e8717bd2140f20b6645b75f0ee80e515bed95a6fdbc5f8e4af57055c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 4.675 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5381, 1.5311, 1.2385, -1.4673, -1.0416, -2.0949, 0.9986, -0.02, 0.8558, 0.6128, -0.4648, -0.0235, -0.0154, 0.999]\nstate[eef_state]: left_x=0.2785 left_y=0.0155 left_z=0.2064 left_yaw=1.2946 left_pitch=0.0339 left_roll=-0.2555 left_gripper=0.9986 right_x=0.2868 right_y=0.002 right_z=0.1504 right_yaw=-0.001 right_pitch=-0.1484 right_roll=0.003 right_gripper=0.999\nstate[joint_eff]: [0.4171, -6.3932, 5.7368, -0.2466, -0.6911, -0.0073, -0.1587, -0.294, -1.9077, 6.9538, 1.619, -0.0562, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0414, 1.4654, 0.7506, 0.0406, 0.1349, -0.2337, 0.9986, -0.02, 0.8597, 0.6128, -0.4648, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4087 left_y=-0.0033 left_z=0.1064 left_yaw=0.0411 left_pitch=-0.1171 left_roll=-0.2601 left_gripper=0.9986 right_x=0.2869 right_y=0.002 right_z=0.1494 right_yaw=-0.0012 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -7.5829, 6.8034, 1.7021, -0.0122, 0.0122, -0.1587, -0.3077, -1.7573, 6.9128, 1.5702, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 0.7902, 0.9257, -0.823, -0.0425, -0.384, 0.9986, 0.5312, 1.779, 1.2003, -0.1944, -0.189, -0.1684, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.0529 left_z=0.2358 left_yaw=-0.0162 left_pitch=-0.1377 left_roll=-0.2631 left_gripper=0.9986 right_x=0.4012 right_y=0.2784 right_z=0.1166 right_yaw=0.776 right_pitch=-0.1967 right_roll=0.0086 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.0598, 9.5658, 1.7509, -0.1294, 0.0366, -0.1587, 0.335, -8.7453, 8.9778, 1.7118, -0.1734, 0.0855, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53eda3a0105d3179946bcdc2be2d61843004e3cc289685f96540bbadb11780c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfc9d939d55a485d687cda4cec05716e38ff665be1468912f7f95d74cf248be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6934c845e8717bd2140f20b6645b75f0ee80e515bed95a6fdbc5f8e4af57055c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFCj_vtp26ARwtdsLDYIhHLtwbjIabqIxbHM4KcHUs4QfpU80cF9rCCJVs2rCHPcpT3Aq-FK1Rmme863LgmtVIGXWk6AAHYzaEA78I6nCTeEjwCFs6dt1kMbFJ22WOlilxk4pDc_TB2MdMwc4fUYY0kLzRaJ2EtIJOEAjBNnD-zXC_n82_yQmhC1MvpNFHblr9TC1QSso118ZGiosNXgPDCqqhFvw6V4qG_C7ovuHevxk9hjxvV5J8ZRvP0csl1d0W3NczH2k29Yip72aNw7szN2wo2b3GOA9AQ5Uhrnwgb0eaVGfRZ8ucAJ7VrGzlsrLdDrBKR1WkQSOm0UwehzRhh-wD-pAY3_CpYT6MV1L5LQ5SgQoV2tBUEDgE9yMtkSeLY0vLp55j-YGBgejH9qZrr3zfM10IeSRrGI3DIOR2ktjEJj3R3NeGwgLjEThPOCsnHrB01Jpr772Eeo8StT3Kv6G9BgY3ueUFG3DHsi6lAwXjn_lpvCtGsf7J-3to3nhpN-SXZMauQko3_aCAuAPvW2Y9-AoG4M8FNTu5qi5HDo35yvCPp1UO9n3GibtQwAzuIpZIXtSDIlyLwW_h8_dWEKOg-M5lldVxDP27pNMCE0XOV7AOmzDK2ncLaK227rwnLH-cY_rhgxca3tdYmS6QaDNuYKAhLsCSbiPqqNUPzBpT7JRz18BycuauUl0xbr77NjJFCMV8IK4kyBm9h8WHjMAclIPVoMbp2KJL-MWXAkx23zNrCiN7Tnh-pq-rYC7aVXcnx8OYQj6oErC8fW1VGL91eqbBU-v4Addd1a0Wpj2VF-ZqUEtc78Ps0fCddmeOsb66werNzJu3TyJsuaBo1IW7wa-idGgYB4lhHW5XvmtQy__UJvGFHXkUA5ZEhCvVRQfZUOYr19IoDy9TVTvNRuFBWyuOkkso9glvfSRZjgNpNCqRgx4UuyzHNMNVq1A8hoLnUgLljfDzjfCapC4lgpv_n8uxMg777jpmS71IXATb_7yQnE-h-PPMT1ynsDJkgWATRcwS3If8cS69wxbRaFKPI-XvNWWlRMOZKbcecGdDec4O3PfmvjFHBwkEBaUP4KMJozSNgM3lboFxATYyffydMrNFyfP9Tqgbo8E9n5ZxeTiR9Vm47632hjXeY8G19ODfy-JSfcefvki1Y9LxguU_D9pVrAFqO-dMRFJou3wUJAi-zme1vJO_BZ0gOFP5JlHFDqhVzc90gjqfgGELRg_unVjlaeICsKPhHCPkNaYP9UIzpTYwgCXCZrtx2N1MyoLxdhwUm2wPdqKZl0FAGdBWd5BkUtKQL0D6XxQI3UOLI9tVciHGhK-XarLJ78n27yNO6HiNTh7aS6Uw7oiv93JcyrZ8zyucFyEg12ESFJnO5Ef3__YtxeLraG9A9E454dYuFVJK_fOhQVk5XIuO7lHy0AOfvTp8HQxTcNhjrGLnCbS7jSb3WOtyUqVbOSwiWnypmP9WmJB3bLNdBC7PYAViZIxvzQtLk-M0JaUVJgXHCFypfQa-TA2Z9_rYyGur5DckM_EQE3gURzfHhLV-IM1hnjq0bYUz9CcMfYQeZMvn0KWXX3dSMkSOBGtuFIAl4HvvpAjMbDuuoYyWfdLGe7bslxJdn88nfbqC91bhffV8mo8C41GhAMXLTLn9OiZtHmv2H5RhNA2DKkkhV5KZcM_00qd7bdtoDIp_fAtO7o-mIhG5ZEGwQTppp_IgKsOtyi5Llq3ilkuSo2kXCf9hcjaIbYG8eX46poLYomwM74wGCzM9SK1CIWx3BH_8bacWpzkvHiwnpSAOyqLDPO23EWYPuFsDzsF5serNnHVXD0rY28jlazgx72BMhg-B7KFONdInypAYe4QWgSQn91_NYuxQaDguYXxfyXb_HRyAOEpbecn-UmCqKDOBJezVh12gJqL7FBLH_LbKDIY8vUg6NZuGsNCJyICmSa2xtmONbVplLRQDt1cAOBB4ZxKV6KFdYbQ1OOZkA6MQwycv1RJsE46Q==",
  "id": "rs_029df17d9205921f016ab450a027dc87d09afe550c51d6efe1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.05,\"left_z\":0.12,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.41,\"right_y\":0.29,\"right_z\":0.0,\"right_yaw\":0.8,\"right_gripper\":1.0},\"note\":\"The right wrist shows the pen centered and vertical between the jaws, ready for a table-level grasp. The left wrist simultaneously sees the cap centered but a few centimetres short of the fingertips, so I’ll descend the right arm and advance/lower the left to its cap hover.\"}",
  "call_id": "call_oOgvIXT5oi0V0FmOk3TlmROz",
  "id": "fc_029df17d9205921f016ab450a1d7b887d080e7ba4a343c4573",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oOgvIXT5oi0V0FmOk3TlmROz",
  "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]: [-0.2043, 0.8333, 0.487, -0.4194, -0.0322, -0.3828, 0.9986, 0.5365, 2.0327, 1.0672, 0.1654, -0.1986, -0.1806, 0.9991]\nstate[eef_state]: left_x=0.2674 left_y=-0.0459 left_z=0.1099 left_yaw=0.0209 left_pitch=-0.2153 left_roll=-0.2511 left_gripper=0.9986 right_x=0.4066 right_y=0.2865 right_z=0.0066 right_yaw=0.7975 right_pitch=-0.2211 right_roll=0.0132 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -1.388, 7.6239, 1.8535, 0.0659, 0.1685, -0.1587, -0.212, -8.4034, 5.094, 1.1404, -0.1538, 0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92700c0c793521c11848ea655afc247577b2321a179fe7e3929064fe3d83587a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a156cab8331137c84254bcdbf5ccce805bdf183b35d66dd4dd6b23c3fea2811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032beeb152acc41270598b143efab8cb4da9acb8042a956e715ad455c444d018",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 4.767 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.049, 1.5097, 0.8085, 0.0597, 0.0303, -0.308, 0.9986, -0.02, 0.8577, 0.6128, -0.4656, -0.0238, -0.0154, 0.999]\nstate[eef_state]: left_x=0.4271 left_y=0.0192 left_z=0.1159 left_yaw=0.1771 left_pitch=-0.0902 left_roll=-0.2566 left_gripper=0.9986 right_x=0.2867 right_y=0.0021 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.151 right_roll=0.0033 right_gripper=0.999\nstate[joint_eff]: [0.3077, -7.5829, 9.9761, 2.1123, 0.0855, 0.2369, -0.1538, -0.3077, -1.7162, 6.9265, 1.58, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 0.7902, 0.9257, -0.823, -0.0425, -0.384, 0.9986, 0.5312, 1.779, 1.2003, -0.1944, -0.189, -0.1684, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.0529 left_z=0.2358 left_yaw=-0.0162 left_pitch=-0.1377 left_roll=-0.2631 left_gripper=0.9986 right_x=0.4012 right_y=0.2784 right_z=0.1166 right_yaw=0.776 right_pitch=-0.1967 right_roll=0.0086 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.0598, 9.5658, 1.7509, -0.1294, 0.0366, -0.1587, 0.335, -8.7453, 8.9778, 1.7118, -0.1734, 0.0855, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2043, 0.8333, 0.487, -0.4194, -0.0322, -0.3828, 0.9986, 0.5365, 2.0327, 1.0672, 0.1654, -0.1986, -0.1806, 0.9991]\nstate[eef_state]: left_x=0.2674 left_y=-0.0459 left_z=0.1099 left_yaw=0.0209 left_pitch=-0.2153 left_roll=-0.2511 left_gripper=0.9986 right_x=0.4066 right_y=0.2865 right_z=0.0066 right_yaw=0.7975 right_pitch=-0.2211 right_roll=0.0132 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -1.388, 7.6239, 1.8535, 0.0659, 0.1685, -0.1587, -0.212, -8.4034, 5.094, 1.1404, -0.1538, 0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92700c0c793521c11848ea655afc247577b2321a179fe7e3929064fe3d83587a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a156cab8331137c84254bcdbf5ccce805bdf183b35d66dd4dd6b23c3fea2811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032beeb152acc41270598b143efab8cb4da9acb8042a956e715ad455c444d018",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFCoi4avFvVQTbAcSyQkgJiZiL4TRpJCdNICC2flFtlHW90InSb-7l-tSvD7EuuSo6GgUB4BSKi3H0xtQoyrmuXMGDDMqFySTcVtkhdaCTdsMaO75Bqn7HFhbunc0a6a4_Lwmp_SPAN4BGI6kaFZYTWOkgM99RCGH9HrNR7PS7UD4Bn08eiUouLPtHdPe8IEuWS6ZM74lfjSpHT_3rTqgaSlnDHI9HUvyEi3YKBa__GtK9GYLjxnOTa94VrT_x1C1Pfc9MDkOgksNdiAnFp7soaNbW68viSyx22pmVIhN0vWwbltJUDFpg6Bbm7EZVpHsQeMOdu8O4GFYQRYwJJR5n82rWU7HAeAXC3SS4J-VDe_I2bx-cJ2M3rKbjCcvKIbq3jFLkGPzbs5KSYQKT1MZiwsqH1YcLEqhOO1cq2P7zhJ49ltODIt3LvCcJvbZrAvY2AuscWvHt4BG8MqX9GzDVCD-9dC2NakbnF0dxi7oeW8bZc1WpMtOkV2HjxWUUnUDgrLPK43GwrdJfksw1zj4ujckBPBscJBBMps5Ld6d0SCKpxdqnTHpIOO5sY9hN8ltDZYI8QHYtfMv1lqdepYvdB94oLPgbLmtm4R7411BKVjvSVWZ5jWONUGDHD5-IVrfth7AR91wuRpnYptovYAfTZg5zhZo9EY-gLIdb1PIJiZf3-y7XYAUmQk9MJ2vKsWwfOBu-RVVZUoto8GlL83tolHrOqrQo0BJfdvASxo1L9OPwY7P850AyY0FPpHBIojVXM6SU2ncxj8fk7ozTR5ZbLJwaMMWA1pBp2gXaFg11y4znYsY8zJ8yU0ktIuuEAaxJ3XLsxPmUl56jgz0fnEzqsXrhefdWALPkX_L9xs4IO1rGYZaHnifJ8iZ4-827Q6UDzCE2izOy-5qP9ziXySCtgTyoEUmKVj-vBBYUEX9Ucj4V_EZ64sWOX5vAip_vghocO12WXyfBXKPw7rdRKeWVyDEcLxbZ_MEAA1nPcRvlyemgw8XK48hCEh89A7X9r9JxkLp_Z-X-YI4JJpJbQm_k5aUJ4RQJJuLR-F2tZb6O2xRWAtyhJfQSxrI4L-4uq7OI9Ve3WzLz-Xtn9qZAKKg1b6aCm5MhqSHf4hL5dz6DrpX-xJdDNdZrsI_vInewNv0wUpjbMdfrm7drzFyV0pKaNLwhsoRxVpFDdgHi5c5vwciHddiTsAW9VHWAMShlg1nnBoVKjxbr9m1mmD5k6LPqr3zl87ZtMqFOKKVlyACEv3BVoa3SY2k_RfxqQrigfsdUX1PMqjcthYGEjP-w3XELt5QTl2x0J-kCWheiB9HrOzYYiB-XBZH0vIJ3kiN0e1pkTbqVHEyBgM7ljTckJBK1ybPXIEwDvtDwzanz694HTHsZv7oHw7vtrBFOH4HKArmlZpQwIcZhPzNLtfke53MFamepD-r4gJCi-Z2RiRJL7jqgvRYHNwHkmoAaPr4tDGY1PpTzZDpPNCmflN2FhOEjxvxZTknErlA5CXYAkyQEmS-fyBc2cAKXdbrc7dkUhQ669OtElevywH1-gJdkgIOmNt7-wBGWYV67Pc0ai6l0_oXg34mkZ3rNz3h9vmW8ARB_hA85HX-ghv-2kqpqVQVBFpHvW61BsRHat_XpLTF7FHxIQuN_mNLkOi7-2PvisgsYExhtDWKoXln6zqreNzJRWts3zkmPwWC5JlNEVcvfrnogawLcFFtIDoDnRWdfOVwCFoEjM8m21HuBcK4GBeekwyhTeDdLJyHm4k4S4kbybOmY-cUioFjfWZfnAljVrSPyyuyPMse_7v-g-XMhHK81oFKVtG3cGWLLHn0rvWSTxAEOGs7Bj9uB0pInevbYXtSRVpKlPPhV5G0zVrvPmhiDsBnmfOkqYL_JvVx-FnRN_KKppNBX3REJpMek8jQCWpM1JXZulTEMByEm2xwD8ZysJm7w7AZ-nlwwmrYyuecyreA88=",
  "id": "rs_029df17d9205921f016ab450a6090c87d093f164665018fd40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.1,\"left_z\":0.12,\"left_gripper\":1.0,\"right_gripper\":0.08},\"note\":\"The pen nib is centered at the right fingertip row, so I’ll close the right gripper gently to about 8 mm. The cap is still ahead-right in the left wrist view; I’ll advance the left arm 4 cm and shift right about 5 cm to center it.\"}",
  "call_id": "call_GFVhSqqhxyyiA7TxXH93OPoX",
  "id": "fc_029df17d9205921f016ab450a77b6887d0be41726d458321f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GFVhSqqhxyyiA7TxXH93OPoX",
  "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]: [-0.4, 1.1584, 0.6304, -0.3233, -0.1566, -0.5179, 0.9986, 0.5365, 2.0468, 1.0618, 0.2024, -0.1993, -0.1898, 0.0853]\nstate[eef_state]: left_x=0.3044 left_y=-0.0949 left_z=0.0985 left_yaw=0.0134 left_pitch=-0.285 left_roll=-0.2306 left_gripper=0.9986 right_x=0.4091 right_y=0.2882 right_z=0.0043 right_yaw=0.8021 right_pitch=-0.2039 right_roll=0.0024 right_gripper=0.0853\nstate[joint_eff]: [-0.3214, -3.9043, 9.6889, 1.7265, -0.2271, -0.0513, -0.1587, -0.335, -11.5761, 6.1333, 1.2137, -0.0708, 0.0317, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e98aefaff5416202e3ae77c91219a0e8fa0ed383c12f37f582ecabd7fe5fd02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf30dbf81ad4227c0a2ee3b233bdfd4649a96257c90a98534bcda631314c0a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519d1069d16bb5403829ed7a039a51de9935715b37f7db0627505e84bb81859e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 5.591 s

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

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0414, 1.4654, 0.7506, 0.0406, 0.1349, -0.2337, 0.9986, -0.02, 0.8597, 0.6128, -0.4648, -0.0235, -0.0151, 0.999]\nstate[eef_state]: left_x=0.4087 left_y=-0.0033 left_z=0.1064 left_yaw=0.0411 left_pitch=-0.1171 left_roll=-0.2601 left_gripper=0.9986 right_x=0.2869 right_y=0.002 right_z=0.1494 right_yaw=-0.0012 right_pitch=-0.1522 right_roll=0.0034 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -7.5829, 6.8034, 1.7021, -0.0122, 0.0122, -0.1587, -0.3077, -1.7573, 6.9128, 1.5702, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2043, 0.8333, 0.487, -0.4194, -0.0322, -0.3828, 0.9986, 0.5365, 2.0327, 1.0672, 0.1654, -0.1986, -0.1806, 0.9991]\nstate[eef_state]: left_x=0.2674 left_y=-0.0459 left_z=0.1099 left_yaw=0.0209 left_pitch=-0.2153 left_roll=-0.2511 left_gripper=0.9986 right_x=0.4066 right_y=0.2865 right_z=0.0066 right_yaw=0.7975 right_pitch=-0.2211 right_roll=0.0132 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -1.388, 7.6239, 1.8535, 0.0659, 0.1685, -0.1587, -0.212, -8.4034, 5.094, 1.1404, -0.1538, 0.0659, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4, 1.1584, 0.6304, -0.3233, -0.1566, -0.5179, 0.9986, 0.5365, 2.0468, 1.0618, 0.2024, -0.1993, -0.1898, 0.0853]\nstate[eef_state]: left_x=0.3044 left_y=-0.0949 left_z=0.0985 left_yaw=0.0134 left_pitch=-0.285 left_roll=-0.2306 left_gripper=0.9986 right_x=0.4091 right_y=0.2882 right_z=0.0043 right_yaw=0.8021 right_pitch=-0.2039 right_roll=0.0024 right_gripper=0.0853\nstate[joint_eff]: [-0.3214, -3.9043, 9.6889, 1.7265, -0.2271, -0.0513, -0.1587, -0.335, -11.5761, 6.1333, 1.2137, -0.0708, 0.0317, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e98aefaff5416202e3ae77c91219a0e8fa0ed383c12f37f582ecabd7fe5fd02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf30dbf81ad4227c0a2ee3b233bdfd4649a96257c90a98534bcda631314c0a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519d1069d16bb5403829ed7a039a51de9935715b37f7db0627505e84bb81859e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFCu85XJYXnFvADYI3oK9kswZbHWvl5SinJuYZ90LkICtqOhUBT6_Pkja1bgc66-JGt6KdnPiJeD22d4JArPbYk3EPxf2RhjXbHkxMraNXrZdZDltLFjNwXzLWxYHCiDA8YePhy8JDIpbbIqcrCL8hSlKEmPhZtbV8krE5Qagkr3Z41BznNKWxAI0Q0tSNjcrjqsqYlktLAqgGGmjBuHwl_AGyhm5swPyPGJMqrhfjTWpd7XBJIMu0gHVVfbGCIJVZ1hb6DNy81UxBu9-y-Yo7fk0uSyjvsxzFjxumuQIjFt07uqPsadkFyjnRkc8bxOyGPqtwwxPx2fsyCy1q1vBFyaoHPf1QGcnwdVGW4CN4z06EgypzC4bql_LOly65f_wd5LVbtLzHbdaPBAxW0cMCZkRaewlhSoM9jH32frtqL5GIOlGFmfkUu-CUWT8_GpX14n1DYrssb8ecNhn-ZSLSV9EP_CFGfGm--kUSpONrvhBqNrNiZ7oaenG4e5Fo09yAFvRRoWQUE6f7aQEFpQt2_4iAImOlCRQOs_3QXdMbxc8aMDKWKB3Z_SWKSecSODZTIjh1UCuq6qYN2QEkurco3mDfV0lpI3_E6uftuL3qYmCgKlJ2PeiQaMLAFE7ZoVZtJ_lH6XySXEfkrXR6hfZNX5V-RP-heUMnrxSbKcho5tM_PWdyvHmP10l-JcdErDNYrEQg8F-rBg085JkttyIP8Tmswbn3IvDuIodjaWFNO6WuHGedbclovK0Td_Ng7Y9ocuqsmwnM47RTtDbbHUrB6ZBcFUCHPJ-6Au-wQyGS8f6-AtUBE7bzyowFoMwQ1HWiTzmvtduAYfVphFyRxQTSB7ZGpCy9aitFZa5spvDQJ7dC2kQIdINMyVc0wFjqHsN0SMc3WYIzIsG_OY-6yZ5KlWNMlj9DCRswTfndNo7QLbc7XdJ6Neg_gV362Xhk5inRZQWVsqM7j54YvDihQg93ycfNc8LxVVxX1y19l7TNyBsgxw4wMJAuFKD6VHmHqCcQzRyxro0TcAIwLkXlo3oJdZzgbU_slSvQaqoiItAsM8qndUbnOVB0d7pgZ_lUFFqS8c5yaJifKwwbeokWtMoibgW71Y3IOVsWwnn_sbMiQVhs7VDlAZIMS96trk8APmKOcRYb2zQepsIsq5L3FcNNAo1rcXUmmX_Rl9O2kgcycHFTvKF2k1F8rH_hjaODg1jWKr0uM4sR3gZn1_nzwXNfTfq89MfdP-RsTKMLYM0r8neSgjizUxRUf-VCU_fbzgUrwfhBR0IcVBcmoqgIwIfrd1wVGEbulb4IaZTHgxrb1YPvUIbBBqKSTwzKUtkcUZrHXjcQSzz6LZRbkB_RfvXC8ZL8MBqwXbeaZx8gpdlO9A9SAnheUJy12b5iubIpPN_TYC9MIUZqVHOYHPqPwtZwOcZkXPIMUNJxSJov4BPgvS88XBMWCeHCK-WE2AhQ5Lefa4xbfycEy2uRgxod9_6JY6l44MS4wvP32-hTKNnlcqfHTX9lpgNyVaYQWJN0WWQB-awp7U4-vSk3FLsDetkQB-45KoDDB1vpfxVUCNestTnWZg0aLaQEwkGKVDY8Fr_AI6Gel6YETfWlXMjbH8DSXfZorin686hbfCbJ_iymd99U1Y27LqaDiK4YbUwshupNhfIyu-zlNRH02KxpmXjRUFxGakOCHXpsa3A9O7wNwkJi4IEVV_jthZQdzk2KjA2XnSyN_D_DYiaV-tgRpZWqy_hSVhefg9243pgUY-2qi6WIhlE5QFUatBQo17PyjmkD-GgI1vP56ge4Vm3Tp3lYgF7ejNSNK-NHUqh-pUMe-6GlyZaXzF_c9TWJwuVM6GEws0Pl1ZsVKa17alI5eKjGpQYEJRYYbrdS7K-I5c3D0NWBrZDnee0m6Gpran5cUVE8yAeC_PYve9S_IdYZcPV4RK0-hsI9byE072xkiSjqs3Fbft6L41WnfpM0izQMNq9ESyG5LsBX5pWWM9rfEcoVF6BQ==",
  "id": "rs_029df17d9205921f016ab450ab5cf487d0a113f3335c8dad45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.13,\"left_z\":0.0,\"left_gripper\":1.0,\"right_gripper\":0.03},\"note\":\"The pen remains visibly between the right jaws, but the 8% command did not yet contact it, so I’ll tighten to 3%. The cap is now close to the left fingertip depth but still right of center; I’ll shift another 3 cm right, advance 2 cm, and descend to table level.\"}",
  "call_id": "call_n0N7kdT0yINbLW1xValt3o3J",
  "id": "fc_029df17d9205921f016ab450acfc8087d093667e8a0025cbac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n0N7kdT0yINbLW1xValt3o3J",
  "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]: [-0.4717, 1.5948, 0.5476, 0.165, -0.2306, -0.5602, 0.9986, 0.5365, 2.0468, 1.0615, 0.2085, -0.1997, -0.1913, 0.0313]\nstate[eef_state]: left_x=0.3359 left_y=-0.122 left_z=0.007 left_yaw=0.0321 left_pitch=-0.2923 left_roll=-0.1926 left_gripper=0.9986 right_x=0.4099 right_y=0.2887 right_z=0.0052 right_yaw=0.803 right_pitch=-0.1983 right_roll=-0.0 right_gripper=0.0313\nstate[joint_eff]: [-0.1162, -3.7812, 4.9983, 0.8181, 0.4274, -0.1734, -0.1538, -0.2256, -10.4821, 5.6821, 1.4774, -0.1636, -0.0073, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15db0e100bff39c4811374f4e5da8c21699e4104a689355bcc04862d1983414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb695164eaa7cb1295aebd8f48e39c042ef79155edc508a47413b219e428153a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791eafdaf34c1689052dcdbab107429bf013d7637e7ce65757f4bce5968fd260",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 6.802 s

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

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 0.7902, 0.9257, -0.823, -0.0425, -0.384, 0.9986, 0.5312, 1.779, 1.2003, -0.1944, -0.189, -0.1684, 0.9991]\nstate[eef_state]: left_x=0.2543 left_y=-0.0529 left_z=0.2358 left_yaw=-0.0162 left_pitch=-0.1377 left_roll=-0.2631 left_gripper=0.9986 right_x=0.4012 right_y=0.2784 right_z=0.1166 right_yaw=0.776 right_pitch=-0.1967 right_roll=0.0086 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.0598, 9.5658, 1.7509, -0.1294, 0.0366, -0.1587, 0.335, -8.7453, 8.9778, 1.7118, -0.1734, 0.0855, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4, 1.1584, 0.6304, -0.3233, -0.1566, -0.5179, 0.9986, 0.5365, 2.0468, 1.0618, 0.2024, -0.1993, -0.1898, 0.0853]\nstate[eef_state]: left_x=0.3044 left_y=-0.0949 left_z=0.0985 left_yaw=0.0134 left_pitch=-0.285 left_roll=-0.2306 left_gripper=0.9986 right_x=0.4091 right_y=0.2882 right_z=0.0043 right_yaw=0.8021 right_pitch=-0.2039 right_roll=0.0024 right_gripper=0.0853\nstate[joint_eff]: [-0.3214, -3.9043, 9.6889, 1.7265, -0.2271, -0.0513, -0.1587, -0.335, -11.5761, 6.1333, 1.2137, -0.0708, 0.0317, 0.1245]\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 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4717, 1.5948, 0.5476, 0.165, -0.2306, -0.5602, 0.9986, 0.5365, 2.0468, 1.0615, 0.2085, -0.1997, -0.1913, 0.0313]\nstate[eef_state]: left_x=0.3359 left_y=-0.122 left_z=0.007 left_yaw=0.0321 left_pitch=-0.2923 left_roll=-0.1926 left_gripper=0.9986 right_x=0.4099 right_y=0.2887 right_z=0.0052 right_yaw=0.803 right_pitch=-0.1983 right_roll=-0.0 right_gripper=0.0313\nstate[joint_eff]: [-0.1162, -3.7812, 4.9983, 0.8181, 0.4274, -0.1734, -0.1538, -0.2256, -10.4821, 5.6821, 1.4774, -0.1636, -0.0073, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15db0e100bff39c4811374f4e5da8c21699e4104a689355bcc04862d1983414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb695164eaa7cb1295aebd8f48e39c042ef79155edc508a47413b219e428153a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791eafdaf34c1689052dcdbab107429bf013d7637e7ce65757f4bce5968fd260",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFC06YqePV9tHb2ij9LftUwmdwOkKLuXMhZxlNmqqtxK9f5WEtlcx1k50ZxRilW4d7nBnXVqVBWrlNSgJ3Mz2JaeBIhqzkDsNv-IruiTR1iIr6zFdCTxlZs-i5GWONJHR-2YegAqTbJVM9VGUNNWRv9MKVunoYbC6_6jyKq3DXoOD-gYYn8LSvcdvWbjl87eTM-wMBucYeY4F3a59ABdPlnNiIEWzzQDYecX_iwS1YvmQF-SSjAiDII0YQn8B0cifz1TAWZxGbCNdiPwSfzm26h8DAcnZNdgOVChYWkOqF2noTYfPTwJviz-o09AKAuWqQdmPd1qazM3tlkx588E4TrvNMJJnoM_4kDWoYndrV4cAyYxz-rKH_4G-5MgP5FoDsDz21BkcQcCBHal-xfaF4izl98f1NWLw3RibBT2WeP5bMtN8dAFgqP8TnmRBbCIo76LmMc2emioaK-cBtCLsLX6sDFRVqN2h8iXKQugUN0ICFb6CvmzGBFHk5_RozkxHwFHrK5_AL-g-2QXQL1o2KTwNIAnVkzfB9Hg_nUTIrXEYwa5DGFTB-329tOmAA1IpIcLFoCP7gcBgw9eTyWl1dpW_4dfyNcNA2B_bQXO5AbeIvaFxIbqOu861hAzKvAessqYhZueP7rtkw3bZPr3cfzDcF4y5AAXcKzFkvDj2w2ckhit8gvtS8kP1FF_9EOs3jgp4Icdyu0a7fFJAZ-feWBufzGXl4zC9H3-UbsPPV5pzB3IQmtiO5T1OBX_A3KMSxfuYK4JiNS34rNZuhM0F2Wegp-EbTLunSWpXHkmk28ztIq-KvlfmsqKj0bQu1szbR_rbu_Ss4--NMeNDo-H_l3sJcj-4BWVwNQk-XjlfnhlBCUhCvuQmswgZqUapILBnWhfmn3C7-JwRhMy36Pjc4fCACn7YmOkwPB3Z2l5kG5ONz-Vq9jYbGrj3caAVGSZbGF_ii6MyrPynF_JDStLh4B3xtPzSPpzymSVQyAxMf945GNysJnZgF6uuedwCjhy4DOWcLntZxhjO30Wx27UDZzC4phXgHX59ysp2S6eFloNVvoYctoRtW1VABwIh9DTrOnu-4rNRSnQFDwA_Si0Nn-bndKW58UG9lGeA2K5CMT9ULhxwtteI-4XB1teB1zJCHF9Q8bu-cU9uzEAUxzwxU5BlvIJTEctsW9RWcYco-DHgT_2KZjIhjRLGNOnIfYSBePfuUY_iALrxTD5wGKTxaidp6Z0jIdG0quRE0E6lj8EiMLAzn2WaIK68yep7XgX-rYHEMdpce5bXVyJYlvx67ABqzLTfKRAI_aEe1h6ePHIpSZJHbtyYM7_8Cm2SY-VfKDUkMzX7bD8jLz5zg22maNSqXp2m4fndrmjLUL9HH2Ij9gWWB-5G-UoCIvG8RulsCblZSKoY2-gFrtOLjEXZ7c3X9hDbCEgcmMItaYh8KcJidf-1CqLsrWCivC1TP_730JVuTVdoWt5mnoCHLmRiOEgql7SLDs3Lcho8iJcRtxDXYMN36j5cp8qAAh152t7HtsEYFTbJGvR4HohAgce3NloRO3gbG84KIQinXLJ68D6HTlzT2TQSnuotHYlw4ACqr6MP6qZINc-s6Xsu6ONwgdb9KylWL-I4pKKfIeKIZ3g9wtXqgR8riDvJuQaDQAlnah2pl0yrmzwfocwXS8FUZtgl5mhkOYcpvZand8z3bO39_Pmc0CkYBHLXYnlBSmNg0L5PnIV1ZYj0PwqSN6SLBuiDziVN49EwLvXIZ4BuftU5WtmBCLRxhU_L9q_yN80AZD0q5C3urE_dg9qvwym4xlcTvfc7R9b8Ev8UL8uX6OI8Aq8z_6euQVkHmu0pByA2ZNBkXWOmbDxFPzgVOukNkUPLI3A9oqSt1JvIg0in_es7GaJtliw9OBSgW54x80O2uJrE2itATeWlfpB8n4nnEzakcjguKjwT2WyV6m-HnRN1TvCIG0gJj7AO8K8tMMU3MTrzZRxzAb0oBT5xJFDPmbRUYuL0WH2H3Ahbu4dGR3q9KFeAPR50AqHS9lBPbNNKgnRASMLEf0DjtF8UjFoKE3_VNAlVcFjuyO2NUK6Z45lH5MKxXArHy4Gkxbnr93mLc5HKI_AJtPi05qWrun2uUjnPAz-aqOow0ePnvEBh1ocFFzJWo1VjEeCPktXo1g_Wts-V-SkGMB-Rv07HPeKR7UfqMoWjRvVS8C4JGKFKBakW5Y=",
  "id": "rs_029df17d9205921f016ab450b05a0487d09aa061b935dc0864",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.16,\"left_gripper\":1.0,\"right_z\":0.08,\"right_gripper\":0.03},\"note\":\"The right wrist is now empty after tightening, so I’ll lift it to test whether its object moves with the gripper. The remaining black object is clearly visible at the left fingertip depth but about 3 cm right of center, so I’ll shift the left gripper right while staying low.\"}",
  "call_id": "call_KU5FPqxHl4VR8O1W0CmJXklv",
  "id": "fc_029df17d9205921f016ab450b2203c87d08adf78996b3842ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KU5FPqxHl4VR8O1W0CmJXklv",
  "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]: [-0.5892, 1.6455, 0.6029, 0.1493, -0.3046, -0.6399, 0.9986, 0.5365, 1.9305, 1.14, -0.0132, -0.2016, -0.1925, 0.0308]\nstate[eef_state]: left_x=0.3346 left_y=-0.1556 left_z=0.0081 left_yaw=0.0216 left_pitch=-0.2791 left_roll=-0.1903 left_gripper=0.9986 right_x=0.4071 right_y=0.2874 right_z=0.0523 right_yaw=0.8067 right_pitch=-0.2236 right_roll=0.0077 right_gripper=0.0308\nstate[joint_eff]: [-0.4581, -5.0667, 7.1179, 1.2869, -0.0171, -0.0757, -0.1587, -0.3624, -12.8342, 8.4308, 1.4286, -0.0317, 0.0073, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b8809cfb13b9a8b632b51c7ad63f7d7e9ded28d710e733818a972f507ba090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf98347adf81187c7431e5aea709a9f207eb71cbdae13bff1ac2d9cbc145c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecee7f80976c661762a451856fdf3c4f621c12cacea952a397169d93614fb7cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]